CN208007217U - A kind of three body unmanned boat of solar energy of long-distance remote control seawater sampling - Google Patents

A kind of three body unmanned boat of solar energy of long-distance remote control seawater sampling Download PDF

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Publication number
CN208007217U
CN208007217U CN201721515802.1U CN201721515802U CN208007217U CN 208007217 U CN208007217 U CN 208007217U CN 201721515802 U CN201721515802 U CN 201721515802U CN 208007217 U CN208007217 U CN 208007217U
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main
controller
connect
hull
lateral
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杨显原
吴家鸣
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South China University of Technology SCUT
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South China University of Technology SCUT
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Abstract

The utility model discloses a kind of three body unmanned boat of solar energy of long-distance remote control seawater sampling, including main hull, aerofoil profile can be manipulated stablize lateral body, electric system, propulsion system, water quality sampling system and control system;Main hull includes planking, hull framing, platform deck and circular arc roof construction;It is cavity structure that aerofoil profile, which can be manipulated, to stablize the main side body of lateral body and wing flap lateral body;Pillar upper end is connect with planking, and lower rod end rotates axis connection with main side body by main side body;Main side body is connect with main side body servo motor by gear, wing flap lateral body is connected to main side body rear end by wing flap lateral body rotary shaft, wing flap lateral body corner driving guide rail one end is fixedly connected with wing flap lateral body rotary shaft, and the other end is flexibly connected with the wing flap lateral body guiding axis for being fixed on lower rod end;The utility model has the characteristics that endurance is long, shipping-direction stability is excellent, revolution manoeuvrable, can round-the-clock execution long-distance remote control water quality sampling task, and have AUTONOMOUS TASK ability.

Description

A kind of three body unmanned boat of solar energy of long-distance remote control seawater sampling
Technical field
The utility model is related to a kind of unmanned boats, more particularly to a kind of three body of solar energy of long-distance remote control seawater sampling Unmanned boat.
Background technology
Unmanned boat be a kind of base station on ground or lash ship control centre remote monitoring under navigated with autonomous or remote control mode The Novel surface motion platform for going in the water surface and completing particular task is marine environmental monitoring, oceanographic hydrological data observation, ocean One of the important means of disaster alarm.
The mainly artificial acquisition of traditional means of water quality sampling is carried out to offshore sea waters, artificial acquisition needs sample collector first It takes someone's ship and reaches sampling position, then extract water quality sample by water quality sampling equipment, finally multiplied by people's ship is seated Water quality sample is taken back on the bank, someone's ship taken has to increase displacement with support personnel's safety, inevitably Increase sampling cost;, stormy waves cold for some be larger or the bad environments marine sites such as pollutant is harmful, samples people Member's progress spot sampling is very arduous and extremely dangerous, and personal safety cannot ensure, even can not reach sample region sometimes Domain;In addition artificial acquisition also has the sampling period longer, can not quickly, accurately reflect the shortcomings that water pollution situation, serious shadow Ring the development of prevention and control of marine pollution work.
In recent years, as the technologies such as positioning, communication, control, artificial intelligence develop rapidly, unmanned boat (USV), underwater remote-control The unmanned mobile monitoring platforms such as robot (ROV), underwater unmanned autonomous navigation device nobody (AUV) are gradually applied to ocean water Quality detection field.Compared with the ROV and AUV that navigate by water under water, unmanned boat is moved in ocean surface, the external constraint being subject to It is few, there is higher flexibility, application range is very extensive, and with of low cost, communication is reliable, positioning is convenient, is easy to control The advantages that processed, just gradually becomes one of the research hotspot in marine exploration field.
Greenization, intelligent one of the emphasis that will in next step develop as ship domain.Specifically, it is by breaking through ship Body Alignment Design technology, structure optimization technology, drag reduction consumption-reducing technological, efficient Push Technology, clean energy resource and regenerative resource profit With technology etc., energy conservation and environmental protection type ship is developed;By breaking through the key applications of the information technologies on ship such as automatic technology Technology realizes navigation automation, mechanical automation, loading automation, and realizes flight course planning, ship-handling, navigation attitude adjustment, sets Standby monitoring etc., improves the intelligent level of ship.
Body, lateral body are respectively provided with propeller in traditional trimaran, and lateral body is the single structure being permanently affixed on middle body, It is realized and is turned to by the speed discrepancy of lateral body propeller.However, under severe sea condition, the smaller water quality sampling unmanned boat pair of displacement Wind wave action is sensitive, and shipping-direction stability is poor, needs constantly to manipulate to maintain course;In addition, simple by frequently changing lateral body Two propeller speed discrepancies realize that hull turns to not only energy consumption greatly, also can not be ignored to propeller damage problem.
Commercialization water quality sampling unmanned boat product is directed to the sampling of the small ranges waters such as inland river, lake, harbour and sets mostly at present Meter, the small (&lt of ship cruising ability;70km), the navigation performances such as stability, sea-keeping, rapidity are poor, can not carry out complicated long distance From marine sampling operation, requirement of the marine environmental monitoring department to the monitoring point dynamic detection far from seashore cannot be met.
Utility model content
The technical issues of in the presence of the utility model mainly solution prior art, to provide one kind with reproducible The long-distance remote control seawater that solar energy is main energy sources, endurance is remote, manoeuvrable, sea-keeping and shipping-direction stability are excellent is adopted The solar energy unmanned boat of sample.
The above-mentioned technical problem of the utility model is mainly to be addressed by following technical proposals:
A kind of three body unmanned boat of solar energy of long-distance remote control seawater sampling, including main hull, can manipulate aerofoil profile stablize side Body, electric system, propulsion system, water quality sampling system and control system;Wherein, main hull include planking, hull framing, Platform deck and circular arc roof construction;Circular arc roof construction connect to form closed hull space, circular arc with planking and hull framing It is provided with flexible solar film battery assembly at the top of roof construction, speech ciphering equipment, light units, picture pick-up device, alarm equipment, leads to Interrogate navigation equipment and avoidance equipment;
The aerofoil profile stabilization lateral body that manipulates includes pillar, main side body servo motor, main side body rotary shaft, main side body, the flap Flank body, wing flap lateral body rotary shaft, wing flap lateral body corner driving guide rail and wing flap lateral body guiding axis;It is described to manipulate aerofoil profile stabilization The main side body and wing flap lateral body section of lateral body are streamlined;Pillar upper end is connect with planking, and lower rod end is logical with main side body Cross main side body rotation axis connection;Main side body is connect with main side body servo motor by gear, and wing flap lateral body is revolved by wing flap lateral body Shaft is connected to main side body rear end, and wing flap lateral body corner driving guide rail one end is fixedly connected with wing flap lateral body rotary shaft, the other end It is flexibly connected with the wing flap lateral body guiding axis for being fixed on lower rod end;
The electric system includes flexible solar film battery assembly, terminal box, solar charging controller, lithium battery Intelligent supervisor and lithium battery group;Lithium battery group is composed in parallel by multiple lithium batteries;Each flexible solar film battery assembly Equipped with terminal box, multiple flexible solar film battery assemblies are connected in series with by terminal box, and and solar charging controller Connection, lithium battery intelligent manager are connect with solar charging controller, and lithium battery group is connect with lithium battery intelligent manager;
The propulsion system includes propeller, high-strength carbon fiber pipe, connecting rod, propulsion electric machine and steering engine;Propeller is set Set the tail end in unmanned boat;High-strength carbon fiber pipe one end is fixedly connected with the radome fairing of propulsion electric machine, and the other end is passed through and set Propeller mounting hole on hull is connect with connecting rod;Connecting rod is connect with steering engine;
The water quality sampling system includes pump line, pump head, tube rolling device, peristaltic pump, sampling box, wastewater discharge pipe;Pump head and Peristaltic pump and peristaltic pump are connected with sampling box by pump line, and wastewater discharge pipe will be empty outside peristaltic pump discharge of wastewater mouth and hull Between connect;Tube rolling device, peristaltic pump are connect with the tube rolling device controller of control system controller module, wriggling pump controller respectively;
The control system includes main control computer, positioning navigation module, communication module, data acquisition module and controller Module, main control computer are connect with positioning navigation module, communication module, data acquisition module and controller module respectively.
To further realize the utility model aim, it is preferable that the length that the pillar upper end is connect with planking is across 4 A rib position;Main side body and wing flap lateral body are cavity structure;
Preferably, the connecting rod is mainly made of two rod pieces and transfer, and two rod pieces are arranged in parallel, two bars The both ends of part are connect with two transfers respectively.
Preferably, the main control computer 1 is the PCM-9375 single board computers based on PC104 buses;The positioning Navigation module includes GNSS antenna, positioning differential antennae and GNSS signal receiver;GNSS signal receiver is arranged in platform first In the electrical equipment cabin of postlaminar part;GNSS antenna is arranged at circular arc roof construction rear portion with positioning differential antennae and is connect with GNSS signal Receipts machine connects, and GNSS signal receiver accesses the RS-232 serial ports of main control computer;
The communication module includes data transmission antenna, data transmission radio station, screen transmission antenna and screen transmission radio station; Data transmission antenna is connect with data transmission radio station, and the RS-232 serial ports of main control computer is accessed in data transmission radio station;Screen passes Defeated antenna is connect with screen transmission radio station, and screen transmission radio station accesses the RS-232 serial ports of main control computer;
Data acquisition module includes video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyro Instrument, 3-axis acceleration sensor and water depth sensor;Video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, Intelligent gyroscope, 3-axis acceleration sensor, water depth sensor are respectively connected to the RS-232 serial ports of main control computer;
Controller module is arranged at platform deck rear portion;Controller module includes propeller control device, steering engine controller, volume Pipe device controller, wriggling pump controller, camera control unit, lamp dimmer, voice controller and main side body servo motor control Device processed;Propeller control device, steering engine controller, tube rolling device controller, wriggling pump controller, camera control unit, signal light control Device, voice controller are tapped into the RS-232 serial ports of main control computer;Propeller control device is also connect with propulsion electric machine;Steering engine control Device processed is also connect with servo motor;Tube rolling device controller is also connect with tube rolling device;Wriggling pump controller is also connect with peristaltic pump;It takes the photograph Camera controller is also connect with video camera;Main side body servomotor controller is also connect with main side body servo motor.
Preferably, the planking and hull framing, platform deck, circular arc roof construction and aerofoil profile can be manipulated stablize side Body is made of 5086 aluminium alloys.
Preferably, the platform deck is connect with planking and hull framing, is horizontally set on the closed hull of main hull In space;Hull framing includes keel and floor, and hull framing is transverse system;Longitudinal connect is set at hull central fore-and-aft vertical plane hull bottom Continuous keel;Hull framing rib column pitch is 600mm, and it is arc-shaped floor that top made of integral cutting is arranged at rib position; Propeller mounting hole is arranged in planking stern, and pump line through hole is arranged in fore body.
Preferably, the planking is continuously welded by polylith metal curved slab, and shell plate thickness is 5mm;Polylith Continuously welding is covered in top as on arc-shaped hull framing, circular arc roof construction sequential welding, which connects, is covered in shell to metal curved surface plate Plate forms closed hull space on hull framing;The circular arc roof construction is in stem place's setting hatch to the rear and watertight compartment Lid, minimum widith of the hatch along beam direction are more than 1740mm, and the minimum length along captain direction is more than 600m;Water tight hatch Lid is tightly fixed to by goat's horn screw on circular arc roof construction;
The pump line is corrosion-resistant silica gel hose.
Preferably, hull interior space is divided into two by the platform deck, and two parts hull space is set comprising three Standby cabin, including electrical equipment cabin, sample devices cabin and lithium battery cabin;Between electrical equipment cabin and sample devices cabin and sample It is interconnected by hatch or hatch door between equipment compartment and lithium battery cabin;Platform deck is 500mm away from baseline height.
Preferably, the speech ciphering equipment includes loud speaker, is connect with the voice controller of control system;Light units packet Searchlight and red Bai Lvsan colors navigation lights are included, is connect respectively with the lamp dimmer of control system;Picture pick-up device includes video camera, It is connect with the RS-232 serial ports and camera control unit of main control computer;Alarm equipment includes alarm, the language with control system Sound controller connects;Communication and navigation equipment includes GNSS antenna, positioning differential antennae, data transmission antenna, screen transmission antenna And GNSS antenna;GNSS antenna, positioning differential antennae are connect with the radio station GNSS, data transmission radio station, screen transmission antenna difference It is connect with data transmission radio station and screen transmission radio station;Avoidance equipment includes ultrasonic sensor, the RS- with main control computer 232 serial ports connect;Loud speaker and red Bai Lvsan colors navigation lights are arranged in circular arc roof construction front;Searchlight and red Bai Lvsan colors boat Portable lighter is arranged in circular arc roof construction front;Video camera setting is in dome structure front end;Alarm is arranged in circular arc roof construction tail Portion;GNSS antenna, positioning differential antennae, data transmission antenna and screen transmission antenna are arranged in dome structure tail portions;Ultrasound Wave sensor is arranged in dome structure front end.
Preferably, the lithium battery intelligent manager and the propulsion electric machine and steering engine of propulsion system connect;Lithium battery intelligent The tube rolling device of manager and water quality sampling system, peristaltic pump, sampling box connection;Lithium battery intelligent manager and loud speaker, searchlighting Lamp, red Bai Lvsan colors navigation lights, alarm connection;Lithium battery intelligent manager is also connect with control system main control computer;Lithium Battery intelligent management device is connect with the GNSS signal receiver of control system positioning navigation module;Lithium battery intelligent manager and control The data transmission radio station of system communication module processed, the connection of screen transmission radio station;Lithium battery intelligent manager and control system data Video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyroscope, the 3-axis acceleration of acquisition module Sensor, water depth sensor connection and the propulsion of control system controller module its controller, steering engine controller, peristaltic pump control Device, tube rolling device controller, camera control unit, lamp dimmer, voice controller connection and main side body Serve Motor Control processed Device;
The multiple flexible solar film battery assembly is laterally pasted onto circular arc roof construction upper surface, and flexible solar is thin Film battery component selects CIGS hull cell;Solar charging controller is arranged on hull interior platform deck;Solar charging Electric controller is MPPT solar charging controllers;Lithium battery intelligent manager is arranged on platform deck in electric appliance equipment compartment; Lithium battery is arranged on the lithium battery pedestal of lithium battery cabin, and each lithium battery interval is not less than 25mm.
The utility model unmanned boat stablizes lateral body by increasing the aerofoil profile that manipulates of a pair of of cavity structure in main hull both sides, It obtains sufficiently large transverse metacentric radius, roll damping and sways restoring moment, and deflect aerofoil profile stabilization lateral body can be manipulated When generate larger revolution steering force, improve the autonomous floating stability of hull, sea-keeping, shipping-direction stability and revolution behaviour Vertical flexibility.
Compared with prior art, the utility model has the beneficial effects that:
(1) aerofoil profile can be manipulated and stablize lateral body design.The utility model for long-distance remote control seawater sampling solar energy without A pair, which is arranged, in people's ship can manipulate aerofoil profile stabilization lateral body, and main side body, the wing flap lateral body that can manipulate aerofoil profile stabilization lateral body are all made of streamline The section of type, it is little to unmanned boat drag effects;Aerofoil profile can be manipulated, lateral body on the one hand offer rolling restoring moment is provided, increased Strong unmanned boat stability and sea-keeping;On the other hand, it can manipulate when aerofoil profile stabilization lateral body does not deflect and can guarantee that unmanned boat course is steady It is qualitative;Furthermore can manipulate the main side body of aerofoil profile stabilization lateral body can rotate around with the opposing stationary vertical axes of hull, and wing flap lateral body exist With while rotation together with the body of main side, wing flap lateral body corner driving guide rail driving under around the vertical axes ratio being fixed on the body of main side Main side body rotates greater angle, and increase can manipulate aerofoil profile and stablize lateral body camber, generate the revolution steering force of bigger.It is assumed that wing flap side Body does not relatively rotate with main side body, according to wing theory, can manipulate aerofoil profile and stablize lateral body rudder power by formula (1) calculating:
In formula:ρ is density of sea water, ρ=1025kg/m3, ARFor rudder influence basin, V is the speed of a ship or plane, and α is rudder angle, CRFor rudder power Coefficient is determined that wherein λ is aspect ratio by formula (2):
It is computed, it is assumed that wing flap lateral body does not relatively rotate with main side body, left and right can manipulate aerofoil profile stabilization lateral body and send out When raw 30 ° of deflection, the speed of a ship or plane are 5kn, aerofoil profile can be manipulated and stablize lateral body generation rudder power F=9492.8N, actually due to wing flap lateral body It relatively rotates with main side body, aerofoil profile can be manipulated by, which increasing, stablizes lateral body camber, thus the rudder power F ' actually generated will be greater than Wing flap lateral body and main side body do not relatively rotate the rudder power F being calculated.
Unmanned boat rotary motion will be manipulated by turning round steering force, and under the synergistic effect of propeller, unmanned boat, which is rapidly completed, to be turned To into prebriefed pattern.Thus aerofoil profile stabilization lateral body and propeller corner, which can be manipulated, by control can realize that unmanned boat efficiently returns Turn to manipulate.
(2) dome designs.Solar energy unmanned boat of the utility model for long-distance remote control seawater sampling uses circular arc Top design, solar energy light-receiving area is increased under the premise of not significantly reducing solar battery group transfer efficiency, is improved too It is positive can battery pack general power, and Quick drainage when dome is to upper wave and rainfall day, reduce the spray and rainwater hull impacted It is advantageous.
(3) heavy and autonomous stabilisation is resisted to design.Electricity is arranged in hermetically sealed hull space interior in the unmanned boat of the utility model Unsinkability of the unmanned boat in hull damage is improved in multiple watertight cabins such as device equipment compartment, lithium battery cabin;Meanwhile in main hull Both sides be arranged independent cavity structure manipulate aerofoil profile stablize lateral body, make its still have enough transverse metacentric radius, enough Big roll damping and restoring moment is swayed, and can ensure that unmanned boat there remains prodigious floating in main hull breakage Power, to improve unmanned boat safety and the autonomous stabilisation ability under severe sea condition.
(4) endurance is remote.The unmanned boat of the utility model reduces ship resistance by shiplines optimization design, together When, using inexhaustible solar energy as main energy sources, greatly improve its endurance, while entire unmanned boat system Zero-emission no pollution, energy conservation and environmental protection are realized in system operation.
It (5) can round-the-clock sampling operation.The unmanned boat of the utility model is added while using solar energy as main energy sources Lithium battery energy storage battery battery pack stores solar battery group dump energy, it is made to have night and rainy days persistently in related marine site Carry out water quality sampling work ability, to make the unmanned boat of the utility model have it is round-the-clock related marine site continue dynamic adopt The ability of sample.
(6) maneuverability is good.The unmanned boat main hull both sides of the utility model, which are arranged two groups, can manipulate aerofoil profile stabilization lateral body, when Aerofoil profile can be manipulated and stablize lateral body when not deflecting, the unmanned boat of the utility model is easily achieved line navigation, i.e. this practicality Novel unmanned boat possesses good shipping-direction stability;At the same time, single propeller vector propulsion mode is on the one hand used, is passed through Servos control underwater propeller rotation come obtain the thrust of different directions to realize hull turn to, on the other hand, the speed of a ship or plane not Can manipulate aerofoil profile stabilization lateral body deflection angle by manipulation when being zero can obtain additional moment of turning ship, and unmanned boat can realize pirouette To turnability is excellent.Therefore, the unmanned boat of the utility model possesses good maneuverability.
(7) stability and sea-keeping are good, and rolling amplitude is small.The unmanned boat main hull both sides of the utility model, which are arranged two groups, to grasp Vertical aerofoil profile stablizes lateral body, and aerofoil profile can be manipulated while reducing unmanned boat center of gravity and stablizes the buoyancy that lateral body is formed away from center of gravity, production Given birth to it is additional sway restoring moment, in addition, substituting traditional solar panels using flexible solar film, arranging lithium battery group Alow to achieve the purpose that further decrease center of gravity, stability and the seakeeping capacity, reduction of the utility model are further improved Rolling amplitude is effectively reduced hull and sways the influence that movement works to water quality sampling, improves water quality sampling efficiency;Through meter It calculates, the unmanned boat metacentric height GM of the utility model is not less than 1.133m, under level Four sea situation (feature wind speed 20kn), boat of heading sea The response of row heaving is not more than 0.566m, and navigation pitching response of heading sea is not more than 5.41 °.
(8) modularized design, equipment flexible arrangement are used.Hull interior space is abundant, can place various instrument as needed Device equipment, while can also replace hull interior equipment according to actual use function and the utility model is applied to harbour monitoring, water The fields such as literary prospecting, SAR at Sea.
(9) stratified sampling.The unmanned boat of the utility model extracts the water quality sample of different water depth by the folding and unfolding of control pump line This, and seawater will be remained by wastewater discharge pipe in pump line be discharged outside hull, realize water quality stratified sampling.
Description of the drawings
Fig. 1 is the structural schematic diagram of the three body unmanned boat of solar energy of the utility model long-distance remote control seawater sampling;
Fig. 2 is the left view of Fig. 1;
Fig. 3 is the vertical view of Fig. 1;
Fig. 4 is the front view of Fig. 1;
Fig. 5 is the schematic diagram of propulsion system in Fig. 1;
Fig. 6 is typical rib position rib structure schematic diagram;
Fig. 7 is can to manipulate aerofoil profile in Fig. 1 to stablize side view when lateral body deflection angle is 0 °;
Fig. 8 is can to manipulate aerofoil profile in Fig. 1 to stablize lateral body vertical view under a certain deflection angle;
Fig. 9 is control system connection diagram in Fig. 1.
In figure:1 is main hull, 1-1 is planking, 1-1-1 is propeller mounting hole, 1-2 is hull framing, 1-2-1 is Keel, 1-2-2 are floor, 1-2-3 is lightening hole, 1-3 is platform deck, 1-3-1 is electrical equipment cabin, 1-3-2 is that sampling is set Standby cabin, 1-3-3 are lithium battery cabin, 1-3-4 is transverse bulkhead, 1-3-5 is watertight hatch door, 1-3-6 is hatch, 1-3-7 is watertight compartment Lid, 1-3-8 are lithium battery pedestal, 1-4 is circular arc roof construction, 1-4-1 is loud speaker, 1-4-2 is searchlight, 1-4-3 is red Bai Lvsan colors navigation lights, 1-4-4 are alarm, 1-4-5 is hatch, 1-4-6 is watertight hatch, 1-4-7 is goat's horn screw, 2 For that can manipulate aerofoil profile stabilization lateral body, 2-1 pillars, 2-2 be main lateral body servo motor, 2-3 is main lateral body rotary shaft, 2-4 is main side Body, 2-5 are wing flap lateral body, 2-6 is wing flap lateral body rotary shaft, 2-7 is wing flap lateral body corner driving guide rail, 2-8 is wing flap lateral body Guiding axis, 3 be electric system, 3-1 is flexible solar film battery assembly, 3-2 is terminal box, 3-3 is that solar charging is automatically controlled Device processed, 3-4 are lithium battery intelligent manager, 3-5 is lithium battery, 4 be propulsion system, 4-1 is propeller, 4-2 is high strength carbon Fiber pipe, 4-3 are connecting rod, 4-4 is propulsion electric machine, 4-5 is steering engine, 5 be water quality sampling system, 5-1 is pump line, 5-2 is pump Head, 5-3 are tube rolling device, 5-4 is peristaltic pump, 5-5 is sampling box, 5-6 is that system, 6-1 are master control in order to control for wastewater discharge pipe, 6 Computer, 6-2 are positioning navigation module, 6-2-1 is GNSS antenna, 6-2-2 is positioning differential antennae, 6-2-3 is GNSS signal Receiver, 6-3 are communication module, 6-3-1 is data transmission antenna, 6-3-2 is data transmission radio station, 6-3-3 is screen transmission Antenna, 6-3-4 are screen transmission radio station, 6-4 is data acquisition module, 6-4-1 is video camera, 6-4-2 be ultrasonic sensor, 6-4-3 is three axis strapdown reluctance type Electronic Megnetic Compass, 6-4-4 is intelligent gyroscope, 6-4-5 is 3-axis acceleration sensor, 6- 4-6 is that device module, 6-5-1 are propeller control device in order to control, 6-5-2 is steering engine controller, 6-5-3 is by water depth sensor, 6-5 Tube rolling device controller, 6-5-4 are wriggling pump controller, 6-5-5 is camera control unit, 6-5-6 is lamp dimmer, 6-5-7 It is main lateral body servomotor controller for voice controller, 6-5-8.
Specific implementation mode
Preferably to support the utility model, the utility model is further elaborated below in conjunction with the accompanying drawings, but this reality It is unlimited so with novel embodiment.
As shown in figs. 1 to 9, the three body unmanned boat of solar energy of a kind of long-distance remote control seawater sampling, including main hull 1, can It manipulates aerofoil profile and stablizes lateral body 2, electric system 3, propulsion system 4, water quality sampling system 5 and control system 6;Wherein, main hull 1 Including planking 1-1, hull framing 1-2, platform deck 1-3 and circular arc roof construction 1-4;Circular arc roof construction 1-4 and planking 1-1 And hull framing 1-2 connects to form closed hull space;Platform deck 1-3 is connect with planking 1-1 and hull framing 1-2, It is horizontally set in 1 closed hull space of main hull;Hull framing 1-2 includes keel 1-2-1 and floor 1-2-2, hull framing 1-2 is preferably transverse system;Setting is longitudinally continuous keel 1-2-1 at hull central fore-and-aft vertical plane hull bottom, and thickness is preferably 5mm, Its lower edge is welded on continuous soldering method on planking 1-1;Hull framing 1-2 rib column pitch is preferably 600mm, is arranged at rib position It is arc-shaped floor 1-2-2 that thickness made of integral cutting, which is preferably 5mm, top, and three, middle part floor 1-2-2 is flat in distance The highly preferred lightening hole 1-2-3 for being preferably 400mm for setting diameter at 337mm of platform deck 1-3;Each rib position upper top is circular arc It is arc-shaped hull framing 1-2 (Fig. 6) that the floor 1-2-2 and keel 1-2-1 of shape, which are welded and to be formed top,;Planking 1-1 sterns Propeller mounting hole 1-1-1 is set, and pump line through hole is arranged in fore body.Planking 1-1 by polylith metal curved slab continuously welding and At guarantee hull watertight makes unmanned boat float on sea;Preferably, the planking 1-1 thickness is preferably 5mm.Planking 1- It is on arc-shaped hull framing 1-2 that 1 continuous welding, which is covered in top, and continuously welding is covered in planking to circular arc roof construction 1-4 Closed hull space is formed on 1-1 and hull framing 1-2.
Hull interior space is divided into two by platform deck 1-3, and two parts hull space includes three equipment cabins, including Electrical equipment cabin 1-3-1, sample devices cabin 1-3-2 and lithium battery cabin 1-3-3;Electrical equipment cabin 1-3-1 and sample devices cabin 1- It is interconnected between 3-2 and by hatch or hatch door between sample devices cabin 1-3-2 and lithium battery cabin 1-3-3;Platform deck It is 500mm, slightly above Water Plane that 1-3 is highly preferred away from baseline (intersection of plane and central fore-and-aft vertical plane where hull least significant end), Outer rim is welded on continuous soldering method on planking 1-1 and hull framing 1-2, and platform deck 1-3 will be as bearing wave force Main longitudinal member;Platform deck 1-3 or more sets gradually electrical equipment cabin 1-3-1 and sample devices cabin 1-3-2 from ship stern, Transverse bulkhead 1-3-4 and watertight hatch door 1-3-5 is set between electrical equipment cabin 1-3-1 and sample devices cabin 1-3-2;Platform deck 1- 3 using pontoon space as lithium battery cabin 1-3-3, and hatch 1-3-6 and corresponding watertight compartment is arranged in platform deck 1-3 near ship midship Lid 1-3-7 connection sample devices cabin 1-3-2 and lithium battery cabin 1-3-3;Lithium battery pedestal 1- is arranged in the lithium battery cabin bottoms 1-3-3 3-8 is to limit the relative motion between lithium battery 3-5 and hull.Lithium battery cabin 1-3-3 arranges underwater lower position, The larger lithium battery group of interior arrangement weight, to greatly reduce unmanned boat height of C.G..Closed hull space can manipulate aerofoil profile Stablize lateral body and lower center of gravity realizes the self-stability of unmanned boat jointly.
It is provided with flexible solar film battery assembly, speech ciphering equipment, light units, camera shooting at the top of circular arc roof construction 1-4 Equipment, alarm equipment, communication and navigation equipment and avoidance equipment.Specifically:Speech ciphering equipment includes loud speaker 1-4-1, with control The voice controller 6-5-7 connections of system 6;Light units include searchlight 1-4-2 and red Bai Lvsan colors navigation lights 1-4-3, are divided It is not connect with the lamp dimmer 6-5-6 of control system 6;Picture pick-up device includes video camera 6-4-1, with main control computer 6-1's RS-232 serial ports and camera control unit 6-5-5 connections;Alarm equipment includes alarm 1-4-4, the voice control with control system 6 Device 6-5-7 connections processed;Communication and navigation equipment includes GNSS antenna 6-2-1, positioning differential antennae 6-2-2, data transmission antenna 6- 3-1, screen transmission antenna 6-3-3, GNSS antenna 6-2-1, positioning differential antennae 6-2-2 are connect with the radio station GNSS, data transmission Radio station 6-3-2, screen transmission antenna 6-3-3 are connect with data transmission radio station 6-3-2 and screen transmission radio station 6-3-4 respectively;It keeps away It includes ultrasonic sensor 6-4-2 to hinder equipment, is connect with the RS-232 serial ports of main control computer 6-1;Loud speaker 1-4-1 and red white Green three colors navigation lights 1-4-3 settings send out voice letter in the fronts circular arc roof construction 1-4, for bank base controllers to ship around Number;In the fronts circular arc roof construction 1-4, the former is used for navigation at night for searchlight 1-4-2 and red Bai Lvsan colors navigation lights 1-4-3 settings Illumination, the latter are used to send out light signal to ship around, the red Bai Lvsan colors navigation lights 1-4-3 from the front of ship to Show feux rouges in 22.5 ° after port beam, to starboard beam after show green light in 22.5 °, from the dead astern of ship to every side of a ship White light is shown in 67.5 °;Video camera 6-4-1 settings are in the front ends circular arc roof construction 1-4, under camera control unit 6-5-5 controls Video camera 6-4-1 can 360 degree of real-time image informations looked around and capture unmanned boat surrounding enviroment;Alarm 1-4-4 is arranged in circle The tail portions arc roof construction 1-4, for being made a sound to ship around and light alarm signal;GNSS antenna 6-2-1, positioning difference day Line 6-2-2, data transmission antenna 6-3-1 and screen transmission antenna 6-3-3 are arranged in the tail portions circular arc roof construction 1-4;Ultrasonic wave passes Sensor 6-4-2 settings are more than 10m in the front ends circular arc roof construction 1-4, effective detection range, and ultrasonic sensor 6-4-2 is used for The barrier in unmanned boat direction of advance is identified under autonomous navigation pattern.
Hatch 1-4-5 and watertight hatch 1-4-6 is arranged at stem place to the rear in circular arc roof construction 1-4, and hatch 1-4-5 is along ship The minimum widith of wide direction is more than 1740mm, and the minimum length along captain direction is more than 600m, and passability is good, personnel Ke Tong It crosses hatch 1-4-5 and enters hull interior progress overhaul of the equipments;Watertight hatch 1-4-6 is closely solid by 7 groups of goat's horn screw 1-4-7 It is scheduled on above-mentioned circular arc roof construction 1-4, rainwater and seawater etc. and hull interior space can effectively be completely cut off, it is severe to improve unmanned boat Survival ability under sea situation.
Aerofoil profile stabilization lateral body 2, which can be manipulated, includes:Pillar 2-1, main side body servo motor 2-2, main side body rotary shaft 2-3, master Lateral body 2-4, wing flap lateral body 2-5, wing flap lateral body rotary shaft 2-6, wing flap lateral body corner driving guide rail 2-7 and wing flap lateral body guiding axis 2-8;Main side body, wing flap lateral body are cavity structure;The upper ends pillar 2-1 and the planking 1-1 of main hull 1 are welded, preferred weld For interface across 4 rib positions, the upper ends pillar 2-1 are connect with hull framing 1-2 transmits power and torque;The lower ends pillar 2-1 and main side body 2-4 Pass through main side body rotary shaft 2-3 connections;Main side body 2-4 is connect with main side body servo motor 2-2 by gear, in main side body servo The lower main side body 2-4 of motor 2-2 drivings is rotated around the main side body rotary shaft 2-3 for being fixed on the lower ends pillar 2-1;Wing flap lateral body 2-5 is logical It crosses wing flap lateral body rotary shaft 2-6 and is connected to the main side rear ends body 2-4, wing flap lateral body 2-5 can be around wing flap lateral body rotary shaft 2-6 and main side Body 2-4 relatively rotates;Wing flap lateral body corner driving one end guide rail 2-7 is fixedly connected with wing flap lateral body rotary shaft 2-6, another It holds and is flexibly connected with the wing flap lateral body guiding axis 2-8 for being fixed on the lower ends pillar 2-1, when main side body 2-4 is rotated, wing flap lateral body turns Angle drives guide rail 2-7 to be slided along wing flap lateral body guiding axis 2-8, and around wing flap lateral body rotary shaft 2-6 together with wing flap lateral body 2-5 It relatively rotates with main side body 2-4, to which wing flap lateral body 2-5 realizes that the corner of bigger, increase can manipulate aerofoil profile and stablize lateral body Camber generates the revolution steering force of bigger, and revolution steering force will manipulate unmanned boat rotary motion, in the synergistic effect of propeller Under, unmanned boat is rapidly completed steering and enters prebriefed pattern.Aerofoil profile thus can be manipulated by control and stablize lateral body and propeller turn Angle can realize that unmanned boat efficiently turns round manipulation.Thus aerofoil profile stabilization lateral body corner, which can be manipulated, by control can realize unmanned height The revolution of effect manipulates;Preferably, aerofoil profile can be manipulated and stablize the main side body of lateral body 2, wing flap lateral body for fairshaped section, when nobody Ship, which needs can to manipulate aerofoil profile when line navigation, to be stablized lateral body 2 and does not rotate, and drag minimization can manipulate aerofoil profile and stablize side at this time Body 2, which is equivalent to, is fixed on two low-resistance bluff bodies placed vertically, keeps unmanned boat shipping-direction stability;Aerofoil profile can be manipulated and stablize side Body 2 generates the buoyancy far from center of gravity, provides rolling restoring moment, enhances unmanned boat stability and sea-keeping.
Electric system 3 includes:Flexible solar film battery assembly 3-1, terminal box 3-2, solar charging controller 3- 3, lithium battery intelligent manager 3-4 and lithium battery group;Lithium battery group is composed in parallel by multiple lithium battery 3-5;Each flexibility sun Energy film battery assembly 3-1 is connected equipped with terminal box 3-2, multiple flexible solar film battery assembly 3-1 by terminal box 3-2 Connection, and connect with solar charging controller 3-3, lithium battery intelligent manager 3-4 connects with solar charging controller 3-3 It connects, lithium battery group is connect with lithium battery intelligent manager 3-4;The propulsion electric machine of lithium battery intelligent manager 3-4 and propulsion system 4 4-4 is connected with steering engine 4-5, is connect with the tube rolling device 5-3 of water quality sampling system 5, peristaltic pump 5-4, sampling box 5-5, with loud speaker 1-4-1, searchlight 1-4-2, red Bai Lvsan colors navigation lights 1-4-3, alarm 1-4-4 connections export electric energy;Lithium battery intelligent pipe Reason device 3-4 is also connect with 6 main control computer 6-1 of control system, is connect with the GNSS signal of 6 positioning navigation module 6-2 of control system The 6-2-3 connections of receipts machine connect with data transmission radio station 6-3-2, the screen transmission radio station 6-3-4 of 6 communication module 6-3 of control system It connects, video camera 6-4-1, ultrasonic sensor 6-4-2, three axis strapdown reluctance type electricity with 6 data acquisition module 6-4 of control system Sub- magnetic compass 6-4-3, intelligent gyroscope 6-4-4,3-axis acceleration sensor 6-4-5, water depth sensor 6-4-6 connections and control Its controller of propulsion 5-5-1, steering engine controller 6-5-2, wriggling pump controller 6-5-4, the volume of 6 controller module 6-5 of system processed Pipe device controller 5-5-4, camera control unit 6-5-5, lamp dimmer 6-5-6, voice controller 6-5-7 connections output electricity Energy;Multiple flexible solar film battery assembly 3-1 are laterally pasted onto the upper surfaces circular arc roof construction 1-4, are gone here and there by terminal box 3-2 Connection forms solar battery group;Preferably, flexible solar film battery assembly 3-1 selects CIGS (copper indium gallium selenide) thin-film electro Pond, model MiaSole FLEX-02W (Chinese energy) have light weight, and transfer efficiency height etc. is a little;Solar charging controller 3-3 is arranged on hull interior platform deck 1-3, it is preferred that solar charging controller 3-3 is MPPT solar charging electric control Device, output voltage is adjustable and has higher transfer efficiency, can still be kept in the weather of the insufficient lights such as rainy days Higher transfer efficiency;Lithium battery intelligent manager 3-4 is arranged for being managed to lithium battery 3-5 charging processes in ship On internal portion platform deck 1-3 in electric appliance equipment compartment 1-3-1;Lithium battery 3-5 is arranged in lithium battery cabin 1-3-3 lithium battery pedestals 1- On 3-9, it is preferred that the intervals each lithium battery 3-5 are not less than 25mm, so that battery radiates;Preferably, the battery of lithium battery 3-5 Capacity is 100Ah, and open-circuit voltage 12V, lithium battery 3-5 are ternary lithium battery and built-in protection board, has output voltage stabilization, can By the advantages that property is high, service life is long.
As shown in figure 5, propulsion system 4 includes:Propeller 4-1, high-strength carbon fiber pipe 4-2, connecting rod 4-3, electricity is promoted Machine 4-4 and steering engine 4-5;The tail end in unmanned boat is arranged in propeller 4-1;High-strength carbon fiber one end pipe 4-2 and propulsion electric machine The radome fairing of 4-4 is fixedly connected, and the other end passes through the propeller mounting hole 1-1-1 on hull and connect with connecting rod 4-3;Connecting rod 4-3 is connect with steering engine 4-5;Propeller 4-1 is also connect with propulsion electric machine 4-4;The propeller of propulsion electric machine 4-4 and control system 6 Controller 6-5-1 connections;Steering engine 4-5 is connect with the steering engine controller 6-5-2 of control system 6.Propulsion electric machine 4-4 rated power is excellent It is selected as 624W, thrust about 245N;Connecting rod 4-3 is mainly made of two rod pieces and transfer, and two rod pieces are arranged in parallel, two The both ends of rod piece are connect with two transfers respectively;Control system 6 controls steering engine 4-5 by steering engine controller 6-5-2 and turns to And the 4-2 rotations of high-strength carbon fiber pipe are driven by connecting rod 4-3, it realizes and the corners of propeller 4-1 in the horizontal plane is controlled, To realize that single propeller vector promotes, acquisition and the thrust of course difference angle and corresponding torque, under torque actuated, Unmanned course changes.
Water quality sampling system 5 includes pump line 5-1, pump head 5-2, tube rolling device 5-3, peristaltic pump 5-4, sampling box 5-5, waste water row Put pipe 5-6;Pump head 5-2 is connected by pump line 5-1 with peristaltic pump 5-4 and peristaltic pump 5-4 with sampling box 5-5, discharge of wastewater Peristaltic pump discharge of wastewater mouth is connect by pipe 5-6 with hull exterior space;Tube rolling device 5-3, peristaltic pump 5-4 respectively with control system 6 The tube rolling device controller 6-5-3 of controller module 6-5, the 6-5-4 connections of wriggling pump controller;Pump line 5-1 is for conveying water quality sample Product, by being arranged outside the pump line through hole stretching hull of stem, it is preferred that pump line 5-1 is corrosion-resistant silica gel hose;Pump head 5- 2 are placed in the one end of pump line 5-1 far from peristaltic pump 5-4, and inside is equipped with water depth sensor 6-4-6;Tube rolling device 5-3 is for controlling pump line The folding and unfolding of 5-1 makes pump head 5-2 reach at the different depth of water;Peristaltic pump 5-4 is responsible for extracting water sample raising power;Wastewater discharge pipe 5-6 is for emptying in pump line 5-1 remaining seawater so that water quality sampling system 5 executes sampling task next time;Sampling box 5-5 is placed In the 1-3-2 of sample devices cabin, after unmanned boat completes sampling task, person on shore can open watertight hatch 1-4-6 and more Change sampling box 5-5.
Control system 6 includes main control computer 6-1, positioning navigation module 6-2, communication module 6-3, data acquisition module 6- 4 and controller module 6-5.Preferably, main control computer 6-1 is the PCM-9375 single board computers based on PC104 buses.Positioning Navigation module 6-2 includes:GNSS antenna 6-2-1, positioning differential antennae 6-2-2, GNSS signal receiver 6-2-3;GNSS antenna 6-2-1 is arranged at the circular arc rear portions roof construction 1-4 with positioning differential antennae 6-2-2 and is connect with GNSS signal receiver 6-2-3, The RS-232 serial ports of GNSS signal receiver 6-2-3 access main control computers 6-1.GNSS antenna 6-2-1, positioning differential antennae 6- 2-2 is arranged in the rear end of circular arc roof construction 1-4, and the electric appliance that GNSS signal receiver 6-2-3 is arranged at the rear portions platform deck 1-3 is set In standby cabin 1-3-1.
Communication module 6-3 includes:Data transmission antenna 6-3-1, data transmission radio station 6-3-2, screen transmission antenna 6-3-3 With screen transmission radio station 6-3-4;Data transmission antenna 6-3-1 is connect with data transmission radio station 6-3-2, data transmission radio station 6-3- The RS-232 serial ports of 2 access main control computer 6-1;Screen transmission antenna 6-3-3 is connect with screen transmission radio station 6-3-4, screen The RS-232 serial ports of transmission radio station 6-3-4 access main control computers 6-1.Data transmission antenna 6-3-1 is responsible for controlling and detecting letter Number remote transmission, data transmission antenna 6-3-1 are arranged in the rear end of circular arc roof construction 1-4, data transmission radio station 6-3-2 settings In the electrical equipment cabin 1-3-1 at the rear portions platform deck 1-3;It is remote that screen transmission antenna 6-3-3 is responsible for video image video data Distance Transmission, screen transmission setting antenna are arranged in the rear end of circular arc roof construction 1-4, screen transmission radio station 6-3-4 in platform first The electrical equipment cabin 1-3-1 at the rear portions plate 1-3.
Data acquisition module 6-4 includes:Video camera 6-4-1, ultrasonic sensor 6-4-2, three axis strapdown reluctance type electronics Magnetic compass 6-4-3, intelligent gyroscope 6-4-4,3-axis acceleration sensor 6-4-5 and water depth sensor 6-4-6;Video camera 6-4- 1, ultrasonic sensor 6-4-2, three axis strapdown reluctance type Electronic Megnetic Compass 6-4-3, intelligent gyroscope 6-4-4,3-axis acceleration Sensor 6-4-5, water depth sensor 6-4-6 are respectively connected to the RS-232 serial ports of main control computer 6-1;Video camera 6-4-1 can 360 Degree looks around the real-time image information of capture unmanned boat surrounding enviroment;Three axis strapdown reluctance type Electronic Megnetic Compass 6-4-3 are for measuring Unmanned boat course, intelligent gyroscope 6-4-4 is for measuring the appearances such as hull rolling (Roll), pitching (Pitch) and yawing (Yaw) State, 3-axis acceleration sensor 6-4-5 are used to measure unmanned boat steric acceleration (solid space, around, up and down), Water depth sensor 6-4-6 is mounted on pump head 5-2, for measuring pump head 5-2 current depths.
Controller module 6-5 is preferably provided at the rear portions platform deck 1-3;Controller module 6-5 includes:Propeller control device 6-5-1, steering engine controller 6-5-2, tube rolling device controller 6-5-3, wriggling pump controller 6-5-4, camera control unit 6-5-5, Lamp dimmer 6-5-6, voice controller 6-5-7 and main side body servomotor controller 6-5-8;Propeller control device 5-5-1, Steering engine controller 6-5-2, tube rolling device controller 6-5-3, wriggling pump controller 6-5-4, camera control unit 6-5-5, light control Device 6-5-6 processed, voice controller 6-5-7 are tapped into the RS-232 serial ports of main control computer 6-1;Propeller control device 6-5-1 is also It is connect with propulsion electric machine 4-4, for executing main control computer 6-1 instruction control propulsion electric machine 4-4 stop and start, positive and negative rotation Deng;Steering engine controller 6-5-2 is also connect with steering engine 4-5, is controlled steering engine 4-5 steerings and corner and is passed through connecting rod 4-3 driving spirals Paddle 4-1 is rotated synchronously in horizontal plane, to realize that single propeller vector promotes;Tube rolling device controller 6-5-3 also with pipe crimping Device 5-3 connections control tube rolling device 5-3 corners, realize the folding and unfolding of pump line 5-1;Wriggling pump controller 6-5-4 also with peristaltic pump 5-4 Connection controls peristaltic pump 5-4 pump drainage water;Camera control unit 6-5-5 is also connect with video camera 6-4-1, for controlling video camera 6-4-1 is rotated;Main side body servomotor controller 6-5-8 is also connect with main side body servo motor 2-2.
Preferably, planking 1-1 and hull framing 1-2, platform deck 1-3, circular arc roof construction 1-4 and aerofoil profile can be manipulated To stablize lateral body 2 to be made of 5086 aluminium alloys, 5086 aluminium alloy qualities are light, have good corrosion resistance and weldability, and Its intensity meets unmanned boat Structural strength calls.
The specific working mode of the utility model is as follows:
(1) aerofoil profile that manipulates of the utility model is stablized at the top of the long-distance remote control seawater sampling solar energy unmanned boat of lateral body Flexible solar film battery assembly 3-1 under sunlight, convert light energy into electric energy and will electrical energy transportation to the sun Can charge controller 3-3, solar charging controller 3-3 is depressured above-mentioned electric energy and is conveyed to lithium battery intelligent manager 3-4 gives whole system to power in turn;The speed of a ship or plane instruction that bank base control station is sent out is captured and is fed back to by data transmission antenna 6-3-1 Main control computer 6-1, main control computer 6-1 send out control instruction to propeller control device 6-5-1;Propeller control device 6-5-1 Voltage corresponding with the speed of a ship or plane, to make propulsion electric machine 4-4 rotate and drive propeller rotational, spiral are given to propulsion electric machine 4-4 Paddle generates forward thrust and promotes unmanned boat accelerated motion forward;Similar, when bank base control station sends out steering order, control System rotates certain angle and is driven by connecting rod 4-3 to the different voltage of the given sizes of steering engine 4-5 or direction, steering engine 4-5 Propeller 4-1 rotates synchronously the thrust for making propeller generate different directions and acts in the horizontal plane in the horizontal plane Torque on hull;Meanwhile main control computer 6-1 sends out course changing control instruction to main side body servomotor controller 6-5-8, Main side body servomotor controller 6-5-8 gives corresponding voltage, main side body servo motor 2-2 to main side body servo motor 2-2 It rotates certain angle and drives main side body 2-4 rotations, wing flap lateral body corner to drive guide rail 2-7 along wing flap lateral body by gear Guiding axis 2-8 slidings, and relatively rotate around wing flap lateral body rotary shaft 2-6 and main side body 2-4 together with wing flap lateral body 2-5, To which wing flap lateral body 2-5 realizes that the corner of bigger, increase can manipulate aerofoil profile and stablize lateral body camber, the revolution for generating bigger manipulates Power, revolution steering force will manipulate unmanned boat rotary motion, and under the synergistic effect of propeller, unmanned boat is rapidly completed steering and goes forward side by side Enter prebriefed pattern.Thus aerofoil profile stabilization lateral body and propeller corner, which can be manipulated, by control can realize that unmanned boat efficiently turns round behaviour It is vertical.Thus aerofoil profile stabilization lateral body corner, which can be manipulated, by control can realize that unmanned boat efficiently turns round manipulation.
(2) at the same time:Positioning navigation module 6-2 is by information such as the unmanned ship position of acquisition, course, acceleration and takes the photograph The image frame of camera capture feeds back to main control computer 6-1 and transmits day by data transmission antenna 6-3-1 and screen respectively Line 6-3-3 passes bank base control station back;Lithium battery intelligent manager 3-4 identifies lithium battery group remaining capacity, when lithium battery group electricity When less than a certain value, battery pack is implemented to charge, the flexible solar film battery assembly 3-1 dump energies generated are stored in When in lithium battery group;When lithium battery group electricity reaches another higher value, lithium battery intelligent manager 3-4 cuts off charging circuit, Charging stops;When the electric energy that flexible solar film battery assembly 3-1 is generated is not enough to maintain unmanned boat normal work, lithium electricity The electric energy of pond group release storage, ensures the supply of unmanned boat electric energy.
(3) further, the long-distance remote control seawater sampling solar energy for manipulating aerofoil profile and stablizing lateral body of the utility model Unmanned boat reaches specified sampling position under the real time monitoring of bank base operator, and bank base control station sends out sampling instruction;Pipe crimping Device 5-3 driving tube rolling device 5-3 under main control computer 6-1 controls discharge pump head 5-2, and pump head 5-2 drags pump under the effect of gravity Pipe 5-1 sinks rapidly;At the same time, the water depth sensor 6-4-6 on pump head 5-2 captures Water Depth Information and feeds back to master control calculating Water Depth Information is sent to bank base control station, bank base control by machine 6-1, main control computer 6-1 by data transmission antenna 6-3-1 biographies Personnel assign sampling and confirm instruction after confirming that the depth of water is errorless;Peristaltic pump 5-4 starts under the control of main control computer 6-1, will Seawater sample is extracted to sampling box, and single sampled point sampling process is completed;Repeatedly, the sampling all sampling point samplings in marine site are completed Work, unmanned boat make a return voyage;Person on shore opens watertight hatchcover 1-4-6, takes out sampling box 5-5, and place new sampling box 5-5; Unmanned boat, which continues to sail, executes new sampling task.
(4) the long-distance remote control seawater sampling solar energy unmanned boat that aerofoil profile stablizes lateral body that manipulates of the utility model has Certain AUTONOMOUS TASK ability.Similarly, under AUTONOMOUS TASK pattern, the above process is completed by pre-set programs instruction is autonomous.
(5) further, under the outer force effect such as wind and wave, the long distance for manipulating aerofoil profile and stablizing lateral body of the utility model Wide-angle heel occurs from remote control seawater sampling solar energy unmanned boat hull, underwater due to lithium battery cabin 1-3-3 arrangements Lower position, the larger lithium battery group of the interior arrangement weight of lithium battery cabin 1-3-3 play main work to reducing unmanned boat height of C.G. With, meanwhile, lectotype selection as select the flexible solar film battery assembly 3-1 of lighter weight substitute traditional solar panels with And unmanned boat height of C.G. is optimized in general arrangement, in conjunction with closed hull space, aerofoil profile stabilization lateral body design can be manipulated Realize that center of gravity is relatively low, centre of buoyancy is higher, and centre of buoyancy can manipulate aerofoil profile and stablize the buoyancy that lateral body 2 generates separate center of gravity on center of gravity, Additional rolling restoring moment is provided, the coupling of gravity and buoyancy generates larger restoring moment, and alist angle is returned rapidly In zero;Under limiting condition, stablize the outer each equal damage and water inflow in watertight cabin of hull of lateral body 2 except aerofoil profile can be manipulated, buoyancy significantly damages It loses, the buoyancy of the weight such as be partially flooded with 2 generations and hull, the utility model is made to manipulate the wing into the seawater of hull interior The long-distance remote control seawater sampling solar energy unmanned boat that type stablizes lateral body can keep floating state and be unlikely to sink to seabed, reduce Property loss.
It should be noted that any change or replacement expected without creative work, should all cover new in this practicality Within the protection domain of type.Therefore, the scope of protection of the utility model should be with protection domain defined by claims It is accurate.

Claims (10)

1. a kind of three body unmanned boat of solar energy of long-distance remote control seawater sampling, which is characterized in that including main hull, the wing can be manipulated Type stablizes lateral body, electric system, propulsion system, water quality sampling system and control system;Wherein, main hull include planking, Hull framing, platform deck and circular arc roof construction;Circular arc roof construction connect to form closed hull with planking and hull framing Space, dome structural top are provided with flexible solar film battery assembly, speech ciphering equipment, light units, picture pick-up device, announcement Alert equipment, communication and navigation equipment and avoidance equipment;
The aerofoil profile stabilization lateral body that manipulates includes pillar, main side body servo motor, main side body rotary shaft, main side body, wing flap side Body, wing flap lateral body rotary shaft, wing flap lateral body corner driving guide rail and wing flap lateral body guiding axis;The main side body and wing flap lateral body cut open Face is streamlined;Pillar upper end is connect with planking, and lower rod end rotates axis connection with main side body by main side body;Main side body It is connect by gear with main side body servo motor, wing flap lateral body is connected to main side body rear end, wing flap by wing flap lateral body rotary shaft Lateral body corner driving guide rail one end is fixedly connected with wing flap lateral body rotary shaft, the other end and the wing flap lateral body for being fixed on lower rod end Guiding axis is flexibly connected;
The electric system includes flexible solar film battery assembly, terminal box, solar charging controller, lithium battery intelligent Manager and lithium battery group;Lithium battery group is composed in parallel by multiple lithium batteries;Each flexible solar film battery assembly is equipped with Terminal box, multiple flexible solar film battery assemblies are connected in series with by terminal box, and are connect with solar charging controller, Lithium battery intelligent manager is connect with solar charging controller, and lithium battery group is connect with lithium battery intelligent manager;
The propulsion system includes propeller, high-strength carbon fiber pipe, connecting rod, propulsion electric machine and steering engine;Propeller setting exists The tail end of unmanned boat;High-strength carbon fiber pipe one end is fixedly connected with the radome fairing of propulsion electric machine, and the other end passes through ship Propeller mounting hole on body is connect with connecting rod;Connecting rod is connect with steering engine;
The water quality sampling system includes pump line, pump head, tube rolling device, peristaltic pump, sampling box, wastewater discharge pipe;Pump head and wriggling Pump and peristaltic pump are connected with sampling box by pump line, and wastewater discharge pipe connects peristaltic pump discharge of wastewater mouth and hull exterior space It connects;Tube rolling device, peristaltic pump are connect with the tube rolling device controller of control system controller module, wriggling pump controller respectively;
The control system includes main control computer, positioning navigation module, communication module, data acquisition module and controller mould Block, main control computer are connect with positioning navigation module, communication module, data acquisition module and controller module respectively.
2. the three body unmanned boat of solar energy of long-distance remote control seawater sampling according to claim 1, which is characterized in that described The length that is connect with planking of pillar upper end across 4 rib positions;The main side body and wing flap lateral body are cavity structure.
3. the three body unmanned boat of solar energy of long-distance remote control seawater sampling according to claim 1, which is characterized in that described Connecting rod be mainly made of two rod pieces and transfer, two rod pieces are arranged in parallel, the both ends of two rod pieces respectively with two Transfer connects.
4. the three body unmanned boat of solar energy of long-distance remote control seawater sampling according to claim 1, which is characterized in that described Main control computer be the PCM-9375 single board computers based on PC104 buses;
The positioning navigation module includes GNSS antenna, positioning differential antennae and GNSS signal receiver;GNSS signal receiver It is arranged in the electrical equipment cabin at platform deck rear portion;GNSS antenna with positioning differential antennae setting circular arc roof construction rear portion simultaneously It is connect with GNSS signal receiver, GNSS signal receiver accesses the RS-232 serial ports of main control computer;
The communication module includes data transmission antenna, data transmission radio station, screen transmission antenna and screen transmission radio station;Data Transmission antenna is connect with data transmission radio station, and the RS-232 serial ports of main control computer is accessed in data transmission radio station;Screen transmits day Line is connect with screen transmission radio station, and screen transmission radio station accesses the RS-232 serial ports of main control computer;
Data acquisition module include video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyroscope, 3-axis acceleration sensor and water depth sensor;Video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligence Energy gyroscope, 3-axis acceleration sensor, water depth sensor are respectively connected to the RS-232 serial ports of main control computer;
Controller module is arranged at platform deck rear portion;Controller module includes propeller control device, steering engine controller, tube rolling device Controller, wriggling pump controller, camera control unit, lamp dimmer, voice controller and main side body servomotor controller; Propeller control device, steering engine controller, tube rolling device controller, wriggling pump controller, camera control unit, lamp dimmer, language Sound controller is tapped into the RS-232 serial ports of main control computer;Propeller control device is also connect with propulsion electric machine;Steering engine controller Also it is connect with steering engine;Tube rolling device controller is also connect with tube rolling device;Wriggling pump controller is also connect with peristaltic pump;Camera control Device is also connect with video camera;Main side body servomotor controller is also connect with main side body servo motor.
5. the three body unmanned boat of solar energy of long-distance remote control seawater sampling according to claim 1, which is characterized in that described Planking and hull framing, platform deck, circular arc roof construction and can manipulate aerofoil profile stablize lateral body by 5086 aluminium alloy systems At.
6. the three body unmanned boat of solar energy of long-distance remote control seawater sampling according to claim 1, which is characterized in that described Platform deck connect with planking and hull framing, be horizontally set in the closed hull space of main hull;Hull framing includes Keel and floor, hull framing are transverse system;Setting is longitudinally continuous keel at hull central fore-and-aft vertical plane hull bottom;Hull framing rib Column pitch is 600mm, and it is arc-shaped floor that top made of integral cutting is arranged at rib position;Propeller is arranged in planking stern Pump line through hole is arranged in mounting hole, fore body.
7. the three body unmanned boat of solar energy of long-distance remote control seawater sampling according to claim 1, which is characterized in that described Planking be continuously welded by polylith metal curved slab, shell plate thickness be 5mm;Polylith metal curved slab continuously cover by welding It covers and is covered in planking on hull framing at top on arc-shaped hull framing, circular arc roof construction sequential welding connects, formed Closed hull space;The circular arc roof construction is in stem place's setting hatch to the rear and watertight hatch, and hatch is along beam direction Minimum widith be more than 1740mm, along captain direction minimum length be more than 600m;Watertight hatch is close by goat's horn screw It is fixed on circular arc roof construction;
The pump line is corrosion-resistant silica gel hose.
8. the three body unmanned boat of solar energy of long-distance remote control seawater sampling according to claim 1, which is characterized in that described Platform deck hull interior space is divided into two, two parts hull space includes three equipment cabins, including electrical equipment Cabin, sample devices cabin and lithium battery cabin;Between electrical equipment cabin and sample devices cabin and sample devices cabin and lithium battery cabin it Between be interconnected by hatch or hatch door;Platform deck is 500mm away from baseline height.
9. the three body unmanned boat of solar energy of long-distance remote control seawater sampling according to claim 1, which is characterized in that described Speech ciphering equipment include loud speaker, connect with the voice controller of control system;Light units include searchlight and red Bai Lvsan Color navigation lights is connect with the lamp dimmer of control system respectively;Picture pick-up device includes video camera, the RS- with main control computer 232 serial ports and camera control unit connection;Alarm equipment includes alarm, is connect with the voice controller of control system;Communication Navigation equipment includes GNSS antenna, positioning differential antennae, data transmission antenna, screen transmission antenna and GNSS antenna;Avoidance is set Standby includes ultrasonic sensor, is connect with the RS-232 serial ports of main control computer;Loud speaker is arranged in circular arc roof construction front;It visits Illuminator and red Bai Lvsan colors navigation lights are arranged in circular arc roof construction front;Video camera setting is in dome structure front end;Alarm It is arranged in dome structure tail portions;GNSS antenna, positioning differential antennae, data transmission antenna and screen transmission antenna are arranged in circle Arc roof construction tail portion;Ultrasonic sensor is arranged in dome structure front end.
10. the three body unmanned boat of solar energy of long-distance remote control seawater sampling according to claim 1, which is characterized in that institute State propulsion electric machine and the steering engine connection of lithium battery intelligent manager and propulsion system;Lithium battery intelligent manager and water quality sampling system The tube rolling device of system, peristaltic pump, sampling box connection;Lithium battery intelligent manager is navigated by water with loud speaker, searchlight, red Bai Lvsan colors Lamp, alarm connection;Lithium battery intelligent manager is also connect with control system main control computer;Lithium battery intelligent manager and control The GNSS signal receiver of system positioning navigation module processed connects;The number of lithium battery intelligent manager and control system communication module It is connected according to transmission radio station, screen transmission radio station;The video camera of lithium battery intelligent manager and control system data acquisition module surpasses Sonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyroscope, 3-axis acceleration sensor, water depth sensor connect Connect and the propulsion of control system controller module its controller, steering engine controller, wriggling pump controller, tube rolling device controller, Camera control unit, lamp dimmer, voice controller connection and main side body servomotor controller;
The multiple flexible solar film battery assembly is laterally pasted onto circular arc roof construction upper surface, flexible solar thin-film electro Pond component selects CIGS hull cell;Solar charging controller is arranged on hull interior platform deck;Solar charging is automatically controlled Device processed is MPPT solar charging controllers;Lithium battery intelligent manager is arranged on platform deck in electric appliance equipment compartment;Lithium electricity Pond is arranged on the lithium battery pedestal of lithium battery cabin, and each lithium battery interval is not less than 25mm.
CN201721515802.1U 2017-11-14 2017-11-14 A kind of three body unmanned boat of solar energy of long-distance remote control seawater sampling Expired - Fee Related CN208007217U (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110143272A (en) * 2019-05-30 2019-08-20 中国人民解放军海军工程大学 A kind of device of control aircraft combined operation face gap flowing

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110143272A (en) * 2019-05-30 2019-08-20 中国人民解放军海军工程大学 A kind of device of control aircraft combined operation face gap flowing

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