CN208705725U - Unmanned submarine autonomous cruise system - Google Patents
Unmanned submarine autonomous cruise system Download PDFInfo
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- CN208705725U CN208705725U CN201821337934.4U CN201821337934U CN208705725U CN 208705725 U CN208705725 U CN 208705725U CN 201821337934 U CN201821337934 U CN 201821337934U CN 208705725 U CN208705725 U CN 208705725U
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- distance measuring
- navigation device
- river
- measuring sensor
- submarine
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Abstract
A kind of unmanned submarine autonomous cruise system, is related to submarine navigation device technical field, and the solution is to make an inspection tour river.The system includes submarine navigation device, and the navigation controller of main thruster, steering mechanism's operation for controlling submarine navigation device；And it is stored with the river map server of river electronic map, the navigation controller is connected to the network river map server by wireless communication；The submarine navigation device is equipped with satellite positioning module, three-dimensional electronic compass, and the front end of aircraft is equipped with multiple sonar distance measuring sensors under water；The aeronautical data that submarine navigation device is acquired using satellite positioning module, three-dimensional electronic compass, sonar distance measuring sensor, by river map server according to the path clustering submarine navigation device autonomous cruise of planning.System provided by the utility model can reduce river and make an inspection tour cost and labor intensity.
Description
Technical field
The utility model relates to submarine navigation device technologies, more particularly to a kind of skill of unmanned submarine autonomous cruise system
Art.
Background technique
Currently, the water quality in river causes water quality deterioration due to substances such as silt, microorganisms in water, life and industrial discharges,
This will affect the existence of aqueous bio, it is therefore desirable to the tour monitoring regular to river water body.Current river tour monitoring
All by pilot steering canoe, some water body samples are acquired every one section of waters to realize monitoring, this river tour monitoring side
Formula time-consuming, effort, make an inspection tour at high cost, large labor intensity.
Utility model content
For above-mentioned defect existing in the prior art, the technical problem to be solved by the utility model is to provide a kind of energy
Reduce the unmanned submarine autonomous cruise system that cost and labor intensity are maked an inspection tour in river.
In order to solve the above-mentioned technical problem, a kind of unmanned submarine autonomous cruise system provided by the utility model, including
Submarine navigation device, the rear portion of the submarine navigation device are equipped with the main thruster for driving it to advance, and aircraft under water
It is equipped with the steering mechanism for driving it to turn to, and the navigation controller for controlling main thruster, steering mechanism's operation；Its
It is characterized in that: further including the river map server for being stored with river electronic map, the navigation controller is by wireless communication
It is connected to the network river map server；
The submarine navigation device is equipped with satellite positioning module, three-dimensional electronic compass, and the front end of aircraft under water
Equipped with multiple sonar distance measuring sensors；
The satellite positioning module connects navigation controller through the communications cable；The compass signal output end of three-dimensional electronic compass
Mouth is connected to the compass data acquisition port of navigation controller；The measurement data output port of each sonar distance measuring sensor connects respectively
To each sonar data collection terminal mouth of navigation controller.
Further, there are six the sonar distance measuring sensors, the end of probe court of one of sonar distance measuring sensor
To front, the end of probe of a sonar distance measuring sensor is towards underface, the end of probe direction of a sonar distance measuring sensor
Front-left, for the end of probe of a sonar distance measuring sensor towards front-right, the end of probe direction of a sonar distance measuring sensor is left
Front, the end of probe of a sonar distance measuring sensor is towards right front.
Further, the steering mechanism is made of each steering propeller in the left and right being mounted on submarine navigation device,
The steering propeller in left side is for injection water to the left, and the steering propeller on right side is for injection water to the right.
Unmanned submarine autonomous cruise system provided by the utility model, utilizes satellite positioning module, three-dimensional electronic compass, sound
Distance measuring sensor acquires the aeronautical data of submarine navigation device, is navigated under water by river map server according to the path clustering of planning
Row device autonomous cruise can reduce river and make an inspection tour cost and labor intensity.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the unmanned submarine autonomous cruise system of the utility model embodiment.
Specific embodiment
The embodiments of the present invention are described in further detail below in conjunction with Detailed description of the invention, but the present embodiment and are not had to
In limitation the utility model, all similar structures and its similar variation using the utility model should all be included in the utility model
Protection scope, the pause mark in the utility model indicates the relationship of sum, and the English alphabet in the utility model is case sensitive.
As shown in Figure 1, a kind of unmanned submarine autonomous cruise system provided by the utility model embodiment, including navigate under water
Row device 1, the rear portion of the submarine navigation device 1 are equipped with the main thruster 2 for driving it to advance, and under water in aircraft 1
Equipped with the steering mechanism 3 for driving it to turn to, and the navigation controller 4 for controlling main thruster 2, steering mechanism 3 runs；
It is characterized by also including the river map server 8 for being stored with river electronic map, the navigation controller 4 passes through wireless
Communication network connects river map server 8；
The submarine navigation device 1 is equipped with satellite positioning module 6, three-dimensional electronic compass 7, and under water before aircraft
End is equipped with multiple sonar distance measuring sensors 5；
The satellite positioning module 6 connects navigation controller 4 through the communications cable；The compass signal of three-dimensional electronic compass 7 is defeated
Exit port is connected to the compass data acquisition port of navigation controller 4；The measurement data output port of each sonar distance measuring sensor 5
It is coupled with each sonar data collection terminal mouth of navigation controller 4.
In the utility model embodiment, there are six the sonar distance measuring sensors 5, one of sonar distance measuring sensor
End of probe towards front, the end of probe of a sonar distance measuring sensor towards underface, sonar distance measuring sensor
End of probe is towards front-left, and the end of probe of a sonar distance measuring sensor is towards front-right, the spy of a sonar distance measuring sensor
End is surveyed towards left front, the end of probe of a sonar distance measuring sensor is towards right front；It can by six sonar distance measuring sensors
With before detecting submarine navigation device, under, the barriers of left and right, left front, right preceding all directions, be conducive to keeping away for submarine navigation device
Barrier.
In the utility model embodiment, the steering mechanism 3 is by each steering in the left and right being mounted on submarine navigation device 1
Propeller composition, the steering propeller in left side is for injection water to the left, and the steering propeller on right side is for injection water to the right.
In the utility model embodiment, the river map server can be constructed using single computer, can also be adopted
It is constructed with multiple stage computers；The navigation controller is the prior art, and navigation controller navigates by water controller using single-chip microcontroller
Connection type with propeller, satellite positioning module, three-dimensional electronic compass, sonar distance measuring sensor is also the prior art, very
More documents are all on the books, and this embodiment is not repeated.
The cruise method of the unmanned submarine autonomous cruise system of the utility model embodiment is as follows:
Navigation controller on submarine navigation device acquires the satellite location data of submarine navigation device by satellite positioning module,
The direction of travel that submarine navigation device is obtained by three-dimensional electronic compass acquires submarine navigation device by each sonar distance measuring sensor
Periphery obstacle information, and network hinders the satellite location data, direction of travel, periphery of submarine navigation device by wireless communication
Object information is hindered to be uploaded to river map server；
River map server marks underwater boat according to the satellite location data of submarine navigation device on river electronic map
The current location point of row device；
Before cruise target river, cruise terminal is first chosen on the river electronic map of river map server, then in river
The cruise path that cruise terminal can be reached from the current location of submarine navigation device point is cooked up on road electronic map；
When cruise target river, river map server is according to the satellite location data, direction of travel, week of submarine navigation device
The cruise path of side obstacle information and planning, the navigation controller on submarine navigation device issue corresponding cruise control and refer to
It enables, navigation controller controls main thruster according to the cruise control instruction received, steering mechanism runs, to drive underwater navigation
Device is advanced towards cruise terminal, and avoids periphery barrier.
Claims (3)
1. the rear portion of a kind of unmanned submarine autonomous cruise system, including submarine navigation device, the submarine navigation device is equipped with for driving
The main thruster of its traveling is moved, and aircraft is equipped with the steering mechanism for driving it to turn under water, and for controlling
The navigation controller that main thruster, steering mechanism run；It is characterized by also including the river for being stored with river electronic map
Figure server, the navigation controller are connected to the network river map server by wireless communication；
The submarine navigation device is equipped with satellite positioning module, three-dimensional electronic compass, and the front end of aircraft is equipped under water
Multiple sonar distance measuring sensors；
The satellite positioning module connects navigation controller through the communications cable；The compass signal output port of three-dimensional electronic compass connects
Compass data to navigation controller acquires port；The measurement data output port of each sonar distance measuring sensor is coupled with boat
Each sonar data collection terminal mouth of line control unit.
2. unmanned submarine autonomous cruise system according to claim 1, it is characterised in that: the sonar distance measuring sensor has
Six, the end of probe of one of sonar distance measuring sensor is towards front, the end of probe court of a sonar distance measuring sensor
To underface, the end of probe of a sonar distance measuring sensor is towards front-left, the end of probe direction of a sonar distance measuring sensor
Front-right, for the end of probe of a sonar distance measuring sensor towards left front, the end of probe direction of a sonar distance measuring sensor is right
Front.
3. unmanned submarine autonomous cruise system according to claim 1, it is characterised in that: the steering mechanism is by being mounted on
Each steering propeller composition in left and right on submarine navigation device, the steering propeller in left side is for injection water to the left, right side
Steering propeller for injection water to the right.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821337934.4U CN208705725U (en) | 2018-08-20 | 2018-08-20 | Unmanned submarine autonomous cruise system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821337934.4U CN208705725U (en) | 2018-08-20 | 2018-08-20 | Unmanned submarine autonomous cruise system |
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| CN208705725U true CN208705725U (en) | 2019-04-05 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109062231A (en) * | 2018-08-20 | 2018-12-21 | 上海磐波智能科技有限公司 | Unmanned submarine autonomous cruise system and its cruise method |
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2018
- 2018-08-20 CN CN201821337934.4U patent/CN208705725U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109062231A (en) * | 2018-08-20 | 2018-12-21 | 上海磐波智能科技有限公司 | Unmanned submarine autonomous cruise system and its cruise method |
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