CN209980098U - Obstacle-avoiding sonar control system of double-body unmanned boat - Google Patents
Obstacle-avoiding sonar control system of double-body unmanned boat Download PDFInfo
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- CN209980098U CN209980098U CN201921064133.XU CN201921064133U CN209980098U CN 209980098 U CN209980098 U CN 209980098U CN 201921064133 U CN201921064133 U CN 201921064133U CN 209980098 U CN209980098 U CN 209980098U
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Abstract
The utility model relates to a binary unmanned ship keeps away barrier sonar control system, it includes the assembly at anterior manipulation steering wheel, support arm and the sonar probe of binary unmanned ship, is equipped with the probe cassette of taking one's place in the bottom of binary unmanned ship, the support arm is the folding arm structure, and its one end is connected the manipulation steering wheel, and the sonar probe of other end fixed mounting, the manipulation steering wheel drives the support arm operation, the sonar probe is worked along with the rotation of support arm; when the supporting arm is in a non-working state, the supporting arm leaves the water surface, the sonar probe is retracted into the probe positioning clamping seat, and when the supporting arm is in a working state, the rotation angle is adjusted to place the sonar probe under water; the steering engine is in rigid connection with the ship body, a servo motor, a speed reduction driver, a band-type brake and a controller system are arranged in the steering engine, and the band-type brake is used for locking the supporting arm after being adjusted to a fixed angle during working. The utility model has the advantages that, angle modulation, maintenance convenience can avoid marine organism to adhere to etc..
Description
Technical Field
The utility model belongs to barrier control field is kept away to unmanned ship, concretely relates to barrier sonar control system is kept away to unmanned ship of binary.
Background
The sonar fixedly installed on the surface ship generally adopts a hull sonar deployment mode which is installed below a keel and made into a streamline form, and the hull sonar has the greatest advantages that the sonar is directly fixed below a waterline, the resistance of a ship body part is low, the maneuvering of the surface ship is not influenced, and the surface ship can still effectively work when maneuvering at high speed. However, ships with the hull sonar generally have deep draft and large sizes, while the catamaran is relatively small and has shallow draft; in addition, the ship body part where the ship shell sonar is located is underwater for a long time, marine organisms are easy to attach to the surface of the ship body, and the performance of the sonar is influenced; furthermore, the detection angle of the ship shell sonar is fixed, the price is high, and the maintenance is inconvenient.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the above-mentioned problem, provide an angle is adjustable, it is convenient to maintain, avoids the adnexed unmanned ship of binary of marine organism to keep away barrier sonar control system, and it adopts a roll over arm structure, drives the support arm by the steering wheel, and the small-size sonar of support arm front end fixed mounting is popped one's head in, and the sonar is popped one's head in at ordinary times or during high-speed navigation leaves the surface of water and is received in the cassette of taking one's head in of unmanned ship bottom of binary, needs the sonar during operation rotation support arm to put the sonar probe under water again.
In order to achieve the above object, the utility model provides a following technical scheme:
a barrier-avoiding sonar control system for a double-body unmanned ship comprises a steering engine, a supporting arm and a sonar probe, wherein the steering engine, the supporting arm and the sonar probe are assembled at the front part of the double-body unmanned ship; when the supporting arm is in a non-working state, the supporting arm leaves the water surface, the sonar probe is retracted into the probe positioning clamping seat, and when the supporting arm is in a working state, the rotation angle is adjusted to place the sonar probe under water;
the steering engine is in rigid connection with the ship body, a servo motor, a speed reduction driver (including absolute value angle sensing), a band-type brake and a controller system are arranged in the steering engine, and the band-type brake is used for locking the supporting arm after being adjusted to a fixed angle during working.
Further, the specific mode that the steering engine and the ship body are in rigid connection is as follows: the output shaft is fixedly connected with the boom shaft of the transducer and is coaxial with the ship flange; the transducer davit axle passes ship flange ability free rotation, and ship flange adopts the watertight structural design, installs in the mounting hole of reserving.
Furthermore, the longitudinal steering engine, the supporting arm and the sonar probe are assembled on the left side or the right side of the front part of the catamaran.
Preferably, the main components such as the supporting arm are made of titanium alloy TC4, the other auxiliary components are made of 304 stainless steel, and the weight of the whole system is limited to be within 50 kg.
Compared with the prior art, the beneficial effects of the utility model reside in that:
the utility model discloses operating system adopts and rolls over the arm mode, leaves the surface of water under the non-operating condition and receive in the cassette of taking one's place of the probe of unmanned ship bottom of binary, and is less to the influence of binary structure, does not change high speed condition ship shape. Except the retracting and releasing processes, the steering engine motor is not electrified, so that the electric energy is saved; meanwhile, under the condition of failure, the steering engine can deviate from the original positioning position, so that the entanglement can be favorably eliminated; the rotation angle of the folding arm can be adjusted, and the folding arm can be locked through a brake, so that the unmanned ship can adapt to the condition that the front elevation angle is different under different speeds, and can adapt to the requirements of detecting obstacles in different directions. Additionally, the utility model discloses entire system structure is light and handy, convenient equipment, dismantlement, and easy to maintain maintains the maintenance, when having the marine organism to adhere to, clears up very easily.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only for the purpose of more clearly illustrating the embodiments of the present invention or the technical solutions in the prior art, and for those skilled in the art, other drawings can be obtained according to these drawings without any creative efforts.
FIG. 1 is a front view of a sonar probe received in a probe-in-place holder in a non-operating state;
FIG. 2 is a side view of a sonar probe head received in a probe head seating cartridge in a non-operating state;
fig. 3 is a front view of the sonar probe in a working state, with the sonar probe lowered;
FIG. 4 is an enlarged view of circled portion A of FIG. 3;
in the figure: 1. the steering engine is operated, the supporting arm is operated, the sonar probe is operated, and the probe is operated in place by the clamping seat.
Detailed Description
In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention will be further described with reference to the following specific embodiments, which are provided as illustration only and are not intended to limit the present invention.
The barrier-avoiding sonar control system for the double-body unmanned ship comprises a control steering engine 1, a support arm 2 and a sonar probe 3, wherein the control steering engine 1, the support arm 2 and the sonar probe 3 are assembled at the front part of the double-body unmanned ship, a probe in-place clamping seat 4 is arranged at the bottom of the double-body unmanned ship, the support arm 2 is of a folded arm structure, one end of the support arm is connected with the control steering engine 1, the sonar probe 3 is fixedly installed at the other end of the support arm, the control steering engine 1 drives the support arm 2 to operate, and the sonar probe 3 works along with the rotation of the support arm 2; the supporting arm 2 leaves the water surface in a non-working state, the sonar probe 3 is retracted into the probe positioning clamping seat 4, the rotation angle is adjusted to place the sonar probe 3 under water in a working state, the retracting position is shown in figure 2, and the height of the rotating shaft is close to the water line.
The steering engine 1 is in rigid connection with the ship body, a servo motor and a speed reduction driver are arranged in the steering engine, the speed reduction driver comprises an absolute value angle sensor, a band-type brake and a controller system, and the band-type brake is used for locking the supporting arm 2 after being adjusted to a fixed angle during working.
The specific mode that the steering engine 1 is rigidly connected with the ship body is as follows: the output shaft is fixedly connected with the boom shaft of the transducer and is coaxial with the ship flange; the boom shaft of the transducer can freely rotate through the ship flange, and the water tightness is ensured; the ship flange adopts a watertight structural design, is arranged in a reserved mounting hole, can be adjusted according to the overall requirements, provides necessary conditions for the installation and maintenance of equipment, meets the structural design and ensures that the end face of the flange is vertical to a ship body, firm and watertight; the mounting flange of the steering engine 1 is controlled to ensure that at least more than 100 spaces are used for equipment mounting and dismounting outwards; the steering engine 1 should be placed in the sealed cabin glass steel material, in the salt fog prevention, the sealed cabin is above and unilateral leaves the activity window for system disassembly maintenance.
The longitudinal steering engine 1, the supporting arm 2 and the sonar probe 3 can be assembled on the left side or the right side of the front part of the catamaran.
The main components of the supporting arm 2 and the like are made of titanium alloy TC4, other auxiliary components are made of 304 stainless steel, the weight of the whole system is reduced, the supporting arm is suitable for a high-salt and high-humidity marine environment, and the weight of the whole system is limited within 50 kilograms.
Under the non-working state, the sonar probe 3 is folded and is received in the probe positioning clamping seat 4. When sonar navigation is needed, the steering engine 1 is operated to drive the supporting arm 2 and the sonar probe 3 to enter water to a working position, and the collision-prevention sonar is started to realize obstacle-prevention detection; according to the navigation speed of the unmanned ship or different detection purposes, the steering engine 1 can be finely adjusted, and the sonar detection direction can be adjusted. When sonar detection is not needed any more, the steering engine 1 is operated to drive the supporting arm 2 and the sonar probe 3 to be received in the in-place clamping seat 4 at the bottom of the ship.
The utility model discloses operating system adopts and rolls over the arm mode, leaves the surface of water under the non-operating condition and receive in the cassette 4 of taking one's place of the probe of unmanned ship bottom of binary, and is less to the influence of binary structure, does not change high speed condition ship shape. Except the retracting and releasing processes, the steering engine motor is not electrified, so that the electric energy is saved; meanwhile, under the condition of failure (for example, the steering engine 1 is hung by a fishing net and the like), the steering engine 1 can deviate from the original positioning position, and the entanglement can be favorably eliminated; the arm folding rotation angle of the support arm 2 can be adjusted, and the unmanned ship can be locked through a brake, so that the unmanned ship is suitable for the situation that the front elevation angle is different under different speeds, and the requirements of detecting obstacles in different directions are met. Additionally, the utility model discloses entire system structure is light and handy, convenient equipment, dismantlement, and easy to maintain maintains the maintenance, when having the marine organism to adhere to, clears up very easily.
The present invention is not described in detail in the prior art.
The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (4)
1. The obstacle-avoiding sonar control system for the double-body unmanned ship is characterized by comprising a control steering engine (1), a support arm (2) and a sonar probe (3), wherein the control steering engine (1), the support arm (2) and the sonar probe (3) are assembled at the front part of the double-body unmanned ship, a probe in-place clamping seat (4) is arranged at the bottom of the double-body unmanned ship, the support arm (2) is of a folded arm structure, one end of the support arm is connected with the control steering engine (1), the sonar probe (3) is fixedly installed at the other end of the support arm, the control steering engine (1) drives the support arm (2) to operate, and the sonar probe (3; the supporting arm (2) leaves the water surface in a non-working state, the sonar probe (3) is retracted into the probe positioning clamping seat (4), and the rotation angle is adjusted to place the sonar probe (3) under water in a working state;
the steering engine (1) is in rigid connection with the ship body, a servo motor, a speed reduction driver, a band-type brake and a controller system are arranged in the steering engine, and the band-type brake is used for locking the supporting arm (2) after being adjusted to a fixed angle when the supporting arm works.
2. The double-body unmanned ship obstacle avoidance sonar control system according to claim 1, wherein the specific manner of rigidly connecting the steering engine (1) and the ship body is as follows: the output shaft is fixedly connected with the boom shaft of the transducer and is coaxial with the ship flange; the transducer davit axle passes ship flange ability free rotation, and ship flange adopts the watertight structural design, installs in the mounting hole of reserving.
3. The obstacle avoidance sonar control system for the catamaran unmanned surface vehicle of claim 1, wherein the longitudinal steering engine (1), the support arm (2), and the sonar probe (3) are mounted on a left side or a right side of a front portion of the catamaran unmanned surface vehicle.
4. The twin hulled sonar control system according to any one of claims 1 to 3, wherein the support arms (2) are made of a titanium alloy material TC 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921064133.XU CN209980098U (en) | 2019-07-09 | 2019-07-09 | Obstacle-avoiding sonar control system of double-body unmanned boat |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921064133.XU CN209980098U (en) | 2019-07-09 | 2019-07-09 | Obstacle-avoiding sonar control system of double-body unmanned boat |
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| CN209980098U true CN209980098U (en) | 2020-01-21 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111880413A (en) * | 2020-08-12 | 2020-11-03 | 东南大学 | Adaptive dynamic surface algorithm for ship course keeping |
| CN112046675A (en) * | 2020-07-31 | 2020-12-08 | 安庆船用电器有限责任公司 | Unmanned ship navigation obstacle recognition device |
-
2019
- 2019-07-09 CN CN201921064133.XU patent/CN209980098U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112046675A (en) * | 2020-07-31 | 2020-12-08 | 安庆船用电器有限责任公司 | Unmanned ship navigation obstacle recognition device |
| CN112046675B (en) * | 2020-07-31 | 2021-10-15 | 安庆船用电器有限责任公司 | Unmanned ship navigation obstacle recognition device |
| CN111880413A (en) * | 2020-08-12 | 2020-11-03 | 东南大学 | Adaptive dynamic surface algorithm for ship course keeping |
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