CN212220499U - Multipurpose water surface unmanned investigation remote control station based on expandable modular design - Google Patents
Multipurpose water surface unmanned investigation remote control station based on expandable modular design Download PDFInfo
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- CN212220499U CN212220499U CN202020234807.2U CN202020234807U CN212220499U CN 212220499 U CN212220499 U CN 212220499U CN 202020234807 U CN202020234807 U CN 202020234807U CN 212220499 U CN212220499 U CN 212220499U
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Abstract
The utility model discloses a multipurpose water surface unmanned investigation remote control station based on expandable modular design, which realizes the functions of finding, identifying, marking and early warning of the collected and recorded targets in a database through an artificial intelligence identification system, a 5G remote control and information transmission system, a high-precision combined investigation technology and the like, and relates to a module expansion groove to meet the requirements of multiple conditions and multiple purposes; the multipurpose unmanned surface investigation remote control station based on expandable modular design adopts a new energy power system to achieve the purpose of cleaning. The utility model provides an unmanned investigation remote control station of multipurpose surface of water based on but expanding modular design has advantages such as little and smart, integrative multi-purpose, clean environmental protection.
Description
Technical Field
The utility model relates to a remote control station field, in particular to multipurpose surface of water unmanned investigation remote control station based on expandable modular design.
Background
At present, with the improvement of the demand of people for marine environment investigation, the unmanned remote control station on the water surface can become an important relay node for connecting nodes in the air, the ground, the water and the water in an unmanned system, but the unmanned remote control station on the water surface shows the trend of large-scale development for enhancing the environmental adaptability and the cruising ability, so that the unmanned remote control station on the water surface can not adapt to inland river basin with narrower water area and shallower water depth, and can not meet the convenient demands of single carrying, assembly, operation and the like.
At present, patrol boats used in inland river basin are mainly operated by pure manpower, and the consumption of manpower and material resources is very large. Due to uncertainty and risk of the inland river basin environment, great resistance is caused to inspection work, on one hand, comprehensive coverage of the inspection work cannot be guaranteed, on the other hand, the safety of personnel cannot be guaranteed due to more water condition limiting factors.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: the utility model aims at providing a multipurpose unmanned investigation remote control station of surface of water based on but expanding modular design takes many sensing module high accuracy combined type data characteristic matching method, realizes discovery, discernment, mark and the early warning function to having received and recorded the target object in the database for special investigation and the detection to the river basin, and can be according to the task of carrying out, change the module of carrying on conveniently, in order to satisfy different operation requirements, finally realize "integrative multi-purpose".
The technical scheme is as follows: the utility model discloses a multipurpose unmanned investigation remote control station on water surface based on expandable modular design, which comprises a three-body carrying platform, wherein an upper layer expandable modular investigation remote control station is arranged on the platform; the upper-layer expandable modular investigation remote control station can rotate relative to a three-body carrying platform, a single-chip microcomputer STM32 mainboard, a NUC host and a 5G remote control and information transmission system are mounted in the three-body carrying platform, a module expansion groove is arranged in the upper-layer expandable modular investigation remote control station, and the module expansion groove is connected with a serial port of the single-chip microcomputer STM32 mainboard through a circuit; the upper-layer expandable modular investigation remote control station integrates modules with the functions of finding, identifying, marking and early warning the recorded target object in the database through a module expansion slot; and an electric energy source system for supplying power to the modules, the devices and the main board and a driving device for driving the ship body to move are also arranged in the three-body carrying platform.
Furthermore, the three-body carrying platform adopts a detachable form of the main ship body and the auxiliary ship body so as to connect the main ship body and the auxiliary ship body through a sealing flange, a clamping groove, a power supply interface and an electromagnetic adsorption device.
Further, the modules with the functions of finding, identifying, marking and early warning the received target object in the database comprise a GPS sensor module, an OpenMV4 camera module, an OpenMV4 infrared module, a millimeter wave radar module and a gyroscope module.
Furthermore, an electric slip ring rotary connecting device is arranged between the upper-layer expandable modular investigation remote control station and the three-body carrying platform, one end of the electric slip ring rotary connecting device is fixed with the inner part of the main ship body, the other end of the electric slip ring rotary connecting device is connected with the upper-layer remote control station, and the upper-layer expandable modular investigation remote control station rotates 360 degrees around the three-body carrying platform through the electric slip ring rotary connecting device.
Furthermore, the energy system comprises a lithium storage battery with large electric quantity and a polycrystalline silicon solar new energy battery; the lithium storage battery with large power supply amount is used as main energy supply, and the polycrystalline silicon solar new energy battery is used as secondary supplementary energy supply.
Has the advantages that: compared with the prior art, the utility model: the portable intelligent monitoring system is small and exquisite in appearance, portable by a single person, high in convenience, complete in internal functions, and has the functions of communication, identification, monitoring, navigation and the like; the plug-and-play type task module is adopted to carry out universalization and standardization processing on interfaces and carrying modes of different devices and components so as to realize the instant updating of the devices and reduce the updating period and cost of new devices. In addition, the mounted modules can be conveniently replaced according to the executed tasks, so that different operation requirements are met, and finally 'one body and multiple purposes' are realized. The 5G remote control and information transmission technology is adopted to achieve the aims of long communication distance, high transmission rate, low power consumption of a receiving device and the like. By adopting a composite clean energy technology, the maneuverability and the endurance of the device are improved on the premise of ensuring environmental friendliness.
Drawings
Fig. 1 is an overall structural view of a multipurpose water surface unmanned investigation remote control station based on an expandable modular design provided by the utility model;
FIG. 2 is a schematic structural view of the expandable modular surveillance remote control station shown in FIG. 1 with the upper layer removed;
FIG. 3 is an exploded view of the expandable modular surveillance remote control station of FIG. 1 with the upper layer removed;
fig. 4 is an exploded view of the upper expandable modular remote inspection station.
Detailed Description
As shown in fig. 1 to 4, a multipurpose unmanned investigation remote control station on water surface based on expandable modular design comprises a three-body carrying platform 1, wherein the three-body carrying platform 1 adopts a detachable form of a main ship body and an auxiliary ship body, the main ship body and the auxiliary ship body are connected through a sealing flange 4, a clamping groove, a power supply interface and an electromagnetic adsorption device, and an upper layer expandable modular investigation remote control station 2 is arranged on the three-body carrying platform; an electric slip ring rotary connecting device 3 is arranged between the upper-layer expandable modular investigation remote control station 2 and the three-body carrying platform 1, one end of the electric slip ring rotary connecting device 3 is fixed with the inner part of the main ship body, the other end of the electric slip ring rotary connecting device is connected with an upper-layer remote control table, and the upper-layer expandable modular investigation remote control station 2 rotates 360 degrees around the three-body carrying platform 1 through the electric slip ring rotary connecting device 3.
The three-body carrying platform 1 consists of a main ship body and an auxiliary ship body, the main ship body and the auxiliary ship body are detachably connected, a main body and an auxiliary body are separately designed, and a connecting device or a connecting method such as a sealing flange 4, a clamping groove buckle 5 and an electromagnetic adsorption device are used. When the ship is installed, the main ship body and the auxiliary ship body are firstly gradually clamped under the guidance of the flange 4, the buckle on the auxiliary ship body completely enters the clamping groove, the ship is installed in place, then the electromagnetic adsorption device is started, and the ship is further sealed and fixed. When the ship is disassembled, the electromagnetic adsorption power supply is firstly disconnected, and then the auxiliary body is taken down, so that the connection firmness of the main body and the auxiliary body and the strength of the ship body are ensured, and the ship is convenient to assemble and disassemble.
The concrete connection structure is as follows:
and (4) flange: the section of the sealing flange 4 is in a notch shape, the part on the main ship body protrudes outwards by about 15mm, the auxiliary body is sunken inwards by about 15mm at the corresponding position, and when the main ship body and the auxiliary body are connected, the protruding part on the main ship body is just embedded into the sunken part of the auxiliary body. The hull is sealed except for the opening at the flange 4. Flange 4 mainly plays connection and sealing effect, compares in general sealing flange 4, the utility model discloses a fixed knot of nested formula constructs, has both guaranteed to lie in seal structure among the hull after the main hull merges completely, does not destroy the hull outward appearance, has ensured the fastness of connection through the fastening effect of rubber ring on flange 4 again, and flange 4's shape does not adopt conventional circular simultaneously for flange 4 connects the required precision is higher, has also played the effect of alignment major-minor position on the one hand.
Draw-in groove buckle 5 structure: the clamping groove buckle 5 adopts a mechanical fixing device commonly found in a cabinet door. The clamping groove is arranged on the outer side of the inner layer of the double-layer shell of the main ship body and is integrally hidden between the two layers of ship shells; the buckle is located the one side that meets with the main hull on the auxiliary body and corresponds the position department, and when draw-in groove buckle 5 contacted when target in place, there was not the gap just between the main and auxiliary body, and the installation is accomplished. The clamping groove and the buckle are used for connecting and fixing the main body and the auxiliary body and play a role in limiting. Because the commonly used underwater sealing flange 4 adopts a screw fixing interface, the installation and the disassembly are inconvenient, so a mechanical clamping groove structure is adopted to fix the main and auxiliary ship bodies, the slipping of the flange 4 is avoided, and the sealing effect is achieved. On the one hand, when the installation master and slave body, the draw-in groove needs the position to correspond just can the chucking, can correct the position of master and slave body after the chucking and make its align, guarantees flange 4 and imbeds completely simultaneously. On the other hand, when the main body and the auxiliary body are disassembled, the auxiliary body can be simply taken down by utilizing the mechanical principle of the clamping groove without operation.
A power interface: an anderson plug 6. Two Anderson plugs 6 are respectively arranged at the joints of the flanges 4 of the main and auxiliary ship bodies, the positions of the Anderson plugs are kept to be corresponding by using a limiting device, the Anderson plugs can be pulled out in a certain range, and the plug can be inserted and pulled out from the outer part of the ship body conveniently while the plug is prevented from sliding down the inner part of the ship body.
Electromagnetic adsorption: the main hull is provided with an electromagnet, and the auxiliary hull is provided with a permanent magnet at a corresponding position. After the main and auxiliary bodies are aligned and installed, the main power switch is used for starting the main power supply and simultaneously starting the power supply of the electromagnet, the main and auxiliary bodies are closely adsorbed together, and the power supply is turned off during disassembly.
A singlechip STM32 mainboard, a NUC host and a 5G remote control and information transmission system are installed in the three-body carrying platform 1, a module expansion slot is arranged in the upper-layer expandable modular investigation remote control station 2, and the module expansion slot is connected with a serial port of the singlechip STM32 mainboard through a line; the upper-layer expandable modular investigation remote control station 2 integrates modules with the functions of finding, identifying, marking and early warning the recorded target object in the database through a module expansion slot; an electric energy source system 10 for supplying modules, devices and a main board and a driving device 11 (not shown in the figure) for driving the ship body to move are further arranged in the three-body carrying platform 1.
The modules with the functions of finding, identifying, marking and early warning the target object which is recorded in the database comprise a GPS sensor module 7, an OpenMV4 camera module 8OpenMV4, an OpenMV4 infrared module, a millimeter wave radar module 9 and a gyroscope module. The modules can be inserted into one or more module expansion grooves to be used, and the specific use principle is as follows: the sensor module 7GPS transmits the received information to the single chip microcomputer STM32, all the received information is packaged through an array and then is sent to the nuc host through a serial port, when the nuc host receives the information, the information is compared with recorded data in a database, the information with the highest similarity is screened out and then is transmitted to the control terminal through the single chip microcomputer, and therefore data checking is achieved. Meanwhile, the NUC host machine can judge the relevant movement of the autonomous cruise according to the integrated information received from the single chip microcomputer, and transmits a control instruction to the single chip microcomputer so as to execute the relevant operations such as automatic control and the like.
The energy system 10 comprises a lithium storage battery with large electric quantity and a polycrystalline silicon solar new energy battery; the lithium storage battery with large power supply amount is used as main energy supply, and the polycrystalline silicon solar new energy battery is used as secondary supplementary energy supply.
The GPS sensor module 7 is positioned in a remote control reconnaissance platform on the upper layer of the main ship body and consists of a GPS sensor chip, a matched module expansion structure and a GPS antenna. The main function is to provide the position information of the unmanned water surface remote control station for the NUC host, including longitude and latitude information; and the information of other sensors is matched together, and the position of the reconnaissance target object, including longitude and latitude, is provided for the control terminal in a composite data form after being processed by the NUC host computer related technology. Which is a functional module that provides the main location information for the locking and marking functions.
The OpenMV4(camera) camera module 8 is located in the spherical camera structure at the front end of the remote reconnaissance station on the upper layer of the main hull. The main function is to provide various identified characteristic information and image information of the reconnaissance target object, the size, color, characteristic points and the like of the block target object for the NUC host; and the standard information of the reconnaissance target object in the database is provided for the control terminal after the information is matched with the information of other sensors and processed by the NUC host computer related technology in a composite data form. Which is a functional module that provides the main features and image information for the discovery and identification function.
The OpenMV4 (wind Lepton) infrared module is positioned in the spherical camera structure at the front end of the remote control detection platform on the upper layer of the main ship body. The main function is to provide infrared (thermal imaging) image information in a reconnaissance range for the NUC host together with image information of the OpenMV4(camera) camera module 8, so as to search, find and identify reconnaissance targets more conveniently. Which is a functional module that provides secondary image information for discovery and recognition functions.
The millimeter wave radar module 9 is positioned in a remote control reconnaissance platform on the upper layer of the main ship body and consists of a millimeter wave radar sensor chip and a matched module expansion structure thereof. The main function is to provide the distance information, the azimuth information and the size information of the reconnaissance target object for the NUC host computer; and the distance, the direction and the size of the detection target object are provided for the control terminal after the information of other sensors is matched together and processed by the NUC host computer related technology in a composite data form. Which is a functional module that provides primary distance information and secondary orientation, size information for the locking and marking functions.
The gyroscope module is positioned in a remote control reconnaissance platform on the upper layer of the main ship body and consists of a nine-axis acceleration sensor chip and a module expansion structure matched with the nine-axis acceleration sensor chip. The main function is to provide the orientation information such as the self orientation, the angle in each direction, the acceleration in each direction and the like of the unmanned water surface remote control station for the NUC host; and the information of other sensors is matched together, the orientation of the water surface remote control station per se is provided for the control terminal after the information is processed by the related technology of the NUC host in a composite data form, and the NUC host automatically commands the singlechip to regulate and control related motors to carry out stable balance of the upper-layer remote control station and the main ship body in all directions through the angle of the GPS of the sensor module 7 in all directions, the acceleration in all directions and other deviation information compared with the standard horizontal orientation. The system not only provides main orientation information for the functions of finding, identifying, locking and marking, but also provides a better, stable and balanced working environment for other functional modules and hardware equipment.
The main board of the singlechip STM32 is positioned in the main ship body. The main functions are to receive the detection information of each sensor, integrate the detection information of each sensor, allocate power supply and control the operation of related motors, and serve as a main data intermediate hub to receive and transmit various data information. The single chip microcomputer is provided with a self-defined WiFi serial port, and related protocols are written in the single chip microcomputer to access the 5G network, so that efficient remote control and information transmission are achieved.
The NUC host is located within the main hull. The main function is to carry out intelligent processing and database matching on integrated composite sensor detection information transmitted from the single chip microcomputer through a programmed relevant artificial intelligence program and technology, so that a series of standard information of a reconnaissance target object is found out in the database, and then the found standard information is transmitted to the control terminal through the single chip microcomputer to be displayed in a relevant mode. Meanwhile, the integrated data information transmitted by the single chip microcomputer can be used for judging obstacles and other related cruising conditions on the cruising line of the ship body, so that control information is sent to the single chip microcomputer autonomously, and autonomous cruising functions such as autonomous obstacle avoidance, autonomous emergency retreat and autonomous surrounding are realized. It plays a major role as the "brain core" in the overall hardware system.
The electric slip ring rotary connection structure is positioned between the main ship body and the upper layer remote control reconnaissance platform. One end of the remote control platform is fixed with the inner part of the main ship body, the other end of the remote control platform is connected with the upper layer remote control platform, and the main function is that the upper layer remote control platform can be rotated by 360 degrees under the control of the single chip microcomputer, so that the allowable reconnaissance range is enlarged. Improved the utility model discloses a reconnaissance flexibility and job stabilization nature.
The power system of the water jet propeller is positioned at the tail part of the main ship body. The ship has the function of vector propulsion, and the main function is controlled by a singlechip, so that the ship can flexibly perform the operation functions of forward movement, low-radius steering, backward movement and the like.
The solar cell panel is positioned at the tail part of the deck of the main ship body. The main function is to continuously charge the main lithium battery power supply in the ship body as a secondary supplementary power supply, thereby continuously providing clean electric energy power for the whole hardware equipment.
The interaction of each module and the electronic element drives the ship body to move, and is an important prerequisite for realizing the multi-purpose. For hull motion, a total of 3 states are designed for hull motion, static, manual control and automatic control respectively. When no input signal is available, the ship body is in a static state, and the single chip microcomputer is ready to receive a terminal remote control signal in real time. When the onboard singlechip receives a remote control signal sent by the terminal, the singlechip judges an instruction, and if the terminal input signal is a ship navigation signal such as forward movement and backward movement, the singlechip directly controls the driving module to drive the ship to move through the power adapter; if the terminal input signal is an automatic control signal, the single chip microcomputer sends a signal to the NUC host computer to allow the NUC host computer to autonomously control the ship body, the instruction autonomously sent by the NUC host computer is based on the information sent by the sensor, the information transmitted to the NUC host computer by the sensor is matched with the content in the database of the NUC host computer, the information with the best similarity is selected, if the sensor detects that the front obstacle generates information, the information is transmitted to the single chip microcomputer and then is integrated by the single chip microcomputer and then is sent to the NUC host computer, when the data is matched with the content preset in the database of the host computer, the NUC host computer automatically sends an instruction back to the single chip microcomputer, and the single chip microcomputer controls the motor to enable the ship body to avoid after identification.
Meanwhile, in order to avoid the NUC host from generating wrong autonomous control signals, double insurance measures are adopted, wherein the first layer of insurance measures is that the single chip microcomputer transmits signals to the NUC host to allow the NUC host to autonomously send out control signals only after the single chip microcomputer receives automatic control signals sent out by the terminal; the second layer of insurance, if the NUC host computer independently produces wrong control signal and transmits the singlechip, the singlechip need judge again whether the terminal signal that receives last time is automatic control signal when the control signal that the NUC host computer independently sent is handled, only when the terminal signal record is automatic control signal, the control command that the NUC host computer independently sent can pass through the singlechip to control the motor through the power adapter and rotate and make the ship action.
Additionally, because the utility model has the characteristics of flexible, can extend and add functional module, disguise good, the activity area is wide, use cost low grade, can be used to carry out the condition and monitor, sweep the thunder, search and rescue, remove target, submarine exploration, environmental monitoring, accident monitoring, surface of water search and rescue, logistics supply, hydrological measurement, river transportation, patrol, scientific investigation, survey and drawing to realize the target of multi-functional multipurpose.
Claims (5)
1. A multipurpose unmanned investigation remote control station on water surface based on expandable modular design is characterized by comprising a three-body carrying platform, wherein an upper layer expandable modular investigation remote control station is arranged on the platform; the upper-layer expandable modular investigation remote control station can rotate relative to a three-body carrying platform, a single-chip microcomputer STM32 mainboard, a NUC host and a 5G remote control and information transmission system are mounted in the three-body carrying platform, a module expansion groove is arranged in the upper-layer expandable modular investigation remote control station, and the module expansion groove is connected with a serial port of the single-chip microcomputer STM32 mainboard through a circuit; the upper-layer expandable modular investigation remote control station integrates modules with the functions of finding, identifying, marking and early warning the recorded target object in the database through a module expansion slot; and an electric energy source system for supplying power to the modules, the devices and the main board, a driving device for driving the ship body to move and a control terminal are also arranged in the three-body carrying platform.
2. The multipurpose unmanned surface investigation remote control station based on expandable modular design of claim 1, characterized in that the three-body carrying platform adopts a detachable form of main and auxiliary ship bodies to connect the main and auxiliary ship bodies with a sealing flange, a clamping groove, a power interface and an electromagnetic adsorption device.
3. The multipurpose unmanned surface reconnaissance remote control station based on expandable modular design as claimed in claim 1, wherein the modules for finding, identifying, marking and early warning the target object received in the database comprise a GPS sensor module, an OpenMV4 camera module, an OpenMV4 infrared module, a millimeter wave radar module and a gyroscope module.
4. The multipurpose unmanned surface investigation remote control station based on expandable modular design of claim 1, characterized in that an electrical slip ring rotary connecting device is arranged between the upper expandable modular investigation remote control station and the three-body carrying platform, one end of the electrical slip ring rotary connecting device is fixed with the inner part of the main ship body, the other end is connected with the upper remote control station, and the upper expandable modular investigation remote control station rotates 360 degrees around the three-body carrying platform through the electrical slip ring rotary connecting device.
5. The multipurpose unmanned investigation remote control station on water surface based on expandable modular design as claimed in claim 1, characterized in that the energy system comprises lithium storage battery with large electric quantity and polysilicon solar new energy battery; the lithium storage battery with large power supply amount is used as main energy supply, and the polycrystalline silicon solar new energy battery is used as secondary supplementary energy supply.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111547196A (en) * | 2020-03-02 | 2020-08-18 | 江苏科技大学 | Multipurpose water surface unmanned investigation remote control station based on expandable modular design |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111547196A (en) * | 2020-03-02 | 2020-08-18 | 江苏科技大学 | Multipurpose water surface unmanned investigation remote control station based on expandable modular design |
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