CN213262902U - Unmanned spaceship water area detection device with four rotors and single propeller - Google Patents
Unmanned spaceship water area detection device with four rotors and single propeller Download PDFInfo
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- CN213262902U CN213262902U CN202021881644.3U CN202021881644U CN213262902U CN 213262902 U CN213262902 U CN 213262902U CN 202021881644 U CN202021881644 U CN 202021881644U CN 213262902 U CN213262902 U CN 213262902U
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Abstract
The utility model discloses a four rotor single screw unmanned spacecraft waters detection device, including the hull, be located the stern below screw under water, be located four air rotor of hull both sides, be located the hull bottom the supersound array module, be located the inside control box in cabin. The control box comprises a water surface navigation control module for controlling the unmanned airship to navigate on the water surface, an air flight control module for controlling the unmanned airship to fly, a data acquisition module, an underwater detection control module, a communication module, an air rotor motor driving module, an underwater propeller motor driving module, a processor module for coordinating the work of the modules and a power supply module for providing power for the unmanned airship. The utility model discloses a four air rotor control unmanned spacecraft of steerable hull both sides of unmanned spacecraft fly, turn to, balance, have improved the flexibility that unmanned ship surveyed greatly, and the screw only leans on the motor control rotational speed under water, and no steering wheel control direction can wide application in the field of surveying under water.
Description
Technical Field
The utility model relates to an unmanned ship waters detection technical field, concretely relates to unmanned spaceship waters detection device of four rotors single screw.
Background
The unmanned ship is a full-automatic water surface robot which can navigate on the water surface according to a preset task without remote control by means of precise satellite positioning and self sensing, is called as an unmanned surface vessel in English, and is abbreviated as USV in English, and is mainly used for surveying and mapping, hydrology and water quality monitoring. Replace the manpower with unmanned ship and can reduce the manpower widely and raise the efficiency, in the detection task in the past, the detection personnel need self to carry detection equipment, carry on the ship and go to the detection place and carry out the waters and survey, the ship can appear probably in the detection in-process and touch the reef, the waters pollutes, the bad circumstances such as weather, threaten the safety of detection personnel self, it is narrow in some spaces simultaneously, under the environment of detection difficulty, the detection personnel hardly go to the detection place and survey, unmanned ship can replace the detection personnel and survey the waters task, the detection personnel can survey the task through remote control unmanned ship, also can be under some environments, let unmanned ship independently intelligently survey the task.
The existing unmanned ship pushes the unmanned ship to sail on the water surface through the propeller, the sailing speed of the mode is generally slower, and if the propeller with high power is changed to provide larger thrust, the cruising ability of the unmanned ship is reduced.
The existing unmanned ship is easily influenced by waves when sailing on the water surface, so that the ship body swings, when the ultrasonic array module is used for underwater detection, the waves shake, so that the underwater detection module has larger change in the postures of sending and receiving signals at two moments, the ultrasonic echo signals reflected by underwater targets are influenced and received, and the detection precision is low.
When the unmanned ship uses the ultrasonic array module to carry out underwater exploration, the ultrasonic array module transmits an ultrasonic signal with a specific frequency spectrum structure to a water area to be detected, and the ultrasonic array module receives an ultrasonic echo signal reflected by an underwater target so as to calculate various parameters of the water area. The existing unmanned ship can carry out fixed-point directional water area detection and cannot acquire water area parameters in a wider range.
When the existing unmanned ship turns, the turning is realized by controlling the direction of an underwater motor, and the unmanned ship can also move in position while turning in the mode, namely the existing unmanned ship can not turn on site, and in some narrow space areas, the unmanned ship can not be driven away because the unmanned ship can be trapped in the narrow space areas due to the fact that the unmanned ship can not turn on site.
When the existing unmanned ship is exposed to a reef or an underwater motor is damaged, the unmanned ship cannot arrive at the bank independently, and when the hull of the unmanned ship is damaged due to the reef exposure, the unmanned ship can sink into the water, so that the unmanned ship is damaged. The unmanned underwater motor is damaged, and can not arrive at the shore independently, and personnel are required to arrive at the site to take back the unmanned ship, so that the manpower consumption is caused.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming unmanned ship and receiving the restriction of natural geographic environment or artificial engineering protective screen easily, the detection speed is slow under water, receive the wave influence easily during the detection and reduce the detection precision, the detection mode is single during the underwater detection, unable in situ turns to, can't independently arrive the defect on the bank when taking place to touch the reef or the motor damages under water, a four rotor list screw unmanned spacecraft waters detection device is provided, can conveniently arrive at the detection waters fast, can realize in situ turns to, accessible air rotor independently comes back to the bank, can carry out the high precision, multi-direction underwater detection.
The purpose of the utility model can be achieved by adopting the following technical scheme:
the utility model provides a four rotor single screw unmanned spacecraft waters detection device, detection device includes the hull, the inside fixed first hollow support who alternates two vertical settings of hull, two first hollow supports pierce through the hull both sides, leave 2 fixed interface respectively in every first hollow support both sides, be located the second hollow support of the horizontal setting of fixed interlude respectively on 2 fixed interface of hull homonymy, the both ends of the second hollow support that is located the horizontal setting of hull both sides are fixed with 1 brushless motor respectively, be first brushless motor respectively, second brushless motor, third brushless motor and fourth brushless motor, four brushless motor fix on same plane through the first hollow support of vertical setting and the second hollow support of horizontal setting, and be on a parallel with the hull bottom, four brushless motor's control line and power cord lead to the inside of unmanned spacecraft to the hollow support of unmanned hull through the first hollow support of vertical setting and the second hollow support of horizontal setting The rotating shafts of the first brushless motor, the second brushless motor, the third brushless motor and the fourth brushless motor are respectively fixed with a first air rotor, a second air rotor, a third air rotor and a fourth air rotor;
an underwater motor is arranged below the tail part of the ship body, a control line and a power line of the underwater motor are connected with a control box in the ship body, and an underwater propeller is fixed on a rotating shaft of the underwater motor;
an ultrasonic array module is arranged at the center of the bottom of the ship body, and a control line and a power line of the ultrasonic array module are connected with a control box in the ship body.
Preferably, a satellite positioning receiver and an attitude instrument are further arranged inside the ship body, and control lines and power lines of the satellite positioning receiver and the attitude instrument are connected with a control box inside the ship body.
Preferably, the control box is provided with a processor, a communication module, a data acquisition module, a water surface navigation control module, an air flight control module, an underwater detection control module, an underwater propeller motor driving module, an air rotor motor driving module and a power supply module;
the communication module is connected with the processor and used for receiving and transmitting data, and the processor distributes a control command to the water surface navigation control module, the air flight control module and the underwater detection control module;
the input end of the data acquisition module is connected with the output ends of the satellite positioning receiver, the attitude instrument and the ultrasonic array module, the output end of the data acquisition module is connected with the input end of the processor, and the processor distributes the acquired horizontal position, attitude, height and detection data of the unmanned airship to the water surface navigation control module, the air flight control module and the underwater detection control module;
the input of the three modules of the water surface navigation control module, the air flight control module and the underwater detection control module is connected with the processor, and the output of the three modules of the water surface navigation control module, the air flight control module and the underwater detection control module is connected with the underwater propeller motor driving module and the air rotor motor driving module.
Preferably, the air rotor motor drive module is coupled to the first brushless motor, the second brushless motor, the third brushless motor, and the fourth brushless motor.
Preferably, the underwater propeller motor driving module is connected with an underwater motor.
Preferably, the hull is a long and narrow geometric body, is symmetrical left and right, and has a smooth curved surface.
Preferably, the first brushless motor and the third brushless motor control the first air rotor and the third air rotor to rotate clockwise, and the second brushless motor and the fourth brushless motor control the second air rotor and the fourth air rotor to rotate counterclockwise.
Preferably, a cabin door is installed on the top of the ship body, and the control box inside the ship body is taken out by opening the cabin door.
Preferably, the top of the ship body is further provided with an antenna and a spare antenna port, the antenna is used for communicating the communication module with the server, and the spare antenna port is used for installing a satellite antenna and is connected with a satellite positioning receiver at the bottom of the ship body to receive satellite signals for satellite positioning.
The utility model discloses for prior art have following advantage and effect:
(1) when the air rotor above the unmanned airship rotates, upward thrust is provided for the unmanned airship, the draft of the unmanned airship can be reduced, the resistance received during navigation is further reduced, and the speed of sailing on the water surface is accelerated.
(2) When the air rotor above the unmanned airship rotates, the air rotor provides upward thrust for the unmanned airship, the unmanned airship can be pushed to leave the water surface and reach a fixed point in a flying mode, and the air resistance is smaller than the water resistance, so that the unmanned airship moves in the flying mode and can reach the fixed point more quickly.
(3) By controlling the four air rotors above the unmanned airship to rotate at different speeds, the self-rotating force generated by the rotation of the air rotors can realize pivot steering without position movement.
(4) When the unmanned airship touches the reef or the underwater motor is damaged, the air rotor above the unmanned airship rotates to provide upward thrust for the unmanned airship to push the unmanned airship to leave the water surface and fly to the bank.
(5) When the unmanned airship is influenced by waves to swing during detection, the four air rotors above the unmanned airship rotate at different speeds, impact force caused by the waves is balanced through generated force, the purpose of balancing the unmanned airship can be achieved, meanwhile, the posture of the unmanned airship can be changed independently through the mode, underwater detection scanning is carried out, and the detection functionality is improved.
Drawings
Figure 1 is a top plan view of a quad-rotor unmanned spacecraft of the present disclosure;
figure 2 is a right side view of the quad-rotor unmanned spacecraft of the present disclosure;
figure 3 is a cross-sectional view of the quad-rotor unmanned spacecraft of the present disclosure;
fig. 4 is the utility model discloses a control box structure block diagram in four rotor unmanned flying boat.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-4, during operation of the drone, processor 28 selects different control modules based on different modes.
When the quad-rotor unmanned spacecraft needs to fly in the air, the air flight control module 21 receives the horizontal position, attitude and height information distributed by the processor 28, and the fixed point is reached through three steps:
(1) the air flight control module 21 obtains a height control quantity according to the height information distributed by the processor 28, controls the air rotor motor driving module 25 to drive the brushless motors 4-7 of the unmanned spacecraft and drive the air rotors 8-11 to rotate at specific speeds respectively according to the height control quantity, and gives upward thrust to the unmanned spacecraft so that the unmanned spacecraft flies upward to leave the water surface, and the air flight control module 21 determines whether the unmanned spacecraft leaves the water surface or not according to the height information distributed by the processor 28;
(2) the air flight control module 21 obtains a control quantity according to the horizontal position and height information distributed by the processor 28, controls the air rotor motor driving module 25 to drive the brushless motors 4-7 of the unmanned spacecraft and drive the air rotors 8-11 to rotate at specific speeds respectively according to the control quantity, and gives upward thrust and horizontal thrust to the unmanned spacecraft, wherein the upward thrust is used for balancing gravity to keep the height of the spacecraft unchanged, the horizontal thrust is used for pushing the unmanned spacecraft to move horizontally to reach the upper part of a fixed point, and the air flight control module 21 determines whether the height of the unmanned spacecraft is kept unchanged and whether the unmanned spacecraft reaches the upper part of the fixed point according to the height and horizontal position information distributed by the processor 28.
(3) The air flight control module 21 obtains a height control amount according to the height information distributed by the processor 28, controls the air rotor motor driving module 25 to drive the brushless motors 4 to 7 of the unmanned spacecraft and drive the air rotors 8 to 11 to rotate at specific speeds respectively according to the height control amount, slowly drops the unmanned spacecraft to a fixed point by slowly reducing the upward thrust of the unmanned spacecraft, and the air flight control module 21 determines whether the unmanned spacecraft reaches the water surface or not according to the height information distributed by the processor 28.
When the quad-rotor unmanned spacecraft is required to navigate on the water, the water navigation control module 20 receives the horizontal position, attitude, altitude information distributed by the processor 28.
The surface of water navigation control module 20 obtains the height control volume according to height information, controls air rotor motor drive module 25 drive brushless motor 4 ~ 7 and drives air rotor 8 ~ 11 and rotate according to the height control volume, and air rotor 8 ~ 11 rotates the thrust that provides and can raise unmanned spacecraft, reduces unmanned spacecraft draft, reduces the navigation resistance. The surface travel control module 20 determines whether the unmanned spacecraft draft reaches the optimum travel draft via the altitude information distributed by the processor 28.
The water surface navigation control module 20 obtains a horizontal control quantity according to the horizontal position information, controls the underwater propeller motor driving module 26 according to the horizontal control quantity, and the underwater propeller motor driving module 26 drives the underwater motor 19 to drive the underwater propeller 13 to rotate so as to provide power for the unmanned airship to navigate forwards. The surface travel control module 20 determines whether the drone is arriving in the designated waters by the level position distributed by the processor 28.
The water surface navigation control module 20 obtains attitude control quantity according to the attitude information, controls the air rotor motor driving module 25 to drive the brushless motors 4-7 and drive the air rotors 8-11 to rotate at specific speeds respectively according to the attitude control quantity, gives the unmanned airship the spinning force and changes the navigation direction of the unmanned airship. The surface travel control module 20 determines whether the drone is turning to the specified direction via attitude information distributed by the processor 28.
When the quad-rotor unmanned spacecraft needs fixed-point directional detection, the underwater detection control module 23 receives attitude information distributed by the processor 28. Whether the unmanned airship shakes or not is determined according to the attitude information, if so, the underwater detection control module 23 can obtain attitude control quantity according to the attitude information, the attitude control quantity can control the air rotor motor driving module 25 to drive the brushless motors 4-7 and drive the air rotors 8-11 to rotate at specific speeds respectively, different forces are applied to the unmanned airship in different directions, and the shaking brought to the unmanned airship by waves can be balanced.
When the quad-rotor unmanned spacecraft needs to perform fixed-point scanning detection, the underwater detection control module 23 receives attitude information distributed by the processor 28. The underwater detection control module 23 obtains attitude control quantity according to the attitude information, the attitude control quantity can control the air rotor motor driving module 25, the air rotor motor driving module 25 drives the brushless motors 4-7 and drives the air rotors 8-11 to rotate at specific speeds respectively, the yaw angle, the pitch angle and the roll angle of the unmanned airship are changed, and scanning detection is carried out. The underwater detection control module 23 determines whether the attitude of the unmanned ship reaches a specified value through attitude information distributed by the processor 28.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (9)
1. A four-rotor single-propeller unmanned spacecraft water area detection device is characterized by comprising a ship body (1), wherein two vertically arranged first hollow supports (2) are fixedly inserted into the ship body (1), the two first hollow supports (2) penetrate through two sides of the ship body (1), 2 fixed interfaces (3) are reserved on two sides of each first hollow support (2), 2 fixed interfaces (3) positioned on the same side of the ship body (1) are respectively fixedly inserted into and transversely arranged second hollow supports (12), two ends of each second hollow support (12) positioned on two sides of the ship body (1) are respectively fixedly provided with 1 brushless motor which is respectively a first brushless motor (4), a second brushless motor (5), a third brushless motor (6) and a fourth brushless motor (7), and the four brushless motors (4-7) are fixed on the same plane through the first hollow supports (2) and the second hollow supports (12), the control lines and power lines of the four brushless motors (4-7) are led into the unmanned airship hull (1) through the first hollow support (2) and the second hollow support (12) and are connected with a control box (27) in the hull (1), and a first air rotor (8), a second air rotor (9), a third air rotor (10) and a fourth air rotor (11) are respectively fixed on rotating shafts of the first brushless motor (4), the second brushless motor (5), the third brushless motor (6) and the fourth brushless motor (7);
an underwater motor (19) is arranged below the tail part of the ship body (1), a control line and a power line of the underwater motor (19) are connected with a control box (27) in the ship body (1), and an underwater propeller (13) is fixed on a rotating shaft of the underwater motor (19);
the central position of the bottom of the ship body (1) is provided with an ultrasonic array module (18), and a control line and a power line of the ultrasonic array module (18) are connected with a control box (27) inside the ship body (1).
2. The water area detection device of the quad-rotor single-propeller unmanned spacecraft of claim 1, wherein a satellite positioning receiver (29) and an attitude instrument (30) are further arranged inside the hull (1), and control lines and power lines of the satellite positioning receiver (29) and the attitude instrument (30) are connected with a control box (27) inside the hull (1).
3. A quad-rotor single-propeller unmanned spacecraft water area sounding device according to claim 2, wherein the control box (27) comprises a processor (28), a communication module (24), a data acquisition module (22), a surface navigation control module (20), an air flight control module (21), an underwater detection control module (23), an underwater propeller motor drive module (26), an air rotor motor drive module (25) and a power supply module (17);
the communication module (24) is connected with the processor (28) and used for receiving and transmitting data, and the processor (28) distributes control commands to the water surface navigation control module (20), the air flight control module (21) and the underwater detection control module (23);
the input end of the data acquisition module (22) is respectively connected with the output ends of the satellite positioning receiver (29), the attitude instrument (30) and the ultrasonic array module (18), the output end of the data acquisition module (22) is connected with the input end of the processor (28), and the processor (28) distributes the acquired horizontal position, attitude, height and detection data of the unmanned airship to the water surface navigation control module (20), the air flight control module (21) and the underwater detection control module (23);
the input ends of the water surface navigation control module (20), the air flight control module (21) and the underwater detection control module (23) are respectively connected with the processor (28), and the output ends of the water surface navigation control module (20), the air flight control module (21) and the underwater detection control module (23) are respectively connected with the underwater propeller motor driving module (26) and the air rotor motor driving module (25).
4. A quad-rotor single-propeller unmanned spacecraft water area sounding device according to claim 3, wherein the air rotor motor drive module (25) is connected to the first brushless motor (4), the second brushless motor (5), the third brushless motor (6) and the fourth brushless motor (7).
5. A quad-rotor single-propeller unmanned spacecraft water area sounding device according to claim 3, wherein the underwater propeller motor drive module (26) is connected to the underwater motor (19).
6. A quad-rotor single-propeller unmanned spacecraft water area sounding device according to claim 1, wherein the hull (1) is a long and narrow geometric body, symmetrical left and right, and has a smooth surface.
7. A quad-rotor single-propeller unmanned spacecraft water area detecting device according to claim 1, wherein the first brushless motor (4) and the third brushless motor (6) control the first air rotor (8) and the third air rotor (10) to rotate clockwise, and the second brushless motor (5) and the fourth brushless motor (7) control the second air rotor (9) and the fourth air rotor (11) to rotate anticlockwise.
8. A quad-rotor single-propeller unmanned spacecraft water area survey device according to claim 1, wherein a cabin door (14) is installed on top of the hull (1), and a control box (27) inside the hull is taken out by opening the cabin door (14).
9. A water area detecting device of a quad-rotor single-propeller unmanned airship according to claim 1, wherein the hull (1) is further provided with an antenna (15) and a spare antenna port (16) on the top, the antenna (15) is used for a communication module (24) to communicate with a server, and the spare antenna port (16) is used for a satellite antenna and is connected with a satellite positioning receiver (29) on the bottom of the hull to receive satellite signals for satellite positioning.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113511039A (en) * | 2021-08-10 | 2021-10-19 | 江苏省海洋资源开发研究院(连云港) | Detection device with deep diving function and detection method thereof |
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2020
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113511039A (en) * | 2021-08-10 | 2021-10-19 | 江苏省海洋资源开发研究院(连云港) | Detection device with deep diving function and detection method thereof |
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