CN214647406U - Amphibious unmanned ship for ocean observation - Google Patents
Amphibious unmanned ship for ocean observation Download PDFInfo
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- CN214647406U CN214647406U CN202121021681.1U CN202121021681U CN214647406U CN 214647406 U CN214647406 U CN 214647406U CN 202121021681 U CN202121021681 U CN 202121021681U CN 214647406 U CN214647406 U CN 214647406U
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Abstract
The utility model discloses an amphibious unmanned ship for ocean observation, which solves the problems that the traditional unmanned ship is difficult to move on land and inconvenient to operate and has huge cost in the using process, and the technical scheme is characterized by comprising a ship body, a navigation propeller, a land advancing system, a power system and a control system; the land advancing system comprises a front driving wheel, a front wheel driving motor, a rear driving wheel, a rear wheel driving motor, a lifting steering mechanism arranged on the bow of the ship and a lifting mechanism arranged on the stern of the ship; the power system comprises a battery pack and a driving mechanism; control system is including ann local control module and remote control module, the utility model discloses an ocean is surveyd amphibious unmanned ship, the adjustment that can convenient stable realization land and water march, structure integration, simple operation, cost are lower.
Description
Technical Field
The utility model relates to an unmanned ship, in particular to ocean is surveyd amphibious unmanned ship.
Background
Along with the continuous development of national infrastructure, China puts forward higher and higher demands, and aiming at the water area type mapping geographic information industry, the problems which need to be solved by the country at present comprise the following aspects: firstly, the construction task of the island (reef) surveying and mapping project needs to be completed in time; secondly, relevant work of surveying and mapping of offshore sea area submarine topography and mudflat in China needs to be actively carried out; thirdly, land underwater topography surveying and monitoring work needs to be carried out deeply in China, and the underwater measurement precision is improved; fourthly, measures are taken to realize digitization, automation and the like of underwater topography measurement. Compared with the underwater topography measurement in the traditional surveying and mapping field, sufficient human resources and material resources are often needed, and the equipment used for underwater measurement is complicated and heavy, so that the measurement personnel are inconvenient to carry, and even the measurement water area is lack of ships, thereby seriously affecting the accuracy of measurement data. After the self-remote control measuring ship appears, the accuracy of the measured data is greatly improved. Nowadays, great efforts are made by various enterprises to develop remote control measuring ships, and unmanned measuring ships have remarkable labor-saving advantages.
As a novel overwater environment measuring and monitoring platform, the unmanned ship can carry various measuring sensors, working modes such as remote control or autonomous navigation are adopted, continuous marine monitoring investigation is carried out in the process of navigation, the unmanned ship has the advantages of being flexible in arrangement, economical in cost, convenient to carry, advanced in technology, high in safety and the like, can be applied to multi-factor synchronous measurement of complex regions such as lakes, offshore shallow sea and the periphery of islands, has obvious technical advantages in water area environment measurement and monitoring, and is wide in application prospect.
The current offshore tidal current energy power generation device has the following defects:
the unmanned ocean observation ship meets the requirement of land moving in the use process, the traditional transportation method needs to firstly use large-scale equipment to move the unmanned ship from the water surface to the customized land moving equipment on the land, and then needs to use the large-scale equipment to move the unmanned ship from the land to the water surface after the unmanned ship is moved, so that a plurality of pieces of matching equipment of the unmanned ship are added in the process, some challenges are brought to facilities for lifting ports, a part of transportation cost is also increased, and the operation amount of the whole equipment is relatively huge.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing an amphibious unmanned ship is surveyed to ocean, the adjustment of advancing of realization amphibian that can be convenient stable, structure integration, simple operation, cost are lower.
The above technical purpose of the present invention can be achieved by the following technical solutions:
an amphibious unmanned ship for ocean observation comprises a ship body, a navigation propeller, a land advancing system, a power system and a control system;
the land advancing system comprises a front driving wheel, a front wheel driving motor, a rear driving wheel, a rear wheel driving motor, a lifting steering mechanism for installing and adjusting the front driving wheel on the bow of the ship and a lifting mechanism for installing and adjusting the rear driving wheel on two sides of the stern of the ship;
the power system comprises a battery pack and a driving mechanism, wherein the battery pack is arranged on the ship body and used for supplying power and driving the land advancing system;
the control system comprises a local control module which is arranged on the ship body and used for carrying out local control on the power system, and a remote control module which is wirelessly connected with the local control module and used for carrying out remote control.
Preferably, the lifting and steering mechanism comprises
The front wheel lifting assembly comprises a front wheel fixing support, a front wheel lifting connecting rod and a front wheel lifting oil cylinder; the front wheel fixing support is fixedly connected to the ship body, the front wheel lifting connecting rod is pivoted to one end of the front wheel fixing support, and the side wall of the front wheel lifting connecting rod is fixedly connected with a connecting rod; the end part of the cylinder body of the front wheel lifting oil cylinder is pivoted on the front wheel fixing support, and the cylinder rod extends towards one side of the front wheel lifting connecting rod of the ship body and is connected with the connecting rod;
the front wheel steering assembly comprises a steering power rod, a steering connecting rod, a steering oil cylinder and a steering resistance rod; the steering resistance rod is pivoted on the lower surface of the front wheel lifting connecting rod, the front wheel driving motor is fixedly arranged on one side of the steering resistance rod, and the front driving wheel is fixedly arranged on the front wheel driving motor; the horizontal fixed mounting of the cylinder body of the steering oil cylinder in the front wheel lifting connecting rod, the fixed cover of the cylinder rod end of the steering oil cylinder is arranged on the steering power rod, one end of the steering connecting rod is pivoted on the upper end face of the steering resistance rod, and the lower end of the steering power rod is pivoted on the end, away from the steering resistance rod, of the steering connecting rod.
Preferably, the two groups of lifting mechanisms are respectively and symmetrically arranged on two sides of the stern and respectively comprise a rear wheel fixing support, a rear wheel lifting connecting rod and a rear wheel lifting oil cylinder;
the rear wheel fixing bracket is fixedly arranged on stern plates at two sides of the ship body along the height direction, and the rear wheel lifting connecting rod is pivoted at the lower end of the rear wheel fixing bracket; the cylinder body of the rear wheel lifting oil cylinder is pivoted to the upper end of the rear wheel fixing support, and a cylinder rod of the rear wheel lifting oil cylinder extends downwards along the height direction and is pivoted to the inner side wall of the rear wheel lifting connecting rod; the rear wheel driving motor is fixedly arranged at one end, far away from the rear wheel fixing support, of the rear wheel lifting connecting rod, and the rear driving wheel is fixedly connected to the rear wheel driving motor.
Preferably, the battery pack of the power system comprises a plurality of storage batteries arranged on a ship body connecting plate; the driving mechanism comprises a motor, a hydraulic pump set, a hydraulic pipeline and a control valve group;
the control valve group, the front wheel driving motor and the rear wheel driving motor are connected to corresponding output ports of the hydraulic pump group through hydraulic pipelines; the front wheel lifting oil cylinder and the rear wheel lifting oil cylinder are connected to the control valve group through hydraulic pipelines, and the control valve group comprises an oil cylinder control valve and a hydraulic lock; the hydraulic pump unit comprises a hydraulic pump unit and a controller coupled to the hydraulic pump unit and used for controlling the hydraulic pump unit.
Preferably, the power system further comprises a pressure sensor group which is installed at an outlet of the hydraulic pump group and used for detecting system pressure, an oil temperature sensor for detecting the temperature of hydraulic oil, an oil level sensor for detecting the oil level of the hydraulic oil, a radiator which is coupled to the oil temperature sensor and performs heat dissipation processing work when the detected temperature is higher than a set threshold value, and an alarm module which is coupled to the oil level sensor and performs alarm reminding when the oil level is lower than a set value.
Preferably, the ship body is a catamaran consisting of a single deck and sheet bodies which are separately connected to the two sides of the single deck; actuating mechanism and control system fixed mounting have seted up the hatch board in the connecting bridge of hull, the hull deck, and both sides lamellar body is provided with the battery case that is used for installing the group battery.
Preferably, the system also comprises a task load module for performing task operation; a bracket platform for installing the task load module is fixedly installed on a deck of the ship body;
the task load module comprises climate monitoring equipment, a task operating system and video monitoring equipment; the task load module is coupled to the control system; the support platform is fixedly arranged on one side of the hatch cover and is provided with a plurality of layers along the height direction.
To sum up, the utility model discloses following beneficial effect has:
the land advancing system is matched with the navigation propeller, the ship body can advance on water and land, the land advancing system is arranged on a front driving wheel of a ship bow and a rear driving wheel of a ship stern, the front driving wheel and the rear driving wheel can be controlled through a lifting steering mechanism arranged on the ship bow and a lifting mechanism arranged on the ship stern, the integral installation is safer, the switching of advancing on water and land can be realized under the drive control of a power system and a control system, and the driving is reliable.
Drawings
FIG. 1 is a schematic view of a structure of an unmanned ship;
FIG. 2 is a schematic structural diagram of the unmanned ship after the hull is removed;
FIG. 3 is a partial schematic view of the front drive wheel;
FIG. 4 is a schematic view of the layout structure of equipment on a connecting plate of a ship body;
FIG. 5 is a schematic diagram of a power and hydraulic assembly;
fig. 6 is a schematic block diagram of the working principle.
In the figure: 101. a hull; 102. a hatch cover; 201. an antenna; 202. a camera; 203. a wind vane; 204. a climate detection system; 205. an anemometer; 301. a task operating system; 401. a navigation propeller; 402. a rear drive wheel; 403. a front drive wheel; 501. a distribution box; 502. a storage battery; 601. a front wheel hydraulic lock; 602. a first oil collection block; 603. a motor; 604. a second oil collection block; 605. a first diverter valve; 606. a lifting steering hydraulic pump; 607. an oil tank; 608. driving a hydraulic pump; 609. a cylinder control valve; 610. oil powder; 611. a rear wheel hydraulic lock; 612. a hydraulic line connector; 613. a hydraulic line; 614. a front wheel lift cylinder; 615. a steering cylinder; 616. a rear wheel lift cylinder; 617. a rear wheel drive motor; 618. a second diverter valve; 619 front wheel drive motor; 701. a communication information platform; 702. an environmental monitoring support platform; 703. a navigation electric push rod; 704. a rear wheel fixing bracket; 705. a rear wheel lifting connecting rod; 706. a front wheel fixing bracket; 707. a steering power rod; 708. a steering link; 709. a front wheel lifting connecting rod; 710. a steering resistance bar.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
According to one or more embodiments, an offshore and amphibious unmanned ship for marine observation is disclosed, as shown in fig. 1, and comprises a ship body, a navigation propeller, a land traveling system and a mission load module.
As shown in fig. 1 and 2, the ship body is a catamaran formed by a single deck and sheet bodies connected to two sides of the single deck, and the cabin is formed by the connecting plates and the deck, so that the stability is better. The hull is preferably made of composite material and structurally reinforced by adding auxiliary layer frameworks.
The power system is arranged in the cabin. The power system is arranged on a connecting plate in the ship body, and the ship body is provided with a hatch cover on a deck, so that the power system arranged on the connecting plate of the ship body can be conveniently detached and maintained. The task load module is installed on the ship body, the ship body deck is fixedly provided with a support platform on one side of the hatch cover, and the support platform is provided with a plurality of layers according to needs and used for carrying out layered independent installation on different assemblies of the task load module.
The land advancing system comprises a front driving related component arranged on a bow and a rear driving related component arranged on a stern. The bow is provided with a front driving wheel for advancing and grabbing the ground, a front wheel driving motor for driving and controlling the front driving wheel, and a lifting and steering mechanism for mounting the front driving wheel and the front wheel driving motor and controlling lifting and steering. The stern is provided with a rear driving wheel which advances in a grabbing manner at the tail part, a rear driving motor which drives and controls the rear driving wheel, and a lifting mechanism which is used for mounting the rear driving wheel and the rear driving motor, the number of the rear driving wheels is two, and the two sides of a stern plate of the stern are respectively provided with the lifting mechanism corresponding to the two rear driving wheels. The navigation propeller is an externally-mounted propeller, an electric push rod is fixedly mounted on the outer side of a stern of the ship body, the navigation propeller is mounted, the upper end of the electric push rod is mounted at the middle position of the stern and extends downwards along the vertical direction, the navigation propeller is mounted at the lower end of the electric push rod, and two sets of lifting mechanisms are preferably symmetrically arranged on two sides of the navigation propeller.
As shown in fig. 3, the lifting and steering mechanism includes a front wheel lifting assembly and a front wheel steering assembly.
The front wheel lifting assembly comprises a front wheel fixing support, a front wheel lifting connecting rod and a front wheel lifting oil cylinder. The front wheel fixing bracket is fixedly connected to the ship body, the front wheel lifting connecting rod is pivoted to one end of the front wheel fixing bracket, and the side wall of the front wheel lifting connecting rod is fixedly connected with a connecting rod; the end part of the cylinder body of the front wheel lifting oil cylinder is pivoted and arranged on the front wheel fixing support, and the cylinder rod extends towards one side of the ship front wheel lifting connecting rod and is connected with the connecting rod. The front wheel fixing support is preferably made of high-strength steel, is connected with the ship body through bolts, and is coated with anticorrosive paint on the outside.
The front wheel steering assembly comprises a steering power rod, a steering connecting rod, a steering oil cylinder and a steering resistance rod. The steering resistance rod is pivoted on the lower surface of the front wheel lifting connecting rod, the front wheel driving motor is fixedly arranged on one side of the steering resistance rod, and the front driving wheel is fixedly arranged on the front wheel driving motor; the cylinder body of the steering oil cylinder is horizontally and fixedly arranged on the front wheel lifting connecting rod, the end part of a cylinder rod of the steering oil cylinder is fixedly sleeved on the steering power rod, one end of the steering connecting rod is pivoted on the upper end surface of the steering resistance rod, and the lower end of the steering power rod is pivoted on the end, far away from the steering resistance rod, of the steering connecting rod.
The two groups of lifting mechanisms are respectively and symmetrically arranged on two sides of the stern and respectively comprise a rear wheel fixing support, a rear wheel lifting connecting rod and a rear wheel lifting oil cylinder.
The rear wheel fixing bracket is fixedly arranged on the stern plates at the two sides of the ship body along the height direction, and the rear wheel lifting connecting rod is pivoted at the lower end of the rear wheel fixing bracket; the cylinder body of the rear wheel lifting oil cylinder is pivoted to the upper end of the rear wheel fixing support, and the cylinder rod of the rear wheel lifting oil cylinder extends downwards along the height direction and is pivoted to the inner side wall of the rear wheel lifting connecting rod; the rear wheel driving motor is fixedly arranged at one end, far away from the rear wheel fixing support, of the rear wheel lifting connecting rod, and the rear driving wheel is fixedly connected to the rear wheel driving motor.
The power system comprises a battery pack and a driving mechanism and is used for supplying power and driving the land traveling system.
As shown in fig. 4 and 5, the battery pack of the power system includes a plurality of storage batteries mounted on the connecting plate of the ship body and a distribution box mounted on the connecting plate, and battery boxes for mounting the storage batteries are provided on the two side sheets of the ship body, so that the storage batteries can be reliably mounted. The storage battery can be charged by an external charger. The driving mechanism comprises a motor, a hydraulic pump group, a hydraulic pipeline and a control valve group.
The control valve group, the front wheel driving motor and the rear wheel driving motor are connected to corresponding output ports of the hydraulic pump group through hydraulic pipelines; the front wheel lifting oil cylinder and the rear wheel lifting oil cylinder are connected to a control valve group through hydraulic pipelines, and the control valve group comprises an oil cylinder control valve and a hydraulic lock; the hydraulic pump unit further comprises a controller coupled to the hydraulic pump unit for controlling the hydraulic pump unit.
The hydraulic pump set comprises a lifting steering hydraulic pump and a driving hydraulic pump, and the motor is connected with the lifting steering hydraulic pump and the driving hydraulic pump through a coupler. The hydraulic pipeline also comprises an oil tank, a first oil collecting block and a second oil collecting block. The control valve group comprises an oil cylinder control valve, a first flow dividing valve, a second flow dividing valve and a left rear wheel hydraulic lock. The steering control is controlled by the control valve group through the unmanned ship control system in a centralized manner. The steering system is always in a locking state through each hydraulic lock in the lifting process, and after the steering system is lifted to a designated position, the steering system can realize left-right steering through the control valve bank.
The power system further comprises a pressure sensor group which is arranged at an outlet of the hydraulic pump group and used for detecting the system pressure, an oil temperature sensor for detecting the temperature of hydraulic oil, an oil level sensor for detecting the oil level of the hydraulic oil, an oil radiator which is coupled to the oil temperature sensor and used for radiating when the detected temperature is higher than a set threshold value, and an alarm module which is coupled to the oil level sensor and used for alarming when the oil level is lower than a set value. The driving hydraulic pump provides power for driving motors of the front wheel and the rear wheel, the driving hydraulic pump is matched with the controller, and two outlets of the driving hydraulic pump are respectively provided with a pressure sensor for monitoring the pressure of the system; the controller is used for controlling a flow dividing valve for driving the hydraulic pump to realize the forward, backward, braking and speed regulation actions of the driving wheel; the lifting steering hydraulic pump provides power for lifting of the front wheels and the rear wheels and steering of the front wheels, and a pressure sensor is installed at an outlet and used for monitoring system pressure; the oil temperature sensor and the oil level sensor are arranged on the hydraulic oil tank and used for monitoring the oil temperature and the oil level of hydraulic oil of the system; when the oil level is lower than a set value, alarming; the oil radiator is used for radiating and cooling, when the temperature detected by the temperature sensor in the oil tank is higher than a set value, the oil radiator starts to work in a power-on mode, and stops working when the temperature is lower than the set temperature.
As shown in fig. 5, two oil output interfaces of the oil tank are respectively connected with an interface of a lifting steering hydraulic pump driving hydraulic pump through a hydraulic pipeline; a first output interface of the driving hydraulic pump is connected with an input interface of the first oil collecting block through a hydraulic pipeline; three output interfaces of the first oil collecting block are respectively connected with one interface of each driving motor through a hydraulic pipeline and a hydraulic pipeline connecting piece; the second output interface of the driving hydraulic pump is connected with the input interface of the flow dividing valve through a hydraulic pipeline; one output interface of the first shunt valve is connected with the other input interface of the front wheel driving motor through a hydraulic pipeline and a hydraulic pipeline connecting piece, and the other output interface of the first shunt valve is connected with the input of the second shunt valve through a hydraulic pipeline; two output interfaces of the second shunt valve are respectively connected with the other input interface of the two rear wheel drive motors by a hydraulic pipeline and a hydraulic pipeline connecting piece; and the output interfaces of the two rear wheel drive motors are connected with the three input interfaces of the second oil collecting block through hydraulic pipelines. The lifting steering hydraulic pump is connected with an output interface of redundant oil of the driving hydraulic pump through a hydraulic pipeline and a fourth input interface of the second oil collecting block; the output interface of the second oil collecting block is connected with the input interface of the oil radiator through a hydraulic pipeline; the output interface of the oil radiator is connected with the corresponding input interface of the oil tank through a hydraulic pipeline.
The output interface of the lifting steering hydraulic pump is connected with the input interface of the oil cylinder control valve through a hydraulic pipeline. The redundant oil output interface of the oil cylinder control valve is connected with the corresponding input interface of the oil tank through a hydraulic pipeline; two oil output interfaces controlled by the first group of electromagnetic control valves on the left side of the oil cylinder control valve are respectively connected with two interfaces of the front wheel steering oil cylinder through a hydraulic pipeline and a hydraulic pipeline connecting piece. Two oil output interfaces controlled by a second group of electromagnetic control valves on the left side of the oil cylinder control valve are respectively connected with two interfaces of the front wheel lifting oil cylinder through a hydraulic pipeline, a hydraulic pipeline connecting piece and a front wheel hydraulic lock. Two oil output interfaces under the control of a third group of electromagnetic control valves on the left side of the oil cylinder control valve are respectively connected with two interfaces of a left rear wheel lifting oil cylinder through a hydraulic pipeline, a hydraulic pipeline connecting piece and a left rear wheel hydraulic lock; two oil output interfaces under the control of a fourth group of electromagnetic control valves on the left side of the oil cylinder control valve are respectively connected with two interfaces of a rear wheel lifting oil cylinder on the rear side through a hydraulic pipeline, a hydraulic pipeline connecting piece and a right rear wheel hydraulic lock.
The remote control system comprises a local control module which is arranged on a ship body and used for carrying out local control on the power system, and a remote control module which is wirelessly connected with the local control module and used for carrying out remote control on the local control module, realizes transmission records of control commands and data through wireless data communication between the remote control module and the local control module, and comprises the steps of remote control on the water surface and the land advancing of the unmanned ship, automatic navigation on the water surface, display of a task load module and remote data transmission.
The task load module comprises climate monitoring equipment, a task operating system and video monitoring equipment, and further comprises an antenna for receiving and transmitting signals. The climate monitoring equipment comprises a wind vane, an anemometer, a temperature sensor and a pressure sensor, and is used for monitoring the wind speed, the wind direction, the atmospheric temperature and the atmospheric pressure of the ocean respectively. The task operation system is arranged on the side wall of the stern and comprises marine environment monitoring equipment and a water quality detection system, and can perform monitoring and detection operation on the water surface. The marine environment monitoring equipment detects and collects information such as wave height, wave direction and wave period of waves in a navigation area. The water quality detection system comprises the monitoring and data transmission of information such as dissolved oxygen, conductivity, salinity, seawater specific gravity, PH value, temperature, turbidity, chlorophyll, water level, OPS, TDS, resistivity and the like. The video monitoring equipment comprises a 4G camera and a communication storage module, video monitoring is carried out on a navigation area, the 4G camera transmits a real-time video back through the communication storage module and an antenna, data in the corresponding window can be set or checked, and operation monitoring on the unmanned ship is achieved through a control system. The video monitoring equipment is provided with a 4G communication card and a 16GSD storage card, can locally store videos and can be called as required.
The support platform is provided with two layers of communication information platforms and monitoring platforms from top to bottom, the antenna is installed in the both sides of communication information platform top for the receiving and dispatching of signal, and the preferred cloud platform installation that adopts of 4G camera is installed in the middle of the communication information platform, and the accessible cloud platform rotates the video monitoring that realizes 360 degrees. The climate monitoring equipment is fixedly arranged on the monitoring platform and can be separated from the equipment on the communication information platform, so that the climate monitoring equipment and the communication information platform can be independently arranged. Through carrying on climate monitoring equipment, marine environment monitoring facilities, water quality monitoring system, can carry out data acquisition and record to the weather and the quality of water in navigation area, through carrying on video monitoring equipment, cooperate in wireless transmission, can make the bank base personnel can the real-time situation in waters of remote monitoring navigation, can carry out more accurate control and handle.
As shown in fig. 6, the ship body carries climate monitoring equipment, marine environment monitoring equipment, a water quality monitoring system and video monitoring equipment to acquire and record data of the climate and water quality of the navigation area. The control system analyzes relevant information and outputs control signals to the motor, the control valve group and the navigation propeller, and drives the hydraulic pump to output pressure oil to enter each driving motor through a hydraulic pipeline and a hydraulic pipeline connecting piece to realize land movement of the device; the hydraulic fluid output by the lifting steering hydraulic pump enters the corresponding oil cylinder through the hydraulic pipeline and the hydraulic pipeline connecting piece under the control of the control valve group and finishes the retraction of wheels with each connecting rod, and the device steers; meanwhile, each hydraulic pipeline has an oil return route to flow into the second oil collecting block and return to the oil tank; the operation of the navigation propeller realizes that the device moves on water. Moving to an observation position, controlling a system to output a signal and exciting a task load module to carry out work measurement related quantity; after the task load module finishes working, the unmanned ship automatically controls the output signal through the local control module or manually controls the output signal through the remote control module to control the return stroke of the unmanned ship.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications to the present embodiment without inventive contribution as required after reading the present specification, but all of them are protected by patent laws within the scope of the claims of the present invention.
Claims (7)
1. An ocean observation amphibious unmanned ship comprises a ship body and a navigation propeller, and is characterized in that: the system also comprises a land advancing system, a power system and a control system;
the land advancing system comprises a front driving wheel, a front wheel driving motor, a rear driving wheel, a rear wheel driving motor, a lifting steering mechanism for installing and adjusting the front driving wheel on the bow of the ship and a lifting mechanism for installing and adjusting the rear driving wheel on two sides of the stern of the ship;
the power system comprises a battery pack and a driving mechanism, wherein the battery pack is arranged on the ship body and used for supplying power and driving the land advancing system;
the control system comprises a local control module which is arranged on the ship body and used for carrying out local control on the power system, and a remote control module which is wirelessly connected with the local control module and used for carrying out remote control.
2. The marine observation amphibious unmanned ship of claim 1, wherein: the lifting steering mechanism comprises
The front wheel lifting assembly comprises a front wheel fixing support, a front wheel lifting connecting rod and a front wheel lifting oil cylinder; the front wheel fixing support is fixedly connected to the ship body, the front wheel lifting connecting rod is pivoted to one end of the front wheel fixing support, and the side wall of the front wheel lifting connecting rod is fixedly connected with a connecting rod; the end part of the cylinder body of the front wheel lifting oil cylinder is pivoted on the front wheel fixing support, and the cylinder rod extends towards one side of the front wheel lifting connecting rod of the ship body and is connected with the connecting rod;
the front wheel steering assembly comprises a steering power rod, a steering connecting rod, a steering oil cylinder and a steering resistance rod; the steering resistance rod is pivoted on the lower surface of the front wheel lifting connecting rod, the front wheel driving motor is fixedly arranged on one side of the steering resistance rod, and the front driving wheel is fixedly arranged on the front wheel driving motor; the horizontal fixed mounting of the cylinder body of the steering oil cylinder in the front wheel lifting connecting rod, the fixed cover of the cylinder rod end of the steering oil cylinder is arranged on the steering power rod, one end of the steering connecting rod is pivoted on the upper end face of the steering resistance rod, and the lower end of the steering power rod is pivoted on the end, away from the steering resistance rod, of the steering connecting rod.
3. The marine observation amphibious unmanned ship of claim 2, wherein: the two groups of lifting mechanisms are respectively and symmetrically arranged on two sides of the stern and respectively comprise a rear wheel fixing bracket, a rear wheel lifting connecting rod and a rear wheel lifting oil cylinder;
the rear wheel fixing bracket is fixedly arranged on stern plates at two sides of the ship body along the height direction, and the rear wheel lifting connecting rod is pivoted at the lower end of the rear wheel fixing bracket; the cylinder body of the rear wheel lifting oil cylinder is pivoted to the upper end of the rear wheel fixing support, and a cylinder rod of the rear wheel lifting oil cylinder extends downwards along the height direction and is pivoted to the inner side wall of the rear wheel lifting connecting rod; the rear wheel driving motor is fixedly arranged at one end, far away from the rear wheel fixing support, of the rear wheel lifting connecting rod, and the rear driving wheel is fixedly connected to the rear wheel driving motor.
4. The marine observation amphibious unmanned ship of claim 3, wherein: the battery pack of the power system comprises a plurality of storage batteries arranged on a ship body connecting plate; the driving mechanism comprises a motor, a hydraulic pump set, a hydraulic pipeline and a control valve group;
the control valve group, the front wheel driving motor and the rear wheel driving motor are connected to corresponding output ports of the hydraulic pump group through hydraulic pipelines; the front wheel lifting oil cylinder and the rear wheel lifting oil cylinder are connected to the control valve group through hydraulic pipelines, and the control valve group comprises an oil cylinder control valve and a hydraulic lock; the hydraulic pump unit comprises a hydraulic pump unit and a controller coupled to the hydraulic pump unit and used for controlling the hydraulic pump unit.
5. The marine observation amphibious unmanned ship of claim 4, wherein: the power system further comprises a pressure sensor group which is arranged at an outlet of the hydraulic pump group and used for detecting the system pressure, an oil temperature sensor for detecting the temperature of hydraulic oil, an oil level sensor for detecting the oil level of the hydraulic oil, a radiator which is coupled to the oil temperature sensor and used for radiating when the detected temperature is higher than a set threshold value, and an alarm module which is coupled to the oil level sensor and used for alarming when the oil level is lower than a set value.
6. The marine observation amphibious unmanned ship of claim 1, wherein: the ship body is a catamaran consisting of a single deck and sheet bodies which are separately connected to the two sides of the single deck; actuating mechanism and control system fixed mounting have seted up the hatch board in the connecting bridge of hull, the hull deck, and both sides lamellar body is provided with the battery case that is used for installing the group battery.
7. The marine observation amphibious unmanned ship of claim 1, wherein: the system also comprises a task load module for performing task operation; a bracket platform for installing the task load module is fixedly installed on a deck of the ship body;
the task load module comprises climate monitoring equipment, a task operating system and video monitoring equipment; the task load module is coupled to the control system; the support platform is fixedly arranged on one side of the hatch cover and is provided with a plurality of layers along the height direction.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147293A (en) * | 2021-05-13 | 2021-07-23 | 上海海洋大学 | Amphibious unmanned ship for ocean observation |
| CN115674965A (en) * | 2022-08-19 | 2023-02-03 | 贵州詹阳动力重工有限公司 | Hydraulic control system of water propulsion device of amphibious all-terrain vehicle |
| CN117901990A (en) * | 2024-02-19 | 2024-04-19 | 广州市番高气模制品有限公司 | Foldable inflatable unmanned catamaran |
-
2021
- 2021-05-13 CN CN202121021681.1U patent/CN214647406U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113147293A (en) * | 2021-05-13 | 2021-07-23 | 上海海洋大学 | Amphibious unmanned ship for ocean observation |
| CN115674965A (en) * | 2022-08-19 | 2023-02-03 | 贵州詹阳动力重工有限公司 | Hydraulic control system of water propulsion device of amphibious all-terrain vehicle |
| CN117901990A (en) * | 2024-02-19 | 2024-04-19 | 广州市番高气模制品有限公司 | Foldable inflatable unmanned catamaran |
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