CN215794337U - Unmanned ship body device and unmanned ship control device - Google Patents
Unmanned ship body device and unmanned ship control device Download PDFInfo
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- CN215794337U CN215794337U CN202121272769.0U CN202121272769U CN215794337U CN 215794337 U CN215794337 U CN 215794337U CN 202121272769 U CN202121272769 U CN 202121272769U CN 215794337 U CN215794337 U CN 215794337U
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Abstract
The application discloses unmanned ship hull device and unmanned ship controlling means, wherein, unmanned ship hull device includes: the underwater steering device comprises an underwater detection device, a launching device, a transmission rod, a power device and a steering device; the underwater detection device is arranged at the lower part of the bow of the unmanned ship and is used for acquiring underwater detection signals of a task sea area; the launching device is arranged above the bow of the unmanned ship, a launching port of the launching device is arranged obliquely upwards, and the launching device is used for launching a target indicator to a task sea area; the transmission rod is arranged at the bottom of the stern of the unmanned ship through a sealing bearing, one end of the transmission rod is connected to the power device, the other end of the transmission rod is connected to the paddle, and the paddle provides navigation power for the unmanned ship when rotating under the driving of the power device; the steering device is connected to the transmission rod and used for driving the transmission rod to rotate to adjust the orientation of the paddle. Through the technical scheme in this application, improve unmanned ship to the detection efficiency and the detection precision in task sea area, reduce unmanned ship's manufacturing cost.
Description
Technical Field
The application relates to the technical field of unmanned boats, particularly, relate to an unmanned boat hull device and an unmanned boat controlling means.
Background
The unmanned boat has the characteristics of small size, large boat range, high speed and the like, is particularly suitable for operation tasks in severe sea condition environments, including channel measurement, submarine topography measurement, navigation chart drawing and the like, and particularly in the military field, the unmanned boat is continuously applied and developed in the fields of ocean patrol, search and rescue, operation and the like with the excellent advantages.
The existing unmanned ship is lack of effective exploration for a detection target located in an area near the sea surface in a designated task area, single in exploration means and poor in accuracy, and particularly lacks of effective indication for the detection target in specific situations such as offshore mine clearance operation, so that the detection effect is not ideal. In addition, the existing unmanned ship has a complex structure and high manufacturing cost, and particularly, the power device of the unmanned ship causes the offshore operation cost of the unmanned ship to be higher, which is not beneficial to the wide application of the unmanned ship.
SUMMERY OF THE UTILITY MODEL
The purpose of this application lies in: the unmanned ship has the advantages that the detection efficiency and the detection precision of the unmanned ship to the task sea area are improved, and meanwhile, the manufacturing cost of the unmanned ship is reduced.
The technical scheme of the first aspect of the application is as follows: the utility model provides an unmanned ship, unmanned ship crowd is constituteed to a plurality of unmanned ships, and unmanned ship crowd is applicable to under the control of shore based platform to the exploration in task sea area, and unmanned ship hull device includes: the underwater steering device comprises an underwater detection device, a launching device, a transmission rod, a power device and a steering device; the underwater detection device is arranged at the lower part of the bow of the unmanned ship and is used for acquiring underwater detection signals of a task sea area; the launching device is arranged above the bow of the unmanned ship, a launching port of the launching device is arranged obliquely upwards, and the launching device is used for launching a target indicator to a task sea area; the transmission rod is arranged at the bottom of the stern of the unmanned ship through a sealing bearing, one end of the transmission rod is connected to the power device, the other end of the transmission rod is connected to the paddle, and the paddle provides power for the unmanned ship when being driven by the power device to rotate; the steering device is connected to the transmission rod and used for driving the transmission rod to rotate so as to adjust the orientation of the paddle.
In any of the above technical solutions, further, the power device includes a first turntable and a first motor, and the steering device includes a second turntable and a second motor; the transmission rod comprises a rotating shaft and an outer wall, the outer wall is coated on the outer side of the rotating shaft, a key groove is formed in one end of the rotating shaft, and the other end of the rotating shaft is connected to the paddle; the first motor is arranged above the first rotating disc, the first rotating disc is fixedly sleeved on the outer wall, the first motor is connected with the key groove through a key, and the first motor is used for driving the rotating shaft to rotate; the second turntable is meshed with the first turntable, a second motor is arranged above the second turntable, and when the second motor rotates, the second turntable drives the first turntable to rotate so as to enable the transmission rod to rotate.
In any one of the above technical solutions, further, the underwater detection signal includes an underwater image signal and an underwater sonar signal, and the underwater detection device includes: sonar, underwater camera; the underwater camera is arranged above the sonar, the detection area of the underwater camera is right opposite to the direction of the bow of the unmanned boat, and the underwater camera is used for acquiring an underwater image signal; the sonar is used for acquiring underwater sonar signals.
In any one of the above technical solutions, further, the unmanned ship hull device further includes: a binocular camera; the binocular camera is arranged above the unmanned boat cab and used for acquiring overwater image signals of a task sea area.
In any one of the above technical solutions, further, the unmanned ship hull device further includes: a sensor cabin and a wind direction detection device; the sensor cabin is arranged inside a hull of the unmanned ship, an underwater sensor is stored in the sensor cabin, the sensor cabin is used for throwing the underwater sensor into a task sea area in the sailing process of the unmanned ship, and the underwater sensor is used for acquiring sea wave height information; the wind direction detection device is arranged above the unmanned ship cab and used for collecting wind speed information and wind direction information.
In any one of the above technical solutions, further, the unmanned ship hull device further includes: a wireless communication device; the wireless communication device is arranged in the unmanned boat body and is used for carrying out wireless communication with the shore-based platform.
The technical scheme of the second aspect of the application is as follows: there is provided an unmanned boat control device adapted to the unmanned boat hull device according to any one of the first aspect, the unmanned boat control device including: the device comprises an acquisition module, a communication module and a control module; the acquisition module is electrically connected with the underwater detection device and is used for acquiring underwater detection signals; the communication module is electrically connected with the acquisition module and the control module and is used for carrying out data transmission with the shore-based platform and acquiring a navigation instruction; the control module is used for controlling the unmanned ship to sail according to the sailing instruction.
In any one of the above technical solutions, further, the unmanned ship control device further includes: obstacle avoidance module and hull safety system module.
The beneficial effect of this application is:
technical scheme in this application, a novel unmanned ship and unmanned ship's controlling means is provided, in order to improve detection efficiency and the detection precision to the task sea area, binocular camera, sonar, the camera under water, on water, under water detection signal with acquireing the task sea area, so that the accurate detection target of discernment task sea area, and through setting up emitter, so that after the detection target was discerned in task sea area, to corresponding regional transmission target indicator, the reinforcing detects the identification effect of target.
This application has still adjusted the structure of unmanned ship, has simplified the power device and the steering system of unmanned ship, has reduced the manufacturing cost of unmanned ship. In addition, in order to improve the control precision of the unmanned ship, a sensor cabin and a wind direction detection device are further arranged in the unmanned ship, the underwater sensor is thrown into the task sea area from the sensor cabin, sea wave height information is collected, and wind speed information and wind direction information are collected by the wind direction detection device, so that the unmanned ship control device can conveniently adjust the navigation of the unmanned ship, and the detection efficiency of the unmanned ship on the task sea area is improved.
Drawings
The advantages of the above and/or additional aspects of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic illustration of an unmanned boat according to an embodiment of the present application;
fig. 2 is a schematic view of an unmanned boat control device according to an embodiment of the present application.
The system comprises a ship body, a transmitting device, a binocular camera, a sonar, an underwater camera, a sensor cabin, a wind direction detecting device, a first rotating disc, a second rotating disc, a first motor, a second motor, a 25-transmission rod, a blade, a 31-acquisition module, a 32-communication module, a 33-control module, a 34-obstacle avoidance module and a ship body safety system module, wherein the ship body is 10-the ship body, the transmitting device is 11-the transmitting device, the binocular camera is 12-the binocular camera, the sonar is 13-the sonar, the underwater camera is 14-the sensor cabin, the wind direction detecting device is 16-the first rotating disc, the second rotating disc is 22-the 23-the first motor, the second motor is 24-the 25-transmission rod, the blade is 26-the blade, the 31-acquisition module, the 32-communication module, the control module, the 34-the obstacle avoidance module and the ship body safety system module.
Detailed Description
In order that the above objects, features and advantages of the present application can be more clearly understood, the present application will be described in further detail with reference to the accompanying drawings and detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced in other ways than those described herein, and therefore the scope of the present application is not limited by the specific embodiments disclosed below.
The first embodiment is as follows:
as shown in fig. 1, the present embodiment provides an unmanned surface vehicle, wherein a plurality of unmanned surface vehicles form an unmanned surface vehicle group, the unmanned surface vehicle group is suitable for exploration of a mission sea area under the control of a shore-based platform, and the unmanned surface vehicle comprises: the underwater detection device, the launching device 11, the transmission rod 25, the power device and the steering device; the underwater detection device is arranged at the lower part of the bow of the unmanned ship and used for acquiring underwater detection signals of a task sea area.
Preferably, the underwater detection signal includes an underwater image signal and an underwater sonar signal, and the underwater detection device includes: sonar 13, underwater camera 14; the underwater camera 14 is arranged above the sonar 13, the detection area of the underwater camera 14 is right opposite to the heading of the bow of the unmanned boat, and the underwater camera 14 is used for acquiring underwater image signals; the sonar 13 is used to acquire an underwater sonar signal.
By respectively arranging the sonar 13 and the underwater camera 14, the means for acquiring the task sea area detection signals are enriched, and the underwater image signals and the underwater sonar signals are jointly used as the basis for detecting the target, so that the accuracy of detecting the target identification is improved, and the detection accuracy is ensured.
Further, unmanned ship still includes: a binocular camera 12; the binocular camera 12 is arranged above the top of the cab of the unmanned ship, and the binocular camera 12 is used for acquiring overwater image signals of a task sea area.
In the embodiment, the binocular camera 12 is arranged above the cab roof of the unmanned ship to detect the underwater detection target, so that the comprehensiveness of detection of the detection target in a task area is ensured, and the reliability of identification of the detection target is further ensured.
In the present embodiment, the method for identifying the target to be detected based on the above-water image signal, the underwater image signal, and the underwater sonar signal is not limited.
In order to mark the detected detection target, the unmanned ship in the embodiment is further provided with a launching device 11, the launching device 11 is arranged above the bow of the unmanned ship, a launching port of the launching device 11 is arranged obliquely upwards, and the launching device 11 is used for launching a target indicator to a task sea area;
specifically, after unmanned ship passes through wireless communication device with on water, detection signal transmission under water to bank base platform, handle the signal that receives by bank base platform, discernment detection target, when judging that corresponding region has detection target, unmanned ship receives bank base platform's mark control signal via wireless communication device, by emitter 11 according to the mark control signal that receives, to task sea area transmission target indicator, carry out visual mark by target indicator to this regional detection target, reinforcing detection target's identification effect.
In order to simplify the structure of the unmanned surface vehicle and reduce the manufacturing cost of the unmanned surface vehicle in this embodiment, this embodiment also shows a power driving system of the unmanned surface vehicle, the power driving system is composed of a power device, a steering device, a transmission rod 25, a blade 26 and the like, the power device drives the blade 26 to rotate through the transmission rod 25 to provide the driving force for the unmanned surface vehicle to sail forward, and the steering device drives the transmission rod 25 and the blade 26 to rotate integrally to adjust the course of the unmanned surface vehicle.
Specifically, the transmission rod 25 is arranged at the bottom of the stern of the unmanned ship through a sealing bearing, one end of the transmission rod 25 is connected to the power device, the other end of the transmission rod 25 is connected to the paddle 26, and the paddle 26 provides power for the unmanned ship when being driven by the power device to rotate; a steering device is connected to the transmission rod 25, and the steering device is used for driving the transmission rod 25 to rotate so as to adjust the orientation of the paddle 26.
Further, transfer line 25 includes axis of rotation and outer wall, and the outer wall cladding is in the outside of axis of rotation, and the axis of rotation includes structures such as bearing, axle and sector gear at least, and the axis of rotation is provided with the power transmission to paddle 26 that power device provided, and the one end of axis of rotation is provided with the keyway, and the other end of axis of rotation is connected in paddle 26.
On the basis of the above embodiment, the power unit includes the first rotating disk 21 and the first electric motor 23, the steering unit includes the second rotating disk 22, the second electric motor 24; the first motor 23 is arranged above the first turntable 21, the first turntable 21 is fixedly sleeved on the outer wall, the first motor 23 is connected with the key groove through a key, and the first motor 23 is used for driving the rotating shaft to rotate; the second rotary table 22 is engaged with the first rotary table 21, a second motor 24 is disposed above the second rotary table 22, and when the second motor 24 rotates, the second rotary table 22 drives the first rotary table 21 to rotate, so that the transmission rod 25 rotates.
Through foretell structural design, replaced the rudder structure in the unmanned ship, simplified the structural design of unmanned ship course adjustment, reduced the manufacturing cost of unmanned ship whole power drive system, simultaneously, be favorable to the maintenance to the unmanned ship.
On the basis of the embodiment, in order to improve the control precision of the unmanned ship in the navigation process and reasonably plan the air route of the unmanned ship in the task area, the unmanned ship is used for collecting environmental information such as wind speed, wind direction, sea wave height and the like in the current sea area environment, so that the navigation speed and the course of the unmanned ship are optimized. Therefore, the unmanned boat further comprises: a sensor compartment 15, a wind direction detection device 16; the sensor cabin 15 is arranged inside the unmanned ship body 10, an underwater sensor is stored in the sensor cabin 15, the sensor cabin 15 is used for throwing the underwater sensor into a task sea area in the navigation process of the unmanned ship, and the underwater sensor is used for acquiring sea wave height information; the wind direction detection device 16 is arranged above the top of the cab of the unmanned ship, and the wind direction detection device 16 is used for collecting wind speed information and wind direction information.
It should be noted that, in this embodiment, the determination method of the speed and the heading in the navigation process of the unmanned boat is not limited.
Further, unmanned ship still includes: a wireless communication device; the wireless communication device is provided inside the unmanned boat hull 10, and the wireless communication device is used for performing wireless communication with the shore-based platform.
Example two:
as shown in fig. 2, the present embodiment provides an unmanned boat control device, which is applied to the unmanned boat in the above embodiments, and includes: an acquisition module 31, a communication module 32 and a control module 33; the acquisition module 31 is electrically connected to the underwater detection device, and the acquisition module 31 is used for acquiring underwater detection signals; the communication module 32 is electrically connected to the acquisition module 31 and the control module 33, and the communication module 32 is used for performing data transmission with the shore-based platform and acquiring a navigation instruction; the control module 33 is used for controlling the unmanned ship to sail according to the sailing instruction.
Further, the acquisition module 31 is also electrically connected to a binocular camera in the unmanned surface vehicle to acquire an above-water image signal of the task sea area.
In this embodiment, the navigation instruction in the navigation process of the unmanned ship is generated by the shore-based platform according to a group control algorithm (such as an ant colony algorithm, a pigeon colony algorithm, a bee colony algorithm, and the like) in combination with the above-water image signal, the underwater image signal, and the underwater sonar signal of the task sea area uploaded by the acquisition module 31. The communication module 32 acquires a navigation instruction generated by the shore-based platform in a wireless communication mode, the acquired navigation instruction is forwarded to the control module 33, and the control module 33 controls the power device and the steering device according to the received navigation instruction so as to control the heading and the speed of the unmanned ship.
Further, unmanned ship controlling means still includes: an obstacle avoidance module 34 and a hull safety system module 35.
Specifically, when the unmanned ship meets an obstacle in the sailing process, the sensor (such as sonar, an underwater camera and a binocular camera) transmits detected information to the obstacle avoidance module 34, the obstacle avoidance function is completed by the module through a conventional obstacle avoidance procedure, and accidents such as reef contact and the like of the ship body can be effectively prevented.
In order to increase the safety reliability of the ship body and increase the backup protection, a ship body safety system module 35 is further arranged and comprises a ship bottom liquid level sensor, a turbidity meter and a bilge pump. When water permeates into the bilge or oil leaks from the fuel oil daily cabinet and enters the bilge, the ship bottom liquid level sensor detects a liquid level signal, the turbidity meter detects liquid components, and if the detected liquid is water, the ship body safety system module 35 automatically starts the bilge pump and controls the bilge pump to discharge the water out of the ship board; if the liquid is detected to be oil, the hull safety system module 35 automatically activates the bilge pump, which is controlled to discharge water to the sump.
Above combine the technical scheme of this application of figure detailed description, this application has proposed an unmanned ship hull device and unmanned ship controlling means, and wherein, unmanned ship crowd is constituteed to a plurality of unmanned ships, and unmanned ship crowd is applicable to the exploration to the task sea area under the control of bank base platform, and unmanned ship hull device includes: the underwater steering device comprises an underwater detection device, a launching device, a transmission rod, a power device and a steering device; the underwater detection device is arranged at the lower part of the bow of the unmanned ship and is used for acquiring underwater detection signals of a task sea area; the launching device is arranged above the bow of the unmanned ship, a launching port of the launching device is arranged obliquely upwards, and the launching device is used for launching a target indicator to a task sea area; the transmission rod is arranged at the bottom of the stern of the unmanned ship through a sealing bearing, one end of the transmission rod is connected to the power device, the other end of the transmission rod is connected to the paddle, and the paddle provides power for the unmanned ship when being driven by the power device to rotate; the steering device is connected to the transmission rod and used for driving the transmission rod to rotate so as to adjust the orientation of the paddle. Through the technical scheme in this application, when improving unmanned ship to the detection efficiency and the detection precision in task sea area, reduced unmanned ship's manufacturing cost.
In the present application, the terms "mounted," "connected," "fixed," and the like are used in a broad sense, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection; "coupled" may be direct or indirect through an intermediary. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The shapes of the various elements in the drawings are illustrative and do not preclude the existence of certain differences from the actual shapes, and the drawings are used for the purpose of illustrating the principles of the present application and are not intended to limit the present application.
Although the present application has been disclosed in detail with reference to the accompanying drawings, it is to be understood that such description is merely illustrative and not restrictive of the application of the present application. The scope of the present application is defined by the appended claims and may include various modifications, adaptations, and equivalents of the subject application without departing from the scope and spirit of the present application.
Claims (8)
1. An unmanned boat hull assembly, wherein a plurality of said unmanned boats form an unmanned boat fleet adapted for mission sea exploration under control of a shore-based platform, said unmanned boat hull assembly comprising: the underwater detection device, the launching device (11), the transmission rod (25), the power device and the steering device;
the underwater detection device is arranged at the lower part of the bow of the unmanned boat and is used for acquiring an underwater detection signal of the task sea area;
the launching device (11) is arranged above the bow of the unmanned ship, a launching port of the launching device (11) is arranged obliquely upwards, and the launching device (11) is used for launching a target indicator to the task sea area;
the transmission rod (25) is arranged at the bottom of the stern of the unmanned boat through a sealing bearing, one end of the transmission rod (25) is connected to the power device, the other end of the transmission rod (25) is connected to the paddle (26), and the paddle (26) provides sailing power for the unmanned boat when being driven by the power device to rotate;
the steering device is connected to the transmission rod (25) and used for driving the transmission rod (25) to rotate so as to adjust the orientation of the blade (26).
2. The unmanned boat hull assembly of claim 1, wherein the power unit includes a first turntable (21) and a first motor (23), and the steering means includes a second turntable (22), a second motor (24);
the transmission rod (25) comprises a rotating shaft and an outer wall, the outer wall is coated on the outer side of the rotating shaft, a key groove is formed in one end of the rotating shaft, and the other end of the rotating shaft is connected to the paddle (26);
the first motor (23) is arranged above the first rotary table (21), the first rotary table (21) is fixedly sleeved on the outer wall, the first motor (23) is connected with the key groove through a key, and the first motor (23) is used for driving the rotating shaft to rotate;
the second turntable (22) is meshed with the first turntable (21), the second motor (24) is arranged above the second turntable (22), and when the second motor (24) rotates, the second turntable (22) drives the first turntable (21) to rotate so as to enable the transmission rod (25) to rotate.
3. The unmanned marine vessel hull assembly of claim 1, wherein said underwater detection signals comprise underwater image signals and underwater sonar signals, said underwater detection assembly comprising: a sonar (13), an underwater camera (14);
the underwater camera (14) is arranged above the sonar (13), the detection area of the underwater camera (14) is right opposite to the direction of the bow of the unmanned boat, and the underwater camera (14) is used for acquiring the underwater image signal;
the sonar (13) is for acquiring the underwater sonar signal.
4. The unmanned boat hull assembly of claim 3, further comprising: a binocular camera (12);
the binocular camera (12) is arranged above the unmanned boat cab, and the binocular camera (12) is used for acquiring the overwater image signals of the task sea area.
5. The unmanned boat hull assembly of claim 1, further comprising: a sensor compartment (15), a wind direction detection device (16);
the sensor cabin (15) is arranged inside the unmanned ship body (10), an underwater sensor is stored in the sensor cabin (15), the sensor cabin (15) is used for throwing the underwater sensor to the task sea area in the sailing process of the unmanned ship, and the underwater sensor is used for collecting sea wave height information;
the wind direction detection device (16) is arranged above the unmanned ship cab, and the wind direction detection device (16) is used for collecting wind speed information and wind direction information.
6. The unmanned boat hull assembly of any one of claims 1 to 5, further comprising: a wireless communication device;
the wireless communication device is arranged inside the unmanned boat body (10) and is used for carrying out wireless communication with the shore-based platform.
7. An unmanned boat control device, characterized in that the unmanned boat control device is adapted to the unmanned boat hull device of any one of claims 1 to 6, the unmanned boat control device comprising: the device comprises an acquisition module (31), a communication module (32) and a control module (33);
the acquisition module (31) is electrically connected to the underwater detection device, and the acquisition module (31) is used for acquiring the underwater detection signal;
the communication module (32) is electrically connected to the acquisition module (31) and the control module (33), and the communication module (32) is used for carrying out data transmission with the shore-based platform and acquiring a navigation instruction;
the control module (33) is used for controlling the unmanned ship to sail according to the sailing instruction.
8. The unmanned boat control device of claim 7, further comprising: an obstacle avoidance module (34) and a hull safety system module (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121272769.0U CN215794337U (en) | 2021-06-08 | 2021-06-08 | Unmanned ship body device and unmanned ship control device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121272769.0U CN215794337U (en) | 2021-06-08 | 2021-06-08 | Unmanned ship body device and unmanned ship control device |
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| CN215794337U true CN215794337U (en) | 2022-02-11 |
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| CN202121272769.0U Active CN215794337U (en) | 2021-06-08 | 2021-06-08 | Unmanned ship body device and unmanned ship control device |
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