RU210564U1 - Trainer unmanned boat - Google Patents

Abstract

The utility model relates to the field of shipbuilding, in particular to the development of unmanned boats (BEC), which are used to practice the skills of controlling marine surface robots. traffic control system, a navigation system with a GLONASS/GPS antenna, a communication system with a mobile control center or a repeater, a video surveillance system, a weather station, a system for diagnosing the technical condition of on-board equipment, technical devices for placing and connecting replaceable unified payload equipment. The fundamental difference between the claimed utility model and The prototype is that the propulsion-steering complex consists of two submersible electric motors with propellers, inside the housing on a spring suspension there is an electronic equipment unit and a battery module and, above the hull deck, a coaming rises, on top of which there is a removable plastic superstructure, which is hermetically attached to the coaming, a mast welded from thin-walled steel pipes is attached to the hull, a launching device in the form of a U-frame is installed in the aft part of the deck, designed for automated launching and lifting a remote-controlled uninhabited underwater vehicle, in the forward part of the deck on racks above the superstructure, there is a landing site designed for automated launch and landing of a quadrocopter. navigation and the use of onboard robotics. 6 ill.

Description

The utility model relates to the field of shipbuilding, in particular to the development of unmanned boats (BEC), which are used to practice the skills of controlling marine surface robots.

Known mobile surface robotic system for operations to illuminate the situation and monitor the state of the water area. (Patent 2639000 Russian Federation, IPC B63G7 / 00. Mobile surface robotic system for operations to illuminate the situation and monitor the state of the water area / Belov D.A., Zaichenko D.K., Penkin A.A., Churikov A.B.; patent owner: Ministry of Industry and Trade of the Russian Federation (Ministry of Industry and Trade of Russia) - 2016139168; application 06.10.2016; publ. 19.12.2017 Bull. No. 35). A mobile surface robotic system for carrying out operations to illuminate the situation and monitor the state of the water area, including an unmanned boat made in the form of a rigid hull with a diesel-electric complex, a lowering sonar and an autonomous remote control and information storage system. The unmanned boat is equipped with a sonar of all-round visibility, made with the possibility of making swinging movements from -185 angular degrees to +185 angular degrees from the heading angle and mounted on a lowering rod in a fairing transparent for hydroacoustic oscillations with a frequency of up to 5 kHz, while an autonomous remote control system and storage of information is connected with the GLONASS/GPS system and combined with the all-round sonar and diesel-electric complex.

The disadvantage of this technical solution is the lack of means to ensure the possibility of learning and training the skills of unmanned navigation and the use of onboard robotic tools.

Known unmanned controlled boat. (Patent 188836 Russian Federation, IPC B63G 7/00, B63V 21/24. Unmanned controlled boat / Olkhovik E.O., Butsanets A.A.; patent holder: Federal State Budgetary Educational Institution of Higher Education "State University of the Sea and River Fleet named after Admiral S.O. Makarov" - No. 2018141760; application 11/26/2018; published 04/24/2019 Bull. No. 12). The unmanned controlled boat is made in the form of a hull with a diesel-electric complex, a remote control system, surveillance, collection and storage of information. Additionally, the boat is equipped with an anchor system consisting of anchors placed in the hawse pipe with an anchor chain, the root end of which is fixed on the ship's hull, and an electromagnet connected to the diesel-electric complex and placed in a protective casing fixed on the outer wall of the hawse pipe. At the same time, opposite the electromagnet, also on the outer wall of the anchor hawse, a second protective casing is installed, inside which a spring-loaded metal rod is placed, interacting with the electromagnet with the possibility of passing through one of the links of the anchor chain. At the same time, a stop for the spring is made on the spring-loaded metal rod, in turn, there is also a stop at the end of the second casing, and the length of the free end of the rod to the stop is equal to 0.9 of the diameter of the hawse pipe.

The disadvantage of this technical solution is the lack of means to ensure the possibility of learning and training the skills of unmanned navigation and the use of onboard robotic tools.

The closest technical solution to the problem, taken as a prototype, is the robotic multifunctional BEC "Iskatel" (Article: Unmanned boat "Iskatel": it will protect the sea from mines. [Electronic resource]. - URL: https://riafan/ru/943321- bezekipazhnyi-kater-iskatel-on-obezo-pasit-more-ot-min.).

The unmanned boat is made in the form of a rigid hull with a diesel-electric propulsion and steering system and a power supply system, which is equipped with a remote and automatic traffic control system, a navigation system with a GLONASS / GPS antenna, a communication system with a mobile control point or repeater, a video surveillance system, a weather station; a system for diagnosing the technical condition of onboard equipment, technical devices for ensuring the placement and connection of replaceable unified payload equipment.

The disadvantage of this technical solution is the lack of means to ensure the possibility of learning and training the skills of unmanned navigation and the use of onboard robotic tools.

A new technical solution has been developed, the task of which is to create an unmanned training boat, which can be used as a training complex for practicing unmanned navigation skills and using onboard robotic equipment (underwater vehicles, quadrocopters, etc.).

The technical result of the claimed utility model is to provide the possibility of teaching and training the skills of unmanned navigation.

Training and training crewless boat, made in the form of a rigid hull with a propulsion and steering system, a power supply system, a remote and automatic traffic control system, a navigation system with a GLONASS / GPS antenna, a communication system with a mobile control center or a repeater, a video surveillance system, a weather station, a system diagnostics of the technical condition of the onboard equipment, technical devices for ensuring the placement and connection of the replaceable unified payload equipment.

The principal difference between the claimed utility model and the prototype is that the propulsion-steering complex consists of two submersible electric motors with propellers, inside the hull on a spring suspension there is an electronic equipment unit and a battery module, a coaming rises above the hull deck, on top of which there is a removable plastic superstructure , which is hermetically attached to the coaming, a mast welded from thin-walled steel pipes is attached to the hull, a launching device in the form of a U-frame is installed in the aft part of the deck, designed for automated descent and recovery of a remote-controlled uninhabited underwater vehicle, in the forward part of the deck on racks above the superstructure a landing pad was installed for automated launch and landing of the quadrocopter.

The essence of the utility model is illustrated by drawings:

Fig. 1. Trainer crewless boat (side view);

Fig. 2. Trainer unmanned boat without a removable plastic superstructure;

Fig. 3. The location of the radio-electronic equipment unit (REA) and the storage battery unit (AB) inside the hull of the training unmanned boat;

Fig. 4. Arrangement of instruments on the upper and lower platforms of the mast of the Training-simulator unmanned boat;

Fig. 5. The position of the launching device (SPU) of the training unmanned boat in the operating mode of the ROV;

Fig. 6. Trainer unmanned boat on a trailer.

The drawings indicate:

1 - body;

2 - coaming;

3 - removable plastic superstructure;

4 - mast;

5 - propulsion and steering complex;

6 - rack;

7 - landing site;

8 - quadrocopter;

9 - winch;

10 - cable-rope;

11 - P-frame;

12 - remote-controlled uninhabited underwater vehicle (TNLA);

13 - shifting mechanism.

14 - upper platform;

15 - lower platform;

16 - block of radio-electronic equipment (REA);

17 - battery module (AB);

18 - spring suspension;

19 - cable routes;

20 - main optoelectronic module;

21 - radio antenna;

22 - running lights;

23 - anemorumbometer;

24 - top fire;

25 - stock;

26 - Wi-Fi antenna;

27 - microphone;

28 - spotlights (left and right);

29 - searchlight (front);

30 - radar antenna;

31 - GLONASS/GPS antenna;

32 - camera for monitoring the landing site;

33 - searchlight (landing area lighting);

34 - camera for monitoring the lifting device;

35 - siren;

In FIG. 1. The Training and Simulator Unmanned Boat (BEC) is presented. The design of the training simulator BEC consists of a fiberglass hull 1, a coaming 2 rises above the deck of the hull, on top of which there is a removable plastic superstructure 3, which is hermetically attached to the coaming. A mast 4 is attached to the body, welded from thin-walled steel pipes. In the aft part of the hull there is a propulsion-steering complex 5, consisting of two submersible electric motors with propellers. Changing the direction of movement of the Training and Simulator BEC is achieved by changing the rotational speed of the propellers. The training simulator BEC has the following performance characteristics:

- length 3.2 m;

- width 1.1 m;

- side height 0.5 m;

- dry weight 300 kg;

- load capacity 150 kg;

- speed 15 knots;

- autonomy 4 hours.

In the bow part of the Training simulator BEC there is a removable, octagonal landing pad 7, attached to the body of the Training simulator BEC with the help of six racks 6 and designed to ensure the takeoff and landing of the quadcopter 8.

In the aft part of the Training simulator BEC there is a hoisting device (SPU) for ROV 12, which consists of an electric winch 9, on which a cable-rope 10 is wound, which is connected at one end to the ROV 12, and at the other - to the control system of the Training simulator BEC . The structure of the SPU includes the P-frame 11, which is set in motion by the shifting mechanism 13 with electric drives.

In FIG. 2. The Training and Simulator BEC is presented without a removable plastic superstructure. Mast 4 of the Training and Simulator BEC has a welded structure made of thin-walled steel pipes, four of which are made in the form of "legs", inside which there are cable routes from devices located on two sites - the upper 14 and the lower 15. Radio electronic equipment unit (REA) 16 and the battery pack (AB) 17 are located inside the body of the Training and Simulator BEC.

The REA block 16 (Fig. 3) is made in the form of a module suspended inside the boat hull on a spring suspension 18. Cables 19 from all external devices and mast equipment are led to the REA block 16 (inside the four "legs" of the mast). Cables 19 have a margin in length so as not to interfere with the free movement of the unit on springs when the boat is operating in waves.

On the upper platform 14 of the mast 4 (Fig. 4) are the following devices: the main optoelectronic module 20, designed for visual observation of the environment at a distance of up to 3000 m; radio antenna 21 with a coastal control post (BPU) BEC; running lights 22; anemorumbometer 23, designed to measure the speed and direction of the wind; top light 24 on stock 25; antenna Wi-Fi 26, designed to transmit large streams of information from the BEC to the MCU; microphones 27 designed to listen to sounds and human speech near the BEC in the sea; LED searchlights 28 and 29, designed to illuminate the water area at the BEC rate at night.

On the bottom platform 15 of the mast 4 (Fig. 4) are the following devices: radar antenna 30, designed for radar monitoring of the environment at a distance of up to 25,000 m; GLONASS/GPS 31 antennas designed to determine the coordinates of the BEC at sea with an accuracy of 0.2 m; camera 32 monitoring the landing pad 7; searchlight 33 lighting the landing site 7 in the dark; camera 34 monitoring the lifting device in the aft BEC; a loudspeaker (not shown) intended for verbal communication with the crew of manned watercraft located near the BEC; siren 35, designed to give sound signals at sea.

The device works as follows

Prepared for launching training unmanned boat (BEC), delivered to the sea using a jet ski trailer (figure 6) and launched. In parallel, a coastal control post (BPU) is delivered to the shore and deployed. Next, the system of remote (by radio) and program control of the Training and Simulator BEC is checked, all systems of the Training and Simulator BEC and the control room are checked.

There are usually two operators at the MCU:

The first operator (the commander of the Training and Simulator BEC) controls the boat.

The second operator (payload operator) controls the launching device (SPU) and the remote-controlled uninhabited underwater vehicle (ROV).

With the simultaneous operation of the ROV and the quadrocopter, a third operator can be introduced into the MCR - the operator of the quadrocopter, who controls it from his autonomous control post (not shown), through the communication system of the Training and Simulator BEC.

Operators of the Training and Simulator BEC are at the same time trainees who are trained in the basics of managing the Training and Simulator BEC (unmanned navigation) and the use of boat robotics (submersibles, quadrocopters, etc.).

Operators under the guidance of experienced instructors at the control room control the Training and Simulator BEC, performing the following actions, observing the instruments and systems of the boat:

- give a move - small, medium and full (forward and backward);

- maintain the set course of the Training Simulator BEC, or change the course by turning left or right;

- perform various maneuvers and evolutions in the daytime and at night (for example, moving away from the pier and mooring to the pier, etc.);

- the approach of the Training and Simulator BEC to the watercraft with the "violators" and negotiations with them (verbal communication);

- launching and control of ROV (search for underwater objects);

- lifting a quadcopter into the air and controlling it with subsequent landing on board the Training Simulator BEC.

The technical result of the claimed utility model is to provide the possibility of teaching and training the skills of unmanned navigation.

The claimed utility model is industrially applicable, since widely used devices and components can be used in the manufacture of an unmanned training boat.

Claims (1)

Training and training unmanned boat, made in the form of a rigid hull with a propulsion and steering system, a power supply system, a remote and automatic traffic control system, a navigation system with a GLONASS / GPS antenna, a communication system with a mobile control center or a repeater, a video surveillance system, a weather station, a system diagnostics of the technical condition of onboard equipment, technical devices for ensuring the placement and connection of replaceable unified payload equipment, characterized in that the propulsion and steering complex consists of two submersible electric motors with propellers, inside the case on a spring suspension there is an electronic equipment unit and a battery module, above a coaming rises above the hull deck, on top of which there is a removable plastic superstructure, which is hermetically attached to the coaming, a mast welded from thin-walled steel pipes is attached to the hull in the aft part of the deck a hoisting device in the form of a U-frame was installed, designed for automated descent and recovery of a remote-controlled uninhabited underwater vehicle;

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