TW202229107A - Unmanned ship deviation recovering system including a hull and a main power assembly - Google Patents

Abstract

The present invention provides an unmanned ship deviation recovering system, which includes a hull and a main power assembly. The hull is provided with a central processing unit. The main power assembly is disposed on the hull and in signal communication with the central processing unit, and has a first propulsion motor part, a second propulsion motor part, a third propulsion motor part and a fourth propulsion motor part. The main power assembly can be directly assembled on the hull to achieve the effect of convenient assembly. In addition, the first propulsion motor part, the second propulsion motor part, the third propulsion motor part and the fourth propulsion motor part are oppositely arranged on both sides of the hull. When in use, it is directly lowered to be under the surface of the water to avoid increasing the resistance during traveling and can save power and quickly return to the detection position of the unmanned ship.

Description

Unmanned ship offset reset system

The present invention relates to an unmanned ship reset system, in particular to an unmanned ship offset reset system which is easy to assemble, saves power and can quickly restore the detection position of the unmanned ship.

Nowadays, more and more waste water is discharged, and various harmful liquids are flooded in our surrounding environment. However, because the human eye cannot directly observe the water quality, it is impossible to know what kind of water quality environment we are in. At present, the common methods of obtaining water area data (including water temperature, pH value and impurities in water) are mostly manual sampling and testing. Therefore, there is a technology of using unmanned ships to combine sensing elements to the waters for collection and detection. Generally, when unmanned ships move in the waters or locate and detect water quality, they usually set the channel and fixed-point detection of their unmanned ships, but unmanned ships When the water is moving, it will be affected by the current and leave the channel, and even when detecting at a fixed point, it will also be affected by the current and leave the fixed position. When the unmanned ship cannot follow the set channel or stably maintain the fixed point, the water quality it detects will be very poor. It cannot meet the set water quality environment, and it is impossible to effectively detect the water quality in the set area of the water area. The conventional way of traveling for unmanned ships is to set a set of propellers on the bottom of the ship. However, due to the relationship between the propeller installation space, the It is necessary to use the hull of the corresponding volume to match the propeller of the corresponding size, and the propeller is relatively inconvenient to assemble due to its volume and rotation range, and the installation of the propeller will increase the resistance of the hull to move, and the hull When changing the direction of travel, it is necessary to turn the direction of the propeller to the desired direction to make the unmanned ship rotate at a corresponding angle and move in the set direction. However, the resistance and rotation of the propeller will cause the unmanned ship to consume electricity. The problem of increase arises.

Therefore, how to solve the above-mentioned conventional problems and deficiencies is the direction that the inventor of this case and the relevant manufacturers engaged in this industry are eager to research and improve.

Therefore, in order to effectively solve the above problems, the main purpose of the present invention is to provide an unmanned ship offset reset system that is easy to assemble, saves power and can quickly restore the detection position of the unmanned ship.

In order to achieve the above object, the present invention provides an unmanned ship offset reset system, which includes a hull and a main power assembly, the hull is provided with a central processing unit, and the central processing unit stores at least one channel data and at least certain point data, and the central processing unit has another positioning module, and the main power assembly is arranged on the hull, and the main power assembly signal is connected to the central processing unit, and the main power assembly has a first a propulsion motor part, a second propulsion motor part, a third propulsion motor part and a fourth propulsion motor part, and the first propulsion motor and the second propulsion motor are disposed opposite to one side of the hull, and The third propulsion motor is disposed at a diagonal position on the other side of the hull relative to the first propulsion motor, and the fourth propulsion motor is disposed at a diagonal position on the other side of the hull relative to the second propulsion motor position, whereby the main power assembly can be directly assembled on the hull to achieve the effect of convenient assembly, and the first and second propulsion motor parts and the third propulsion motor part and the fourth propulsion The motor parts are arranged on both sides of the hull relatively, and are directly lowered to the water surface when in use, so as to avoid increasing the resistance when traveling, saving power and quickly returning to the detection position of the unmanned ship.

According to an embodiment of the unmanned ship offset reset system of the present invention, wherein the main power component is further provided with a lifting component, the lifting component is assembled on the hull, and the first propulsion motor component and a second propulsion motor The component, a third propulsion motor component and a fourth propulsion motor component are respectively connected to the lifting component via an extension rod.

According to an embodiment of the offset reset system of the unmanned ship of the present invention, wherein the central processing unit generates a lifting signal to control the lifting component to be lifted and lowered on the hull, and then control the first propulsion motor, the second propulsion motor and the first propulsion motor and the first propulsion motor. The third propulsion motor and the fourth propulsion motor lift up and down.

According to an embodiment of the unmanned ship offset reset system of the present invention, the central processing unit further generates a power signal to the first propulsion motor, the second propulsion motor, the third propulsion motor and the fourth propulsion motor and starts and activates the Control the propulsion speed.

According to an embodiment of the unmanned ship offset reset system of the present invention, it further includes a first auxiliary power assembly and a second auxiliary power assembly.

According to an embodiment of the offset reset system of the unmanned ship of the present invention, the first auxiliary power component is connected to the central processing unit by a signal, and the central processing unit generates a control signal to activate the first auxiliary power component and control the first auxiliary power component. advance direction.

According to an embodiment of the unmanned ship offset reset system of the present invention, the second auxiliary power component is connected to the central processing unit by a signal, and the central processing unit generates a control signal to activate the second auxiliary power component and control the second auxiliary power component. advance direction.

According to an embodiment of the offset reset system for the unmanned ship of the present invention, the first auxiliary power assembly is relatively disposed on the rear end side of the hull.

According to an embodiment of the offset reset system for the unmanned ship of the present invention, the second auxiliary power assembly is relatively disposed on the other side of the rear end of the hull.

The above-mentioned objects of the present invention and their structural and functional characteristics will be described with reference to the preferred embodiments of the accompanying drawings.

First, please refer to Figures 1 and 2, which are block diagrams 1 and 1 of the unmanned ship offset reset system 1 of the present invention, wherein the unmanned ship offset reset system 1 includes a hull 2 and a A main power assembly 3 .

The hull 2 is provided with a central processing unit 21, and the central processing unit 21 stores at least one channel data 211 and at least a certain point data 212, and the central processing unit 21 is provided with a positioning module 213, and the central processing The unit 21 is wirelessly connected with the server, and the channel data 211 in the central processing unit 21 is the sailing route planned and set by the hull 2 in the water to be sampled, and in the channel data 211 there will be a number of items to be detected. The detection point of water quality is changed to set the detection point as the fixed point data 212 , so that the hull 2 can be controlled to travel on its waterway data 211 through the central processing unit 21 , and the central processing unit 21 is mainly through the positioning module 213 . to determine whether the position of the hull 2 has the offset channel data 211 and the fixed point data 212 .

The main power assembly 3 is disposed on the hull 2, and the main power assembly 3 is connected to the central processing unit 21 for signals, and the main power assembly 3 has a first propulsion motor part 31 and a second The propulsion motor part 32, a third propulsion motor part 33, a fourth propulsion motor part 34, and a lifting part 35 are assembled on the hull 2, and the first propulsion motor part 31 and the The two propulsion motor parts 32 , the third propulsion motor part 33 and the fourth propulsion motor part 34 are respectively connected to the lifting part 35 via an extension rod 36 , and the first propulsion motor part 31 and the second propulsion motor are connected through the extension rod 36 is disposed opposite to one side of the hull 2, and the third propulsion motor part 33 is disposed on the other side of the hull 2 through the extension rod 36 and at a diagonal position relative to the first propulsion motor part 31, The fourth propulsion motor part 34 is disposed on the other side of the hull 2 through the extension rod 36 at a diagonal position relative to the second propulsion motor part 32 , and the first propulsion motor part 31 and the second propulsion motor The part 32 , the third propulsion motor part 33 and the fourth propulsion motor part 34 are arranged at the four corners of the hull 2 , and taking the midline of the hull 2 as an example, the optimal installation positions are the first propulsion motor part 31 and the fourth propulsion motor part 34 . The vertical line J between the two propulsion motor parts 32 is parallel to the midline K of the hull 2, and the vertical line L between the third propulsion motor part 33 and the fourth propulsion motor part 34 is parallel to the midline K of the hull 2, In addition, the horizontal line M between the first propulsion motor part 31 and the fourth propulsion motor part 34 is perpendicular to the midline K of the hull 2, and the horizontal line N between the second propulsion motor part 32 and the third propulsion motor part 33 is perpendicular to the ship. The center line K of the hull 2; and the first propulsion motor part 31, the second propulsion motor part 32, the third propulsion motor part 33 and the fourth propulsion motor part 34 are obliquely arranged at the four corners of the hull 2; The propulsion motor part 31 , the second propulsion motor part 32 , the third propulsion motor part 33 and the fourth propulsion motor part 34 are arranged at an oblique angle to the midline of the hull 2 , and the optimum angle is 45 degrees.

After the hull 2 is controlled and started by the servo terminal, the central processing unit 21 generates power signals to the first propulsion motor part 31 , the second propulsion motor part 32 , the third propulsion motor part 33 and the fourth propulsion motor part 33 and the fourth propulsion motor part 31 . The propulsion motor part 34 is activated and the motor speed is controlled. The central processing unit 21 allocates the activation and motor of the first propulsion motor part 31 , the second propulsion motor part 32 , the third propulsion motor part 33 and the fourth propulsion motor part 34 . The rotational speed is used to control the traveling direction of the hull 2 .

Please also refer to the aforesaid drawings and FIGS. 3 to 7, which are schematic diagrams of the hull moving in the channel of the unmanned ship offset reset system of the present invention, side view schematic diagrams, and lifting and lowering components schematic diagrams. It can be clearly seen that the central processing unit 21 controls the hull 2 to travel on the channel data 211 and the water quality detection on the fixed-point data 212 through the power signal, and the central processing unit 21 can control the hull 2 in multiple directions move.

And because the first propulsion motor part 31 , the second propulsion motor part 32 , the third propulsion motor part 33 and the fourth propulsion motor part 34 are arranged at an oblique angle with the center line of the hull 2 , the motor parts thereof are respectively There are horizontal propulsion and vertical propulsion, and when a single motor part is driven, it generates oblique propulsion through its horizontal propulsion and vertical propulsion, and each motor part can be controlled to rotate forward and Reverse rotation, and in this embodiment, the forward rotation of the motor component is to push the water out of the hull 2 , and the reverse rotation is to push the water into the hull 2 .

When the hull 2 wants to move forward, the central processing unit 21 can start the second propulsion motor part 32 and the third propulsion motor part 33 to drive forward, and the second propulsion motor part 32 and the third propulsion motor part 32 and the third The horizontal propulsion force of the propulsion motor part 33 will cancel each other, and only the vertical propulsion force of the second propulsion motor part 32 and the third propulsion motor part 33 remain, so that the second propulsion motor part 32 and the third propulsion motor part 33 are left. 33 generates forward propulsion force and makes the hull 2 move forward, the central processing unit 21 can also control the first propulsion motor part 31 and the fourth propulsion motor part 34 to drive forward, so that the first propulsion motor part 34 31 and the fourth propulsion motor part 34 generate a rearward propulsion force and make the hull 2 move straight ahead, and in this embodiment, the central processing unit 21 controls the first propulsion motor part 31 and the second propulsion motor part 31 and the second propulsion motor part 32 , the third propulsion motor part 33 and the fourth propulsion motor part 34 are driven in the forward rotation as the main description.

When the hull 2 wants to move backward, the central processing unit 21 can start the second propulsion motor part 32 and the third propulsion motor part 33 to reversely drive, and the second propulsion motor part 32 and the third propulsion motor part 32 The horizontal propulsion force of the motor part 33 will cancel each other, leaving only the vertical propulsion force of the second propulsion motor part 32 and the third propulsion motor part 33, so that the second propulsion motor part 32 and the third propulsion motor part 33 A rearward propulsion force is generated and the hull 2 is moved rearward.

In addition, when the hull 2 is about to move to the left, the central processing unit 21 can start the third propulsion motor part 33 and the fourth propulsion motor part 34 to drive forward, and the third propulsion motor part 33 and the fourth propulsion motor part 33 and the fourth The vertical propulsion force of the propulsion motor part 34 will cancel each other, leaving only the horizontal propulsion force of the third propulsion motor part 33 and the fourth propulsion motor part 34, so that the third propulsion motor part 33 and the fourth propulsion motor part 34 are left. 34 generates a leftward propulsion force and moves the hull 2 to the left. On the contrary, when the hull 2 wants to move to the right, the central processing unit 21 starts the first propulsion motor part 31 and the second propulsion The motor part 34 moves the hull 2 to the right; or when the hull 2 is taken away from the waterway by the current and the hull 2 wants to move to the left front, the central processing unit 21 starts the third The propulsion motor part 33 or the increase or decrease of the mutual power between the second propulsion motor part 32 , the third propulsion motor part 33 and the fourth propulsion motor part 34 is used to control the movement of the hull 2 to the left front, in other words, the hull 2 is The hull 2 can be controlled by the central processing unit 21 by adjusting and controlling the activation and propulsion speed of its first propulsion motor part 31 , the second propulsion motor part 32 , the third propulsion motor part 33 and the fourth propulsion motor part 34 . direction of travel.

So that the hull 2 can be controlled by the central processing unit 21 to travel on the channel data 211 , and when the central processing unit 21 controls the hull 2 to the detection point set by the fixed point data 212 , the central processing unit 21 generates a lift signal. Control the lifting part 35 to rise, so that the first propulsion motor part 31, the second propulsion motor part 32, the third propulsion motor part 33 and the fourth propulsion motor part 34 are lifted out of the water surface, and then the action of detecting water quality is performed, Until the water quality of the detection point is detected or when the hull 2 is taken away from the detection point by the current, the central processing unit 21 controls the lifting component 35 to descend through the lifting signal to make the first propulsion motor part 31 and the second propulsion motor part 31 and the second propulsion motor part. 32 and the third propulsion motor part 33 and the fourth propulsion motor part 34 are lifted and lowered to the water surface, and the central processing unit 21 determines the longitude and latitude of the fixed point data 212 and the offset longitude and latitude through the positioning module 213, and then controls Its first propulsion motor part 31, the second propulsion motor part 32, the third propulsion motor part 33 and the fourth propulsion motor part 34 are activated and the motor speed to control the traveling direction of the hull 2 to the next fixed point data 212 or return To the original fixed point data 212, whereby the main power assembly 3 can be directly assembled on the hull 2 to achieve the effect of easy assembly, and the first propulsion motor part 31 and the second propulsion motor part 32 and the third propulsion motor part 32 and the third The propulsion motor part 33 and the fourth propulsion motor part 34 are disposed opposite to the two sides of the hull 2, and are directly lowered to the water surface when in use, so as to avoid increasing resistance during travel, save power and quickly return to the detection position of the unmanned ship the effect of.

Please refer to FIG. 8 and FIG. 9 , which are the second block diagram and the second schematic diagram of the unmanned ship offset reset system 1 of the present invention, wherein the unmanned ship offset reset system 1 further includes a first auxiliary power component 4 and a second auxiliary power assembly 5, and taking the hull midline K as an example, the first auxiliary power assembly 4 is relatively disposed at the rear end of the hull 2 and located on the left side of the midline K and is signally connected to the central processing unit 21 , and the second auxiliary power assembly 5 is disposed opposite to the rear end of the hull 2 and located on the right side of the midline K, and is signally connected to the central processing unit 21 .

When the unmanned ship offset reset system 1 is provided with the first auxiliary power component 4 and the second auxiliary power component 5, the central processing unit 21 controls the lifting component 35 to rise through the lifting signal. The first propulsion motor part 31 , the second propulsion motor part 32 , the third propulsion motor part 33 and the fourth propulsion motor part 34 are in a state of leaving the water surface, and after the hull 2 is controlled and started by the servo terminal, the central processing The unit 21 generates a control signal to activate the first auxiliary power component 4 and the second auxiliary power component 5 and control the propulsion direction thereof.

Therefore, when the first auxiliary power assembly 4 and the second auxiliary power assembly 5 rotate forward at the same time and generate propulsive force at the same rotational speed, the hull 2 can move forward. On the contrary, the first auxiliary power assembly 4 and the second auxiliary power assembly 5 can move forward. When the two auxiliary power components 5 are reversed at the same time and generate propulsive force at the same rotational speed, the hull 2 can move backward, and when the hull 2 wants to change the traveling direction and the bow turns to the left, the central processing unit 21 Then, the control signal is generated to control the rotational speed of the second auxiliary power assembly 5 to be greater than the rotational speed of the first auxiliary power assembly 4, so that the hull 2 will turn to the left until the bow is adjusted to the direction of travel, and then control the The first auxiliary power assembly 4 and the second auxiliary power assembly 5 travel to the same speed of propulsion, and when the hull 2 is about to change the direction of travel and the bow turns to the right, the central processing unit 21 generates a The control signal controls the activation of the first auxiliary power assembly, so that the hull 2 will rotate with the second auxiliary power assembly 5 as the center and control its bow to rotate to the right until the bow is adjusted to the direction to be traveled, and then start the The second auxiliary power assembly 5 enables the hull 2 to move forward according to the setting direction.

Therefore, the unmanned ship offset reset system 1 can rotate the hull 2 and move forward or backward through the first auxiliary power component 4 and the second auxiliary power component 5, and when the hull 2 reaches the fixed point data 212 When the detection point is set, the first propulsion motor part 31 , the second propulsion motor part 32 , the third propulsion motor part 33 and the fourth propulsion motor part 34 are lifted up and lowered to the water surface, and the central processing unit 21 passes through the Adjust the starting and propulsion speeds of the first propulsion motor part 31 , the second propulsion motor part 32 , the third propulsion motor part 33 and the fourth propulsion motor part 34 , so that the hull 2 can maintain the detection set by the fixed point data 212 point in order to avoid increasing the resistance when traveling to save power and quickly restore the detection position of the unmanned ship, and if the main power assembly 3 or the first auxiliary power assembly 4 and the second auxiliary power assembly 5 fail, they can be connected to each other. As a record of failure, it can further increase the reliability of the unmanned ship offset reset system 1.

Please refer to the aforementioned drawings and Figs. 10 to 13, which are schematic diagrams 1 to 4 of the reset system of the unmanned ship offset reset system of the present invention, wherein if the hull 2 deviates from the setting of the fixed point data 212 due to excessive water flow When the detection point is detected, the central processing unit 21 will determine the relative position of the hull 2 and the detection point through the positioning module 213, and then calculate the angle between the bow and the detection point. When the mutual angle is less than 90∘, the central processing unit 21 generates the control signal to start, so as to control the bow to turn left until the bow is adjusted to the position of the detection point, and then start the first auxiliary power unit 4 , so that the hull 2 can move forward in the direction of the detection point. On the contrary, if the central processing unit 21 calculates that the angle between the bow and the detection point is greater than 90∘, the central processing unit 21 starts the first auxiliary power component 4, to control the stern to rotate to the right until the stern is adjusted to the position of the detection point, and then control the first auxiliary power component 4 and the second auxiliary power component 5 to generate power at the same time to forward the second auxiliary power component 5, The hull 2 can move backwards and move forward in the direction of the detection point, whereby the hull 2 can control the first auxiliary power assembly 4 or the second auxiliary power assembly by selecting the rotation direction with a smaller rotation angle through the central processing unit 21 5, and then achieve the effect of saving power and quickly recovering the detection position of the unmanned ship.

The present invention has been described in detail above, but the above is only a preferred embodiment of the present invention, and should not limit the scope of the present invention, that is, all equivalent changes and modifications made according to the scope of the present invention are equivalent etc., shall still fall within the scope of the patent of the present invention.

1: Unmanned ship offset reset system 2: Hull 21: Central Processing Unit 211: Channel information 212: Fixed-point data 213: Positioning module 3: Main power components 31: The first propulsion motor part 32: Second propulsion motor part 33: Third propulsion motor part 34: Fourth propulsion motor part 35: Lifting parts 36: Extension rod 4: The first pair of power components 5: The second power assembly

Fig. 1 is a block diagram 1 of the offset reset system of the unmanned ship of the present invention. Fig. 2 is a schematic diagram 1 of the offset reset system of the unmanned ship of the present invention. Figure 3 is a schematic diagram of the hull moving in the channel data of the unmanned ship offset reset system of the present invention. Fig. 4 is a schematic side view of the offset reset system of the unmanned ship of the present invention. Fig. 5 is a schematic view of the lifting and lowering of the lifting component of the offset reset system of the unmanned ship according to the present invention. Fig. 6 is a schematic diagram 1 of the propulsion force moving forward of the unmanned ship offset reset system of the present invention. Fig. 7 is a schematic diagram 2 of the propulsion force moving forward of the unmanned ship offset reset system of the present invention. Fig. 8 is a block diagram 2 of the offset reset system of the unmanned ship of the present invention. Fig. 9 is a second schematic diagram of the unmanned ship offset reset system of the present invention. Fig. 10 is a schematic diagram 1 of the reset of the unmanned ship offset reset system of the present invention. Fig. 11 is a second schematic diagram of the reset of the unmanned ship offset reset system of the present invention. Fig. 12 is a third schematic diagram of the reset of the unmanned ship offset reset system of the present invention. FIG. 13 is a fourth schematic diagram of the reset of the unmanned ship offset reset system of the present invention.

1: Unmanned ship offset reset system

2: Hull

21: Central Processing Unit

211: Channel information

212: Fixed-point data

213: Positioning module

3: Main power components

31: The first propulsion motor part

32: Second propulsion motor part

33: Third propulsion motor part

34: Fourth propulsion motor part

35: Lifting parts

Claims (9)

An unmanned ship offset reset system, comprising: a hull, the hull is provided with a central processing unit, the central processing unit stores at least one channel data and at least certain point data and has a positioning module; and A main power assembly, the main power assembly is disposed on the hull and connected to the central processing unit for signals, and the main power assembly has a first propulsion motor part, a second propulsion motor part and a third propulsion A motor part and a fourth propulsion motor part, and the first propulsion motor part and the second propulsion motor are arranged opposite to one side of the hull, and the third propulsion motor is arranged opposite to the other side of the hull At the diagonal position of the first propulsion motor, the fourth propulsion motor is disposed at the diagonal position of the other side of the hull relative to the second propulsion motor. The unmanned ship offset reset system according to claim 1, wherein the main power component is further provided with a lifting component, the lifting component is assembled on the ship hull, and the first propulsion motor component and a second propulsion motor The component, a third propulsion motor component and a fourth propulsion motor component are respectively connected to the lifting component via an extension rod. The offset reset system of the unmanned ship according to claim 2, wherein the central processing unit generates a lifting signal to control the lifting component to be lifted and lowered on the hull, thereby controlling the first propulsion motor, the second propulsion motor and the first propulsion motor. The third propulsion motor and the fourth propulsion motor lift up and down. The unmanned ship offset reset system according to claim 2, wherein the central processing unit further generates a power signal to the first propulsion motor, the second propulsion motor, the third propulsion motor and the fourth propulsion motor and activates and Control the propulsion speed. The offset reset system of the unmanned ship according to claim 1, further comprising a first auxiliary power assembly and a second auxiliary power assembly. The unmanned ship offset reset system as claimed in claim 5, wherein the first auxiliary power component is connected to the central processing unit by a signal, and the central processing unit generates a control signal to activate the first auxiliary power component and control the first auxiliary power component. advance direction. The unmanned ship offset reset system according to claim 5, wherein the second auxiliary power component is connected to the central processing unit by a signal, and the central processing unit generates a control signal to activate the second auxiliary power component and control the second auxiliary power component. advance direction. The offset reset system of the unmanned ship according to claim 5, wherein the first auxiliary power assembly is relatively disposed on the rear end side of the hull. The offset reset system of the unmanned ship according to claim 8, wherein the second auxiliary power assembly is relatively disposed on the other side of the rear end of the hull.

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