TWM615786U - Unmanned ship offset recovering system - Google Patents

Abstract

This creation provides an unmanned ship's offset reset system, which includes a hull and a main power assembly. The hull is provided with a central processing unit, and the main power assembly is arranged on the hull and the signal is connected to the The central processing unit also 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 convenient assembly In addition, the first propulsion motor component, the second propulsion motor component, the third propulsion motor component, and the fourth propulsion motor component are arranged on both sides of the hull relative to each other, and are directly lowered to the surface of the water during use. Avoid increasing the resistance when traveling to save power and quickly return to the detection position of the unmanned ship.

Description

Unmanned ship offset reset system

This creation is about an unmanned ship reset system, especially an unmanned ship offset reset system that is easy to assemble, save power, and quickly return to the detection position of the unmanned ship.

Nowadays, more and more waste water is discharged, and various harmful liquids are flooding our surrounding environment. However, since human eyes cannot directly observe the water quality, it is impossible to know what kind of water environment we are in. The common methods of obtaining water area data (including water temperature, pH value and impurities in the water, etc.) in the current technology are mostly manual sampling detection, but manual sampling detection is limited by expensive labor costs and has the disadvantage of not being able to monitor all-weather. Therefore, there are technologies that use unmanned ships to combine sensing elements to the water area for collection and detection. Generally, when an unmanned ship moves or locates to detect water quality in the water area, it usually sets the channel and fixed-point detection of the unmanned ship, but the unmanned ship When the water is moving, it will be affected by the current and depart from the channel. Even when detecting at a fixed point, it will be affected by the current and depart from the fixed point position. When the unmanned ship cannot follow the set channel or maintain the fixed point stably, the water quality of its detection will be low. It cannot meet the set water quality environment, and it cannot effectively detect the water quality in the set area of the water area. The general way of traveling for unmanned ships is to install a set of propellers at the bottom of the ship, but because of the space for the propeller installation, It is necessary to use the corresponding volume of the hull to meet the corresponding size of the propeller, and the propeller is relatively inconvenient to assemble due to its volume and rotation range, and the setting of the propeller will increase the resistance of the hull to move, and the hull When changing the direction of travel, you need to turn the direction of the propeller to the direction you want to travel to make the bow of the unmanned ship rotate at a corresponding angle and move forward in the set direction. However, the resistance and rotation of the propeller will cause the power consumption of the unmanned ship. The problem of increase arises.

Therefore, how to solve the above-mentioned conventional problems and deficiencies is the direction that the creators of this project and the related manufacturers engaged in this industry urgently want to study and improve.

In this regard, in order to effectively solve the above-mentioned problems, the main purpose of this creation is to provide an unmanned ship offset reset system that is convenient to assemble, save power, and can quickly return to the unmanned ship's detection position.

In order to achieve the above objective, the author provides an unmanned ship drift reset system, which includes a hull and a main power assembly. The hull is provided with a central processing unit that stores at least one channel data and at least a certain amount. Point data, the central processing unit further has a 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 second A propulsion motor part and 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 oppositely arranged on a side of the hull, and The third propulsion motor is arranged at a diagonal position of the other side of the hull relative to the first propulsion motor, and the fourth propulsion motor is arranged at a diagonal position of 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 propulsion motor component, the second propulsion motor component, the third propulsion motor component, and the fourth propulsion The motor components are relatively arranged on both sides of the hull, and are directly lowered to the surface of the water when in use, so as to avoid increasing resistance when traveling, which saves electricity and can quickly return to the detection position of the unmanned ship.

According to an embodiment of the unmanned ship's offset reset system according to the present invention, the main power assembly 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 and 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 unmanned ship offset resetting system of the present invention, the central processing unit generates a lifting signal to control the lifting component to lift on the hull, thereby controlling the first propulsion motor, the second propulsion motor, and the first propulsion motor. The three propulsion motors and the fourth propulsion motor move up and down.

According to an embodiment of the unmanned ship's offset reset system of the present creation, 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 Control the advancing speed.

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

According to an embodiment of the unmanned ship's offset reset system according to the present invention, the first auxiliary power unit 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 unit and control it Advance direction.

According to an embodiment of the unmanned ship's offset resetting system according to the present invention, the second auxiliary power unit 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 unit and control it Advance direction.

According to an embodiment of the unmanned ship's offset resetting system according to the present invention, the first auxiliary power assembly is relatively arranged on the rear side of the hull.

According to an embodiment of the unmanned ship's offset resetting system according to the present invention, the second auxiliary power assembly is relatively arranged on the other side of the rear end of the hull.

The above-mentioned purpose of this creation and its structural and functional characteristics will be described based on the preferred embodiments of the accompanying drawings.

First of all, please refer to Figures 1 and 2, which are block diagrams and schematic diagrams of the unmanned ship's deflection resetting system 1. The unmanned ship's deflection resetting system 1 includes a hull 2 and A main power component 3.

Wherein the hull 2 is provided with a central processing unit 21, 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 unit 21 The unit 21 is wirelessly connected to the server, and the channel data 211 in the central processing unit 21 is the navigation route planned and set by the hull 2 in the water area to be sampled, and the channel data 211 will have multiple items to be detected For the detection point of water quality, the detection point is set to the fixed-point data 212, so that the hull 2 can be controlled to travel on the channel 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 offset channel data 211 and fixed-point data 212.

The main power assembly 3 is arranged on the hull 2, and the main power assembly 3 is connected to the central processing unit 21 by signals, and the main power assembly 3 has a first propulsion motor part 31 and a second propulsion motor part 31. The propulsion motor part 32, a third propulsion motor part 33, a fourth propulsion motor part 34, and a lifting part 35, and the lifting part 35 is assembled on the hull 2, and the first propulsion motor part 31 and the first The two propulsion motor components 32, the third propulsion motor component 33, and the fourth propulsion motor component 34 are respectively connected to the lifting component 35 via an extension rod 36, and the first propulsion motor component 31 and the second propulsion motor pass through the extension rod 36. 36 is relatively disposed on one side of the hull 2, and the third propulsion motor part 33 is disposed on the other side of the hull 2 via the extension rod 36 and at a diagonal position relative to the first propulsion motor part 31, The fourth propulsion motor part 34 is arranged 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 component 32, the third propulsion motor component 33, and the fourth propulsion motor component 34 are arranged on the four corners of the hull 2. Taking the centerline of the hull 2 as an example, the best positions are the first propulsion motor component 31 and the first propulsion motor component 31 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 midline K of the hull 2; and the first propulsion motor component 31, the second propulsion motor component 32, the third propulsion motor component 33, and the fourth propulsion motor component 34 are diagonally arranged on the four corners of the hull 2; the first The propulsion motor component 31, the second propulsion motor component 32, the third propulsion motor component 33, and the fourth propulsion motor component 34 are arranged at an oblique angle with the center line of the hull 2, and the optimal angle is 45 degrees.

After the hull 2 is controlled by the servo end, the central processing unit 21 generates power signals to the first propulsion motor part 31 and the second propulsion motor part 32, and the third propulsion motor part 33 and the fourth propulsion motor part. The propulsion motor part 34 is activated and the motor speed is controlled. The central processing unit 21 deploys its first propulsion motor part 31, second propulsion motor part 32, third propulsion motor part 33 and fourth propulsion motor part 34 to start and motor The rotation speed controls the direction of travel of the hull 2.

Please also refer to the aforementioned drawings and Figures 3 to 7, which are the schematic diagram of the ship moving in the channel of the new unmanned ship's offset reset system, the schematic side view and the schematic diagram of the lifting components of the lift. It can be clearly seen that the central processing unit 21 uses the power signal to control the hull 2 to travel on the channel data 211 and perform water quality detection on the fixed-point data 212, and the central processing unit 21 can control the hull 2 in multiple directions. move.

Also, because the first propulsion motor component 31 and the second propulsion motor component 32, the third propulsion motor component 33, and the fourth propulsion motor component 34 are arranged at an oblique angle with the center line of the hull 2, each of the motor components will be separated from each other. Produces horizontal propulsion and vertical propulsion, and when a single motor component is driven, it generates diagonal propulsion by its horizontal propulsion and vertical propulsion, and each of its motor components can be controlled forward and forward according to equipment requirements. Reversal, 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 intends 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 The horizontal propulsion force of the propulsion 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 generates forward propulsive force and moves the hull 2 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 to make the first propulsion motor part 31 and the fourth propulsion motor part 34 generate backward propulsion force and make the hull 2 move straight forward. In this embodiment, the central processing unit 21 controls the first propulsion motor part 31 and the second propulsion motor part 32 and the third propulsion motor member 33 and the fourth propulsion motor member 34 are driven forwardly for the main description.

When the hull 2 is about to move backwards, the central processing unit 21 can start the second propulsion motor part 32 and the third propulsion motor part 33 to drive in reverse, 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 The rearward propulsion force is generated and the hull 2 is moved backward.

In addition, when the hull 2 intends 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 The vertical propulsion force of the propulsion motor component 34 will cancel each other, leaving only the horizontal propulsion force of the third propulsion motor component 33 and the fourth propulsion motor component 34, so that the third propulsion motor component 33 and the fourth propulsion motor component 34 generates a leftward propulsion force and causes the hull 2 to move to the left. On the contrary, when the hull 2 intends to move to the right, the central processing unit 21 activates the first propulsion motor part 31 and the second propulsion The motor part 34 makes the hull 2 move to the right; or when the hull 2 is taken away from the navigation channel by the current, the central processing unit 21 starts the third The propulsion motor part 33 or the increase and decrease of the mutual power between the second propulsion motor part 32 and the third propulsion motor part 33 and the fourth propulsion motor part 34 are used to control the movement of the hull 2 to the left and front. In other words, the hull 2 is The central processing unit 21 can control the speed of the hull 2 by deploying and controlling the activation and propulsion speed of the first propulsion motor part 31 and 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 drive 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 The lifting component 35 is controlled to rise, so that the first propulsion motor component 31, the second propulsion motor component 32, the third propulsion motor component 33 and the fourth propulsion motor component 34 are lifted away from the water surface, and then the action of detecting the water quality is performed, Until the detection of the water quality of the detection point is completed or the hull 2 is taken away from the detection point by the water flow, the central processing unit 21 controls the lifting component 35 to lower through the lifting signal to make the first propulsion motor component 31 and the second propulsion motor component 32 and the third propulsion motor part 33 and the fourth propulsion motor part 34 are raised 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 The activation and motor speed 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 are used to control the traveling direction of the hull 2 to the next fixed-point data 212 or reply To the original fixed-point data 212, the main power assembly 3 can be directly assembled on the hull 2 to achieve the effect of convenient assembly, and the first propulsion motor part 31, the second propulsion motor part 32 and the third The propulsion motor part 33 and the fourth propulsion motor part 34 are arranged on both sides of the hull 2 and directly lowered to the surface of the water during use, so as to avoid increasing the resistance during travel, which saves electricity and can quickly return to the detection position of the unmanned ship The effect of those.

Please refer to Figures 8 and 9, which are the second block diagrams and schematic diagrams of the unmanned ship's offset resetting system 1 of this creation. The unmanned ship's offset resetting system 1 further includes a first power assembly 4 And a second auxiliary power assembly 5, 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 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 relatively arranged at the rear end of the hull 2 and on the right side of the median line 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 assembly 4 and the second auxiliary power assembly 5, the central processing unit 21 controls the lifting component 35 to rise through the lifting signal. Make the first propulsion motor component 31, the second propulsion motor component 32, the third propulsion motor component 33, and the fourth propulsion motor component 34 present a state of being off the water surface, and the hull 2 is controlled by the servo terminal to start, the central processing unit The unit 21 generates a control signal to activate the first auxiliary power assembly 4 and the second auxiliary power assembly 5 and control their propulsion direction.

Therefore, when the first auxiliary power assembly 4 and the second auxiliary power assembly 5 rotate forward at the same time and produce propulsion at the same speed, the hull 2 can move forward. On the contrary, the first auxiliary power assembly 4 and the first auxiliary power assembly 4 When the two auxiliary power units 5 reverse at the same time and generate propulsion at the same speed, the hull 2 can move backward, and when the hull 2 wants to change the direction of travel and the bow rotates to the left, the central processing unit 21 The control signal is generated to control the rotation speed of the second auxiliary power assembly 5 to be greater than the rotation speed of the first auxiliary power assembly 4, so that the hull 2 will rotate to the left until the bow is adjusted to the direction to be traveled, and then control all The first auxiliary power assembly 4 and the second auxiliary power assembly 5 travel at the same speed with the same speed of propulsion, and when the hull 2 wants to change the direction of travel and the bow rotates to the right, the central processing unit 21 generates some The control signal controls the activation of the first auxiliary power assembly, so that the hull 2 will rotate around the second auxiliary power assembly 5 and control its bow to rotate to the right until the bow is adjusted to the desired direction, and then start the The second auxiliary power assembly 5 enables the hull 2 to advance in accordance with the set direction.

Therefore, the unmanned ship offset reset system 1 can make the hull 2 rotate and move forward or backward through the first auxiliary power assembly 4 and the second auxiliary power assembly 5, and when the hull 2 reaches the fixed-point data 212 When the detection point is set, the first propulsion motor component 31, the second propulsion motor component 32, the third propulsion motor component 33, and the fourth propulsion motor component 34 are raised to the water surface, and the central processing unit 21 passes through Adjust the start and propulsion speeds of the first propulsion motor part 31 and 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 while traveling to achieve the effect of saving electricity and quickly returning to 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 mutually As a record in the event of a failure, it can further increase the reliability of the unmanned ship's offset reset system 1.

Please refer to the aforementioned drawings and Figures 10 to 13, which are the reset diagrams 1 to 4 of this unmanned ship's offset reset system. If the hull 2 deviates from the fixed point data 212 due to excessive water flow When detecting the point, 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. If the bow and the detection point are When the mutual angle is less than 90∘, the central processing unit 21 generates the control signal to start to control the bow to turn to the left until the bow is adjusted to the detection point position, and then the first auxiliary power assembly 4 is activated. , So that the hull 2 can move forward to 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 The assembly 4 controls the stern to rotate to the right until the stern is adjusted to the detection point position, and then controls the first auxiliary power assembly 4 and the second auxiliary power assembly 5 to generate power forward at the same time, the second auxiliary power assembly 5, The hull 2 can retreat and move forward toward the detection point, whereby the hull 2 can use the central processing unit 21 to select the rotation direction with a small rotation angle to control the first auxiliary power assembly 4 or the second auxiliary power assembly 5. To save electricity and quickly return to the detection position of the unmanned ship.

The above has been a detailed description of this creation, but the above is only a preferred embodiment of this creation, and should not limit the scope of implementation of this creation, that is, all equal changes and modifications made in accordance with the scope of this creation application Etc., should still be covered by the patent of this creation.

1: Unmanned ship offset reset system 2: hull 21: Central Processing Unit 211: Channel Information 212: fixed-point data 213: positioning module 3: The main power component 31: The first propulsion motor component 32: The second propulsion motor component 33: The third propulsion motor component 34: The fourth propulsion motor component 35: Lifting parts 36: Extension rod 4: The first power unit 5: The second power unit

Figure 1 is the first block diagram of the unmanned ship's offset reset system. Figure 2 is the first schematic diagram of the unmanned ship's offset reset system. Figure 3 is a schematic diagram of the ship's movement in the channel data of the unmanned ship's offset reset system of this creation. Figure 4 is a schematic side view of the unmanned ship's offset reset system of this creation. Figure 5 is a schematic diagram of the lifting components of the unmanned ship's offset reset system of this creation. Figure 6 is the first schematic diagram of the forward movement of the unmanned ship's offset reset system. Figure 7 is the second schematic diagram of the forward movement of the unmanned ship's offset reset system. Figure 8 is the second block diagram of the unmanned ship's offset reset system. Figure 9 is the second schematic diagram of the unmanned ship's offset reset system in this creation. Figure 10 is a schematic diagram of resetting the unmanned ship's offset resetting system. Figure 11 is the second schematic diagram of the resetting of the unmanned ship's offset resetting system. Figure 12 is the third schematic diagram of the resetting of the unmanned ship's offset resetting system of this creation. Figure 13 is the fourth schematic diagram of the resetting of the unmanned ship's offset resetting system of this creation.

1: Unmanned ship offset reset system

2: hull

21: Central Processing Unit

211: Channel Information

212: fixed-point data

213: positioning module

3: The main power component

31: The first propulsion motor component

32: The second propulsion motor component

33: The third propulsion motor component

34: The fourth propulsion motor component

35: Lifting parts

Claims (9)

An unmanned ship's offset resetting system includes: a hull 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 arranged on the hull and signaled to the central processing unit, and the main power assembly has a first propulsion motor component and a second propulsion motor component and a third propulsion motor component and A fourth propulsion motor component, and the first propulsion motor component and the second propulsion motor are disposed on one side of the hull opposite to each other, and the third propulsion motor is disposed on the other side of the hull opposite to the first At the diagonal position of the propulsion motor, the fourth propulsion motor is arranged at the diagonal position of the second propulsion motor on the other side of the hull. The unmanned ship offset reset system according to claim 1, wherein the main power assembly 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 and a third propulsion motor component and a fourth propulsion motor component are respectively connected to the lifting component via an extension rod. The unmanned ship offset reset system according to claim 2, wherein the central processing unit generates a lifting signal to control the lifting member to lift on the hull, and then control the first propulsion motor, the second propulsion motor, and the first propulsion motor. The three propulsion motors and the fourth propulsion motor move 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 to start and Control the advancing speed. According to claim 1, the unmanned ship's offset resetting system further includes a first auxiliary power assembly and a second auxiliary power assembly. The unmanned ship offset reset system according to claim 5, wherein the first auxiliary power unit 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 unit and control it Advance direction. The unmanned ship offset reset system according to claim 5, wherein the second auxiliary power unit 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 unit and control it Advance direction. The unmanned ship's offset reset system according to claim 5, wherein the first auxiliary power assembly is relatively arranged on the rear side of the hull. The unmanned ship's offset resetting system according to claim 8, wherein the second auxiliary power assembly is relatively arranged on the other side of the rear end of the hull.

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