WO2021000627A1 - Système de commande électrique pour bateau de sauvetage sans pilote - Google Patents

Système de commande électrique pour bateau de sauvetage sans pilote Download PDF

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Publication number
WO2021000627A1
WO2021000627A1 PCT/CN2020/084817 CN2020084817W WO2021000627A1 WO 2021000627 A1 WO2021000627 A1 WO 2021000627A1 CN 2020084817 W CN2020084817 W CN 2020084817W WO 2021000627 A1 WO2021000627 A1 WO 2021000627A1
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WO
WIPO (PCT)
Prior art keywords
module
control
power
motor drive
receiving module
Prior art date
Application number
PCT/CN2020/084817
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English (en)
Chinese (zh)
Inventor
李存扣
Original Assignee
泰州市金海运船用设备有限责任公司
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Publication date
Application filed by 泰州市金海运船用设备有限责任公司 filed Critical 泰州市金海运船用设备有限责任公司
Publication of WO2021000627A1 publication Critical patent/WO2021000627A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
    • B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means

Definitions

  • the invention relates to the technical field of life-saving floating devices, in particular to an electric control system for an unmanned rescue ship.
  • rescues can be carried out by unmanned remote control boats. Due to its light weight and high speed, the unmanned remote control boat can reach the drowning person in a short time to rescue the drowning person. Compared with lifebuoy rescue, its life-saving device has higher accuracy and longer travel distance.
  • the electrical control system controls the work of the rescue ship and is an important part of the rescue ship.
  • the purpose of the present invention is to provide an electrical control system suitable for unmanned rescue ships.
  • an unmanned rescue ship electrical control system including electrical components arranged on the rescue ship, the electrical components include a power switch module, a power module, a motor drive module, a receiving module, and a receiving Module matching remote control, control board, radiator, power switch module controls the power module, the power module supplies power for the motor drive module, the motor drive module is equipped with a receiving module and powers it, the receiving module controls the work of the motor drive module, and the control board Connect to the power module and monitor the power module.
  • the motor drive module is equipped with a heat sink.
  • the controller when the control board detects that the power supply voltage is 30% of the rated voltage, the controller outputs a switch signal every 2S to control the light strip, and the light strip flashes to remind the user that the battery is in a low voltage state and needs to return; when the control panel When it detects that the working current reaches 85A, the control board outputs a switch signal, disconnects the switch control interface of the ESC, and disconnects the output of the ESC. It will automatically recover after 10S.
  • a further technical solution also includes a steering control module.
  • the steering control module is connected to the receiving module through a connecting cable, and the receiving module controls the steering control module.
  • the invention includes a power switch module, a power module, a motor drive module, a receiving module, a remote controller, a control board, and a radiator that are connected by a connecting cable, and is used to control various hardware on the rescue ship, thereby ensuring that the rescue ship can Realize the rescue of drowning or drowning people, detection and observation of dangerous areas approaching, sonar detection of areas below the water surface, submarine sonar scanning, water quality detection sampling, hydrological flow measurement, urban river and lake cleaning, water surveying and mapping, automatic nesting and fish detection, etc. .
  • Figure 1 is the peripheral circuit diagram of the receiving module
  • Figure 2 is the peripheral circuit diagram of the motor drive module
  • Figure 3 shows the power switch module
  • the present invention is an electrical control system suitable for an unmanned rescue ship. It includes electrical components arranged on the rescue ship.
  • the electrical components include a power switch module, a power module, a motor drive module, a receiving module, and a receiving module connected by a connecting cable.
  • the matching remote control, control board, radiator, motor adopts water-cooled motor, and the connecting cable is fixed in the rescue boat with a cable tie.
  • the power switch module controls the power module.
  • the power module supplies power to the motor drive module.
  • the motor drive module is equipped with a receiving module and powers it.
  • the receiving module controls the operation of the motor drive module.
  • the control board is connected to the power module and monitors the power module and the motor drive module. There is a radiator.
  • the control board has undervoltage protection and overcurrent protection functions.
  • the controller When the control board detects that the power supply voltage is 30% of the rated voltage, the controller outputs a switch signal every 2S to control the light strip, and reminds the user with the flashing of the light strip that the battery is in a low voltage state and needs to return; when the control panel detects the working current When it reaches 85A, the control board outputs a switch signal, disconnects the switch control interface of the ESC, and disconnects the output of the ESC. It will automatically recover after 10S.
  • the remote control uses the Futaba Electronics 3PL-2.4G gun-type remote control, which is a one-way three-channel intermediate 2.4G remote control.
  • the remote control uses a segmented LCD screen with high-brightness LED indicator, with alarm function, ABS braking system, steering control function, throttle control and other functions.
  • the steering control module is used to adjust the direction of the unmanned ship's jet pump. It is proposed to use TRA2056 from TRAXXAS. Steering control module size: 40.5X20.5X36mm, weight 45g, action time 0.23s/60°, the steering control module is controlled by the remote control receiving module.
  • the receiving module uses Futaba's R2104GF 4-channel S-FHSS receiver.
  • the receiving module is used in conjunction with the remote control 3PL-2.4G gun-type remote control.
  • the normal working voltage range of the receiving module R2104GF is 3.5V-8.4V.
  • the motor drive module provides power to the receiving module, and the output terminal of the receiving module is connected to the motor drive module.
  • the receiving module has its own antenna, 1 is the steering control port, and 2 is the throttle control port.
  • the circuit diagram of the receiving module In the figure, X11 and X12 are JST three-core plug-ins, the red and black are power lines, the working power comes from the motor drive module, and the white is the signal output terminal, which is connected to the motor drive module.
  • XS6 is a throttle control plug-in
  • XS7 is a steering control plug-in.
  • X3 is an antenna, which is self-connected to the receiving module and has a length of 100mm.
  • the motor drive module uses Haifei general DC motor drive module, the model is Swordfish Pro 200A-8S.
  • the drive module comes with dual water cooling pipelines, the switching frequency is adjustable, and there are three options of 8KHz/12KHz/16KHz.
  • the motor drive starts smoothly, and the overheat protection point is 100 degrees.
  • the module has a maximum operating voltage of 35V and a maximum current of 200A.
  • the motor drive module has good compatibility and can meet the needs of different DC brushless motors without adjusting its control software.
  • the power supply module uses castle company, and the model specification is CC-BEC 10AMP PEAK.
  • the module has a maximum output current of 10A, an input voltage range of 5V-25.2V, and an output of 5V.
  • the power switch module is the power input control part of the system, and IRC’s SPS SafetyPowerSwitch 34V 100/200A is selected.
  • the main function of this module is to prevent sparks or large currents from impacting the motor drive module during the battery connection, and at the same time control the on/off control of the entire control unit through the switch control unit connected to it.
  • X2 is connected to the battery pack, and X1 is the output terminal of the power switch module. This port provides power to the DC motor drive module.
  • X8 is a four-core connector, which is a switch input signal.
  • the X14 terminal is a two-core watertight plug-in. The plug-in provides power for the light strips and indicator lights of the floating body.
  • the power switch uses IRC's SPS gas cap switch actuator (green LED), and the model is A72020.
  • This switch is used in conjunction with the power switch module.
  • the switch only generates a switch signal to input to the power switch module, instead of directly cutting off the power.
  • the action of the switch mainly depends on the external magnet block. Putting the magnet in is the "off” signal, pulling out the magnet is the “on” signal. In the on state, the green LED on the power switch lights up. When an error occurs or the power supply voltage is too low, the indicator flashes.
  • the motor uses XTEAM's internal rotating 4-pole brushless DC motor, the motor model is XTI-54118/3D, this motor is suitable for ships of 900mm-1500mm.
  • the diameter of the motor is 54mm and the length is 118mm.
  • the shaft diameter of this motor is 8mm and the shaft length is 20mm. After calculation, the motor can reach 13368rpm/min at 25.9V, which can meet the requirements.
  • the present invention is used to control various hardware on the rescue ship, so as to ensure that the rescue ship can rescue drowning or drowning people, approach detection and observation of dangerous areas, sonar detection of sub-water areas, submarine sonar scanning, and water quality detection Sampling, hydrological flow measurement, urban river and lake surface cleaning, water surveying and mapping, automatic nesting and fish hunting.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Toys (AREA)

Abstract

La présente invention concerne un système de commande électrique pour un bateau de sauvetage sans pilote comprenant un ensemble électrique disposé au niveau d'un bateau de sauvetage. L'ensemble électrique comprend les dispositifs suivants connectés au moyen de câbles électriques : un module de commutation de puissance, un module de source d'alimentation, un module d'entraînement de moteur, un module de réception, une télécommande associée au module de réception, un panneau de commande et un dispositif de dissipation de chaleur. Le système de commande électrique pour un bateau de sauvetage sans pilote permet le sauvetage d'une personne en train de se noyer par commande à distance.
PCT/CN2020/084817 2019-07-02 2020-04-15 Système de commande électrique pour bateau de sauvetage sans pilote WO2021000627A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910589337.3 2019-07-02
CN201910589337.3A CN110422310A (zh) 2019-07-02 2019-07-02 一种无人救援船电气控制系统

Publications (1)

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WO2021000627A1 true WO2021000627A1 (fr) 2021-01-07

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WO (1) WO2021000627A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110422310A (zh) * 2019-07-02 2019-11-08 泰州市金海运船用设备有限责任公司 一种无人救援船电气控制系统

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CN110422310A (zh) * 2019-07-02 2019-11-08 泰州市金海运船用设备有限责任公司 一种无人救援船电气控制系统

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Publication number Priority date Publication date Assignee Title
US9096106B2 (en) * 2011-05-12 2015-08-04 Unmanned Innovations, Inc Multi-role unmanned vehicle system and associated methods
CN106741795A (zh) * 2017-01-04 2017-05-31 北京臻迪科技股份有限公司 一种电池管理方法和智能电源
CN206841680U (zh) * 2017-06-06 2018-01-05 马诗聪 一种可快速移动的遥控救生船
CN207432218U (zh) * 2017-10-24 2018-06-01 南京诚卫安全装备有限公司 一种水上救生侦察机器人
CN208165239U (zh) * 2018-05-09 2018-11-30 深圳臻迪信息技术有限公司 一种无人船的控制系统
CN110422310A (zh) * 2019-07-02 2019-11-08 泰州市金海运船用设备有限责任公司 一种无人救援船电气控制系统

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