WO2022199158A1 - Modular omnidirectional unmanned surface vehicle capable of being assembled autonomously - Google Patents

Abstract

A modular omnidirectional unmanned surface vehicle capable of being assembled autonomously, comprising a main floating body (100) circumferentially provided with several extending floating blocks (110) on a side surface thereof; a cabin frame (200) fixedly arranged above the main floating body (100), with an outer side surface of the cabin frame (200) being circumferentially provided with several connecting fittings which are used for the connection of multiple identical modular omnidirectional unmanned surface vehicles capable of being assembled autonomously; and several propellers (120) arranged below the extending floating blocks (110) in a one-to-one correspondence, the propellers (120) being used for driving the main floating body (100). The unmanned surface vehicles can be combined with one another to form a large floating platform, which can increase the carrying capacity of the unmanned surface vehicle and can meet the need of a user of quick adaptation to different functionalities of the unmanned surface vehicle under different service conditions.

Description

A modular omnidirectional unmanned ship that can be spliced autonomously technical field

The invention relates to the technical field of combined unmanned ships, in particular to a modular omnidirectional unmanned ship that can be independently spliced.

Background technique

With the rapid development of science and technology, the traditional industry of the shipbuilding industry is also gradually combining with high-end technology. After drones and unmanned vehicles, the invention of unmanned ships has become a new product of automation technology. Unmanned ships are efficient and safe. , low cost and other advantages, it can play an important role in many civil fields such as water security patrol, water surface cleaning, water quality sampling and testing, hydrological surveying and bottom topographic mapping.

In the prior art, unmanned ships generally have design flaws in which functions, performance, and ease of use are compromised. For example, large-scale unmanned ships with multiple functions and high cargo capacity have poor maneuverability. A good unmanned ship also has the problems of low cargo capacity and single function. Therefore, the unmanned ship in the prior art has poor versatility and is difficult to meet the needs of users for rapid adaptation of functions under different usage conditions.

Therefore, the existing technology still needs to be improved and developed.

SUMMARY OF THE INVENTION

In order to solve the problems in the prior art that the functions, performance and ease of use of unmanned ships are difficult to balance, the unmanned ships have poor versatility, and it is difficult to meet the needs of users for rapid adaptation of functions under different usage conditions, the present invention proposes a A modular omnidirectional unmanned ship with autonomous splicing.

The present invention is achieved through the following technical solutions:

An autonomously splicable modular omnidirectional unmanned ship, wherein the autonomously splicable modular omnidirectional unmanned ship includes:

a main floating body, wherein a plurality of extended floating blocks are circumferentially arranged on the side surface of the main floating body;

A cabin frame, the cabin frame is fixedly arranged above the main floating body, a plurality of connection fittings are circumferentially arranged on the outer surface of the cabin frame, and the connection fittings are used to connect a plurality of the same autonomous Spliced modular omnidirectional unmanned ship;

The propellers are provided with several propellers, and the propellers are arranged below the extending floating blocks in a one-to-one correspondence, and the propellers are used to drive the main floating body.

The modular omnidirectional unmanned ship that can be spliced autonomously, wherein, a control box is arranged above the main floating body, the control box is fitted inside the main floating body, and the control box faces toward the main floating body. One side above the main floating body is provided with a waterproof cover plate, and the waterproof cover plate is detachably arranged on the control box.

The modular omnidirectional unmanned ship that can be spliced autonomously, wherein a control module is arranged inside the control box, and the control module includes:

a processor communication assembly, the processor communication assembly is connected to the circuit of the thruster;

a power supply assembly, the power supply assembly is connected to the circuit of the processor communication assembly;

A sensor assembly connected to the circuit of the processor communication assembly.

The modular omnidirectional unmanned ship that can be independently spliced, wherein the main floating body is in the shape of a spherical cap, the side where the upper horizontal plane of the main floating body is located is a bearing surface, and the cabin frame is arranged on the bearing surface superior.

The modular omnidirectional unmanned ship that can be independently spliced, wherein a first fixing plate is arranged on the bearing surface, and a second fixing plate is arranged on the side opposite to the bearing surface of the main floating body, The first fixing plate and the second fixing plate are clamped to fix the main floating body and a plurality of the extended floating blocks, the cabin frame is arranged on the first fixing plate, and a plurality of the propellers are arranged on the on the second fixing plate.

In the self-splicing modular omnidirectional unmanned ship, the main floating body and the extension floating block are both components made of polystyrene foam.

In the self-splicing modular omnidirectional unmanned ship, wherein the first fixing plate, the second fixing plate and the cabin frame are all components made of carbon fiber.

In the modular omnidirectional unmanned ship that can be spliced autonomously, the extension buoy includes:

Four extension blocks symmetrically arranged on the sides of the main floating body, and the four propellers under the four extension blocks are fixedly arranged on the corresponding extension blocks at a relative angle of 90 degrees. superior.

The modular omnidirectional unmanned ship that can be spliced autonomously, wherein the connection fittings include a pair of first fittings and second fittings, the first fittings and the second fittings They are separated by a predetermined distance and arranged on the same horizontal plane.

In the autonomously splicable modular omnidirectional unmanned ship, wherein the connection ends of the first fitting and the second fitting are adapted to each other, when two identical autonomously splicable modular When the omnidirectional unmanned ships dock with each other,

The first mating piece on the autonomously splicable modular omnidirectional unmanned ship is cooperatively connected with the second mating piece on the adjacent autonomously splicable modular omnidirectional unmanned ship;

The second mating piece on the autonomously splicable modular omnidirectional unmanned ship is cooperatively connected with the first mating piece on the adjacent autonomously splicable modular omnidirectional unmanned ship.

The beneficial effects of the present invention are: the present invention provides a cabin frame above the main floating body, and a plurality of connection fittings are arranged on the cabin frame, and through the interconnection of the connection fittings, a plurality of unmanned ships can be combined with each other, A large floating platform is formed to improve the carrying capacity of the unmanned ship. At the same time, the propellers arranged on the extended buoys on the side of the main floating body can ensure the maneuverability of the unmanned ship, thus effectively solving the problem of the unmanned ship in the prior art. The problem of poor versatility meets the needs of users to quickly adapt the functionality of the unmanned ship under different usage conditions.

Description of drawings

Fig. 1 is the three-dimensional structure diagram of the modular omnidirectional unmanned ship that can be independently spliced according to the present invention;

Fig. 2 is the structural disassembly schematic diagram of the modular omnidirectional unmanned ship that can be independently spliced according to the present invention;

Fig. 3 is the bottom view of the main floating body in the modular omnidirectional unmanned ship that can be independently spliced according to the present invention;

4 is a top view of the main floating body in the modular omnidirectional unmanned ship that can be independently spliced according to the present invention;

5 is a schematic structural diagram of the modular omnidirectional unmanned ship multi-ship splicing that can be independently spliced according to the present invention;

6 is a top view of the modular omnidirectional unmanned ship multi-ship splicing that can be independently spliced according to the present invention;

7 is a front view of the modular omnidirectional unmanned ship multi-ship splicing that can be independently spliced according to the present invention;

FIG. 8 is a schematic diagram of an embodiment of a modular omnidirectional unmanned ship connecting fittings that can be independently spliced according to the present invention;

9 is a schematic diagram of the connection principle of the connection fittings in the modular omnidirectional unmanned ship that can be independently spliced according to the present invention;

FIG. 10 is a schematic diagram of the control connection of the modular omnidirectional unmanned ship control module that can be independently spliced according to the present invention.

1 to 10: 100, main floating body; 101, bearing surface; 110, extended floating block; 111, first extended floating block; 112, second extended floating block; 113, third extended floating block; 114, 120, propeller; 121, first propeller; 122, second propeller; 123, third propeller; 124, fourth propeller; 131, first fixing plate; 132, second Fixing plate; 140, control box; 141, processor communication assembly; 142, power supply assembly; 143, sensor assembly; 200, cabin frame; 210, first fitting; 220, second fitting; W, first unmanned ship; X, the second unmanned ship; Y, the third unmanned ship; Z, the fourth unmanned ship.

Detailed ways

In order to make the objectives, technical solutions and effects of the present invention clearer and clearer, the present invention will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

It should be noted that if there are directional indications (such as up, down, left, right, front, back, etc.) involved in the embodiments of the present invention, the directional indications are only used to explain a certain posture (as shown in the accompanying drawings). The relative positional relationship, movement situation, etc. between the various components shown below), if the specific posture changes, the directional indication also changes accordingly.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for the purpose of description, and should not be construed as instructions or Implicit their relative importance or implicitly indicate the number of technical features indicated. Thus, features delimited with "first", "second" may expressly or implicitly include at least one of said features. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of such technical solutions does not exist. , is not within the scope of protection required by the present invention.

In the prior art, unmanned ships generally have design flaws in which functions, performance, and ease of use are compromised. For example, large-scale unmanned ships with multiple functions and high cargo capacity have poor maneuverability. A good unmanned ship also has the problems of low cargo capacity and single function. Therefore, the unmanned ship in the prior art has poor versatility and is difficult to meet the needs of users for rapid adaptation of functions under different usage conditions.

Based on the above problems in the prior art, the present invention provides a modular omnidirectional unmanned ship that can be spliced autonomously. As shown in FIG. 1 , the modular omnidirectional unmanned ship that can be spliced autonomously includes: a main floating body 100, The side of the main floating body 100 is provided with a number of extended floating blocks 110; the cabin frame 200, the cabin frame 200 is fixedly arranged above the main floating body 100, and the outer surface of the cabin frame 200 is circumferentially provided with a number of connecting fittings, which are connected and matched. The components are used to connect a plurality of identical modular omnidirectional unmanned ships that can be independently spliced; the propellers 120 are provided with several propellers 120, and the propellers 120 are arranged one-to-one under the extension floating block 110, and the propellers 120 Used to drive the main floating body 100 .

In the present invention, a plurality of connection fittings are arranged on the cabin frame 200, and through the interconnection of the connection fittings, a plurality of unmanned ships can be combined with each other to form a large floating platform, thereby improving the carrying capacity of the unmanned ship. The propeller 120 on the extension buoy 110 can ensure the maneuverability of the unmanned ship, so as to meet the user's requirement for quick adaptation to different functions of the unmanned ship under different usage conditions.

In the above-mentioned embodiments, as shown in FIGS. 1 and 2 , in the present invention, the main buoyancy component in the modular omnidirectional unmanned ship that can be spliced autonomously is the main buoyant body 100 , and the main buoyant body 100 is made of materials with a density lower than that of water. It is made to provide buoyancy for the unmanned ship to float on the water surface. In an embodiment of the present invention, the shape of the main floating body 100 is set to a spherical cap shape. The structure of the smaller volume part below, wherein the circular horizontal plane obtained when it is intercepted by the plane is called the bottom of the spherical cap. In this embodiment, the side of the horizontal circular surface on the main floating body 100 in the shape of the spherical cap faces upward. , called the bearing surface 101, the side where the arc surface of the main floating body 100 is located (ie, the opposite side of the bearing surface 101) is in contact with the water surface. It satisfies that the main floating body 100 reduces the resistance with the water surface in all moving directions, so as to achieve the effect of reducing the wave-making resistance during the operation of the unmanned ship.

Further, in the above-mentioned embodiment, in order to ensure that the main floating body 100 does not roll over during the process of floating on the water surface, a number of extension floating blocks 110 are also provided on the side of the main floating body 100, and several extension blocks 110 are provided. The floating blocks 110 are evenly arranged on the side of the main floating body 100 to ensure that the overall center of gravity of the unmanned ship is always on the center of the main floating body 100, and the extended floating blocks 110 are also made of materials with a density lower than that of water. 110 improves the buoyancy of the unmanned ship, and simultaneously increases the contact area between the main floating body 100 and the water surface, thereby further improving the anti-rollover performance of the unmanned ship.

In the above embodiment, the main floating body 100 and the extension floating block 110 are both components made of polystyrene foam (eps foam). The structural characteristics of the pores and the material characteristics ensure that the main floating body 100 has hydrophobic properties, and will not lose its buoyancy performance under the condition of long-term immersion in water. In addition, the polystyrene foam has stable performance, convenient processing, and low cost. Meet the requirements of reducing the overall cost of unmanned ships and adapting unmanned ships according to the characteristics of different waters.

Specifically, in order to improve the stability of the connection between the main floating body 100 and the extension floating block 110, as shown in FIG. The shape of 131 is adapted to the shape of the bearing surface 101 of the main floating body 100, and the first fixing plate 131 extends and covers the direction in which the extension float 110 is provided. The main floating body 100 is fixed on the first fixing plate 131 together, so as to avoid the occurrence of the separation of the main floating body 100 and the extension floating block 110 when the unmanned ship is attacked by wind and waves.

Further, a second fixing plate 132 is also provided on the opposite side of the bearing surface 101 on the main floating body 100 . As shown in FIG. 3 , the second fixing plate 132 is similar to the first fixing plate 131 and is also used for the It is fixed with the extension floating block 110. In actual installation, since the second fixing plate 132 is arranged on the side of the main floating body 100 where the spherical curved surface is located, the area of the second fixing plate 132 is larger than that of the first fixing plate 131. Adaptive reduction to achieve the effect of reducing weight and reducing resistance to water flow.

In the above-mentioned embodiment, both the first fixing plate 131 and the second fixing plate 132 are made of carbon fiber material. As well as the impact resistance performance, the main floating body 100 and the extension floating block 110 after the actual installation are clamped and fixed between the first fixing plate 131 and the second fixing plate 132, so that a stable formation is formed between the main floating body 100 and the extending floating block 110. The whole of the connection provides the unmanned ship with stable buoyancy and wave resistance.

In a specific embodiment of the present invention, as shown in FIG. 1 and FIG. 3 , a propeller 120 is further provided on the extension buoy 110, and the propeller 120 is used to provide power to propel the unmanned boat to travel on the water surface. There are several propellers 120 , and the propellers 120 are correspondingly arranged below the extending buoys 110 . In actual use, the propellers 120 are immersed under the water surface to provide the unmanned ship with the thrust required for the sailing direction.

In a specific embodiment of the present invention, as shown in FIG. 1 and FIG. 3 , four extended floating blocks 110 are circumferentially arranged on the side surface of the main floating body 100 , and the four extending floating blocks 110 are centrally symmetrically arranged on the main floating body On the side of the 100, correspondingly, a propeller 120 is respectively provided on each extending floating block 110, and the propeller 120 is fixedly arranged on the second fixing plate 132 and is opposite to the corresponding extending floating block 110, specifically , the above-mentioned extension float 110 and propeller 120 are shown in FIG. 3 , and specifically include:

The first extension block 111 and the first extension block 111 are provided with a first propeller 121;

The second extension floating block 112 and the second propeller 122 are disposed on the second extending floating block 112;

The third extension floating block 113 and the third propeller 123 are arranged on the third extending floating block 113;

The fourth extension block 114 and the fourth extension block 114 are provided with a fourth propeller 124;

In the specific setting, the first propeller 121, the second propeller 122, the third propeller 123 and the fourth propeller 124 are fixedly arranged on the corresponding extension blocks at a relative angle of 90 degrees, and the first propeller 121, the second propeller 122, the third propeller 123 and the fourth propeller 124 The thruster 121, the second thruster 122, the third thruster 123 and the fourth thruster 124 have different thrusting directions. For the specific form, refer to FIG. 3. The four thrusters 120 are arranged in a counterclockwise direction. When in use, the resultant force generated by the above four propellers 120 pushes the unmanned ship to travel in a single direction, and the actual force calculation formula is as follows:

The thrust corresponding to the first thruster 121 is f1, the thrust corresponding to the second thruster 122 is f2, the thrust corresponding to the third thruster 123 is f3, and the thrust corresponding to the fourth thruster 124 is f4. Therefore, the thrust F received by the unmanned ship in a single direction can be obtained through the above calculation formula, so that the driving of the unmanned ship can be controlled through the four propellers 120 .

In the above formula, the angle α between the first propeller 121, the second propeller 122, the third propeller 123 and the fourth propeller 124 and the X horizontal coordinate axis is 45°, and the angle α between the adjacent propellers 120 is 45°. The distance between them is L, then the thrust of the propeller 120 is superimposed as the force and moment of the unmanned ship in the three directions x, y, and θ of the plane, that is, the component equation of the above F is:

The following is explained with concrete algebraic examples:

Assuming that the propellers 120 of the unmanned ship are arranged so that the propellers 120 are separated by L=0.5m, given the navigation command in the forward direction (x positive direction), the control commands given by the control system to the four propellers 120 are that the output thrusts are:

f ₁ =20N,

f ₂ =20N,

f ₃ =-20N,

f ₄ =-20N.

Then the thrusts obtained in the directions of the three coordinate axes are:

That is, the thrust F=fx=56.5685N received by the unmanned ship at this time can achieve the thrust effect on the unmanned ship forward (x positive direction).

Based on the above embodiments, as shown in FIGS. 1 and 2 , a cabin frame 200 is further provided on the side where the bearing surface 101 of the main floating body 100 of the present invention is located, and the cabin frame 200 is fixedly arranged above the main floating body 100 . Together with the bearing surface 101 of the main floating body 100, the cabin of the unmanned ship is formed, which can be used to carry goods, load the carried equipment, etc. On the outer surface of the cabin frame 200, a number of connection fittings are arranged around the circumference. The mating parts are used for splicing multiple identical modular omnidirectional unmanned ships that can be spliced autonomously, so as to realize free combination and improve the effect of unmanned ship loading.

In a specific embodiment, taking the above-mentioned embodiment in which four extending buoys are provided as an example, as shown in FIG. 4 , correspondingly, the cabin frame 200 is set in a rectangular shape, and the four sides of the cabin frame 200 are correspondingly provided with connecting fittings, In order to facilitate the interconnection of multiple autonomously splicable modular omnidirectional unmanned ships.

Specifically, the connection fittings include a pair of first fittings 210 and second fittings 220, the first fittings 210 and the second fittings 220 are spaced apart by a predetermined distance and are arranged on the same horizontal plane. In the cabin frame 200 set in a rectangular shape, four pairs of the first fittings 210 and the second fittings 220 are arranged on the four sides of the cabin frame 200 respectively, and the first fittings 210 and the second fittings 220 are adjacent to each other. The order of setting is always consistent, for example, in FIG. 4 , in the upper side of the cabin frame 200 , the second fitting 220 is arranged in the counterclockwise direction of the first fitting 210 , and on the other sides of the cabin frame 200 , the second matching piece 220 is also arranged on the counterclockwise side of the first matching piece 210, so as to ensure that the first matching piece 210 can always be ensured that the other The second matching parts 220 of an unmanned ship correspond to each other.

More specifically, the connection ends of the first fitting 210 and the second fitting 220 are adapted to each other. When two identical autonomously splicable modular omnidirectional unmanned boats are docked with each other, the autonomously splicable modular omnidirectional The first matching piece 210 on the unmanned ship is connected with the second matching piece 220 on the adjacent modular omnidirectional unmanned ship that can be spliced autonomously; and the second matching piece on the autonomously splicable modular omnidirectional unmanned ship 220 is matched and connected with the first matching piece 210 on the adjacent autonomously splicable modular omnidirectional unmanned ship.

The following is a detailed explanation of the connection process of the above-mentioned adjacent modular omnidirectional unmanned ships that can be independently spliced by way of specific embodiments:

As shown in Figure 5, Figure 5 shows the state after four autonomously spliced modular omnidirectional unmanned ships are connected to each other. For the convenience of explanation, the four autonomously spliced modular omnidirectional unmanned ships are named No. An unmanned ship W, a second unmanned ship X, a third unmanned ship Y and a fourth unmanned ship Z, wherein the first unmanned ship W, the second unmanned ship X, the third unmanned ship Y and the The sides of the fourth unmanned boat Z are opposite to each other, so as to form a rectangular whole as shown in Figure 6. During the actual connection process, the adjacent unmanned boats are on the same horizontal plane, and the connecting fittings are connected to each other. correspond.

Specifically, in the first possible embodiment of the present invention, as shown in FIG. 8 , the connecting fittings may be provided in the form of cone-rod connecting structures, that is, the first fittings 210 are provided in the form of hollow rods. The interior of the hollow rod is provided with an engaging groove for engaging and fixing with the second matching piece 220 , and the opening of the first matching piece 210 is set in the form of a bell mouth, so as to form a docking with the first matching piece 210 Correspondingly, the second matching piece 220 is set to a tapered structure, and the second matching piece 220 is provided with a concealable and rotatable engaging portion, which is matched with the engaging groove in the first matching piece 210. The shape of the second matching piece 220 is adapted to the hollow interior of the first matching piece 210. When actually installed, the second matching piece 220 is introduced into the interior of the first matching piece 210 under the action of the bell mouth in the first matching piece 210, and By controlling the rotation of the engaging portion, it is engaged with the engaging groove in the first matching member 210 , so as to achieve the effect of engaging and fixing the first matching member 210 and the second matching member 220 .

In the second possible embodiment of the present invention, the above-mentioned first fitting 210 and the second fitting 220 may also be connected by means of magnetic attraction, specifically, the first fitting 210 and the second fitting 220 Set as permanent magnets or electromagnets with opposite magnetic poles, when adjacent unmanned boats approach each other, under the action of magnet attraction, the first matching piece 210 and the second matching piece 220 in the adjacent unmanned boats are opposite to each other connection, so as to realize the connection and fixation of adjacent unmanned ships.

Specifically, when the above-mentioned four autonomously splicable modular omnidirectional unmanned ships are spliced, the schematic diagram of the connection principle is shown in FIG. 9 . On one side, the first fitting 210 on the first unmanned ship W is located below the figure, and the second fitting 220 is above the figure. Correspondingly, the first fitting 210 on the second unmanned ship X is located in the figure. The second fitting 220 is located at the bottom of the illustration, that is, the first fitting 210 on the first unmanned ship W is correspondingly connected with the second fitting 220 on the second unmanned ship X, and the first unmanned ship W The second matching piece 220 on the second unmanned ship X is correspondingly connected with the first matching piece 210 on the second unmanned ship X.

At the same time, the third unmanned ship Y also corresponds to the first unmanned ship W, wherein the first unmanned ship W is on the adjacent side of the first unmanned ship W and the third unmanned ship Y. The first fitting 210 is located on the left side of the figure, and the second fitting 220 is on the right side of the figure. Correspondingly, the first fitting 210 on the second unmanned ship X is on the left side of the figure, and the second fitting 220 It is located on the right side of the figure, so after the first unmanned ship W and the third unmanned ship Y are docked, the first fitting 210 on the first unmanned ship W and the second fitting on the third unmanned ship Y 220 is correspondingly connected, and the second fitting 220 on the first unmanned ship W is correspondingly connected with the first fitting 210 on the third unmanned ship Y.

According to the above connection rules, the present invention can realize the effect of connecting a plurality of modular omnidirectional unmanned ships that can be spliced independently to form a larger unmanned ship hull, thereby forming a large-scale water mobile platform and improving the carrying capacity.

In another possible embodiment of the present invention, as shown in FIG. 2 , a control box 140 is further provided above the main floating body 100 , and the control box 140 is used to place the control module, so as to realize the modular omnidirectional integration of autonomous splicing. Unmanned boat for remote control.

Specifically, in this embodiment, the main floating body 100 is preset with an installation position with the same shape as the control box 140 , and the control box 140 is arranged inside the main floating body 100 by fitting. Correspondingly, in the control box 140 The side facing the upper bearing surface 101 of the main floating body 100 is also provided with a waterproof cover plate, which is detachably arranged on the control box 140 to facilitate the user to repair and replace the control module arranged inside the control box 140 .

Further, the above-mentioned control module includes:

a processor communication assembly 141, the processor communication assembly 141 is electrically connected to the thruster 120;

a power supply component 142, the power supply component 142 is electrically connected with the processor communication component 141;

The sensor assembly 143 is electrically connected to the processor communication assembly 141 .

More specifically, as shown in FIG. 10, FIG. 10 is a schematic diagram of the control connection of the control module in the modular omnidirectional unmanned ship that can be independently spliced according to the present invention;

Wherein, the processor communication component 141 includes a shipboard computer, a wireless communication module and a Raspberry Pi controller that are electrically connected to each other;

The onboard computer can record the sailing status and sailing log of the modular omnidirectional unmanned ship that can be spliced autonomously, and control the instruments that can be controlled on the unmanned ship.

The wireless communication module includes various wireless connection components, such as WiFi, mobile data connector, satellite signal connector, etc. Through the wireless communication module, the remote control of the unmanned ship can be realized, and the relevant data can be obtained or received.

The Raspberry Pi controller is a kind of mini computer with small size, based on Linux system, through SD expansion card as "hard disk", it can realize fast data storage and basic operation, so as to control sensor data and reduce unmanned The overall cost of the ship.

The power supply assembly 142 can use various forms of power supply in the present invention, such as accumulators, solar cells, etc., which is not limited in this application, and the battery assembly is used to provide the thruster 120, the processor communication assembly 141 and the sensor assembly 143 work electricity.

The sensor component 143 includes: GPS, IMU, camera and lidar.

GPS, that is, the GPS signal receiving component, can determine the position information of the unmanned ship through the global satellite positioning system, so as to effectively judge the driving path of the unmanned ship and provide guarantee for the safety of the travel information.

IMU, the inertial sensor, can detect the speed and acceleration of the unmanned ship through the inertial sensor, and convert the speed signal into an electrical signal, which is convenient for the controller to monitor and control the sailing speed of the unmanned ship.

Camera, the camera is used to monitor the sailing state of the unmanned ship, so that the operator can make a more intuitive and accurate judgment on the sailing state of the sailing ship. On the other hand, the camera can record the sailing history of the unmanned ship for easy operation. The personnel conducted research on the use effect of unmanned ships.

Lidar, lidar is used to monitor obstacles in the navigation path of unmanned ships, and at the same time, it can also realize the mapping function of objects in the corresponding waters. Through lidar, operators can monitor and map the state of the waters.

In the above-mentioned embodiment, the above-mentioned processor communication component 141 is also interconnected with a motor driver, and the motor driver is used to drive the propeller 120 to rotate, that is, to control the unmanned ship to sail, turn, and move at a predetermined speed through the processor communication component 141 In the above-mentioned embodiment, four extension blocks 110 are provided. Correspondingly, a first propeller 121 , a second propeller 122 , a third propeller 123 and a first propeller 121 , a second propeller 122 , a third propeller 123 and a first propeller 121 are respectively arranged under the extension buoy Four propellers 124, wherein the first propeller 121 is controlled to rotate by the electric driver 1, the second propeller 122 is controlled to rotate by the electric driver 2, the third propeller 123 is controlled to rotate by the electric driver 3, and the fourth propeller 124 is controlled by the electric driver. 4. The rotation is controlled, and, in actual setting, four electric drives can be set in the corresponding extension floats 110, so as to realize the waterproof hidden arrangement of the device.

In summary, the present invention provides a modular omnidirectional unmanned ship that can be spliced autonomously, which specifically includes: a main floating body, a number of extended floating blocks are arranged on the periphery of the side of the main floating body; a cabin frame, the cabin frame is fixed on the Above the main floating body, on the outer surface of the cabin frame, a number of connection fittings are arranged around the circumference, and the connection fittings are used to connect a plurality of identical modular omnidirectional unmanned ships that can be independently spliced; the propeller is provided with several Each of the propellers is arranged below the extending floating block in a one-to-one correspondence, and the propellers are used to drive the main floating body. In the present invention, a plurality of connection fittings are arranged on the cabin frame, and through the interconnection of the connection fittings, a plurality of unmanned ships can be combined with each other to form a large-scale floating platform, thereby improving the carrying capacity of the unmanned ship. The propeller on the buoy can ensure the maneuverability of the unmanned ship, so as to meet the needs of users to quickly adapt to the different functions of the unmanned ship under different usage conditions.

It should be understood that the application of the present invention is not limited to the above examples. For those of ordinary skill in the art, improvements or transformations can be made according to the above descriptions, and all these improvements and transformations should belong to the protection scope of the appended claims of the present invention.

Claims (10)

1. A modular omnidirectional unmanned ship that can be spliced autonomously, characterized in that, the modular omnidirectional unmanned ship that can be spliced autonomously includes:

   a main floating body, a plurality of extended floating blocks are circumferentially arranged on the side surface of the main floating body;

   A cabin frame, the cabin frame is fixedly arranged above the main floating body, a plurality of connection fittings are circumferentially arranged on the outer surface of the cabin frame, and the connection fittings are used to connect a plurality of the same autonomous Spliced modular omnidirectional unmanned ship;

   The propellers are provided with several propellers, and the propellers are arranged below the extending floating blocks in a one-to-one correspondence, and the propellers are used to drive the main floating body.
2. The modular omnidirectional unmanned ship that can be spliced autonomously according to claim 1, wherein a control box is arranged above the main floating body, and the control box is fitted inside the main floating body, so A waterproof cover plate is provided on the side of the control box facing the upper part of the main floating body, and the waterproof cover plate is detachably arranged on the control box.
3. The modular omnidirectional unmanned ship that can be spliced autonomously according to claim 2, wherein a control module is arranged inside the control box, and the control module comprises:

   a processor communication assembly, the processor communication assembly is connected to the circuit of the thruster;

   a power supply assembly, the power supply assembly is connected to the circuit of the processor communication assembly;

   A sensor assembly connected to the circuit of the processor communication assembly.
4. The modular omnidirectional unmanned ship that can be independently spliced according to claim 1, wherein the main floating body is in the shape of a spherical cap, the side where the upper horizontal plane of the main floating body is located is a bearing surface, and the cabin frame arranged on the bearing surface.
5. The modular omnidirectional unmanned ship that can be independently spliced according to claim 4, wherein a first fixing plate is arranged on the bearing surface, and a side opposite to the bearing surface is arranged on the main floating body There is a second fixing plate, the first fixing plate and the second fixing plate are clamped to fix the main floating body and a plurality of the extended floating blocks, the cabin frame is arranged on the first fixing plate, and the several The propeller is arranged on the second fixing plate.
6. The modular omnidirectional unmanned ship that can be spliced autonomously according to claim 5, wherein the main floating body and the extension floating block are both components made of polystyrene foam.
7. The modular omnidirectional unmanned ship that can be spliced autonomously according to claim 5, wherein the first fixing plate, the second fixing plate and the cabin frame are all components made of carbon fiber.
8. The modular omnidirectional unmanned ship that can be autonomously spliced according to claim 4, wherein the extension buoy comprises:

   Four extension blocks symmetrically arranged on the sides of the main floating body, and the four propellers under the four extension blocks are fixedly arranged on the corresponding extension blocks at a relative angle of 90 degrees. superior.
9. The modular omnidirectional unmanned ship that can be spliced autonomously according to claim 1, wherein the connection fittings comprise a pair of first fittings and second fittings, the first fittings and The second fittings are spaced apart by a predetermined distance and arranged on the same horizontal plane.
10. The modular omnidirectional unmanned ship that can be spliced autonomously according to claim 9, wherein the connecting ends of the first matching piece and the second matching piece are adapted to each other, and when two identical said When the modular omnidirectional unmanned ships that can be spliced independently are docked with each other,

    The first matching piece on the autonomously splicable modular omnidirectional unmanned ship is cooperatively connected with the second matching piece on the adjacent autonomously splicable modular omnidirectional unmanned ship;

    The second mating piece on the autonomously splicable modular omnidirectional unmanned ship is cooperatively connected with the first mating piece on the adjacent autonomously splicable modular omnidirectional unmanned ship.

Images