WO2023029307A1 - Véhicule sans pilote intelligent à cycle long ayant une forte puissance de survie - Google Patents

Véhicule sans pilote intelligent à cycle long ayant une forte puissance de survie Download PDF

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Publication number
WO2023029307A1
WO2023029307A1 PCT/CN2021/141071 CN2021141071W WO2023029307A1 WO 2023029307 A1 WO2023029307 A1 WO 2023029307A1 CN 2021141071 W CN2021141071 W CN 2021141071W WO 2023029307 A1 WO2023029307 A1 WO 2023029307A1
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WO
WIPO (PCT)
Prior art keywords
main body
unmanned aerial
aerial vehicle
long
intelligent unmanned
Prior art date
Application number
PCT/CN2021/141071
Other languages
English (en)
Chinese (zh)
Inventor
邓锐
王士刚
宋志杰
罗富强
吴铁成
李豪
汪昱全
胡予潇
Original Assignee
中山大学
南方海洋科学与工程广东省实验室(珠海)
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Publication date
Application filed by 中山大学, 南方海洋科学与工程广东省实验室(珠海) filed Critical 中山大学
Publication of WO2023029307A1 publication Critical patent/WO2023029307A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • 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
    • B63H9/00—Marine propulsion provided directly by wind power
    • B63H9/04—Marine propulsion provided directly by wind power using sails or like wind-catching surfaces
    • B63H9/06—Types of sail; Constructional features of sails; Arrangements thereof on vessels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • 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
    • B63H2021/171—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor making use of photovoltaic energy conversion, e.g. using solar panels

Definitions

  • the invention relates to the technical field of unmanned aerial vehicles, in particular to a long-period intelligent unmanned aerial vehicle with strong survivability.
  • unmanned aerial vehicles need to conduct continuous monitoring operations for a long time, so they must be able to automatically obtain clean energy; in order to achieve this purpose, most of the current unmanned aerial vehicles use Solar power generation, but the conversion efficiency of solar energy is low, it is difficult to continuously propel the ship by relying on solar energy alone as a power source, and it is impossible to achieve long endurance; secondly, ships without special design have a large water surface area, which will be seriously affected by waves on the water surface , it is difficult to maintain the established course and meet the mission requirements.
  • the purpose of the present invention is to provide a long-period intelligent unmanned aerial vehicle with strong survivability to solve the problem that the unmanned aerial vehicle cannot work in a harsh environment for a long time.
  • the present invention provides a long-period intelligent unmanned aerial vehicle with strong survivability, including a submersible, a drive mechanism, a main body, a solar sail, a retractable mechanism, a monitoring mechanism and a control mechanism;
  • the submersible The interior is hollow;
  • the driving mechanism is arranged on the submerged body, and the driving mechanism is used to drive the submerged body to travel;
  • the main body is connected with the submerged body, and the main body is arranged above the submerged body, so
  • the main body is a hollow structure;
  • the solar sail board is movably connected with the main body, and the solar sail board is used to convert solar energy into electric energy for the use of the strong viability long-period intelligent unmanned aerial vehicle;
  • the retractable mechanism Located on the main body, the retractable mechanism is movably connected with the solar sail, and the retractable mechanism is used to control the solar sail to turn over and away from the main body;
  • the monitoring mechanism is used to monitor Environmental information;
  • the control mechanism is
  • the monitoring mechanism includes an anemometer, the anemometer is installed on the upper part of the main body, and when the wind speed measured by the anemometer is greater than a set value, the control mechanism controls the The solar panels turn over to the main body.
  • the control mechanism controls the driving mechanism to start.
  • the monitoring mechanism includes an inclination sensor, and when the inclination sensor detects that the inclination angle is greater than a set value, the control mechanism controls the solar sail panel to turn over to the main body.
  • the monitoring mechanism includes a radar, and when the radar detects that there is an obstacle, the control mechanism controls the long-period intelligent unmanned aerial vehicle with strong survivability to bypass the obstacle.
  • the monitoring mechanism includes a GPS locator
  • the control mechanism is used to control the long-period intelligent unmanned aerial vehicle with strong survivability to move to the destination according to the position information measured by the GPS locator .
  • the main body is provided with a camera and a wireless transmission mechanism, and the wireless transmission mechanism is used to transmit the content captured by the camera to the device to be received.
  • the two solar panels are respectively hinged on both sides of the main body, and the rotation centers of the two solar panels are vertically arranged;
  • the retractable mechanism includes a motor, a transmission shaft and telescopic rod; the motor is used to drive the transmission shaft to move back and forth in a straight line; both sides of the transmission shaft are hinged with the telescopic rod; the two telescopic rods are respectively hinged to the two solar panels .
  • the two driving mechanisms are respectively arranged on two sides of the submerged body.
  • the submerged body is provided with an ADCP sensor.
  • the present invention since the present invention includes a solar panel, when it is judged to be in a safe environment, the solar panel is controlled to turn away from the main body, so the solar panel can realize the utilization of wind energy and solar energy at the same time, thereby improving the utilization of clean energy Efficiency, which meets the needs of long-term driving; secondly, when it is judged that there is a risk of overturning, controlling the solar panel to turn over the main body can reduce the impact of wind and waves on the driving of the unmanned aerial vehicle, so as to ensure that the unmanned aerial vehicle Driving safety, thus effectively solving the problem that existing unmanned aerial vehicles cannot work in harsh environments for a long time.
  • Fig. 1 is a schematic structural diagram provided by an embodiment of the present invention
  • Fig. 2 is the front view structure diagram of Fig. 1;
  • FIG. 3 is a structural schematic diagram of part A of FIG. 1 .
  • the present invention provides a long-term intelligent unmanned aerial vehicle with strong survivability, its embodiment is shown in Figure 1 to Figure 3, including a submersible 10, a driving mechanism 20, a main body 30, a solar sail 40, a retractable mechanism 50, Monitoring mechanism and control mechanism 60; submerged body 10 is hollow inside; driving mechanism 20 is arranged on submerged body 10, and driving mechanism 20 is used to drive submerged body 10 to travel; main body 30 is connected with submerged body 10, and main body 30 is arranged on submerged body 10 top , the main body 30 is a hollow structure; the solar sail panel 40 is flexibly connected with the main body 30, and the solar sail panel 40 is used to convert solar energy into electric energy for use by a long-term intelligent unmanned aerial vehicle with strong viability; the retractable mechanism 50 is arranged on the main body 30 , the retractable mechanism 50 is movably connected with the solar sail panel 40, and the retractable mechanism 50 is used to control the solar sail panel 40 to turn over and turn away from the main body 30; the monitoring mechanism is used to monitor environmental information; the
  • the monitoring agency will continue to monitor the environmental information and send the measured environmental information to the control agency 60, and then the control agency 60 will make judgments based on the environmental information, so as to know that the unmanned Whether the craft is in a safe operating environment or is at risk of capsizing.
  • control mechanism 60 judges that the unmanned ship is in a safe environment, it can control the solar panel 40 to turn away from the main body 30. At this time, the solar panel 40 can not only obtain wind power, thereby pushing the unmanned vehicle to move, but also turn the solar panel 40 away from the main body 30. It is converted into electrical energy for use by the unmanned aerial vehicle, such as powering the driving mechanism 20 to meet the active driving requirements of the unmanned aerial vehicle.
  • control mechanism 60 determines that the unmanned aerial vehicle has a risk of overturning, it can control the solar sail panel 40 to turn over to the main body 30 for storage, thereby preventing the solar sail panel 40 from being exposed to the wind, thereby reducing the risk of the unmanned aerial vehicle overturning, It provides a guarantee for the safe operation and driving of unmanned aerial vehicles.
  • this solution can realize the utilization of wind energy and solar energy, and reduce the impact of wind and waves on driving, and effectively solve the problem that unmanned aerial vehicles cannot work in harsh environments for a long time.
  • the main body 30 of this embodiment is a hollow structure, so even if the unmanned aerial vehicle overturns, the main body 30 can also provide buoyancy for the unmanned aerial vehicle, so as to provide the possibility for the unmanned aerial vehicle to return to the normal driving state.
  • a storage battery 11 is provided inside the submersible 10, and the storage battery 11 is used to store the electric energy generated by the solar sail panel 40, thus providing guarantee for the long-term operation of the unmanned aerial vehicle.
  • the monitoring mechanism includes a wind direction anemometer 71, the wind direction anemometer 71 is arranged on the top of the main body 30, when the wind direction and anemometer 71 measures the wind speed to be greater than the set value, the control mechanism 60 controls the solar panel 40 to turn over to the main body 30.
  • the wind direction anemometer 71 After the wind direction anemometer 71 is set, the wind direction anemometer 71 will measure the wind speed and wind direction of the current environment. For example, when the wind speed measured is greater than the set value, it proves that the current environment wind speed is too large, and the deployment of the solar panel 40 is easily stressed.
  • the unmanned aerial vehicle is tilted, so the control mechanism 60 controls the solar sail panel 40 to turn over to the main body 30 for storage, which can reduce the windward force of the unmanned aerial vehicle, thereby reducing the possibility of tilting.
  • control mechanism 60 controls the drive mechanism 20 to start when it is detected by the wind direction anemometer 71 that the wind force driving is insufficient or there is wind force obstruction.
  • the driving mechanism 20 can be controlled to suspend work, and the solar panels 40 can be controlled to expand so that the unmanned aerial vehicle can be driven by natural wind to move, and this If it is found that the wind force cannot meet the driving requirements of the unmanned aerial vehicle, the driving mechanism 20 can also be started at the same time, so that the unmanned aerial vehicle can sail under the synergy of the driving mechanism 20 and natural wind force, thereby reducing energy consumption.
  • the driving mechanism 20 can be controlled to start, thereby ensuring that the unmanned aerial vehicle can reach the destination smoothly; Therefore, after adopting the above-mentioned control method, the natural wind force can be used more rationally to reduce the energy consumption of the unmanned aerial vehicle.
  • the monitoring mechanism includes an inclination sensor 72 , and when the inclination sensor 72 detects that the inclination angle is greater than a set value, the control mechanism 60 controls the solar sail panel 40 to turn over to the main body 30 .
  • the factors that cause the unmanned aerial vehicle to tilt are generally natural wind and waves, and waves cannot be detected by the wind direction and anemometer 71, so this embodiment sets the inclination sensor 72 to detect the current inclination angle of the unmanned aerial vehicle. Or the waves will affect the unmanned aerial vehicle, as long as the inclination is greater than the set value, it can indicate that the unmanned aerial vehicle has a risk of tilting, so at this time the control mechanism 60 controls the folding of the sails and multiple solar panels, which can not only reduce the windward force , can change the force distribution of the unmanned aerial vehicle, so that the center of gravity of the unmanned aerial vehicle is more stable, and the possibility of overturning is further reduced.
  • the monitoring mechanism includes a radar 73 , and when the radar 73 detects that there is an obstacle, the control mechanism 60 controls the long-period intelligent unmanned aerial vehicle with strong survivability to bypass the obstacle.
  • the radar 73 can always monitor whether there are obstacles on the driving route of the unmanned aerial vehicle.
  • the driving of the aircraft is hindered, which also provides a guarantee for the safe driving of the unmanned aircraft.
  • the monitoring mechanism includes a GPS locator 74
  • the control mechanism 60 is used to control the long-period intelligent unmanned aerial vehicle with strong survivability to move to the destination according to the position information measured by the GPS locator 74 .
  • the GPS locator 74 After the GPS locator 74 is set, the GPS locator 74 can accurately know the current position of the unmanned aerial vehicle at any time, so that the unmanned aerial vehicle can be controlled to move to the destination accurately.
  • the main body 30 is provided with a camera 75 and a wireless transmission mechanism 76 , and the wireless transmission mechanism 76 is used to transmit the content captured by the camera 75 to the device to be received.
  • the situation of the working environment of the unmanned aerial vehicle can be photographed at any time, and then the shooting content can be sent to the shore workstation, so that the staff can know the working environment of the unmanned aerial vehicle in time. Plan better work scenarios.
  • the submersible 10 is provided with an ADCP sensor 77 .
  • ADCP Acoustic Doppler Current Profiler
  • the retractable mechanism 50 includes a motor 51, a transmission shaft 52 and telescopic rod 53; motor 51 is used to drive transmission shaft 52 to carry out linear reciprocating movement; both sides of transmission shaft 52 are all hinged with telescopic rod 53; Two telescopic rods 53 are hinged with two solar panels 40 respectively.
  • the motor 51 can drive the transmission shaft 52 to move linearly, and the transmission shaft 52 can drive the solar panel 40 to stretch through the telescopic rod 53, so the solar panel 40 in the stretched state can be driven by the wind.
  • the unmanned aerial vehicle moves; when there is no need to use wind energy, the motor 51 can be used to drive the transmission shaft 52 to move in the opposite direction, and the transmission shaft 52 can drive the solar sail 40 to move to fit the main body 30 .
  • the motor 51 is a linear motor, so the linear movement control of the transmission shaft 52 can be realized.
  • two driving mechanisms 20 are respectively arranged on two sides of the submersible 10 .
  • the regulation and control of different working states can be carried out to the two driving mechanisms 20, as when one driving mechanism 20 works, then control the other driving mechanism 20 to stop working, or control the two driving mechanisms 20 to produce different sizes. In this way, a variety of mobile control possibilities are realized, and the application requirements of various usage scenarios are met.
  • the driving mechanism 20 can be configured as an internal propeller, one side of which is provided with a hole for water intake, and the other side is provided with a hole for water drainage.
  • control mechanism 60 may be one or more controllers or chips with a communication interface capable of implementing a communication protocol, and may also include a memory and related interfaces, a system transmission bus, etc. if necessary;
  • the code related to the controller or chip execution program realizes the corresponding function.
  • the wireless transmission mechanism 76 can be one or more processors or chips with a communication interface capable of implementing a wireless communication protocol, and can also include memory and related interfaces, system transmission buses, etc. if necessary; the processor or chip executes Program-related codes implement corresponding functions.

Abstract

La présente invention concerne un véhicule sans pilote intelligent à cycle long ayant une forte puissance de survie, comprenant un corps submersible, un mécanisme d'entraînement, un corps principal, un panneau solaire, un mécanisme de rétraction et de libération, un mécanisme de surveillance et un mécanisme de commande. L'intérieur du corps submersible est creux. Le mécanisme d'entraînement est utilisé pour entraîner le corps submersible à se déplacer. Le corps principal est creux et est disposé au-dessus du corps submersible. Le panneau solaire est relié de façon mobile au corps principal et est utilisé pour fournir de l'énergie pour le véhicule sans pilote. Le mécanisme de rétraction et de libération est disposé sur le corps principal, et le mécanisme de rétraction et de libération est relié de façon mobile au panneau solaire. Le mécanisme de rétraction et de libération est utilisé pour commander le panneau solaire pour se tourner vers et s'éloigner du corps principal. Le mécanisme de surveillance est utilisé pour surveiller des informations d'environnement. Le mécanisme de commande est utilisé pour commander le véhicule sans pilote selon les informations d'environnement ; lorsqu'il est déterminé que le véhicule est dans un environnement sûr, commander le panneau solaire pour s'éloigner du corps principal ; et lorsqu'il est déterminé qu'il y a un risque de chavirage, commander le panneau solaire pour se tourner vers le corps principal. La présente solution peut permettre l'utilisation d'énergie éolienne et d'énergie solaire, réduire l'influence d'ondes houleuses lors de l'entraînement, et résoudre le problème selon lequel le véhicule sans pilote ne peut pas fonctionner dans un environnement sévère pendant une longue période.
PCT/CN2021/141071 2021-09-03 2021-12-24 Véhicule sans pilote intelligent à cycle long ayant une forte puissance de survie WO2023029307A1 (fr)

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CN202111032365.9 2021-09-03
CN202111032365.9A CN113815792A (zh) 2021-09-03 2021-09-03 一种强生存力长周期智能无人航行器

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