CN112918623A - Unmanned ship capable of expanding space - Google Patents
Unmanned ship capable of expanding space Download PDFInfo
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- CN112918623A CN112918623A CN201911230526.8A CN201911230526A CN112918623A CN 112918623 A CN112918623 A CN 112918623A CN 201911230526 A CN201911230526 A CN 201911230526A CN 112918623 A CN112918623 A CN 112918623A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 13
- 238000004891 communication Methods 0.000 description 6
- 210000004712 air sac Anatomy 0.000 description 4
- 238000011161 development Methods 0.000 description 3
- 238000001125 extrusion Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
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- 230000005484 gravity Effects 0.000 description 2
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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
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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
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
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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
- B63B29/00—Accommodation for crew or passengers not otherwise provided for
- B63B29/02—Cabins or other living spaces; Construction or arrangement thereof
- B63B29/025—Modular or prefabricated cabins
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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
- B63B49/00—Arrangements of nautical instruments or navigational aids
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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
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
- B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
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Abstract
The invention discloses an unmanned ship capable of expanding space, which comprises a ship body, a control system, a navigation system, an obstacle avoidance system, a power supply system and an expansion system arranged outside the ship body, wherein the control system is used as a control center of the unmanned ship and is connected with and monitors the navigation system, the obstacle avoidance system, the power supply system and the expansion system, the power supply system provides power for electric equipment of the unmanned ship, the expansion system can expand the activity space of the unmanned ship after being unfolded and is used for adding a new activity platform for passengers, the expansion system further comprises an air bag system, the air bag system transmits buoyancy to support a platform board to increase the stability of the expansion system, and when the expansion system is contracted, the expansion system becomes a part of the side surface of the ship body, so that the size of the ship body is restored, and the shape of the ship body is restored to facilitate.
Description
Technical Field
The invention relates to an automatic control system of a water area robot, in particular to an unmanned ship capable of expanding space.
Background
The unmanned ship is a full-automatic water surface robot which can navigate on water surface according to a preset task without remote control by means of precise satellite positioning and self sensing, and English is abbreviated as USV. Many enterprises at home and abroad greatly invest in the development of unmanned ships, the advantages of low cost, no personnel accompanying the ships and low risk of the unmanned ships are fully exerted, and the value of the water area robot is reflected to the maximum extent.
Unmanned ship distributes in scenic spot everywhere in river, lake, gulf, can provide the service for the waters landscape enjoys for the waters passenger as the transport means, and the route of patrolling is comparatively fixed, and is higher to the steady security requirement of hull. Although the unmanned ship can autonomously go to a target water area after carrying people, when the unmanned ship is floated, the deck of the unmanned ship is insufficient in moving space and poor in static stability, the function expansion of the unmanned ship is greatly limited, and the unmanned ship is not beneficial to popularization and development of unmanned ships of various types.
In view of the above, it is an urgent problem in the art to overcome the above-mentioned drawbacks of the prior art.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the unmanned ship has limited activity space, which is not beneficial to the passengers to move on the unmanned ship, and the phenomenon of single-side deflection of the ship body is easy to occur in the passenger moving process; the expansion systems are arranged on the two sides of the unmanned ship, the space of the unmanned ship-borne cabin is enlarged, the expansion systems are supported by the air bag systems, and the problem that the ship body deviates due to the fact that passengers are not distributed uniformly is solved while the stability is improved.
The invention achieves the above purpose by the following technical scheme: the control system is used as a control center of the unmanned ship, and is connected with and monitors the navigation system, the obstacle avoidance system, the power supply system and the expansion system, the power supply system provides power for electric equipment of the unmanned ship, the expansion system can expand the activity space of the unmanned ship after being unfolded, a new activity platform is added for passengers, and when the expansion system is contracted, the expansion system becomes a part of the side face of the ship body, so that the size of the ship body is recovered.
Further, the expansion system comprises a platform plate and a hydraulic cylinder, and guardrails are arranged on the left side, the right side and the top side of the top surface of the platform plate; connecting pins are arranged on two sides of the bottom of the platform plate; expansion ports matched with the platform plates are respectively formed in the left side and the right side of the ship body, hanging connection holes matched with the connection pins are formed in the bottoms of the expansion ports, and the platform plates are rotatably hinged in the hanging connection holes through the connection pins; a truss girder is arranged on the middle line at the upper end of the ship body, a hanging table is arranged on the truss girder, one end of the hydraulic cylinder is rotatably hinged to the hanging table, and the other end of the hydraulic cylinder is rotatably hinged to a guardrail on the top side of the platform plate; the control system drives the hydraulic cylinder to act, when the hydraulic cylinder is in a first stroke state, the hydraulic cylinder pushes the platform plate to an expanded horizontal state, when the hydraulic cylinder is in a second stroke state, the hydraulic cylinder pushes the platform plate to a contracted state, and at the moment, the bottom surface of the platform plate is parallel to the side surface of the ship body; wherein the first state is an extended state and the second state is a contracted state.
Furthermore, the expansion system also comprises an air bag system, the air bag system comprises an air bag body, an inflation motor and an electromagnetic air valve, the air bag body is arranged on the bottom surface of the platform plate, and the air bag body and the platform plate are provided with connected vent holes; the inflation motor is arranged on the top surface of the platform plate; the electromagnetic air valve comprises an air inlet, an air outlet and an air outlet, wherein the air inlet of the electromagnetic air valve is connected with the output port of the inflation motor and is sealed and fastened on the contact surface, and the air outlet of the electromagnetic air valve is inserted into the air bag body through the vent hole and is sealed and fastened on the contact surface.
When the electromagnetic air valve is in an inflation state and the inflation motor rotates in the positive direction, air is supplemented into the air bag body; when the electromagnetic air valve is in an air pressure maintaining state, the air bag body keeps the air pressure unchanged; when the electromagnetic air valve is in a natural exhaust state, air in the air bag body is naturally exhausted; when the electromagnetic air valve is in a rapid exhaust state and the inflation motor rotates reversely, air in the air bag body is sucked out.
Furthermore, the expansion system also comprises an air pressure sensor, a pulling pressure sensor and a position sensor, wherein the air pressure sensor is arranged in the air bag body and used for monitoring the air pressure of the air bag body; the tension pressure sensor is arranged in the hydraulic cylinder and used for monitoring the tension value born by the hydraulic cylinder; the position sensor is arranged on the side surface of the expansion port and used for monitoring the position state of the platform plate;
specifically, the control system receives monitoring values of an air pressure sensor, a pulling pressure sensor and a position sensor;
the control system judges the real-time requirement of the air bag body according to the monitoring values of the tension and pressure sensor and the position sensor and by combining a passenger action instruction or a monitoring center instruction, and drives the air bag system to act; wherein control system judges that the platform board is in the position state according to position sensor's monitoring data and does: fully collapsed, expanded, fully expanded, or collapsed;
when the platform plate is completely unfolded and the horizontal state of the platform plate needs to be maintained, if the pulling force borne by the hydraulic cylinder is greater than a set threshold A and the air pressure of the air bag body is less than a set threshold X, the air pressure of the air bag body is judged to be less than the required air filling, the air filling motor can be used for filling air to increase the volume of the air bag body so as to realize buoyancy adjustment, and the continuous pulling force of gravity on the hydraulic cylinder is reduced;
when the platform plate is completely unfolded and the horizontal state of the platform plate needs to be maintained, if the pulling force borne by the hydraulic cylinder is within a set threshold range and the air pressure of the air bag body is normal, the air pressure of the air bag body is judged to meet the requirement;
when the platform plate is completely unfolded, the horizontal state of the platform plate needs to be maintained, if the pulling force borne by the hydraulic cylinder is smaller than a set threshold B and the air pressure of the air bag body is larger than a set threshold Y, the air pressure of the bag body is judged to be larger than the required air pressure, natural air exhaust is needed, the volume of the air bag body can be reduced through natural air exhaust to realize buoyancy adjustment, and the extrusion of the buoyancy to the hydraulic cylinder is reduced;
when the platform plate is completely contracted and the air bag body needs to be tightened, if the air pressure of the air bag body exceeds a set threshold value Z, the air pressure of the air bag body is judged to be larger than the requirement and needs to be quickly exhausted, and the air bag body can be tightened by reducing the volume of the air bag body through air suction of an air charging motor; and when the air pressure of the air bag body is smaller than the set threshold value W, judging that the air pressure of the air bag body meets the requirement.
When the air pressure of the air bag body is smaller than the air pressure required to be added, the control system drives the forerunner electromagnetic valve to be in an inflation state, namely the air inlet and the air outlet of the electromagnetic valve are communicated and the air outlet is closed, and then the control system drives the inflation motor to rotate forward to provide air for the air bag body;
when the air pressure of the air bag body meets the requirement, the control system drives the electromagnetic air valve to be in an air pressure maintaining state, namely the air inlet and the air outlet of the electromagnetic air valve are communicated and the air outlet is closed, and then the control system issues an instruction to enable the inflation motor to stop working;
when the air pressure of the air bag body is larger than the air pressure required by the requirement and natural exhaust is needed, the control system firstly sends an instruction to stop the work of the inflating motor, and then drives the electromagnetic air valve to be in a natural exhaust state, namely the air outlet of the electromagnetic air valve is communicated with the air outlet and the air inlet is closed; the air in the air bag body is naturally discharged;
when the air pressure of the air bag body is higher than the requirement and the air needs to be exhausted quickly, the control system drives the electromagnetic valve to be in a quick exhaust state, namely the air inlet and the air outlet of the electromagnetic valve are communicated and the air outlet is closed, and then the control system drives the inflating motor to rotate reversely to suck out the air in the air bag body.
The navigation system comprises an inertial navigation system and a Beidou radio station, and specifically, the inertial navigation system is provided with an inertial navigation main antenna and an inertial navigation auxiliary antenna in a matched manner, and the Beidou radio station is provided with a radio station antenna in a matched manner; the inertial navigation main antenna, the inertial navigation auxiliary antenna and the radio station antenna are all arranged on the ship top; the inertial navigation system and the processor of the Beidou radio station are arranged in a cabin, the inertial navigation main antenna and the inertial navigation auxiliary antenna are connected with the processor of the inertial navigation system through leads, and the radio station antenna is connected with the processor of the Beidou radio station through leads; the Beidou radio station has short message communication capacity; the navigation system acquires unmanned ship positioning information and sends the unmanned ship positioning information to the monitoring center through a wireless communication link.
The obstacle avoidance system comprises a millimeter wave radar and a laser radar; the millimeter wave radar is arranged on the top of the ship; the two laser radars are symmetrically arranged on the bow guardrails and the stern guardrails; the millimeter wave radar provides long-distance large-range scanning information for the control system, the laser radar provides short-distance small-range scanning information for the control system, and the controller sends obstacle information to the monitoring center through the wireless communication link.
Further, the platform plate is a cuboid or a semicircular body.
Furthermore, expansion ports and expansion systems can be arranged on the front side and the rear side of the ship body.
Furthermore, the unmanned ship also comprises a weather station arranged on the top of the ship body, and the control system acquires water flow and water wave information according to the weather station and adjusts the range of the inflating threshold of the air bag.
Compared with the prior art, the invention has the following advantages.
Expanding systems are arranged on two sides of the unmanned ship; when the expansion system is expanded, the activity space of the passenger cabin carried by the unmanned ship is increased, the problem that passengers can carry out activities on the unmanned ship is facilitated, particularly, the expansion system is supported by the airbag system, the stability of the expansion system is improved, the problem of ship body lateral deviation caused by uneven passenger distribution on the expansion system is solved, the mechanical burden of the hydraulic cylinder and the interface equipment can be relieved by matching with the electromagnetic air valve, and the pressure or the tensile force borne by the hydraulic cylinder and the interface equipment is maintained at a normal level; when the expanding system is contracted, the expanding system becomes a part of the side surface of the ship body, so that the size of the ship body is restored, and the sailing resistance is reduced.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a top perspective view of an embodiment of the unmanned ship's expansion system when fully deployed.
FIG. 2 is a bottom perspective view of an embodiment of the unmanned ship's expansion system fully deployed.
FIG. 3 is a perspective view of an embodiment of the invention with the development system of the unmanned ship fully collapsed.
Fig. 4 is a configuration diagram of the unmanned ship control system in the embodiment of the present invention.
Fig. 5 is a perspective view of the hull of the unmanned ship in the embodiment of the invention.
Fig. 6 is a perspective view of the unmanned ship of the embodiment of the present invention with the inflation motor and the electromagnetic gas valve isolated.
Figure 7 is a perspective view of an unmanned vessel with the platform deck and air bladder in isolation according to an embodiment of the present invention.
Figure 8 is an isolated perspective view of a portion of the equipment of the unmanned ship of the present invention with the deck deployed.
Figure 9 is an isolated perspective view of a portion of the equipment after the deck has been collapsed in an embodiment of the invention.
In the figure: 1, a ship body; 2-a control system; 3-a navigation system; 4-obstacle avoidance system; 5-a power supply system; 6-expanding the system; 7-an airbag system; 8-a barometric sensor; 9-pull pressure sensor; 10-a position sensor; 11-a weather station; 101-an expansion port; 102-hanging holes; 103-truss girders; 104-hanging table; 601-a platform plate; 602-a hydraulic cylinder; 603-guard bar; 604-connecting pins; 701-the balloon body; 702-an inflation motor; 703-an electromagnetic gas valve; 704-a vent; 705-gas inlet; 706-air outlet; 707-exhaust port.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, the terms "inner", "outer", "longitudinal", "lateral", "upper", "lower", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are for convenience only to describe the present invention without requiring the present invention to be necessarily constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other. The invention will be described in detail below with reference to the figures and examples.
The implementation example is as follows: as shown in fig. 1-9, an unmanned ship capable of expanding space includes a ship body 1, a control system 2, a navigation system 3, an obstacle avoidance system 4, a power supply system 5, and an expansion system 6 disposed outside the ship body 1, where the control system 2 is used as a control center of the unmanned ship, and connects and monitors the navigation system 3, the obstacle avoidance system 4, the power supply system 5, and the expansion system 6, the power supply system 5 provides power for electric devices of the unmanned ship, and the expansion system 6 can expand the activity space of the unmanned ship after being expanded, so as to add a new activity platform for passengers, and when the expansion system 6 is contracted, it becomes a part of the side surface of the ship body 1, so that the length, width, and height of the ship body 1 are restored; the control system 2 is a control box which takes a SIM32F series CPU processor as a core, and the main components of the control system 2 and the power supply system 5 are arranged in a cabin.
In this embodiment, the expanding system 6 includes a platform board 601 and a hydraulic cylinder 602, the platform board 601 is a rectangular parallelepiped board with a length of 500cm, a width of 150cm and a thickness of 6cm, the left side, the right side and the top side of the top surface of the platform board 601 are provided with a guardrail 603, and two sides of the bottom of the platform board 601 are provided with connecting pins 604; the left side and the right side of the ship body 1 are respectively provided with an expansion port 101 matched with the platform plate 601, the width of the expansion port 101 is 500cm, the bottom of the expansion port 101 is provided with a hanging hole 102 matched with a connecting pin 604, and the platform plate 601 is rotatably hinged in the hanging hole 102 of the expansion port 101 through the connecting pin 604; a truss girder 103 is arranged on the center line of the upper end of the ship body 1, a hanging table 104 is arranged on the truss girder 103, one end of the hydraulic cylinder 602 is rotatably hinged to the hanging table 104, and the other end of the hydraulic cylinder is rotatably hinged to a guardrail 603 on the top side of the platform plate 601; the control system 2 drives the hydraulic cylinder 602 to operate, when the hydraulic cylinder 602 is at a stroke L =360cm, the hydraulic cylinder 602 pushes the platform board 601 to a fully expanded horizontal state, when the hydraulic cylinder 602 is at a stroke L =100cm, the hydraulic cylinder 602 pushes the platform board 601 to a fully contracted state, and when the platform board 601 is fully contracted, the bottom surface of the platform board 601 is parallel to the side surface of the ship body 1.
In this embodiment, the expansion system 6 further includes an airbag system 7, the airbag system 7 includes an airbag body 701, an inflation motor 702, and an electromagnetic gas valve 703, the airbag body 701 is installed on the bottom surface of the platform plate 601, and the airbag body 701 and the platform plate 601 are provided with an integrated vent hole 704; the inflation motor 702 is mounted on the top surface of the platform plate 601; the electromagnetic air valve 703 comprises an air inlet 705, an air outlet 706 and an air outlet 707, the air inlet 705 of the electromagnetic air valve 703 is connected with an output port of the inflation motor 702 and is sealed and fastened at a contact surface, and the air outlet 706 of the electromagnetic air valve 703 is inserted into the air bag body 701 through the vent hole 704 and is sealed and fastened at the contact surface.
When the electromagnetic air valve 703 is in an inflation state and the inflation motor 702 rotates in the forward direction, air is supplemented into the air bag body 701; when the electromagnetic air valve 703 is in an air pressure maintaining state, the air bag body 701 maintains the air pressure unchanged; when the electromagnetic air valve 703 is in a natural exhaust state, air in the air bag body 701 is naturally exhausted; when the electromagnetic air valve 703 is in a rapid exhaust state and the inflation motor 702 rotates in a reverse direction, air in the airbag body 701 is sucked out. The length of the air bag body 701 is 500cm, the width is 120cm, the thickness is 70cm when the air bag is filled with air, and the thickness is 10cm when the air bag is exhausted.
In this embodiment, the expansion system 6 further includes an air pressure sensor 8, a pulling pressure sensor 9, and a position sensor 10, where the air pressure sensor 8 is installed in the air bag body 701 to monitor the air pressure of the air bag body 701; the tension pressure sensor 9 is arranged in the hydraulic cylinder 602 and monitors the tension value born by the hydraulic cylinder 602; the position sensor 10 is installed on the side surface of the expansion port 101 to monitor the position state of the platform board 601.
Specifically, the control system 2 receives monitoring values of an air pressure sensor 8, a pulling pressure sensor 9 and a position sensor 10.
The control system 2 judges the real-time requirement of the air bag body 701 according to the monitoring values of the tension and pressure sensor 9 and the position sensor 10 and by combining the passenger action instruction or the monitoring center instruction, and drives the air bag system 7 to act; wherein, the control system 2 determines that the platform board 601 is in the position state according to the monitoring data of the position sensor 10: fully collapsed, expanded, fully expanded, or collapsed; the two position sensors 10 are arranged on the side face of each expansion port 101, the upper end position sensor 10 is used for monitoring whether the platform board 601 is in a completely contracted state, and the lower end position sensor 10 is used for monitoring whether the platform board 601 is in a completely expanded state.
When the platform board 601 is completely unfolded and the horizontal state of the platform board 601 needs to be maintained, if the pulling force exerted on the hydraulic cylinder 602 is greater than a set threshold value of 2.0 ten thousand newtons and the air pressure of the air bag body 701 is less than a set threshold value of 100 kilopascals, it is determined that the air pressure of the air bag body 701 is less than the requirement for air filling, the air filling motor 702 is used for inflating to increase the volume of the air bag body 701 so as to realize buoyancy adjustment, and the continuous pulling force of the gravity of a passenger and the platform board.
When the platform board 601 is completely unfolded and the horizontal state of the platform board 601 needs to be maintained, if the pulling force applied to the hydraulic cylinder 602 is within the range of-1.0 ten thousand newtons to 2.0 ten thousand newtons and the air pressure of the air bag body 701 is normal to 30 kilopascals to 300 kilopascals, it is determined that the air pressure of the air bag body 701 meets the requirement, wherein the pulling force is a negative number and corresponds to pressure.
When the platform board 601 is completely unfolded, the horizontal state of the platform board 601 needs to be maintained, if the pulling force borne by the hydraulic cylinder 602 is smaller than a set threshold value of minus 1.0 ten thousand newtons and the air pressure of the air bag body 701 is greater than a set threshold value of 30 kilopascals, it is determined that the air pressure of the bag body is greater than the requirement and natural exhaust is needed, the volume of the air bag body 701 can be reduced through natural exhaust to realize buoyancy adjustment, the extrusion of the buoyancy to the hydraulic cylinder 602 is reduced, wherein the extrusion of the air bag body 701 by the water body can realize natural exhaust, and the pulling force is smaller than the set threshold value of minus 1.0 ten.
When the platform board 601 is completely contracted and the airbag body 701 needs to be tightened, if the air pressure of the airbag body 701 exceeds a set threshold value of 20 kilopascals, it is determined that the air pressure of the airbag body 701 is greater than the requirement and rapid exhaust is needed, and the airbag body 701 can be tightened by reducing the volume of the airbag body 701 through air suction of the inflation motor 702; when the air pressure of the air bag body 701 is less than the set threshold value of 10 kilopascals, the air pressure of the air bag body 701 is judged to meet the requirement.
When the air pressure of the airbag body 701 is smaller than the required air filling requirement, the control system 2 drives the electromagnetic valve 703 to be in an inflation state, that is, the air inlet 705 and the air outlet 706 of the electromagnetic valve 703 are communicated, and the air outlet 707 is closed, and then the control system 2 drives the inflation motor 702 to rotate forward to provide air for the airbag body 701, so that the thickness of the airbag is increased.
When the air pressure of the airbag body 701 meets the requirement, the control system 2 drives the electromagnetic valve 703 to be in an air pressure maintaining state, that is, the air inlet 705 and the air outlet 707 of the electromagnetic valve 703 are communicated and the air outlet 706 is closed, and then the control system 2 issues an instruction to stop the operation of the inflation motor 702, so that the thickness of the airbag is maintained unchanged.
When the air pressure of the airbag body 701 is larger than the air pressure required by natural exhaust, the control system 2 firstly issues an instruction to stop the operation of the inflation motor 702, and then the control system 2 drives the electromagnetic air valve 703 to be in a natural exhaust state, namely, the air outlet 706 of the electromagnetic air valve 703 is communicated with the air outlet 707 and the air inlet 705 is closed; because the air sac body 701 automatically contracts or water body extrudes, air in the air sac body 701 is naturally discharged, and the thickness of the air sac is reduced.
When the air pressure of the airbag body 701 is higher than the requirement and rapid exhaust is needed, the control system 2 drives the electromagnetic valve 703 to be in a rapid exhaust state, that is, the air inlet 705 and the air outlet 706 of the electromagnetic valve 703 are communicated and the air outlet 707 is closed, and then the control system 2 drives the inflation motor 702 to rotate in the reverse direction to suck out the air in the airbag body 701, so that the thickness of the airbag is reduced.
The navigation system 3 comprises an inertial navigation system and a Beidou radio station, and specifically, the inertial navigation system is provided with an inertial navigation main antenna and an inertial navigation auxiliary antenna in a matched manner, and the Beidou radio station is provided with a radio station antenna in a matched manner; the inertial navigation main antenna, the inertial navigation auxiliary antenna and the radio station antenna are all arranged on the ship top; the inertial navigation system and the processor of the Beidou radio station are arranged in a cabin, the inertial navigation main antenna and the inertial navigation auxiliary antenna are connected with the processor of the inertial navigation system through leads, and the radio station antenna is connected with the processor of the Beidou radio station through leads; the Beidou radio station has short message communication capacity; the navigation system 3 acquires unmanned ship positioning information and sends the unmanned ship positioning information to the monitoring center through wireless communication.
The obstacle avoidance system 4 comprises a millimeter wave radar and a laser radar; the millimeter wave radar is arranged on the top of the ship; two laser radars are arranged and symmetrically arranged on the bow guardrail 603 and the stern guardrail 603; millimeter wave radar provides long distance large range scanning information for control system 2, laser radar provides short distance small range scanning information for control system 2, and the controller sends obstacle information to the surveillance center via wireless communication.
The unmanned ship further comprises a weather station 11 arranged on the top of the ship body 1, the weather station 11 comprises a wind speed and direction sensor and a rainfall measuring instrument, the control system 2 calculates water flow and water wave information according to data of the weather station 11 and adjusts the threshold range of the inflation of the air bag and the tensile force of the hydraulic cylinder 602, specifically, when the wind wave is smaller, the buoyancy and the borne impact force of the air bag body 701 are more stable, and the difference between the maximum value and the minimum value in the corresponding threshold range is smaller; when the wind waves are larger, the buoyancy and the received impact force of the air bag body 701 are changed more, and the difference between the maximum value and the minimum value in the corresponding threshold value range is larger.
In this embodiment, the platform board 601 may also be a semicircular body.
In this embodiment, the front and rear sides of the hull 1 may also be provided with expansion ports 101 and expansion systems 6.
The steps of the entire process of the unmanned ship's expansion system 6 from expansion to contraction are as follows.
The method comprises the following steps: the expansion system 6 is in a contraction state, the platform plate 601 is parallel to the side surface of the ship body 1, and the air bag body 701 is in a low-pressure state of exhausting air; the unmanned ship generates a navigation route according to the travel route, and autonomously navigates to the destination by combining the data of the navigation system 3 and the obstacle avoidance system 4.
Step two: the control system 2 calculates the water flow and wave information according to the data of the weather station 11, and adjusts the threshold range of the inflation of the air bag and the tensile force of the hydraulic cylinder 602.
Step three: the control system 2 actuates the hydraulic cylinder 602, and the hydraulic cylinder 602 is gradually extended until the platform board 601 is completely unfolded as shown in fig. 1.
Step four: the control system 2 drives the electromagnetic air valve 703 to be in an inflation state, namely an air inlet 705 and an air outlet 706 of the electromagnetic air valve 703 are communicated and an air outlet 707 is closed, the control system 2 drives the inflation motor 702 to rotate in the forward direction to provide air for the air bag body 701, the thickness of the air bag is increased and the air bag extends into a water body to generate buoyancy to support the platform plate 601, and when the tension of the hydraulic cylinder 602 is in a normal range, it is judged that the air pressure of the air bag body 701 meets the requirement.
Step five: adjusting the air pressure of the air bag body 701 in real time: when passengers are loaded on the platform plate 601 and the pulling force borne by the hydraulic cylinder 602 is greater than the set threshold value of 2.0 ten thousand newtons, the air pressure of the air bag body 701 is smaller than the requirement and air needs to be added until the air pressure of the air bag body 701 is judged to meet the requirement; when passengers on the platform board 601 are reduced, the buoyancy force borne by the air bag body 701 enables the platform board 601 to extrude the hydraulic cylinder 602, the pulling force borne by the hydraulic cylinder 602 is smaller than a set threshold value of-1.0 ten thousand newtons, and the air pressure of the air bag body 701 is larger than a set threshold value of 30 kilopascals, natural exhaust is needed until the air pressure of the air bag body 701 is judged to meet the requirement.
Step six: when the game activity is finished and the expanding system 6 needs to be contracted, the control system 2 drives the hydraulic cylinder 602 to act, and the hydraulic cylinder 602 is gradually shortened until the platform board 601 is completely contracted.
Step seven: if the air pressure of the air bag body 701 exceeds the set threshold value by 20 kilopascals, the situation that the air pressure of the air bag body 701 is larger than the requirement and rapid exhaust is needed is judged, the control system 2 drives the inflation motor 702 to inhale air to reduce the volume of the air bag body 701, and the air bag body 701 is tightened to be as shown in fig. 3; until it is determined that the air pressure of the air bag body 701 satisfies the demand.
Step eight: and the unmanned ship can return to the navigation system 3 and the obstacle avoidance system 4 according to the generated navigation route and by combining the data of the navigation system and the obstacle avoidance system.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides an unmanned ship that can expand space, includes hull (1), control system (2) and electrical power generating system (5), its characterized in that still includes extension system (6) that sets up in the hull (1) outside, electrical power generating system (5) and extension system (6) are connected and monitored as unmanned ship's control maincenter to control system (2), electrical power generating system (5) provide the power for unmanned ship consumer, the activity space of unmanned ship can be expanded after extension system (6) expand.
2. A space-expandable unmanned ship according to claim 1, wherein the expansion system (6) comprises a platform plate (601) and a hydraulic cylinder (602); the left side and the right side of the ship body (1) are respectively provided with an expansion port (101) matched with the platform plate (601), and the bottom end of the platform plate (601) is rotatably hinged to the bottom of the expansion port (101); the ship body is characterized in that a truss girder (103) is arranged on the middle line of the upper end of the ship body (1), a hanging table (104) is arranged on the truss girder (103), one end of the hydraulic cylinder (602) is rotatably hinged to the hanging table (104), and the other end of the hydraulic cylinder is rotatably hinged to the top end of the platform plate (601).
3. The unmanned ship capable of expanding space according to claim 2, wherein the left side, the right side and the top side of the top surface of the platform plate (601) are provided with guard rails (603), one end of the hydraulic cylinder (602) is rotatably hinged to the hanging platform (104), and the other end is rotatably hinged to the guard rails (603) on the top side of the platform plate (601).
4. The unmanned ship capable of expanding space according to claim 3, wherein the expanding system (6) further comprises an air bag system (7), the air bag system (7) comprises an air bag body (701), an inflation motor (702) and an electromagnetic air valve (703), the air bag body (701) is installed on the bottom surface of the platform plate (601), and the air bag body (701) and the platform plate (601) are provided with an integrated vent hole (704); the inflation motor (702) is arranged on the top surface of the platform plate (601); the electromagnetic air valve (703) comprises an air inlet (705), an air outlet (706) and an air outlet (707), the air inlet (705) of the electromagnetic air valve (703) is connected with an output port of the inflation motor (702) and is sealed and fastened on a contact surface, and the air outlet (706) of the electromagnetic air valve (703) is inserted into the air bag body (701) through a vent hole (704) and is sealed and fastened on the contact surface.
5. The unmanned ship capable of expanding space according to claim 4, wherein the expanding system (6) further comprises an air pressure sensor (8), a pulling pressure sensor (9) and a position sensor (10), wherein the air pressure sensor (8) is installed in the air bag body (701) and monitors the air pressure of the air bag body (701); the tension pressure sensor (9) is arranged in the hydraulic cylinder (602) and used for monitoring the tension value born by the hydraulic cylinder (602); the position sensor (10) is arranged on the side face of the expansion port (101) and used for monitoring the position state of the platform board (601).
6. The unmanned ship capable of expanding space of claim 5, wherein connecting pins (604) are arranged at two sides of the bottom of the platform board (601); the bottom of the expansion port (101) is provided with a hanging hole (102) matched with the connecting pin (604), and the platform plate (601) is rotatably hinged in the hanging hole (102) through the connecting pin (604).
7. A space-expanding unmanned ship according to any one of claims 2-6, wherein the platform board (601) is a cuboid or a semi-circular body.
8. An unmanned ship with expandable space according to claim 7, further comprising a navigation system (3) connected with the control system (2), wherein the navigation system (3) comprises an inertial navigation system and a Beidou radio station.
9. An unmanned ship with an expandable space according to claim 8, further comprising an obstacle avoidance system (4) connected with the control system (2), wherein the obstacle avoidance system (4) comprises a millimeter wave radar and a laser radar.
10. The unmanned ship capable of expanding space of claim 9, further comprising a weather station (11) installed on the top of the ship body (1), wherein the control system (2) is used for acquiring water flow and water wave information according to the weather station (11) and adjusting the range of the air bag inflation threshold value.
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| CN201911230526.8A CN112918623A (en) | 2019-12-05 | 2019-12-05 | Unmanned ship capable of expanding space |
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| CN201911230526.8A CN112918623A (en) | 2019-12-05 | 2019-12-05 | Unmanned ship capable of expanding space |
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| CN112918623A true CN112918623A (en) | 2021-06-08 |
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Application publication date: 20210608 |