阅读说明：本技术 一种可自动收放传感器搭载装置的无人艇 (Unmanned ship capable of automatically retracting and releasing sensor carrying device ) 是由 冯居 王建华 王昱博 姜洪岩 王柱亚 于 2020-12-11 设计创作，主要内容包括：本发明公开了一种新型的可自主收放传感器搭载装置的无人艇,主要由控制箱、浮体、螺旋桨、船体支架、自动收放传感器搭载装置组成。无人艇的控制箱收到岸基发来的执行水质检测任务指令时,自动收放传感器搭载装置将水质传感器放置水中进行水质检测任务；无人艇的控制箱收到岸基发来的停止水质检测任务时,自动收放传感器搭载装置将水质传感器收回并抬离水面；船体支架采用拱形设计,传感器收回后可以放置于船体支架正下方。因此,无人艇不执行水质检测任务时既不会影响无人艇的航行性能,又不会因水下障碍物对水质传感器造成损害,对检测结果的时效性也有一定的保障,很好的解决了采用传统艇载传感器搭载方式的无人艇的弊端。(The invention discloses a novel unmanned ship capable of automatically retracting and releasing a sensor carrying device. When a control box of the unmanned ship receives a command for executing a water quality detection task sent from a shore base, the automatic sensor deploying and retracting carrying device places a water quality sensor in water for performing the water quality detection task; when a control box of the unmanned ship receives a water quality detection stopping task sent from a shore base, the automatic retraction sensor carrying device retracts the water quality sensor and lifts the water quality sensor away from the water surface; the hull support adopts an arch design, and the sensor can be placed under the hull support after being retracted. Therefore, the sailing performance of the unmanned ship cannot be influenced when the unmanned ship does not execute a water quality detection task, damage to the water quality sensor due to underwater obstacles cannot be caused, timeliness of a detection result is guaranteed to a certain extent, and the defect of the unmanned ship adopting a traditional ship-mounted sensor carrying mode is well overcome.)

1. An unmanned ship capable of automatically retracting and releasing a sensor carrying device comprises the automatic retracting and releasing sensor carrying device, a water quality sensor and an unmanned ship body;

the unmanned submarine body is characterized by comprising a control box, floating bodies, propellers and a hull support, wherein the propellers are arranged right below the tail parts of the floating bodies, the two floating bodies are connected through the hull support, and the control box is fixedly arranged above the hull support;

the automatic retractable sensor carrying device comprises: the device comprises an electric telescopic rod, a connecting lock catch, a steering engine, an angle encoder, a sensor binding belt, a connecting pipe and a connecting lock catch;

the upper part of the electric telescopic rod is welded with a connecting lock catch, the connecting lock catch can be arranged in the middle of a boat, and the electric telescopic rod is fixedly connected to the boat;

the connecting lock catch consists of an upper part and a lower part, and the upper part and the lower part are connected and fixed on the ship body bracket through screws;

the connecting pipe consists of an upper connecting pipe and a lower connecting pipe, the upper connecting pipe and the lower connecting pipe are connected through the steering engine, the sensor is bound and fixed on the lower connecting pipe through a binding belt, and the upper connecting pipe is welded with a connecting lock catch;

the angle encoder is matched with the steering engine, is arranged on the steering engine and is used for measuring the rotating angle of the steering engine;

the steering wheel is connected through above-mentioned machinery, and the steering wheel is rotatory to drive the rotation of below connecting pipe, makes the sensor lift off the water level or transfer to the aquatic then.

Technical Field

The invention relates to an unmanned surface vessel with a sensor carrying device, in particular to an unmanned surface vessel capable of automatically retracting and releasing the sensor carrying device, and belongs to the field of ship engineering.

Background

The traditional mode that unmanned ship carried on water quality sensor has two kinds: drag and tank. The towed water quality sensor is mounted directly below the hull. The water tank type is that a water tank is arranged on the boat body, the sensor is placed in the water tank, and water in the water tank is pumped and replaced through the water pump. However, the unmanned boat adopting two carrying methods has certain disadvantages, the towed type is to place the sensor in water all the time, when the boat body passes through a special water area or is stranded, the sensor may be damaged, and the towed type installation method also influences the navigation characteristics of the boat body when the boat body does not perform tasks. The water tank is designed for protecting the sensor, but the method is deficient in data accuracy and real-time performance, and the water tank design also increases the load of the boat body.

Therefore, there is a need for an unmanned boat capable of automatically deploying and retracting a sensor carrying device, which can automatically recover a water quality sensor to prevent the water quality sensor from being damaged when the unmanned boat does not perform a task of water quality detection; when the unmanned ship executes the task of water quality detection, the water quality sensor can be automatically transferred, and the real-time detection of water quality is realized.

Disclosure of Invention

In view of the above, the invention discloses a novel unmanned ship capable of independently retracting and releasing a sensor carrying device, which provides a new idea and way for the development of an unmanned ship capable of independently retracting and releasing a sensor carrying device, aiming at the defects of the unmanned ship using the traditional method to carry a sensor.

In order to solve the problems, the invention adopts the technical scheme that when the unmanned boat executes the water quality detection task, the water quality sensor is placed in water to carry out the water quality detection task; when the unmanned ship does not execute the water quality detection task, the water quality sensor is retracted and lifted away from the water surface to be arranged below the hull, so that the navigation performance of the unmanned ship is not influenced when the unmanned ship does not execute the water quality detection task, the water quality sensor is not damaged by underwater obstacles, and the timeliness of a detection result is guaranteed to a certain extent. In order to achieve the purpose, the invention adopts the following technical scheme: an unmanned ship capable of automatically retracting and releasing a sensor carrying device comprises the sensor carrying device, a water quality sensor and the unmanned ship.

The sensor carrying device capable of being automatically stored and released comprises: electric telescopic rod, steering wheel, angle encoder, tie, connecting pipe and connecting lock.

Unmanned ship includes: control box, body, screw, hull support.

And others: electric telescopic rod cable, water quality sensor, simulation surface of water.

The unmanned ship adopts a double-floating-body unmanned ship, a connector for mounting a propeller is arranged below the floating bodies, the propeller is fixedly mounted under the floating bodies, the two floating bodies are fixedly connected through a ship body bracket, a control box is mounted above the ship body bracket, an automatic retractable sensor carrying device is fixedly connected on the ship body bracket through a connecting lock catch above the device, the ship body bracket is arched, and a sensor is placed under the ship body bracket after being retracted; the connecting lock catch is welded on an electric telescopic rod in the automatic folding and unfolding sensor carrying device and a connecting pipe above the steering engine, the connecting lock catch is fixed on a ship body support through screws, the connecting pipe is made of light aluminum alloy pipe materials and divided into an upper part and a lower part, the upper part and the lower part are connected through the steering engine, an angle encoder is also installed on the steering engine, the rotating angle of the steering engine is measured, and the water quality sensor is fixed on the connecting pipe below through a binding belt.

According to the unmanned boat capable of automatically retracting and releasing the sensor carrying device, the water quality sensor can be automatically released and recovered according to whether a task instruction for executing water quality detection is received, and meanwhile, the unmanned boat is simple and convenient to install and convenient to use, meets the requirements of real-time performance and accuracy of water quality detection, and overcomes the defects of a traditional mode.

Drawings

FIG. 1 is a front view of an unmanned boat lowering sensor completion state of the device for automatically retracting and releasing a sensor carrier according to the present invention;

FIG. 2 is a side view of the unmanned surface vehicle with the sensor carrying device capable of being automatically retracted and extended in the sensor lowering completion state;

FIG. 3 is a top view of the unmanned surface vehicle with the sensor carrying device capable of being automatically retracted and extended in the sensor lowering completion state;

FIG. 4 is a front view of the unmanned surface vehicle with the sensor carrying device capable of automatically retracting and releasing according to the present invention in a state of sensor recovery;

FIG. 5 is a side view of the unmanned surface vehicle with the sensor carrying device automatically retracted and deployed according to the present invention in a state of sensor retrieval completion;

fig. 6 is a plan view showing a state where the unmanned surface vehicle can automatically store and release the sensor carrying device according to the present invention has finished recovering the sensor.

The reference numerals are explained below:

1. a control box; 2. an electric telescopic rod cable; 3. an electric telescopic rod; 4. a float; 5. a propeller; 6. a water quality sensor cable; 7. a water quality sensor; 8. a steering engine; 9. an angle encoder; 10. a binding band; 11. a connecting pipe; 12. connecting a lock catch; 13. a hull support; 14. simulating the water surface.

Detailed Description

For a better understanding of the present invention, reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. In addition, the described embodiment is only one example of the invention, and not all examples.

The invention discloses an unmanned ship capable of automatically retracting and releasing a sensor carrying device. The device automatically folds and unfolds the sensors according to the received instruction (the sensor transfer instruction or the recovery instruction), so that the sensors are reasonably arranged and recovered, and meanwhile, the navigation performance of the ship cannot be correspondingly influenced.

As shown in fig. 1, an unmanned ship capable of automatically retracting and releasing a sensor carrying device comprises a hull, a sensor and an automatic retracting and releasing sensor carrying device, wherein the hull comprises a control box 1, a floating body 4, a propeller 5 and a hull support 13, the unmanned ship adopting a double-airship structure in the embodiment is simple and convenient to install and easy to pack and carry, an interface for installing the propeller is arranged below the floating body 4, the propeller 5 is fixedly arranged under the floating body, the two floating bodies 4 are fixedly connected through the hull support 13, and the control box 1 is arranged above the hull support 13; the automatic folding and unfolding sensor carrying device comprises an electric telescopic rod 3, a steering engine 8, an angle encoder 9, a binding belt 10, a connecting pipe 11 and a connecting lock catch 12, wherein the connecting lock catch 12 above the device is used for connecting and fixing the device on a ship body support 13, the ship body support 13 is arched, the sensor is placed under the ship body support 13 after being retracted, the connecting pipe 11 is made of light aluminum alloy pipes and is divided into an upper part and a lower part, the two parts of connecting pipe are connected through the steering engine 8, the angle encoder 9 is installed on the steering engine 8 and is used for detecting the rotating angle of the steering engine 8, the water quality sensor 7 is fixed behind the connecting pipe below by using the binding belt 10, so that the connecting pipe 11 can also play a role in protecting the water quality sensor 7 even in special conditions during the task execution process, the connecting lock catch 12 is welded on the connecting pipe 11 above the steering engine 8, and the corresponding connecting, the automatic retraction sensor carrying device is fixed to a hull support 13 of the boat by screws using a connecting lock 12. The operation of the unmanned boat in lowering and retrieving the sensor will be described.

(1) Unmanned boat lowering sensor capable of automatically retracting and releasing sensor carrying device

Fig. 1-3 are schematic diagrams of the state of an unmanned boat capable of automatically deploying and retracting a sensor carrying device after the sensor is completely placed, when the boat body reaches a task water area, after the boat body receives a task instruction for executing water quality detection, the control box 1 supplies power to the unmanned boat through a cable 2 of an electric telescopic rod 3 to control the unmanned boat to contract inwards, after the contraction is completed, the control box 1 starts to control a steering engine 8 to rotate downwards, meanwhile, an angle encoder 9 starts to monitor the rotation angle of the steering engine 8 in real time, when the steering engine 8 rotates to minus 90 degrees, the rotation is stopped, meanwhile, a water quality sensor 7 is started to work, and water quality data are transmitted to an upper computer. And ending the sensor device lowering operation process.

(2) Unmanned boat recovery sensor capable of automatically collecting and releasing sensor carrying device

Fig. 4-6 are schematic diagrams of the state of an unmanned boat capable of automatically deploying and retracting a sensor carrying device after the sensor is recovered, after the boat body performs a task of water quality detection and needs to sail back to the shore, an operation console sends a recovery instruction to the boat body, when the boat body receives the recovery instruction, the water quality sensor 7 stops working, then the steering engine 8 is controlled to rotate upwards for 90 degrees and lift away from the water surface, meanwhile, the angle encoder 9 starts to monitor the rotation angle of the steering engine 8 in real time, when the steering engine 8 rotates to 90 degrees, the rotation is stopped, at the moment, the electric telescopic rod 3 starts to extend outwards, and the electric telescopic rod enters the connecting pipe 11, and the sensor is locked under the control box, namely, the position of the center of gravity of the boat. At this point, the sensor device recovery operation flow is ended.

As described above, the present invention discloses an unmanned surface vehicle capable of automatically storing and releasing a sensor-mounted device, according to an embodiment of the present invention. The unmanned boat capable of automatically collecting and releasing the sensor carrying device can automatically distribute and recover the water quality sensors according to instructions sent by a control center, and is different from the unmanned boat adopting the traditional sensor carrying device. When the unmanned ship executes a task of water quality detection, water quality information can be accurately acquired in real time; when the unmanned ship does not execute the task of water quality detection, the sensor can be folded and lifted away from the water surface, the navigation performance of the unmanned ship is not influenced, and the water quality sensor cannot be damaged by underwater obstacles.

Those of ordinary skill in the art will understand that: the figures are for the reader's understanding only and the blocks or flows in the figures are not necessarily required to practice the invention. While the present invention has been described in detail with reference to the preferred embodiments, it should be understood that the above description should not be taken as limiting the invention. Various modifications and alterations to this invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be determined from the following claims.