CN105329418A - Unmanned-ship-mounted underwater robot mixing system - Google Patents
Unmanned-ship-mounted underwater robot mixing system Download PDFInfo
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- CN105329418A CN105329418A CN201510922767.4A CN201510922767A CN105329418A CN 105329418 A CN105329418 A CN 105329418A CN 201510922767 A CN201510922767 A CN 201510922767A CN 105329418 A CN105329418 A CN 105329418A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 84
- 238000004891 communication Methods 0.000 claims abstract description 61
- 238000004804 winding Methods 0.000 claims description 18
- 238000005259 measurement Methods 0.000 claims description 16
- DMBHHRLKUKUOEG-UHFFFAOYSA-N diphenylamine Chemical compound C=1C=CC=CC=1NC1=CC=CC=C1 DMBHHRLKUKUOEG-UHFFFAOYSA-N 0.000 claims description 14
- 230000005611 electricity Effects 0.000 claims description 13
- 230000004888 barrier function Effects 0.000 claims description 9
- 239000002828 fuel tank Substances 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 239000003643 water by type Substances 0.000 claims description 7
- 238000002485 combustion reaction Methods 0.000 claims description 5
- 238000013500 data storage Methods 0.000 claims description 5
- 230000005888 antibody-dependent cellular phagocytosis Effects 0.000 claims description 4
- 238000012806 monitoring device Methods 0.000 claims description 4
- 230000004044 response Effects 0.000 abstract description 2
- 108010066278 cabin-4 Proteins 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 239000000446 fuel Substances 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
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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
- B63B45/00—Arrangements or adaptations of signalling or lighting devices
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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
- B63B79/00—Monitoring properties or operating parameters of vessels in operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/20—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63J—AUXILIARIES ON VESSELS
- B63J99/00—Subject matter not provided for in other groups of this subclass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
Abstract
The invention provides an unmanned-ship-mounted underwater robot mixing system which comprises an unmanned ship, an underwater robot and a connection system. The unmanned ship mainly comprises a ship body and a ship-mounted control system, ship-mounted power equipment and ship-mounted application equipment which are arranged on the ship body. The underwater robot comprises an underwater robot body and underwater application equipment, and the underwater robot body is provided with underwater control equipment, underwater power equipment and operation equipment. The connection system comprises a connection cable and a communication system, the connection cable is formed by binding communication cable, a charging cable and a dragging cable. The unmanned ship and the underwater robot are connected through the connection cable and exchange data through the communication system. According to the mixing communication system, the ship-mounted control system serves as the core, and an internal bus and a communication board card are adopted to control the unmanned ship and the underwater robot to conduct cooperative work in a unified mode; the unmanned ship serves as a water transport platform and a communication replay platform, and response is made to requirements of carrying, inward journey, parking, communication, power supply and the like of the underwater robot.
Description
Technical field
The present invention relates to unmanned robot automation field, be specifically related to a kind of unmanned boat-carrying under-water robot mixed system.
Background technology
Unmanned boat, as a kind of intelligent automation product of high performance-price ratio, in waters military affairs patrol, auxiliary to be fought, is had fine application in marine site mapping, offshore oilfield pipeline are patrolled and examined etc., but during its separate operaton, be difficult to underwater operation on the spot; And under-water robot can be used for performing different tasks under water with its special performance, be widely used in the every field such as military affairs, maritime affairs, marine oil, marine salvage, pipeline detection and marine scientific research, but when it is applied to separately large-scale marine site, need to drive lash ship by staff and run to operating area, then drive under-water robot operation, when making a return voyage, also need artificial participation.Imbody is in the following areas:
1. existing unmanned boat in water surface operation, can only cannot meet complicated job requirements under water on the spot;
2. existing under-water robot goes to sea and makes a return voyage needs to carry lash ship, is difficult to remote parallel motion and independently makes a return voyage;
3. existing under-water robot is when deepwater regions operation, is difficult to effectively process the remote real-time Transmission of mass data.
Summary of the invention
The technical problem to be solved in the present invention is, for existing unmanned boat and under-water robot above shortcomings, a kind of unmanned boat-carrying under-water robot mixed system is provided, using unmanned boat as waters carrying platform and communication relaying platform, the demands such as response under-water robot delivers, makes a return voyage, parks, communication and power supply.
In order to solve the problems of the technologies described above, the technical solution adopted in the present invention is:
A kind of unmanned boat-carrying under-water robot mixed system, comprise unmanned boat, under-water robot and connected system, described unmanned boat mainly comprises hull and is arranged at onboard control system, boat-carrying power plant and the boat-carrying application apparatus on hull; Described under-water robot comprises underwater human body and submersible service equipment, and underwater human body configures underwater control equipment, underwater engine equipment and operating equipment; Described connected system comprises connection cable and communication system, and described connection cable is bundled formed by communication cable, charge cable, towing cable, is connected, and exchange data by communication system between unmanned boat and under-water robot by connection cable.
By such scheme, described hull is provided with boat-carrying and hangs cabin and application apparatus cabin, boat-carrying application apparatus is arranged on application apparatus cabin, on the quarter and each cabin edge lay cushion rubber bumper, described boat-carrying extension cabin is mainly provided with parks platform, winding drum, lifting motor, and lifting motor and winding drum are connected, and the connection cable on under-water robot twists on winding drum, lifting motor is used for being sling by under-water robot by winding drum, and makes under-water robot be accommodated to and park on platform in delivery way.
By such scheme, described onboard control system comprises boat-carrying Programmable Logic Controller, shipborne navigational aid; Described shipborne navigational aid comprises GNSS, IMU Inertial Measurement Unit; GNSS is used for realizing unmanned boat location and autonomous navigation, and IMU Inertial Measurement Unit is used for realizing unmanned boat and determines appearance.
By such scheme, described boat-carrying application apparatus is provided with weather monitoring device, video equipment, voice system and alarm equipment.
By such scheme, described boat-carrying power plant comprises boat-carrying power supply, boat-carrying motor and boat-carrying screw propeller, and described boat-carrying power supply comprises battery pack and Fuel Tank, and wherein Fuel Tank arranges sensor and uploads combustion situation in real time; Described boat-carrying motor comprises brshless DC motor and diesel motor, described boat-carrying screw propeller comprises tail undercarriage, afterbody steering wheel and flank screw propeller, wherein diesel motor built-in generator is given battery-powered and is driven tail undercarriage, battery driven brshless DC motor and afterbody steering wheel in operation process, brshless DC motor drives flank propeller works, and flank screw propeller is for ensureing that the relative waters of unmanned boat is fixed.
By such scheme, described hull is also provided with and comprehensively keeps away barrier equipment, comprise digital radar, laser radar and Forward-looking Sonar, for multiple scaaning, comprehensive barrier equipment of keeping away ensures that unmanned boat all-position safety keeps away barrier.
By such scheme, described communication system comprises boat-carrying communication apparatus and underwater communication equipment, and described boat-carrying communication apparatus comprises the Big Dipper, LTE, boat-carrying data radio station and boat-carrying figure and to conduct electricity platform; Described underwater communication equipment comprises wired Communication Card, described boat-carrying communication apparatus comprises the Big Dipper, LTE and boat-carrying data radio station and boat-carrying figure and to conduct electricity platform, wherein the conduct electricity video antenna of platform of the Beidou antenna of the Big Dipper, the radio antenna of boat-carrying data radio station and boat-carrying figure is all arranged on unmanned boat top, the Big Dipper, LTE and boat-carrying data radio station be standby communication mutually, and the boat-carrying figure platform that conducts electricity transmits video and view data in real time; Boat-carrying Programmable Logic Controller is formed by the Big Dipper, LTE and boat-carrying data radio station and measurement and control center and links, and realizes data storage, wave record playback function; Described underwater communication equipment comprises wired Communication Card, and Communication Card is in communication cable access onboard control system.
By such scheme, described underwater control equipment comprises underwater manipulator, underwater navigation equipment, and underwater navigation equipment is accurately located and autonomous navigation for ensureing under-water robot.
By such scheme, described underwater engine equipment comprises to be promoted mainly motor and screw propeller, heavily pushes away motor and screw propeller, thruster motor and screw propeller, underwater battery group, and underwater battery group is connected with boat-carrying battery pack via charge cable.
By such scheme, described submersible service equipment comprise ADCP measurement instrument, depth index, forward sight camera and under look camera.
The invention has the beneficial effects as follows:
1, this mixed system will control unmanned boat and under-water robot work compound, form the upper and lower three-dimensional operating system of the water surface, be integrated with unmanned boat and under-water robot advantage, give full play to unmanned boat load, transport and ability to communicate, give full play to the advantage of under-water robot deepwater work simultaneously, ensure underwater task efficiency and frequency on duty, expand the application of robot;
2, unmanned boat can carry fast automatic the navigating to of under-water robot and specifies waters, and completes comprehensive automatic obstacle-avoiding by digital radar, laser radar and Forward-looking Sonar; Under-water robot can give full play to the advantage of its operation on the spot under water, completes associative operation task under water, every data are real-time transmitted to unmanned boat, by boat-carrying communication apparatus unified is sent to measurement and control center after being integrated by unmanned boat; Under-water robot is by communication cable and unmanned boat communication interaction, and complete operation task after accepting the control command of unmanned boat, returns under-water robot state and monitoring data simultaneously; Under-water robot can come on unmanned boat by automatic hanging when Suspend Job, is carried to next operating area fast or makes a return voyage by unmanned boat;
3, in mixed system, boat-carrying is hung cabin and is provided stopping platform for under-water robot, adopts connection cable guide under-water robot lifting and stop; Battery-powered to boat-carrying by diesel motor built-in generator, and powered for a long time to under-water robot by charge cable;
4, boat-carrying Programmable Logic Controller possesses data storage, wave record playback function, and the every data of energy register system operation process, are formed by boat-carrying communication apparatus and measurement and control center and link;
5, conducted electricity by boat-carrying figure the large data long-distance transmissions of platform completion system operation on the spot;
6, mixed system can monitor whole system combustion situation, and analyzes usage trend, and after judging that lack of fuel or whole task complete, unmanned boat carries under-water robot and automatically makes a return voyage;
7, this mixed system can be extended to the corresponding multiple under-water robot of a unmanned boat.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention's unmanned boat-carrying under-water robot mixed system;
Fig. 2 is under-water robot schematic diagram in the present invention;
In figure: 1. unmanned boat, 2. cushion rubber bumper, 3. under-water robot, 4. boat-carrying cabin, 5. apply cabin, 6. park platform, 7. winding drum, 8. lifting motor, 9. boat-carrying Programmable Logic Controller, 10. shipborne navigational aid, 11. boat-carrying communication apparatus, 12. weather monitoring devices, 13. video equipments, 14. speech ciphering equipments, 15. alarm equipments, 16. boat-carrying battery pack, 17. Fuel Tanks, 18. diesel motors, 19. tail undercarriages, 20. afterbody steering wheels, 21. brshless DC motors, 22. flank screw propellers, 23. Beidou antennas, 24. radio antennas, 25. video antennas, 26. digital radars, 27. laser radars, 28. Forward-looking Sonar, 31. underwater human bodies, 32. underwater manipulators, 33. heavily push away motor and screw propeller, 34. connection cables, 35. underwater navigation equipment, 36. underwater communication equipment, 37. underwater battery groups, 38. promote mainly motor and screw propeller, 39. fathometers, 40.ADCP measurement instrument, 41. under-water robot pins, 42. thruster motor and screw propellers, look camera 43. times, 44. operating equipments, 45. forward sight cameras.
Detailed description of the invention
In order to there be understanding clearly to technical characteristic of the present invention, object and effect, now contrast accompanying drawing and the specific embodiment of the present invention is described.
With reference to shown in Fig. 1 ~ Fig. 2, unmanned boat-carrying under-water robot mixed system of the present invention, comprise unmanned boat 1, under-water robot 3 and connected system, unmanned boat 1 mainly comprises hull and is arranged at onboard control system, boat-carrying power plant and the boat-carrying application apparatus on hull; Under-water robot 3 comprises underwater human body 31 and submersible service equipment, and underwater human body 31 configures underwater control equipment, underwater engine equipment and operating equipment 44; Connected system comprises connection cable 34 and communication system, and connection cable 34 is bundled formed by communication cable, charge cable, towing cable, is connected, and exchange data by communication system between unmanned boat 1 and under-water robot 3 by connection cable 34.
Hull is provided with boat-carrying and hangs cabin 4 and application apparatus cabin 5, and boat-carrying application apparatus is arranged on application apparatus cabin 5, on the quarter and each cabin edge lay cushion rubber bumper 2; Boat-carrying extension cabin 4 is mainly provided with parks platform 6, winding drum 7, lifting motor 8, lifting motor 8 and winding drum 7 are connected, connection cable 34 on under-water robot 3 twists on winding drum 7, lifting motor 8 for being sling by under-water robot 3 by winding drum 7, and makes under-water robot 3 be accommodated to and park on platform 6 in delivery way; Before under-water robot 3 times water, first lifting motor 8 is rotated clockwise (winding drum 7 take-up) under-water robot 3 of slinging a little, then boat-carrying Programmable Logic Controller 9 control park platform 6 move forward and launch outlet after, lifting motor 8 rotates counterclockwise (winding drum 7 unwrapping wire) slowly puts down under-water robot 3; After under-water robot 3 operation completes, unmanned boat 1 is returned in automatic trip, lifting motor 8 rotates clockwise (winding drum 7 take-up) simultaneously, under-water robot 3 arrives boat-carrying and hangs cabin 4 times, (winding drum 7 take-up) is rotated clockwise until under-water robot 3 is vertically sling by lifting motor 8, then boat-carrying Programmable Logic Controller 9 control park platform 6 to stern move and close outlet, control lifting motor 8 to rotate counterclockwise (winding drum 7 unwrapping wire), the complete drag and drop of under-water robot 3 are being parked on platform 6.
Onboard control system comprises boat-carrying Programmable Logic Controller 9, shipborne navigational aid 10, mixed system for core, adopts internal bus and Communication Card unification to control each equipment coordination work on unmanned boat 1 and under-water robot 3 with the boat-carrying Programmable Logic Controller 9 of onboard control system; Boat-carrying 10 equipment that navigate are provided with GNSS, IMU Inertial Measurement Unit; GNSS is used for realizing unmanned boat 1 and locates and autonomous navigation, and IMU Inertial Measurement Unit is used for realizing unmanned boat 1 and determines appearance.
Boat-carrying application apparatus is provided with weather monitoring device 12, video equipment 13, voice system 14 and alarm equipment 15.
Boat-carrying power plant comprises boat-carrying power supply, boat-carrying motor and boat-carrying screw propeller, and boat-carrying power supply comprises battery pack 16 and Fuel Tank 17, and wherein Fuel Tank 17 arranges sensor and uploads combustion situation in real time; Boat-carrying motor comprises brshless DC motor 21 and diesel motor 18, boat-carrying screw propeller comprises tail undercarriage 19, afterbody steering wheel 20 and flank screw propeller 22, wherein diesel motor 18 built-in generator is powered to battery pack 16 and is driven tail undercarriage 19, in operation process, battery pack 16 drives brshless DC motor 21 and afterbody steering wheel 20, brshless DC motor 21 drives flank screw propeller 22 to work, and flank screw propeller 22 is for ensureing that unmanned boat 1 is fixed in waters relatively.
Hull is also provided with and comprehensively keeps away barrier equipment, comprise digital radar 26, laser radar 27 and Forward-looking Sonar 28, comprehensive barrier equipment multiple scaaning of keeping away ensures that unmanned boat all-position safety keeps away barrier.
Communication system comprises boat-carrying communication apparatus 11 and underwater communication equipment 36, boat-carrying communication apparatus 11 comprises the Big Dipper, LTE, boat-carrying data radio station and boat-carrying figure and to conduct electricity platform, wherein the conduct electricity video antenna 25 of platform of the Beidou antenna 23 of the Big Dipper, the radio antenna 24 of boat-carrying data radio station and boat-carrying figure is all arranged on unmanned boat 1 top, the Big Dipper, LTE and boat-carrying data radio station be standby communication mutually, and the boat-carrying figure platform that conducts electricity transmits video and view data in real time; Boat-carrying Programmable Logic Controller 9 is formed by the Big Dipper, LTE and boat-carrying data radio station and measurement and control center and links, and realizes data storage, wave record playback function; Underwater communication equipment 36 comprises wired Communication Card, and Communication Card is in communication cable access onboard control system.
Underwater control equipment comprises underwater manipulator 32, underwater navigation equipment 35, and underwater navigation equipment 35 is for ensureing that under-water robot 3 is accurately located, and energy autonomous navigation.
Underwater engine equipment comprises to be promoted mainly motor and screw propeller 38, heavily pushes away motor and screw propeller 33, thruster motor and screw propeller 42, underwater battery group 37, underwater battery group 37 is connected with boat-carrying battery pack 16 via charge cable, underwater battery group 37 taken-over vessel carries the power supply of battery pack 16, and driving is promoted mainly motor, heavily pushed away motor and thruster machine operation.
Submersible service equipment comprise ADCP measurement instrument 40, depth index 39, forward sight camera 45 and under look camera 43 etc., forward sight camera 45 and under assist depending on camera 43 process that fulfils assignment.
Mixed system of the present invention controls unmanned boat 1 and under-water robot 3 work compound, forms the upper and lower three-dimensional operating system of the water surface; Unmanned boat 1 can carry fast automatic the navigating to of under-water robot 3 specifies waters, and completes comprehensive automatic obstacle-avoiding by digital radar 26, laser radar 27 and Forward-looking Sonar 28; Under-water robot 3 is by communication cable and unmanned boat 1 communication interaction, and complete operation task after the control command accepting unmanned boat 1, returns under-water robot state and monitoring data simultaneously.Boat-carrying Programmable Logic Controller 9 possesses data storage, wave record playback function, the every data of energy register system operation process, is formed link by boat-carrying communication apparatus 11 and measurement and control center.Conducted electricity by boat-carrying figure the large data long-distance transmissions of platform completion system operation on the spot.
Boat-carrying is hung cabin 4 and is provided stopping platform for under-water robot 3, adopts connection cable 34 to guide under-water robot 3 to be elevated and to stop; Mixed system is powered to boat-carrying battery pack 16 by diesel motor 18 built-in generator, and is powered for a long time to under-water robot 3 by charge cable; Mixed system can monitor whole system combustion situation, and analyzes usage trend, and after judging that lack of fuel or whole task complete, unmanned boat is taken 1 band under-water robot 3 and automatically maked a return voyage.
Above-describedly be only preferred embodiment of the present invention, certainly can not limit the interest field of the present invention with this, therefore according to the equivalence change that the present patent application the scope of the claims is done, still belong to protection scope of the present invention.
Claims (10)
1. a unmanned boat-carrying under-water robot mixed system, is characterized in that: comprise unmanned boat, under-water robot and connected system, and described unmanned boat mainly comprises hull and is arranged at onboard control system, boat-carrying power plant and the boat-carrying application apparatus on hull; Described under-water robot comprises underwater human body and submersible service equipment, and underwater human body configures underwater control equipment, underwater engine equipment and operating equipment; Described connected system comprises connection cable and communication system, and described connection cable is bundled formed by communication cable, charge cable, towing cable, is connected, and exchange data by communication system between unmanned boat and under-water robot by connection cable.
2. unmanned boat-carrying under-water robot mixed system according to claim 1, it is characterized in that: described hull is provided with boat-carrying and hangs cabin and application apparatus cabin, boat-carrying application apparatus is arranged on application apparatus cabin, on the quarter and each cabin edge lay cushion rubber bumper, described boat-carrying extension cabin is mainly provided with parks platform, winding drum, lifting motor, lifting motor and winding drum are connected, connection cable on under-water robot twists on winding drum, lifting motor is used for being sling by under-water robot by winding drum, and make under-water robot be accommodated to and park on platform in delivery way.
3. unmanned boat-carrying under-water robot mixed system according to claim 1, is characterized in that: described onboard control system comprises boat-carrying Programmable Logic Controller, shipborne navigational aid; Described shipborne navigational aid comprises GNSS, IMU Inertial Measurement Unit; GNSS is used for realizing unmanned boat location and autonomous navigation, and IMU Inertial Measurement Unit is used for realizing unmanned boat and determines appearance.
4. unmanned boat-carrying under-water robot mixed system according to claim 1, is characterized in that: described boat-carrying application apparatus is provided with weather monitoring device, video equipment, voice system and alarm equipment.
5. unmanned boat-carrying under-water robot mixed system according to claim 1, it is characterized in that: described boat-carrying power plant comprises boat-carrying power supply, boat-carrying motor and boat-carrying screw propeller, described boat-carrying power supply comprises battery pack and Fuel Tank, and wherein Fuel Tank arranges sensor and uploads combustion situation in real time; Described boat-carrying motor comprises brshless DC motor and diesel motor, described boat-carrying screw propeller comprises tail undercarriage, afterbody steering wheel and flank screw propeller, wherein diesel motor built-in generator is given battery-powered and is driven tail undercarriage, battery driven brshless DC motor and afterbody steering wheel in operation process, brshless DC motor drives flank propeller works, and flank screw propeller is for ensureing that the relative waters of unmanned boat is fixed.
6. unmanned boat-carrying under-water robot mixed system according to claim 1, it is characterized in that: described hull is also provided with and comprehensively keeps away barrier equipment, comprise digital radar, laser radar and Forward-looking Sonar, for multiple scaaning, comprehensive barrier equipment of keeping away ensures that unmanned boat all-position safety keeps away barrier.
7. unmanned boat-carrying under-water robot mixed system according to claim 1, it is characterized in that: described communication system comprises boat-carrying communication apparatus and underwater communication equipment, described boat-carrying communication apparatus comprises the Big Dipper, LTE, boat-carrying data radio station and boat-carrying figure and to conduct electricity platform; Described underwater communication equipment comprises wired Communication Card, described boat-carrying communication apparatus comprises the Big Dipper, LTE and boat-carrying data radio station and boat-carrying figure and to conduct electricity platform, wherein the conduct electricity video antenna of platform of the Beidou antenna of the Big Dipper, the radio antenna of boat-carrying data radio station and boat-carrying figure is all arranged on unmanned boat top, the Big Dipper, LTE and boat-carrying data radio station be standby communication mutually, and the boat-carrying figure platform that conducts electricity transmits video and view data in real time; Boat-carrying Programmable Logic Controller is formed by the Big Dipper, LTE and boat-carrying data radio station and measurement and control center and links, and realizes data storage, wave record playback function; Described underwater communication equipment comprises wired Communication Card, and Communication Card is in communication cable access onboard control system.
8. unmanned boat-carrying under-water robot mixed system according to claim 1, is characterized in that: described underwater control equipment comprises underwater manipulator, underwater navigation equipment, and underwater navigation equipment is accurately located and autonomous navigation for ensureing under-water robot.
9. unmanned boat-carrying under-water robot mixed system according to claim 1, it is characterized in that: described underwater engine equipment comprises to be promoted mainly motor and screw propeller, heavily push away motor and screw propeller, thruster motor and screw propeller, underwater battery group, and underwater battery group is connected with boat-carrying battery pack via charge cable.
10. unmanned boat-carrying under-water robot mixed system according to claim 1, is characterized in that: described submersible service equipment comprise ADCP measurement instrument, depth index, forward sight camera and under look camera.
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| CN201510922767.4A CN105329418B (en) | 2015-12-11 | 2015-12-11 | A kind of unmanned boat-carrying underwater robot hybrid system |
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| CN201510922767.4A CN105329418B (en) | 2015-12-11 | 2015-12-11 | A kind of unmanned boat-carrying underwater robot hybrid system |
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| CN105329418A true CN105329418A (en) | 2016-02-17 |
| CN105329418B CN105329418B (en) | 2016-08-24 |
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| CN104960651A (en) * | 2015-07-16 | 2015-10-07 | 安徽科微智能科技有限公司 | Underwater exploring robot with function of autonomous navigation |
| CN106394815A (en) * | 2016-10-28 | 2017-02-15 | 杭州电子科技大学 | Combined system of unmanned ship and unmanned submersible |
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| CN108544501A (en) * | 2018-04-11 | 2018-09-18 | 惠安县圆周率智能科技有限公司 | A kind of flatbed ship sea inspection station arrangement of the sea police containing robot |
| CN109229284A (en) * | 2018-08-30 | 2019-01-18 | 上海大学 | A kind of unmanned boat automatically lays recovery system |
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| CN113049052A (en) * | 2021-03-25 | 2021-06-29 | 长江水利委员会水文局长江下游水文水资源勘测局(长江水利委员会水文局长江下游水环境监测中心) | Flow measuring method for river with large sand content |
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| CN114275106A (en) * | 2021-12-21 | 2022-04-05 | 上海交通大学 | Sea-air-underwater integrated self-supply detection device and detection method thereof |
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