CN106314740A - Wind-solar complementary type unmanned driving ferry boat system based on Internet - Google Patents
Wind-solar complementary type unmanned driving ferry boat system based on Internet Download PDFInfo
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- CN106314740A CN106314740A CN201610748212.7A CN201610748212A CN106314740A CN 106314740 A CN106314740 A CN 106314740A CN 201610748212 A CN201610748212 A CN 201610748212A CN 106314740 A CN106314740 A CN 106314740A
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Classifications
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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
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/14—Arrangement of ship-based loading or unloading equipment for cargo or passengers of ramps, gangways or outboard ladders ; Pilot lifts
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2201/00—Signalling devices
- B63B2201/16—Radio
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2209/00—Energy supply or activating means
- B63B2209/18—Energy supply or activating means solar energy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B2209/00—Energy supply or activating means
- B63B2209/20—Energy supply or activating means wind energy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
- B63H2021/171—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor making use of photovoltaic energy conversion, e.g. using solar panels
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses a wind-solar complementary type unmanned driving ferry boat system based on Internet. The wind-solar complementary type unmanned driving ferry boat system comprises a ferry boat and a ground control subsystem, wherein the ground control subsystem comprises an autonomous navigation module and a manual remote control module; the autonomous navigation module is used for realizing the autonomous navigation of the berry boat when the ferry boat is navigated on a fixed route; the manual remote control module is used when the ferry boat is started, and is approached or left away from a berth or the autonomous navigation module fails; an unmanned ferry boat navigation subsystem comprises two nacelle type propellers and a berth approaching and leaving pedal, and the nacelle type propellers are arranged at head end and tail end of the ferry boat; a communication subsystem comprises a wireless communication unit and a wired communication unit; a power subsystem comprises a storage battery, a conventional power grid unit, a wind energy magnetic suspension power generation unit and a solar power generation unit, the storage battery is used for supplying power for the ferry boat, and the conventional power grid unit, the wind energy magnetic suspension power generation unit and the solar power generation unit are used for charging electricity for the storage battery. The wind-solar complementary type unmanned driving ferry boat system has the advantages that the safe, intelligent and reliable person-carrying and river-crossing functions of the unmanned driving ferry boat are realized, and the reliability of intelligent power supply on the boat is greatly improved.
Description
Technical field
The present invention relates to a kind of unmanned ferryboat of energy-conserving and environment-protective, nobody drives to particularly relate to a kind of wind light mutual complementing based on the Internet
Sail ferryboat system.
Background technology
China is the country that a water transport resource, tourist resources are the abundantest, and most of scenic spots and historical sites and tourist attraction are all
There is feature by a stream in front and a hill at the back.Tourism the many utilizations in waters simple ferryboat carrying visitor go sightseeing or cross a river, ferryboat needs of going sightseeing
Management, ship-handling management, ship are from huge management costs such as platinotrom reasons by ship to undertake personal security, and these factors all exist
Limit the development of water tourism industry to a certain extent.
Meanwhile, along with the progress of science and technology, increasing people, in weekend or vacation, selects the mode of pleasure-boat.Leading on ship
Boat communication equipment needs electric power safeguard with other such as equipment such as illumination, TVs, often inconvenient for accumulator charging, especially may be used
The ship of energy oceangoing voyage, a lot of ships fully rely on battery discharging, can not meet the need for electricity of the size load of ship at all.
In order to solve in two sides, river, near reservoir, environment Special section people's safe crossing river problem and water tourism see
Light ferryboat safe and orderly navigation problem, and the deficiency of the aspect such as the ship safety management that presently, there are and power consumption, the application carries
Go out a kind of unmanned ferryboat system based on the Internet.
Summary of the invention
It is an object of the invention to provide a kind of unmanned ferryboat system of wind light mutual complementing based on the Internet, it is based on mutually
Networked platforms, takes remote terminal control mode, it is possible to achieve the most manned function of crossing a river of unmanned ferryboat safe and intelligent, and
And it use wind energy, solar energy this endlessly natural resources carry out supply of electrical energy, intelligent power supply on ship can be greatly improved
Reliability.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of unmanned ferryboat system of wind light mutual complementing based on the Internet, this system includes: crossing for passenger loading
Ship, the ground automatically navigated by water for controlling described ferryboat control subsystem, for realizing described ferryboat safely by unmanned from moor
Ferryboat navigation subsystem, communication subsystem and power subsystem；Wherein,
Described ground controls subsystem and includes independently navigating by water module and manual remote control module, and described autonomous navigation module is installed
On ferryboat, when ferryboat navigates by water in fixing navigation, described autonomous navigation module carries out air route rule according to environment prior information
Draw, and combine the live signal real-time update environmental information detected, to realize the autonomous navigation of ferryboat；Described manual remote control mould
Using when block is for starting at ferryboat, lean on from pool or autonomous navigation Module Fail, described manual remote control module includes being arranged on bank
On ground control station and remote control equipment and the Information Collecting & Processing device that is arranged on ferryboat, described Information Collecting & Processing device will
The weather information collected and obstacle information are sent to ground control station and are analyzed processing, and terrestrial operation person is controlled according to ground
Ferryboat is remotely controlled by the information after station processed processes by remote control equipment；
Described unmanned ferryboat navigation subsystem include being separately mounted to two podded propeller at ferryboat head and the tail two ends with
And be arranged on ferryboat by from pool pedal, described podded propeller can stretch up and down, when ferryboat travels to away from the nearlyer water of bank
During territory, podded propeller rises, and absorbs water the restriction to ferryboat to reduce and protects the safety of podded propeller；Described by from
Pool pedal is for when ferryboat pulls in shore to arrive correct position, stretching out outside ferryboat and flatten on the bank, in order to passenger safety is upper and lower
Ship；
Described communication subsystem includes that wireless communication unit and Landline communication unit, described wireless communication unit include setting up
Signal tower between ferryboat and ground control station, described signal tower is controlled with ground for the Information Collecting & Processing device carrying out ferryboat
Two-way wireless communication between system station；Described Landline communication unit includes the relay station being erected at each ferry berth, respectively relays
Standing and be connected with ground control station by optical fiber, each relay station passes through wireless connections with corresponding ferryboat；
Described power subsystem includes the accumulator for powering and normal for charge to described accumulator to ferryboat
Rule electrical network unit, wind energy magnetic suspension generation unit and solar power generation unit.
By technique scheme, in described ground control station, it is provided with main control computer control panel, described main control computer chain of command
Plate includes course display, main cabin display, Ambient displays, comprehensive parameters display, data process machine and navigation bench board,
Described course display is used for showing that ferryboat ship trajectory, described main cabin display and Ambient displays monitor ferryboat in real time
Navigation status of the water area, described data process machine is for analyzing the aeronautical data of ground control station, and described navigation bench board is for real
The long-range control of existing ferryboat.
By technique scheme, described Information Collecting & Processing device includes the shipboard meteorological instrument for gathering weather information and use
In gather obstacle information barrier collecting unit, described shipboard meteorological instrument include acquisition process unit and respectively with institute
State wind direction and wind velocity sensor that acquisition process unit connects, temperature sensor, baroceptor, humidity sensor, GPS positions singly
Unit, electronic compass, communication unit, AIS equipment, display unit, memory element and power supply.
By technique scheme, described by including the springboard being rotatably installed on ferryboat from pool pedal, be rotatably installed in institute
Stating the buffer board of springboard end and the most horizontal multiple pipes on the coast, described springboard sets near the back side, one end of buffer board
There is the buckle slot matched with one of them pipe, telescopic piston rod is installed in described springboard along its length, described
Piston rod is when stretching out, and its end strides across buckle slot and the inwall with buckle slot is conflicted, and described piston rod is by pipe effect
Lower retraction, it is achieved buckle slot engaging or disengaging pipe；It is domatic that the front of described buffer board is provided with buffering.
By technique scheme, the inwall of described buckle slot is provided with elastic rubber layer.
By technique scheme, this system also includes that passenger safety takes subsystem, and described passenger safety takes subsystem
Unit is taken including Intelligent lifesaving clothing unit and intelligence.
The present invention, has the advantages that the present invention sets up the unmanned ferryboat system under complete " the Internet+" pattern
System, it is achieved personnel's long distance high efficiency controls the navigation of unmanned ferryboat, and unmanned ferryboat discretionary security transporting passengers is crossed a river function.
Magnetic levitation technology is introduced wind power generation unit by the present invention, solves mild wind and can not generate electricity, start the problem that required wind speed is big, and should
Use vertical axis generation mode, it is possible to resolve the problem that wind direction indefinite generating efficiency in waters is low.The present invention uses wind light mutual complementing supplier of electricity
Formula, utilizes the wind energy of high-quality, solar energy resources as power, powers to illumination most important on boats and ships and communication system, it is ensured that
Boats and ships can start navigation, GPS navigation, use.Wind-driven generator on ship, solar energy photovoltaic panel, do not have greasy dirt to contaminate, not only noiseless but also
Non-exhaust emission, not only increases attractive in appearance to ships and light boats, is again clean energy resource, and raising green living and safe and intelligent guarantee are had weight
The effect wanted, advocates energy-conserving and environment-protective " green shipping ".
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the invention will be further described, in accompanying drawing:
Fig. 1 is the structural representation of the embodiment of the present invention；
Fig. 2 is the structured flowchart of the embodiment of the present invention；
Fig. 3 is the operating diagram of ground control station in the embodiment of the present invention；
Fig. 4 is the structural representation of main control computer control panel in the embodiment of the present invention；
Fig. 5 is the surface chart of comprehensive parameters display in the embodiment of the present invention；
Fig. 6 is the structured flowchart of wireless communication unit in the embodiment of the present invention；
Fig. 7 is the structured flowchart of Landline communication unit in the embodiment of the present invention；
Fig. 8 is the composition frame chart of shipboard meteorological instrument in the embodiment of the present invention；
Fig. 9 is the structural representation of podded propeller in the embodiment of the present invention；
Figure 10 is by the structural representation from pool pedal in the embodiment of the present invention；
Figure 10 a is by the state diagram when the buffer board of pool pedal is regained；
Figure 10 b is by the state diagram when the buffer board of pool pedal launches；
Figure 10 c is by from the buckle slot of pool pedal and state diagram during pipe buckle；
Figure 11 is the structured flowchart of power subsystem in the embodiment of the present invention；
Figure 12 is the structured flowchart of normal grid unit in the embodiment of the present invention.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with drawings and Examples, right
The present invention is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the present invention, not
For limiting the present invention.
In the preferred embodiment, a kind of unmanned ferryboat system of wind light mutual complementing based on the Internet, such as figure
1, shown in Fig. 2, this system includes: for passenger loading ferryboat, for control the ground that ferryboat navigates by water automatically control subsystem,
For realizing ferryboat safely by unmanned ferryboat navigation subsystem, communication subsystem and the power subsystem from pool；Wherein,
As it is shown on figure 3, ground controls subsystem includes independently navigating by water module and manual remote control module, autonomous navigation module peace
Being contained on ferryboat, when ferryboat navigates by water in fixing navigation, autonomous navigation module carries out routeing according to environment prior information,
And combine the live signal real-time update environmental information detected, to realize the autonomous navigation of ferryboat；Manual remote control module is used for
In ferryboat startup, by use during from pool or autonomous navigation Module Fail, manual remote control module includes the ground control being arranged on the bank
Make station and remote control equipment and the Information Collecting & Processing device being arranged on ferryboat, the meteorological letter that Information Collecting & Processing device will collect
Breath and obstacle information are sent to ground control station and are analyzed processing, and terrestrial operation person is according to the letter after ground control station process
Ferryboat is remotely controlled by breath by remote control equipment；
Unmanned ferryboat navigation subsystem includes two podded propeller and the peace being separately mounted to ferryboat head and the tail two ends
Be contained on ferryboat leans on from pool pedal, as it is shown in figure 9, podded propeller can stretch up and down, when ferryboat travels to nearer away from bank
During waters, podded propeller rises, and absorbs water the restriction to ferryboat to reduce and protects the safety of podded propeller；Such as Figure 10
Shown in, by being used for, when ferryboat pulls in shore to arrive correct position, stretching out outside ferryboat and flattening on the bank, in order to passenger from pool pedal
Go ashore in safety；
Communication subsystem includes wireless communication unit and Landline communication unit, and as shown in Figure 6, wireless communication unit includes frame
The signal tower being located between ferryboat and ground control station, signal tower controls with ground for the Information Collecting & Processing device carrying out ferryboat
Two-way wireless communication between standing；As it is shown in fig. 7, Landline communication unit includes the relay station being erected at each ferry berth, respectively
Relay station is connected with ground control station by optical fiber, and each relay station passes through wireless connections with corresponding ferryboat；
As shown in figure 11, power subsystem includes accumulator for powering to ferryboat and for charging a battery
Normal grid unit, wind energy magnetic suspension generation unit and solar power generation unit.
In a preferred embodiment of the invention, as shown in Figure 4, main control computer control panel in ground control station, it is provided with, main
Control machine control panel include course display, main cabin display, Ambient displays, comprehensive parameters display, data process machine and
Navigation bench board, course display is used for showing that ferryboat ship trajectory, main cabin display and Ambient displays monitor in real time
Ferryboat navigation status of the water area, data process machine is for analyzing the aeronautical data of ground control station, and navigation bench board crosses for realization
The long-range control of ship.
In a preferred embodiment of the invention, Information Collecting & Processing device includes the shipboard meteorological instrument for gathering weather information
With for gathering the barrier collecting unit of obstacle information, as shown in Figure 8, shipboard meteorological instrument include acquisition process unit, with
And be connected with acquisition process unit respectively wind direction and wind velocity sensor, temperature sensor, baroceptor, humidity sensor, GPS
Positioning unit, electronic compass, communication unit, AIS equipment, display unit, memory element and power supply.
In a preferred embodiment of the invention, as shown in Figure 10-Figure 10 c, by including being rotatably installed in ferryboat from pool pedal
On springboard, the buffer board being rotatably installed in springboard end and the most horizontal multiple pipes on the coast, springboard near buffering
The back side, one end of plate is provided with the buckle slot matched with one of them pipe, is provided with telescopic work in springboard along its length
Stopper, piston rod is when stretching out, and its end strides across buckle slot and the inwall with buckle slot is conflicted, and piston rod is by pipe effect
Lower retraction, it is achieved buckle slot engaging or disengaging pipe；It is domatic that the front of buffer board is provided with buffering.Wherein, on the inwall of buckle slot
It is provided with elastic rubber layer.
In a preferred embodiment of the invention, as shown in Figure 1 and Figure 2, this system also includes that passenger safety takes subsystem,
Passenger safety is taken subsystem and is included that Intelligent lifesaving clothing unit and intelligence take unit.
In the complex control system of unmanned ferryboat, current manual remote control pattern is its main mode of operation.?
Under this mode of operation, ground or control operator by remote control equipment, the parameter navigated by water according to unmanned ferryboat and regarding
The information such as frequency, are remotely controlled control to unmanned ferryboat.Along with the development of automatic control technology, Autonomous Control pattern will become
Main operation modes.And in autonomous mode, unmanned ferryboat will carry out routeing according to environment prior information, and
Constantly update environmental information with the live signal detected, unmanned ferryboat is carried out real-time automatically controlling.This ground is controlled
System processed uses the synthesized modeling that manual remote control pattern combines with autonomous sail mode.Unmanned ferryboat Autonomous Control pattern
Apply the autonomous navigation in scheduled airline.Waters hydrometeorology condition in view of the application of this unmanned ferryboat is good, and
And navigation circuit is substantially stationary without carrying out routeing again, the hours underway of each flight number is short, thus simplifies unmanned
Ferryboat self-control system.Manual remote control control model is backup control mode, is mainly used in unmanned ferryboat and starts, leans on
In time mooring and autonomous sail mode lost efficacy, it is ensured that unmanned ferryboat clean boot is leaned on from pool with steady.As it is shown on figure 3, waters
In unmanned ferryboat self assemble autonomous navigation system, and earth station assembling manual remote control system, by a main bank base
Stand and standby bank base station, information acquisition system, a communication system assist earth station's remote pilot.
Function technology for system requires to carry out ground control system design, to realize every merit of ground control station
Energy.First determining ground control station basic functional units, then modularity and combine design functional unit, system design is main
The content of aspect such as including hardware designs, software design and reliability, maintainability design.As shown in Figure 4, ground control station control
Panel processed can be by course display, main cabin display, Ambient displays, ship craft integrated factor display, data process machine, navigation
Bench board is constituted.Wherein, course display is responsible for showing the track of ferryboat navigation, thus can determine whether whether unmanned ferryboat navigates
Row is in the flight path band of regulation.Main cabin display and Ambient displays are responsible for monitoring in real time that the unmanned ship's staff of crossing navigates by water water
The situation in territory, in order to ground control station controls.As it is shown in figure 5, comprehensive parameters display includes boats and ships name of vessel, navigation waters wind speed
And during temperature, outboard problem, humidity, power supply, drauht, the power of operation, navigation, boats and ships navigate in wind direction information, ship
To information such as, the speed of a ship or plane.Data process machine has the aeronautical data analytic function of ground control station.Navigation bench board can realize unmanned
Drive the long-range control of ferryboat, there is the functions such as system speed, startup, additionally can start boats and ships and independently navigate by water function, also can control to lean on
The motion of the mechanical component needed for pool.
Communication subsystem is to realize remote earth station to intend the effective monitoring of unmanned ferryboat and basic communication, this project
Use the communication mode that wire communication subsystem combines with radio communication subsystem, malfunctioning in any communication subsystem
In the case of, another still can work alone, thus ensures the properly functioning of communication subsystem, completes unmanned ferryboat
The collecting in real time, transmit and show and the transmission of control command of the data such as operational configuration, main cabin and the on-the-spot surrounding enviroment of navigation,
Achieve the Remote to unmanned ferryboat, reach the informationization of unmanned ferryboat.
(1) radio communication subsystem: as shown in Figure 6, radio communication subsystem is by unmanned ferryboat and remotely
Signal tower is set up so that the control signal that remote ground control station sends can be forwarded to unmanned ferryboat between earth station
On, the information such as the accommodation that simultaneously collected by the sensing and controlling device of unmanned ferryboat, meteorology also is able to feed back to remotely
Ground control station, thus realize the two-way wireless communication between earth station and unmanned ferryboat.
(2) wire communication subsystem: as it is shown in fig. 7, wire communication subsystem is in wired communication system, each nothing
People drives and has set up corresponding communication relay station near ferry berth, and each communication relay station and remote ground control station
Between all connected by optical fiber, compared with radio communication, wire communication transmission signal is more stable, safer, more at a high speed.And I
The wire net that sets up separate with wireless communication networks and collectively constitute an entirety.
(3) information gathering subsystem: the information gathering subsystem of unmanned ferryboat is as an important set of this project
Become part, utilize various sensor device by the weather informations such as the wind direction collected, wind speed, pressure, humiture and drift around
The obstacle information such as float, boats and ships sends remote ground control station to by wireless data transmission network, via remote ground control
After the analysis at system station and process, then navigation control signal is fed back to unmanned ferryboat, thus complete unmanned ferryboat
Long-range control.Native system is broadly divided into natural information collection and two parts of non-natural information gathering.And natural information collection
Part is then main by the boats and ships gas with equipment such as wind speed wind direction sensor, temperature sensor, humidity sensor, baroceptors
As instrument completes；Non-natural information gathering aspect is mainly by equipment such as the panoramic cameras of forward probe instrument, radar and 360 degree
Complete the detection to barriers such as the floating thing around unmanned ferryboat, boats and ships and monitoring, but studied in view of this project
Unmanned ferryboat navigation waters on particularity (be likely not to have other boats and ships around unmanned ferryboat and seldom have drift
Float), therefore this module mainly considers natural information collecting part based on shipboard meteorological instrument.
Shipboard meteorological instrument hardware components is generally divided into: sensing system, acquisition processing system, communication system and power-supply system
Four parts.Sensing system includes meteorological sensor and GPS alignment system and aspect sensor.Wherein meteorological sensor master
The standard configuration sensor to be made up of wind speed wind direction sensor, temperature sensor, humidity sensor and baroceptor；GPS positions
System mainly exports the parameters such as longitude and latitude, the speed of a ship or plane and course, aspect sensor mainly output bow to and ground magnetic biasing
The data such as angle.
The hull of unmanned ferryboat navigation system employs propeller and by from pool pedal.
1) propeller: hull head and the tail are equipped with two podded propeller, and PODDED PROPULSOR (also known as POD propeller) collects
Advance and steering gear is in one, the motility substantially increasing Ship Design, building and use, make the superior of electric propulsion
Property has obtained embodying more fully.PODDED PROPULSOR is typically made up of magneto, conduit, propeller and controller etc., its knot
Structure feature is that electric machine stand is integrated with conduit, and conduit uses cantilevered fashion to be connected with support；Rotor is integrated with propeller, can
Realize 360 ° of rotations, improve the maneuverability of ferryboat, it is simple to the long-range control of ground control station.In order to make this Project design
Ferryboat can be at shallow water area safe navigation, the propeller that ferryboat is installed can stretch up and down, when boats and ships sail to away from
During the nearlyer waters of bank, propeller rises, and so can reduce the drinking water restriction to boats and ships, protect propeller to a certain extent simultaneously
Safety.
2) by from pool pedal designs: in order to realize unmanned ferryboat at specific bodies of water transportation function, and drive at nobody
Sail ferryboat by steady security function can be reached during pool, use the jumping being similar to roll-on-roll-off ship in the stem of boats and ships and afterbody
Plate designs.Old-fashioned springboard use mode that plunger cylinder piston rod and chain sling cooperate to control lifting and the expansion of springboard,
But for from the point of view of the unmanned ferryboat that we are studied, due to our service to as if the safety of people's ferryboat to be considered
With attractive in appearance, simultaneously need to realize access board apparatus to provide the purpose of fixing boats and ships, to guarantee that miniature self-service drives ferryboat by from pool peace
Entirely, this project to the springboard structure of unmanned ferryboat and on the bank corresponding auxiliary facility carried out certain transformation.Next be
Overcoming the shortcoming that between tradition springboard and fixing bank harbour, position may be moved with ship, springboard back side fore-end scratches sky,
Thus do a buckle slot, the shore installation of harbour is adapted as the pattern that a plurality of pipe is arranged side by side simultaneously, when buckle slot buckle with
Supporting when agreeing with pipe, in buckle slot, piston rod in side is promoted by spring, is locked in buckle slot by pipe, it is achieved buckle slot
With the fastening of pipe, so on the one hand solve the stable problem of springboard, springboard stable connection boats and ships can be passed through simultaneously.
As shown in Figure 10 a-Figure 10 c, when boats and ships pull in shore, and arrive suitable position, the springboard being positioned at side, bank stretches out
Hull, first slopes slightly downward simultaneously, and while inclination, springboard launches, and when being deployed into 180 degree, springboard flattens and make rotating shaft solid
Fixed, it is ensured that the weight of people can be carried.After springboard is deployed into 180 degree, stretched out starts to fall, and drops near filling on the bank
During the pipe put, piston rod pulls open, and adjusts boats and ships and makes the buckle on springboard with the steel pipe on harbour mutually by jail, is now jumping
Hydraulic piston in plate starts, and makes piston rod release, and by stable for pipe in buckle, thus stablizes boats and ships in the vertical.Stable
After, open the buffer board folded before and take shore installation entity part, facilitate the movement of personnel and goods.When pool, springboard
In hydraulic tube control piston in front and regain, springboard is regained simultaneously, and stable relation between boats and ships and bank releases, and ship can be from
By action from pool.In order to reduce occur after springboard buckles into steel pipe traversing, with one layer of gum elastic inside the buckle of springboard, i.e.
Impact can be slowed down, the friction of buckle and the steel pipe on harbour can be strengthened again.
In the present invention, power subsystem uses the system that off-network type solar energy power generating and normal grid charging combine
Thering is provided kinetic energy for boats and ships, this system high efficiency utilizes luminous energy and electric energy both clean energy resourcies, and economical and efficient, in vessel motion process
Middle uncontaminated gases discharges, clean environment firendly.As shown in figure 12, ship berthing point, it is provided with the normal grid laid and electricity is provided
Supply socket, at night or in the case of overcast and rainy generated energy deficiency, this ship can supply electricity to alongside boats and ships by bank fast when alongside
Speed charging, supplements and runs required electric energy.
It should be appreciated that for those of ordinary skills, can be improved according to the above description or be converted,
And all these modifications and variations all should belong to the protection domain of claims of the present invention.
Claims (6)
1. the unmanned ferryboat system of wind light mutual complementing based on the Internet, it is characterised in that this system includes: be used for loading
The ferryboat of passenger, the ground automatically navigated by water for controlling described ferryboat control subsystem, be used for realizing described ferryboat safely by from
Unmanned ferryboat navigation subsystem, communication subsystem and the power subsystem of pool；Wherein,
Described ground controls subsystem and includes independently navigating by water module and manual remote control module, and described autonomous navigation module is arranged on crosses
On ship, when ferryboat navigates by water in fixing navigation, described autonomous navigation module carries out routeing according to environment prior information, and
In conjunction with the live signal real-time update environmental information detected, to realize the autonomous navigation of ferryboat；Described manual remote control module is used
Using in time starting at ferryboat, lean on from pool or autonomous navigation Module Fail, described manual remote control module includes being arranged on the bank
Ground control station and remote control equipment and the Information Collecting & Processing device being arranged on ferryboat, described Information Collecting & Processing device will gather
To weather information and obstacle information be sent to ground control station be analyzed process, terrestrial operation person is according to ground control station
Ferryboat is remotely controlled by the information after process by remote control equipment；
Described unmanned ferryboat navigation subsystem includes two podded propeller and the peace being separately mounted to ferryboat head and the tail two ends
Be contained on ferryboat leans on from pool pedal, and described podded propeller can stretch up and down, when ferryboat travels to waters nearer away from bank,
Podded propeller rises, and absorbs water the restriction to ferryboat to reduce and protects the safety of podded propeller；Described by stepping on from pool
Plate is for when ferryboat pulls in shore to arrive correct position, stretching out outside ferryboat and flatten on the bank, in order to going ashore on passenger safety；
Described communication subsystem includes that wireless communication unit and Landline communication unit, described wireless communication unit include being erected at and crosses
Signal tower between ship and ground control station, described signal tower is for carrying out Information Collecting & Processing device and the ground control station of ferryboat
Between two-way wireless communication；Described Landline communication unit includes the relay station being erected at each ferry berth, and each relay station leads to
Crossing optical fiber to be connected with ground control station, each relay station passes through wireless connections with corresponding ferryboat；
Described power subsystem includes the accumulator for powering to ferryboat and for the conventional electricity charged to described accumulator
Net unit, wind energy magnetic suspension generation unit and solar power generation unit.
Unmanned ferryboat system the most according to claim 1, it is characterised in that be provided with master in described ground control station
Control machine control panel, described main control computer control panel includes course display, main cabin display, Ambient displays, comprehensive parameters
Display, data process machine and navigation bench board, described course display is used for showing that ferryboat ship trajectory, described main cabin show
Device and Ambient displays monitor ferryboat navigation status of the water area in real time, and described data process machine is for analyzing ground control station
Aeronautical data, described navigation bench board is for realizing the long-range control of ferryboat.
Unmanned ferryboat system the most according to claim 1, it is characterised in that described Information Collecting & Processing device includes using
In gathering the shipboard meteorological instrument of weather information and for gathering the barrier collecting unit of obstacle information, described shipboard meteorological instrument
The wind direction and wind velocity sensor that including acquisition process unit and is connected with described acquisition process unit respectively, temperature sensor, gas
Pressure sensor, humidity sensor, GPS positioning unit, electronic compass, communication unit, AIS equipment, display unit, memory element and
Power supply.
Unmanned ferryboat system the most according to claim 1, it is characterised in that described by including rotating peace from pool pedal
The springboard being contained on ferryboat, the buffer board being rotatably installed in described springboard end and the most horizontal multiple pipes on the coast,
Described springboard is provided with, near the back side, one end of buffer board, the buckle slot matched with one of them pipe, along length in described springboard
Direction is provided with telescopic piston rod, and described piston rod is when stretching out, and its end strides across buckle slot and the inwall with buckle slot
Conflicting, described piston rod is retracted under by pipe effect, it is achieved buckle slot engaging or disengaging pipe；The front of described buffer board
It is provided with buffering domatic.
Unmanned ferryboat system the most according to claim 4, it is characterised in that the inwall of described buckle slot is provided with bullet
Property rubber layer.
Unmanned ferryboat system the most according to claim 1, it is characterised in that this system also includes that passenger safety is taken
Subsystem, described passenger safety is taken subsystem and is included that Intelligent lifesaving clothing unit and intelligence take unit.
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| CN201610748212.7A CN106314740B (en) | 2016-08-27 | 2016-08-27 | A kind of unmanned ferryboat system of wind light mutual complementing based on internet |
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| CN201610748212.7A CN106314740B (en) | 2016-08-27 | 2016-08-27 | A kind of unmanned ferryboat system of wind light mutual complementing based on internet |
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| CN107071366A (en) * | 2017-05-08 | 2017-08-18 | 武汉理工大学 | A kind of ship podded propeller real-time imaging monitoring system |
| CN108674681A (en) * | 2018-03-22 | 2018-10-19 | 武汉理工大学 | A kind of dual-purpose self energizing unmanned plane boat guarantor base station in sea land |
| CN109285389A (en) * | 2018-09-18 | 2019-01-29 | 广州中国科学院沈阳自动化研究所分所 | A kind of automatic docking system of unmanned boat and method |
| CN110989573A (en) * | 2019-11-05 | 2020-04-10 | 珠海格力电器股份有限公司 | Object movement control method, device, server and storage medium |
| CN115056957A (en) * | 2022-06-28 | 2022-09-16 | 上海泷洋船舶科技有限公司 | Intelligent electric pushing and intelligent ship system for ship |
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| CN107071366A (en) * | 2017-05-08 | 2017-08-18 | 武汉理工大学 | A kind of ship podded propeller real-time imaging monitoring system |
| CN108674681A (en) * | 2018-03-22 | 2018-10-19 | 武汉理工大学 | A kind of dual-purpose self energizing unmanned plane boat guarantor base station in sea land |
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| CN115056957A (en) * | 2022-06-28 | 2022-09-16 | 上海泷洋船舶科技有限公司 | Intelligent electric pushing and intelligent ship system for ship |
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| CN106314740B (en) | 2018-03-16 |
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