CN111413967A - Automatic rudder-swinging control device of unmanned ship - Google Patents
Automatic rudder-swinging control device of unmanned ship Download PDFInfo
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- CN111413967A CN111413967A CN202010183044.8A CN202010183044A CN111413967A CN 111413967 A CN111413967 A CN 111413967A CN 202010183044 A CN202010183044 A CN 202010183044A CN 111413967 A CN111413967 A CN 111413967A
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- unmanned ship
- output shaft
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 238000005516 engineering process Methods 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
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- 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
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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an automatic steering control device of an unmanned ship, which comprises an unmanned ship main body, a servo motor arranged at the tail part of the unmanned ship main body, a speed reducer connected with the output end of the servo motor, a rotary output shaft arranged at the output end of the speed reducer, a propeller driving module fixedly arranged at the tail end of the rotary output shaft and positioned below the tail part of the unmanned ship main body, a motor encoder positioned at the upper end of the rotary output shaft and used for detecting the rotation angle of the rotary output shaft, a first controller connected with a motor encoder circuit, a second controller connected with the servo motor circuit and a power supply module used for supplying power to the propeller driving module. The invention can accurately and automatically adjust and record the deflection angle of the propeller in the unmanned ship, accurately control the running route of the unmanned ship and improve the motion precision of the unmanned ship.
Description
[ technical field ] A method for producing a semiconductor device
The invention belongs to the technical field of automatic rudder-swinging, and particularly relates to an automatic rudder-swinging control device for an unmanned ship.
[ background of the invention ]
With the development of science and technology, various unmanned transportation vehicles are more and more popular, such as unmanned planes, unmanned vehicles, unmanned boats and the like, wherein the unmanned boats are widely applied to the aspect of water area monitoring and management. The unmanned boat can automatically acquire water samples in various water areas to be explored, or explore the environment and the like. In the process of automatic running of the unmanned ship, the direction needs to be adjusted and changed, so that the automatic control of the rudder control in the unmanned ship is required. However, an automatic control device for steering to realize automatic steering adjustment is not disclosed in the prior art.
Therefore, there is a need to provide a new unmanned boat autopilot control device to solve the above problems.
[ summary of the invention ]
The invention mainly aims to provide an automatic rudder-swinging control device for an unmanned ship, which can accurately and automatically adjust and record the deflection angle of a propeller in the unmanned ship, accurately control the running route of the unmanned ship and improve the motion precision of the unmanned ship.
The invention realizes the purpose through the following technical scheme: the utility model provides an automatic helm control device that sways of unmanned ship, its includes unmanned ship main part, sets up the servo motor of unmanned ship main part afterbody, with the speed reducer that the servo motor output is connected, set up and be in the rotatory output shaft of speed reducer output, fixed the setting is in rotatory output shaft is terminal and be located screw drive module of unmanned ship main part afterbody below, be located rotatory output shaft upper end and detection rotatory output shaft rotation angle's motor encoder, with motor encoder circuit connection's first controller, with servo motor circuit connection's second controller and for the power module of screw drive module power supply.
Furthermore, a motor mounting seat is arranged at the tail of the unmanned boat main body, and the servo motor and the speed reducer are fixedly arranged on the motor mounting seat.
Furthermore, the propeller driving module comprises a driving motor and a propeller driven by the driving motor to rotate.
Furthermore, the driving motor is installed in a closed shell, and the shell is fixedly arranged at the bottom end of the rotary output shaft.
Further, the first controller is in signal communication with the second controller and the power module.
Compared with the prior art, the unmanned ship automatic rudder-turning control device has the beneficial effects that: the propeller driving module is arranged on a rotating shaft, automatic rotation of the rotating shaft is achieved through the servo motor, the rotating angle of the rotating shaft is monitored in real time through the motor encoder, so that angle control of the rotating shaft is achieved, automatic swing control of the propeller angle is achieved, automatic operation is achieved in the whole process, closed-loop control is formed, control precision is improved, and accuracy of a driving path of the unmanned ship is guaranteed.
[ description of the drawings ]
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic partial structure diagram according to an embodiment of the present invention;
the figures in the drawings represent:
100 automatic rudder-turning control device of unmanned ship;
1 unmanned boat main body; 2, mounting a bottom plate; 3, a servo motor; 4, a speed reducer; 5 rotating the output shaft; 6, a propeller driving module, 61 a driving motor and 62 a propeller; 7, a motor encoder; 8 a first controller; 9 a second controller; 10 a power supply module; 11 motor mounting seat.
[ detailed description ] embodiments
Example (b):
referring to fig. 1-2, an automatic rudder-swinging control device 100 of an unmanned boat in this embodiment includes an unmanned boat main body 1, a mounting base plate 2 and a servo motor 3 disposed in the unmanned boat main body 1, a speed reducer 4 connected to an output end of the servo motor 3, a rotary output shaft 5 disposed at an output end of the speed reducer 4, a propeller driving module 6 fixedly disposed at a terminal of the rotary output shaft 5 and located below a tail portion of the unmanned boat main body 1, a motor encoder 7 located at an upper end of the rotary output shaft 5 and detecting a rotation angle of the rotary output shaft 5, a first controller 8 electrically connected to the motor encoder 7, a second controller 9 electrically connected to the servo motor 3, and a power module 10 for supplying power to the propeller driving module 6.
The tail of the unmanned boat main body 1 is provided with a motor mounting seat 11, and the servo motor 3 and the speed reducer 4 are fixedly arranged on the motor mounting seat 11.
The propeller drive module 6 includes a drive motor 61 and a propeller 62 that is driven by the drive motor 61 to rotate. The drive motor 61 is mounted in a sealed housing which is fixedly arranged at the bottom end of the rotary output shaft 5.
The first controller 8 is in signal communication with the second controller 9 and the power module 10.
The first controller 8, the second controller 9, and the power module 10 are provided on the mounting baseplate 2.
When the direction of the propeller needs to be adjusted, the second controller 9 controls the rotation output of the servo motor 3 according to the current angle of the rotation output shaft 5 acquired by the first controller 8 and the angle adjustment command, so that the rotation output shaft 5 rotates with high precision, the angle of the propeller reaches the angle required by the command, the angle of the rotation output shaft 5 is monitored in real time through the motor encoder 7, and the servo motor 3 stops working after the set angle is reached.
In this embodiment, the second controller 9 is provided with a wireless communication module therein, and performs information interaction with the control center through the wireless communication module.
The unmanned ship automatic rudder-swinging control device 100 sets a propeller driving module on a rotating shaft, realizes automatic rotation of the rotating shaft through a servo motor, and is matched with a motor encoder to monitor the rotating angle of the rotating shaft in real time so as to realize angle control of the rotating shaft, and further realizes automatic swing control of propeller angles.
What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the invention.
Claims (5)
1. The utility model provides an automatic helm control device that sways of unmanned ship which characterized in that: it includes unmanned ship main part, sets up the servo motor of unmanned ship main part afterbody, with the speed reducer that the servo motor output is connected, set up and be in the rotatory output shaft of speed reducer output, fixed the setting are in rotatory output shaft is terminal and be located unmanned ship main part afterbody below screw drive module, be located rotatory output shaft upper end and detection rotatory output shaft rotation angle's motor encoder, with motor encoder circuit connection's first controller, with servo motor circuit connection's second controller and do the power module of screw drive module power supply.
2. The unmanned boat autopilot control device of claim 1 wherein: the tail of the unmanned boat main body is provided with a motor mounting seat, and the servo motor and the speed reducer are fixedly arranged on the motor mounting seat.
3. The unmanned boat autopilot control device of claim 1 wherein: the propeller driving module comprises a driving motor and a propeller driven by the driving motor to rotate.
4. The unmanned boat autopilot control device of claim 3 wherein: the driving motor is installed in a closed shell, and the shell is fixedly arranged at the bottom end of the rotary output shaft.
5. The unmanned boat autopilot control device of claim 1 wherein: the first controller is in signal communication with the second controller and the power module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010183044.8A CN111413967A (en) | 2020-03-16 | 2020-03-16 | Automatic rudder-swinging control device of unmanned ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010183044.8A CN111413967A (en) | 2020-03-16 | 2020-03-16 | Automatic rudder-swinging control device of unmanned ship |
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| Publication Number | Publication Date |
|---|---|
| CN111413967A true CN111413967A (en) | 2020-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010183044.8A Pending CN111413967A (en) | 2020-03-16 | 2020-03-16 | Automatic rudder-swinging control device of unmanned ship |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080056401A (en) * | 2006-12-18 | 2008-06-23 | 대우조선해양 주식회사 | Pod propulsion system including rudder and hydroplanes for submarine |
| CN205311877U (en) * | 2016-01-25 | 2016-06-15 | 武汉尼维智能科技有限公司 | Unmanned ship course control device of surface of water |
| CN205581642U (en) * | 2016-03-14 | 2016-09-14 | 武汉理工大学 | Unmanned ship self -adaptation steering engine control system based on STM32 |
| CN206704473U (en) * | 2017-03-27 | 2017-12-05 | 武汉理工大学 | A kind of unmanned boat for possessing accurate collision prevention function |
| CN107444603A (en) * | 2017-08-16 | 2017-12-08 | 广州海工船舶设备有限公司 | A kind of new ship full circle swinging oar stepping is come about control system and method |
| CN211698711U (en) * | 2020-03-16 | 2020-10-16 | 昆山市卫航智能技术有限公司 | Automatic rudder-swinging control device of unmanned ship |
-
2020
- 2020-03-16 CN CN202010183044.8A patent/CN111413967A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20080056401A (en) * | 2006-12-18 | 2008-06-23 | 대우조선해양 주식회사 | Pod propulsion system including rudder and hydroplanes for submarine |
| CN205311877U (en) * | 2016-01-25 | 2016-06-15 | 武汉尼维智能科技有限公司 | Unmanned ship course control device of surface of water |
| CN205581642U (en) * | 2016-03-14 | 2016-09-14 | 武汉理工大学 | Unmanned ship self -adaptation steering engine control system based on STM32 |
| CN206704473U (en) * | 2017-03-27 | 2017-12-05 | 武汉理工大学 | A kind of unmanned boat for possessing accurate collision prevention function |
| CN107444603A (en) * | 2017-08-16 | 2017-12-08 | 广州海工船舶设备有限公司 | A kind of new ship full circle swinging oar stepping is come about control system and method |
| CN211698711U (en) * | 2020-03-16 | 2020-10-16 | 昆山市卫航智能技术有限公司 | Automatic rudder-swinging control device of unmanned ship |
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