CN201673410U - Unmanned air cushion survey vehicle remote measuring and control device - Google Patents
Unmanned air cushion survey vehicle remote measuring and control device Download PDFInfo
- Publication number
- CN201673410U CN201673410U CN2010201054769U CN201020105476U CN201673410U CN 201673410 U CN201673410 U CN 201673410U CN 2010201054769 U CN2010201054769 U CN 2010201054769U CN 201020105476 U CN201020105476 U CN 201020105476U CN 201673410 U CN201673410 U CN 201673410U
- Authority
- CN
- China
- Prior art keywords
- air cushion
- course
- remote
- unmanned air
- remote measuring
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Selective Calling Equipment (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
Abstract
The utility model relates to a remote measuring and control device, and solves the technical problem that the provided device can accurately control sailing and work for an air cushion vehicle remotely, and has the advantages of high safety, accurate measuring data and fine steadiness of air cushion vehicle sailing. The technical scheme of the device includes that the remote measuring and control device comprises a ground remote control system arranged on a river bank, and an onboard remote measuring system and a heading stabilizing system which are installed on the unmanned air cushion survey vehicle. The ground remote control system comprises a remote control rod, a ground wireless transceiver and a matched antenna, and the ground remote control system generates control commands such as starting, stopping and the like and orders such as heading set, speed set and the like to control sailing of an air cushion vehicle. The onboard remote measuring system comprises an onboard wireless transceiver, an angular speed sensor, a digital compass, a receiver for GPS and an antenna.
Description
Technical field
The utility model relates to a kind of remote measuring and controlling device, especially the remote measuring and controlling device that the hovermarine of measuring river topography on the narrow water surface of torrent is carried out remote measurement and control.
Background technology
Huge water resources is being contained in the region, river course in the big southwest of China.Yet because the river is narrow, with a varied topography, The turbulent river crashes its way through, surveying vessel transports difficulty, and it is very big therefore to survey the hydrologic data difficulty.The tradition investigation method is the canoe that carries sonar equipment with the manpower pulling, and laterally navigation is surveyed river topography on the river course.Classic method is with low content of technology; Expend lot of manpower and material resources; Torrent, whirlpool are easy to canoe is toppled, and cause casualties, the device damage accident.
For addressing the above problem, the inventor proposes to adopt unmanned air cushion surveying vessel, at torrent water surface Shanghai Airways, Ltd.'s row and carry out remote control exploration, can effectively avoid the influence of torrent and whirlpool and operation stably.Conventional air cushion vehicle is direct operated aboard ship by the people, in case accident can cause the Personal Risk; Hull is bigger, is difficult for turning on narrow river course; Can't carry out accurate course and measure and control, be difficult on the dangerous torrent river course and carry out operation.
The utility model content
The technical problems to be solved in the utility model provides the remote measuring and controlling device of the unmanned air cushion surveying vessel of a cover, and this device can accurately be controlled in long-range navigation and operation to hovermarine; Have characteristics safe, that measurement data accurate, the hovermarine navigation stability is good.
The technical scheme that the utility model provides is: unmanned air cushion surveying vessel remote measuring and controlling device comprises the ground remote control system that is arranged on the riverbank, is installed in boat-carrying telemetry system and course stability augmentation system on the unmanned air cushion surveying vessel.
Described ground remote control system comprises the remote-control lever that the surface work personnel control, terrestrial wireless receiver/transmitter and the supporting antenna that is used to transmit and receive digital signal.The ground remote control system according to actual job arrangement send orders such as steering order such as startup, parking and course setting, speed setting, the operation of control hovermarine.
Described boat-carrying telemetry system comprises angular-rate sensor, the digital compass that is used to measure the hovermarine course that is used to receive ground order and following boat-carrying wireless receiver and the supporting antenna that passes the hydrographic survey data and navigate by water attitude data, is used to measure the hovermarine course angle, GPS receiver and the antenna that is used to measure the hovermarine longitude and latitude.
Described course stability augmentation system comprises main control computer, actuating motor driver; Described digital compass and angular-rate sensor also send angular velocity and course information to the course stability augmentation system.
Principle of work of the present utility model is: the ground control personnel send steering order by remote-control lever 5 on the riverbank, and the wireless transmit receiver of the wireless transmit receiver by ground 3 and boat-carrying carries out the data communication on the Radio Link, thereby startup, parking, navigation direction and the speed and the measuring sonde of control air cushion surveying vessel 2 is flexible etc.The boat-carrying telemetry system is sent to information such as course angle speed, course, latitude and longitude coordinates and the sea level elevation of hovermarine, hydrographic survey data in the ground control station by wireless data link by devices such as angular-rate sensor, digital compass and GPS.After the course stability augmentation system receives terrestrial operation personnel's course setting command, the course value that measures according to digital compass, calculate according to the control law in the main control computer, drive motor changes the thrust that advances airduct, makes the air cushion ship's head level off to set course; Introducing course angle speed closed loop can increase the course rotary damping, increases the stability that turns to, and effectively prevents the disturbance to the hovermarine course such as torrent, crosswind.
The novel beneficial effect of this use is: the remote measuring and controlling device that is adopted is used for the air cushion surveying vessel, can on the riverbank, carry out Long-distance Control to surveying vessel, and obtain accurately detailed measurement data in real time, and then realized the unmanned of air cushion surveying vessel and control, greatly reduce the personal risk of measurement; The course stability augmentation system has strengthened the stability that hovermarine is turned greatly, can offset torrent, crosswind effectively and stretch the interference to the hovermarine course such as probe down, improved the course and kept precision, and then guaranteed the remote measuring and controlling data accurately.
Description of drawings
Fig. 1 is a user mode synoptic diagram of the present utility model.
Fig. 2 is that the telemetering and remote control system in the utility model is formed synoptic diagram.
Fig. 3 is that the course stability augmentation system in the utility model is formed synoptic diagram.
Embodiment
As shown in the figure, unmanned air cushion surveying vessel 2 navigates by water in river 1, and the sonar feeler lever that is installed in hull bottom is surveyed the landform in river.The remote measuring and controlling device of this unmanned air cushion surveying vessel is divided into ground and two parts of boat-carrying, and carries out data communication by the double-direction radio receiver/transmitter; Wherein, the remote-control lever 5 of above ground portion is controlled by the personnel of controlling, the control signal that is produced inserts land station (among Fig. 1, computing machine 4 is as land station) in, send signal by wireless transmit receiver and supporting antenna 3, enter the main control computer of boat-carrying by Radio Link, land station then writes down and shows hovermarine status signal and the hydrographic survey signal that is sent by Radio Link (being transmitted by boat-carrying wireless receiver and supporting antenna 2-1) by the boat-carrying main control computer; The core of boat-carrying part is a main control computer, and it receives measuring-signal, the locating information of GPS and the hydrographic information of measuring sonde etc. of control signal, angular-rate sensor and the digital compass of land station, realizes the calculating of control law, finishes the drive motor task.
The course stability augmentation system is as the part of telechirics, and main effect is the damping that turns to that will increase hovermarine, keeps the course-stability of hovermarine, reduces torrent etc. and disturbs influence to hovermarine, reduces the personnel's that control on-stream pressure etc.The CONTROL LAW DESIGN of stability augmentation system has been taked the tandem control mode, and divide inside and outside two-layer: outer field direction controller provides the setting value of course angle speed, as the input of internal layer by the set course of calculation control bar and the measurement course of digital compass; The angular rate control unit of internal layer calculates the angular velocity measurement value of outer field set-point and angular-rate sensor, provides the controlled quentity controlled variable that outputs to motor driver, thereby realizes the control to hovermarine.
All controlling parts, parts in the utility model and install whole buyables.
Claims (4)
1. unmanned air cushion surveying vessel remote measuring and controlling device is characterized in that this device comprises the ground remote control system that is arranged on the riverbank, is installed in boat-carrying telemetry system and course stability augmentation system on the unmanned air cushion surveying vessel.
2. unmanned air cushion surveying vessel remote measuring and controlling device according to claim 1 is characterized in that described ground remote control system comprise the surface work personnel remote-control lever of controlling (5), terrestrial wireless receiver/transmitter and the supporting antenna (3) that is used to transmit and receive digital signal.
3. unmanned air cushion surveying vessel remote measuring and controlling device according to claim 1 and 2 is characterized in that described boat-carrying telemetry system comprises angular-rate sensor, the digital compass that is used to measure the hovermarine course that is used to receive ground order and following boat-carrying wireless receiver and the supporting antenna (2-1) that passes the hydrographic survey data and navigate by water attitude data, is used to measure the hovermarine course angle, GPS receiver and the antenna that is used to measure the hovermarine longitude and latitude.
4. unmanned air cushion surveying vessel remote measuring and controlling device according to claim 3 is characterized in that described course stability augmentation system comprises main control computer, actuating motor driver; Described digital compass and angular-rate sensor also send angular velocity and course information to the course stability augmentation system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201054769U CN201673410U (en) | 2010-01-27 | 2010-01-27 | Unmanned air cushion survey vehicle remote measuring and control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010201054769U CN201673410U (en) | 2010-01-27 | 2010-01-27 | Unmanned air cushion survey vehicle remote measuring and control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201673410U true CN201673410U (en) | 2010-12-15 |
Family
ID=43330821
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010201054769U Expired - Lifetime CN201673410U (en) | 2010-01-27 | 2010-01-27 | Unmanned air cushion survey vehicle remote measuring and control device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201673410U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102673744A (en) * | 2012-05-25 | 2012-09-19 | 杨卓 | Hydrology remote control power-driven ship |
| CN102692924A (en) * | 2012-05-10 | 2012-09-26 | 西北工业大学 | Experimental control structure of unmanned surface vessel |
| CN103461257A (en) * | 2013-09-13 | 2013-12-25 | 中国水产科学研究院渔业机械仪器研究所 | Automatic feeding system for aquaculture pond |
| CN108120987A (en) * | 2017-12-21 | 2018-06-05 | 云南大学 | The underwater river topography measuring device and measuring method of a kind of great rivers |
| CN112947046A (en) * | 2021-01-27 | 2021-06-11 | 上海海迅机电工程有限公司 | Hovercraft self-navigation model remote control system and control method |
-
2010
- 2010-01-27 CN CN2010201054769U patent/CN201673410U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102692924A (en) * | 2012-05-10 | 2012-09-26 | 西北工业大学 | Experimental control structure of unmanned surface vessel |
| CN102673744A (en) * | 2012-05-25 | 2012-09-19 | 杨卓 | Hydrology remote control power-driven ship |
| CN102673744B (en) * | 2012-05-25 | 2015-03-11 | 杨卓 | Hydrology remote control power-driven ship |
| CN103461257A (en) * | 2013-09-13 | 2013-12-25 | 中国水产科学研究院渔业机械仪器研究所 | Automatic feeding system for aquaculture pond |
| CN103461257B (en) * | 2013-09-13 | 2014-11-26 | 中国水产科学研究院渔业机械仪器研究所 | Automatic feeding system for aquaculture pond |
| CN108120987A (en) * | 2017-12-21 | 2018-06-05 | 云南大学 | The underwater river topography measuring device and measuring method of a kind of great rivers |
| CN112947046A (en) * | 2021-01-27 | 2021-06-11 | 上海海迅机电工程有限公司 | Hovercraft self-navigation model remote control system and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10431099B2 (en) | Collision avoidance systems and methods | |
| CN201673410U (en) | Unmanned air cushion survey vehicle remote measuring and control device | |
| JP2018155765A (en) | Compensation of magnetic data for autonomous underwater vehicle mapping surveys | |
| CN103176451B (en) | Ship sailing aiding and formation commanding method | |
| CN102288170B (en) | Correction method of electronic compass in underwater vehicle | |
| CN107953350A (en) | It is a kind of to be used to detect the underwater robot control system with operation | |
| CN106527491A (en) | Control system for fixed-wing unmanned aerial vehicle and horizontal and lateral flight track control method | |
| CN105270583A (en) | Measuring type unmanned ship and measuring method thereof | |
| JP2012528417A (en) | Computer-aided ship maneuvering method | |
| CN103910053A (en) | Unmanned observation control ship and unmanned observation control system | |
| CN101519117A (en) | Ship rudder/wing rudder-fin/wing fin combined control method | |
| CN204037874U (en) | Measurement type unmanned boat | |
| CN108549396A (en) | A kind of Dual-motors Driving unmanned boat control system based on STM32F429 | |
| RU2483327C2 (en) | Integrated system for navigation and controlling movement for self-contained unmanned underwater vehicles | |
| CN105549602A (en) | UUV active bottom sitting method assisted by buoyancy balancing device | |
| CN103940411A (en) | Portable cableless fixed-point profiler | |
| CN111152923B (en) | Underwater terrain measuring device based on vertical take-off and landing fixed wing amphibious unmanned aerial vehicle | |
| CN203864985U (en) | Unmanned measurement and control ship and unmanned measurement and control system | |
| CN108116642A (en) | A kind of semi-submersible offshore profiling observation intelligent robot | |
| CN103832553A (en) | Small automatic unmanned surveying vessel | |
| JPS61142488A (en) | Marine probing method by utilizing one or more of remote control ship | |
| CN108776428A (en) | A kind of Autonomous Underwater Vehicle four-way coupling control method | |
| US20190317236A1 (en) | Autonomous Marine Survey Nodes | |
| EP3389021B1 (en) | Indicator method and system for a vessel | |
| CN113501092B (en) | Marine survey system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term |
Granted publication date: 20101215 |
|
| CX01 | Expiry of patent term |