CN207249488U - A kind of amphibious unmanned boat control system - Google Patents
A kind of amphibious unmanned boat control system Download PDFInfo
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- CN207249488U CN207249488U CN201721337159.8U CN201721337159U CN207249488U CN 207249488 U CN207249488 U CN 207249488U CN 201721337159 U CN201721337159 U CN 201721337159U CN 207249488 U CN207249488 U CN 207249488U
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Abstract
It the utility model is related to amphibious unmanned boat technical field, there is provided a kind of amphibious unmanned boat control system.The control system includes subsystem, comprehensive management subsystem, data administration subsystem, marine engine Monitor And Control Subsystem, intelligent rudder control subsystem, land engine Monitor And Control Subsystem, caterpillar drive control subsystem, power distribution communication cabinet and drives platform, set dual CAN bus to realize subsystem to the real time monitoring of subsystem and load equipment in amphibious unmanned boat wherein in power distribution communication cabinet, and meet the power demands of different loads equipment in amphibious unmanned boat using the power bus for having the level power supply such as two；With subsystem, core realizes amphibious unmanned boat in the multi-environment middle normal operation such as land, shoal and waters in order to control.The utility model specify that the control thinking that amphibious unmanned boat uses when communication, power supply, automatic control and test, greatly improve the validity and continuation that switching is controlled under amphibious unmanned boat different operating environment.
Description
【Technical field】
Unmanned boat technical field is the utility model is related to, more particularly to a kind of control of amphibian amphibious unmanned boat
System.
【Background technology】
As automation and the engineening goods such as computer technology progress, unmanned vehicle/unmanned boat are more and more applied to life
In, but still lack the robot system that can meet land delivery and across the scene automated job demand of waters ferry-boat at the same time.Land and water
Amphibious unmanned boat has land vehicle and water craft function concurrently, has gathered the two-fold advantage of automobile and ship, can on land and
In water and land and water boundary region plays special performance, and can make up unmanned boat can not voluntarily debark, and hardly possible is navigated by water in unmanned vehicle water
Shortcoming, has very wide application market prospect.
Amphibious unmanned boat is suitable for oil and gas piping laying, flood control, petroleum geology exploration waterborne, ship in civil field
Only berth unloading, tourism, cultivation waterborne etc.；In military field, amphibious unmanned boat has the conduct space of bigger, and China possesses vast
Offshore sea waters, consider from coast defence and frontier defense, the feelings such as amphibious unmanned boat can be adapted for no harbour island or berthing conditions are severe
Normal operation under condition, moreover it is possible to meet frontier defense patrol when land and water alternating road conditions, as in shallow water ship can not by or deep water in battlebus
Impassable situation；Amphibious unmanned boat can realize the region of easy ponding uninterrupted accessible patrol.
Existing amphibious equipment, which is laid particular emphasis on, to be possessed on stronger protective capacities and aggressive landing craft, mostly manned
Amphibious unmanned boat, with technology constantly improve many occasions to equipment it is unmanned wait proposition completely newly require, can realize for this
The amphibious unmanned boat of automatic Pilot becomes research focus；Amphibious unmanned boat is travelled according to land, water-area navigation, land and water switching it is more
Environment self-adaption demand, it is more to possess operating mode, and switching is frequent, and the evident characteristic such as data volume is big, power supply classification, then need proposition to possess
New control system, communication structure, the amphibious unmanned boat of power supply plan, could meet increasingly complicated amphibious unmanned boat business need
Ask.
In consideration of it, it is the art urgent problem to be solved present in the prior art product to overcome the shortcomings of.
【Utility model content】
The technical problems to be solved in the utility model be in the prior art robot to take into account land traveling and water sailing
Dual requirements when, currently without the amphibious unmanned boat with efficient control, communication, power supply management system and control method,
To meet increasingly complicated amphibious business demand.
The utility model adopts the following technical solution：
The utility model provides a kind of amphibious unmanned boat control system, and control system includes：Subsystem, distribution lead to
Believe cabinet, comprehensive management subsystem, data administration subsystem, marine engine Monitor And Control Subsystem, intelligent rudder control subsystem, Lu Yong
Engine monitoring subsystem, caterpillar drive control subsystem and drive platform；Each subsystem and master control in control system
System is connected, and control system is installed in amphibious unmanned boat control cabinet, for monitoring amphibious unmanned boat load equipment；
Further include caterpillar system in amphibious unmanned boat, the hydraulic track in the caterpillar system, which has, to be folded and stretching, extension operation
Function, the control of the caterpillar drive control subsystem and caterpillar system connects, for controlling amphibious unmanned boat land traveling shape
State；Intelligent rudder control subsystem is connected with the control of spray pump system, for controlling amphibious unmanned boat waters transport condition；Platform is driven to set
Put on the operation panel in control cabinet, exercise test control can be realized to amphibious unmanned boat by driving platform by control.
Preferably, the comprehensive management subsystem and sounding instrument, searchlight, weather station, draining pump, mast lodging system,
Fuel sensor is connected with the one or more in voltage sensor.
The data administration subsystem is used to complete data storage and forwarding, and wherein data include static data, dynamic number
According to and/or voyage data.
The marine engine Monitor And Control Subsystem is connected with marine engine.
The land engine Monitor And Control Subsystem is connected with land engine.
Preferably, CAN data/address bus and power bus are installed in power distribution communication cabinet；The CAN data/address bus is set altogether
For two, including CAN0 data/address bus and CAN1 data/address bus, form dual CAN bus communication system；The power bus configuration
There are two power cords, two power cords are respectively that amphibious unmanned boat provides two grade power cords, and two grade power cords include
12VDC power bus 17 and 24VDC power bus.
Preferably, the subsystem 1 possesses two CAN interfaces, and two CAN interfaces are connected to power distribution communication cabinet
On 2 CAN0 data/address bus and CAN1 data/address bus；The comprehensive management subsystem, data administration subsystem, marine engine
Monitor And Control Subsystem, intelligent rudder control subsystem, land engine Monitor And Control Subsystem, caterpillar drive control subsystem and drive platform warp
By carrying out data interaction between power distribution communication cabinet and subsystem；It is the comprehensive management subsystem, data administration subsystem, peculiar to vessel
Engine monitoring subsystem, intelligent rudder control subsystem, land engine Monitor And Control Subsystem, caterpillar drive control subsystem and drive
Control platform respectively possesses 1 CAN interface, and is connected to by respective CAN interface on CAN0 data/address bus.
Preferably, the comprehensive management subsystem, data administration subsystem, marine engine Monitor And Control Subsystem, intelligent rudder
Control subsystem, land engine Monitor And Control Subsystem, caterpillar drive control subsystem, drive platform and monitor it in real time and connect equipment
Floor data；
The subsystem is connected by CAN0 data/address bus and monitors comprehensive management subsystem in real time, data management
System, marine engine Monitor And Control Subsystem, intelligent rudder control subsystem, land engine Monitor And Control Subsystem, caterpillar drive control
Subsystem and the status data for driving platform, and son is monitored by comprehensive management subsystem, data administration subsystem, marine engine
System, intelligent rudder control subsystem, land engine Monitor And Control Subsystem, caterpillar drive control subsystem and drive platform and refer to control
Order is transmitted to the corresponding direct-connected load equipment of each system.
The subsystem is connected by CAN1 data/address bus and monitoring marine engine and land engine in real time
Operating condition data.
Preferably, it is described drive platform include throttle push rod, land machine monitoring panel, ship machine monitoring panel, land electromechanics source switch,
One or more in ship electromechanics source switch, steering wheel, land machine start-stop button, ship machine start-stop button and ship machine scram button.
The throttle push rod is connected by CAN0 data/address bus with subsystem 1.
The land machine monitoring panel is connected by data cable with land engine；The ship machine monitoring panel passes through data cable
It is connected with marine engine；The land electromechanics source switch is connected by power cord with land engine；The ship electromechanics source switch
It is connected by power cord with marine engine；The steering pump access spray pump system of the steering wheel.
The land machine start-stop button 55 is connected by CAN0 data/address bus with subsystem, ship machine start-stop button and ship machine
Scram button is connected by CAN0 data/address bus with subsystem.
Preferably, it is described drive in platform throttle push rod by CAN0 data/address bus via subsystem by under control instruction
Issue intelligent rudder control subsystem and caterpillar drive control subsystem；Land machine monitoring panel is directly connected to collect simultaneously by data cable
Show the running state information of land engine；Ship machine monitoring panel is directly connected to collect and shows peculiar to vessel start by data cable
The running state information of machine；Land electromechanics source switch is land engine electronic control unit (Electronic by power cord
Control Unit, are abbreviated as ECU) power on signal is provided；Ship electromechanics source switch is provided by power cord for marine engine ECU
Power on signal；Steering wheel realizes directly controlling for spray pump system steering；Steering wheel is by CAN0 data/address bus via master control subsystem
Steering order is handed down to caterpillar drive control subsystem by system.
Preferably, the 12VDC power bus of the power distribution communication cabinet and 24VDC power bus and the 12VDC of storage battery group
Two are waited level power supply to connect with 24VDC, for powering to load equipment in amphibious unmanned boat and control system, and for being wind
One or more power supply in machine, compass, navigation lights and VHF communication platform.
The power distribution communication cabinet is connected by 24VDC power bus with searchlight, and relay is provided with 24VDC power bus
Device switchs, and the comprehensive management subsystem is conveyed by the power supply for controlling relay switch to control searchlight.
The power distribution communication cabinet by 24VDC power bus respectively with subsystem, comprehensive management subsystem, data pipe
Manage subsystem, marine engine monitoring system, intelligent rudder control subsystem, land engine monitoring system, caterpillar drive control
Subsystem, drive platform, marine engine, land engine, hydraulic track system, mast lodging system, inertial navigation system, Big Dipper electricity
Platform, AIS systems, millimetre-wave radar, electro optical reconnaissance system are connected with draining pump, and the control system is by controlling 24VDC power supplys
Bus marco is powered.
The power distribution communication cabinet by 12VDC power bus respectively with weather station, sounding instrument, VHF communication platform, laser
Radar, preceding camera, cabin camera, broadband radio are connected with digital radio station, and the control system is by controlling 12VDC power supplys
Bus marco is powered.
The beneficial effects of the utility model are：
Amphibious unmanned boat control system specify that amphibious unmanned boat in communication, power supply, automatic control and test in the utility model
When the control thinking that uses, greatly improve validity that switching is controlled under amphibious unmanned boat different operating environment and
Continuation.
Further, amphibious unmanned boat active force equipment is largely run data by double CAN data/address bus and miscellaneous equipment is run
Data are monitored isolation, and parallel processing greatly improves communication network data transmission capacity, so as to ensure that core drive is set
The validity of standby emphasis monitoring, also ensure that the validity of monitoring device data transfer.
This control system is into amphibious unmanned boat so that amphibious unmanned boat can efficiently respond and meet land transportation, water
The multi-environment operation demands such as domain is navigated by water and land and water is changed.
【Brief description of the drawings】
, below will be in the utility model embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Required attached drawing is briefly described.It should be evident that drawings described below is only the one of the utility model
A little embodiments, for those of ordinary skill in the art, without creative efforts, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is subsystem structure diagram in the amphibious unmanned boat control system that the utility model embodiment provides；
Fig. 2 is power distribution communication cabinet schematic diagram in the amphibious unmanned boat control system that the utility model embodiment provides；
Fig. 3 is comprehensive management subsystem structural representation in the amphibious unmanned boat control system that the utility model embodiment provides
Figure；
Fig. 4 is data administration subsystem structural representation in the amphibious unmanned boat control system that the utility model embodiment provides
Figure；
Fig. 5 is marine engine Monitor And Control Subsystem knot in the amphibious unmanned boat control system that the utility model embodiment provides
Structure schematic diagram；
Fig. 6 is that intelligent rudder control subsystem structure is shown in the amphibious unmanned boat control system that the utility model embodiment provides
It is intended to；
Fig. 7 is land engine Monitor And Control Subsystem knot in the amphibious unmanned boat control system that the utility model embodiment provides
Structure schematic diagram；
Fig. 8 is caterpillar drive control subsystem structure in the amphibious unmanned boat control system that the utility model embodiment provides
Schematic diagram；
Fig. 9 is the structure diagram that platform is driven in the amphibious unmanned boat control system that the utility model embodiment provides；
Figure 10 is the amphibious unmanned boat control system and subsystems connection diagram that the utility model embodiment provides；
Figure 11 is that land traveling flow chart is kept in the automatic motion control that the utility model embodiment provides；
Figure 12 is that land traveling switchs to water-area navigation flow chart in the automatic motion control that the utility model embodiment provides；
Figure 13 is that water-area navigation flow chart is kept in the automatic motion control that the utility model embodiment provides；
Figure 14 is that water-area navigation switchs to land traveling flow chart in the automatic motion control that the utility model embodiment provides；
Figure 15 is that water-area navigation and land travel and deposits flow in the automatic motion control that the utility model embodiment provides
Figure；
Figure 16 is that land traveling flow chart is kept in the exercise test control that the utility model embodiment provides；
Figure 17 is to stop land traveling flow chart in the exercise test control that the utility model embodiment provides；
Figure 18 is to keep water-area navigation flow chart in the exercise test control that the utility model embodiment provides；
Figure 19 is to stop water-area navigation flow chart in the exercise test control that the utility model embodiment provides；
Figure 20 is water-area navigation emergency stop flow chart in the exercise test control that the utility model embodiment provides；
In figure：1st, subsystem；2nd, power distribution communication cabinet；3rd, comprehensive management subsystem；4th, data administration subsystem；5th, ship
With engine monitoring subsystem；6th, intelligent rudder control subsystem；7th, land engine Monitor And Control Subsystem；8th, caterpillar drive control
System；9th, platform is driven；10th, the control panel of subsystem；11st, the CAN0 interfaces of subsystem；12nd, subsystem
CAN1 interfaces；13rd, the direct-connected communication interface of subsystem；14th, the power inlet of subsystem；15th, CAN0 data are total
Line；16th, CAN1 data/address bus；17th, 12VDC power bus；18th, 24VDC power bus；19th, the power input of power distribution communication cabinet
Mouthful；20th, the direct current transducer of 12VDC power supplys；21st, the direct current transducer of 24VDC power supplys；22nd, the control of comprehensive management subsystem
Plate；23rd, comprehensive management subsystem CAN0 interfaces；24th, the power inlet of comprehensive management subsystem；25th, comprehensive management subsystem
Direct-connected communication interface；26th, the control panel of data administration subsystem；27th, the CAN0 interfaces of data administration subsystem；28th, data
Manage the memory of subsystem；29th, the power inlet of data administration subsystem；30th, the direct-connected communication of data administration subsystem
Interface；31st, the control panel of marine engine Monitor And Control Subsystem；32nd, the CAN0 interfaces of marine engine Monitor And Control Subsystem；33rd, ship
With the power inlet of engine monitoring subsystem；34th, the direct-connected communication interface of marine engine Monitor And Control Subsystem；35th, intelligence
The control panel of rudder control subsystem；36th, the CAN0 interfaces of intelligent rudder control subsystem；37th, the power supply of intelligent rudder control subsystem
Input port；38th, the direct-connected communication interface of intelligent rudder control subsystem；39th, the control panel of land engine Monitor And Control Subsystem；40、
The CAN0 interfaces of land engine Monitor And Control Subsystem；41st, the power inlet of land engine Monitor And Control Subsystem；42nd, Lu Yongfa
The direct-connected communication interface of motivation Monitor And Control Subsystem；43rd, the control panel of caterpillar drive control subsystem；44th, caterpillar drive control
The CAN0 interfaces of system；45th, the power inlet of caterpillar drive control subsystem；46th, caterpillar drive control subsystem is direct-connected
Communication interface；47th, the CAN0 interfaces of platform are driven；48th, the direct-connected communication interface of platform is driven；49th, throttle push rod；50th, steering wheel；
51st, land electromechanics source switch；52nd, ship electromechanics source switch；53rd, ship machine monitoring panel；54th, land machine monitoring panel；55th, machine start and stop in land are pressed
Button；56th, ship machine start-stop button；57th, ship machine scram button；58th, spray pump system；59th, marine engine；60th, hydraulic track system；
61st, land engine；62nd, inertial navigation system；63rd, AIS systems.
【Embodiment】
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, is further elaborated the utility model.It should be appreciated that specific embodiment described herein is only explaining
The utility model, is not used to limit the utility model.
In the description of the utility model, term " interior ", " outer ", " longitudinal direction ", " transverse direction ", " on ", " under ", " top ", " bottom "
Orientation or position relationship Deng instruction are based on orientation shown in the drawings or position relationship, are for only for ease of and describe this practicality newly
Type rather than require the utility model must be with specific azimuth configuration and operation, therefore be not construed as to the utility model
Limitation.
As long as in addition, technical characteristic involved in each embodiment of the utility model disclosed below each other it
Between do not form conflict and can be mutually combined.
Embodiment 1:
As shown in Fig. 1-Figure 10, a kind of amphibious unmanned boat control system is present embodiments provided, including：Subsystem 1,
Power distribution communication cabinet 2, comprehensive management subsystem 3, data administration subsystem 4, marine engine Monitor And Control Subsystem 5, intelligent rudder control
Subsystem 6, land engine Monitor And Control Subsystem 7, caterpillar drive control subsystem 8, drive platform 9；Each subsystem in control system
System is connected with the subsystem 1, and control system is installed in amphibious unmanned boat control cabinet, monitors amphibious unmanned boat load and sets
It is standby；Subsystem 1, which is installed in a control cabinet, forms a main control box, comprehensive management subsystem 3, data management subsystem
System 4, marine engine Monitor And Control Subsystem 5, intelligent rudder control subsystem 6, land engine Monitor And Control Subsystem 7, caterpillar drive control
Subsystem 8 is respectively arranged separately in 6 sub- control cabinets of formation in 1 sub- control cabinet；The main control box of subsystem 1 is installed on
In control cabinet；The comprehensive management subsystem 3, data administration subsystem 4, inertial navigation system 62, marine engine Monitor And Control Subsystem
5th, intelligent rudder control subsystem 6, land engine Monitor And Control Subsystem 7, the sub- control cabinet of caterpillar drive control subsystem 8 are installed on
In control cabinet；Power distribution communication cabinet 2 is installed in piggyback pod on the quarter；Platform 9 is driven in cockpit.
In Fig. 1-10, different system has the identical structure of title, in order to show each system with reference to attached drawing is clearer
Between connection relation, the identical structure of title is marked with different labels in drawing reference numeral.
The associated amphibious unmanned ship equipment of control system further includes：Storage battery group, marine engine 59, fuel tank, Lu Yong
Engine 61, spray pump system 58, hydraulic track system 60, mast lodging system, preceding camera, cabin camera, searchlight, gas
As station, sounding instrument, inertial navigation system 62, Big Dipper radio station, digital radio station, broadband radio, VHF communication platform, ship automatic identification system
Unite 63 (Automatic Identification System, abbreviation AIS), millimetre-wave radar, laser radar, photoelectronic reconnaissance system
System, draining pump, fuel sensor and voltage sensor；The hydraulic track is foldable and stretching, extension caterpillar system, and crawler belt is transported
Dynamic control subsystem 8 is connected with caterpillar system control, for controlling amphibious unmanned boat land transport condition；Intelligent rudder controls subsystem
System 6 is connected with the control of spray pump system 58, for controlling amphibious unmanned boat waters transport condition；Platform 9 is driven to be arranged in control cabinet
Operation panel on, drive platform 9 by control and can realize exercise test control to amphibious unmanned boat.
Control system is connected with digital radio station, broadband radio and VHF communication platform communication control；Control system and electric power storage
Pond group, marine engine 59, fuel tank, land engine 61, spray pump system 58, hydraulic track system 60, mast lodging system
Control connection is supplied with draining pumping source；Control system and preceding camera, cabin camera, searchlight, weather station, sounding instrument,
Inertial navigation system 62, Big Dipper radio station, AIS systems 63, millimetre-wave radar, laser radar, electro optical reconnaissance system, fuel sensor and electricity
Pressure sensor connects, and receives the status data for the amphibious unmanned boat that each equipment detects.
As shown in Figure 10, CAN0 data/address bus 15 and CAN1 data/address bus 16 are the data/address bus of power distribution communication cabinet 2；Such as
Shown in Fig. 2, controller local area network (Controller Area Network, referred to as CAN) is installed in power distribution communication cabinet 2
Data/address bus and power bus；The CAN data cables set two, including CAN0 data/address bus 15 and CAN1 data/address bus altogether
16, form dual CAN bus communication system.
Subsystem 1 as shown in Figure 1 possesses two CAN interfaces and is connected to the dual CAN bus of power distribution communication cabinet 2
On the CAN0 data/address bus 15 and CAN1 data/address bus 16 of communication system, i.e., subsystem 1 passes through CAN0 interfaces 11 and CAN0
Data/address bus 15 is connected, and is connected by CAN1 interfaces 12 with CAN1 data/address bus 16；Subsystem 1 further includes 10 He of control panel
Direct-connected communication interface 13, wherein direct-connected communication interface 13 passes through the direct-connected broadband radio of data cable, digital radio station, Big Dipper radio station, preceding
The equipment such as camera, cabin camera, millimetre-wave radar, laser radar and data administration subsystem 4；The subsystem 1
Two kinds of communications control modes are connected with CAN data cables using data cable is direct-connected to data administration subsystem 4, operation data is improved and deposits
Storage forwarding validity.
As shown in Fig. 1-Figure 10, comprehensive management subsystem 3, data administration subsystem 4, marine engine Monitor And Control Subsystem 5,
Intelligent rudder control subsystem 6, land engine Monitor And Control Subsystem 7, caterpillar drive control subsystem 8, inertial navigation system 62, AIS systems
System 63 and drive platform 9 and respectively possess 1 CAN interface and be connected on CAN0 data/address bus 15, i.e., by respective CANO interfaces with
CAN0 data/address bus 15 connects, specifically, comprehensive management subsystem 3 is connected by CANO interfaces 23 with CAN0 data/address bus 15,
Data administration subsystem 4 is connected by CANO interfaces 27 with CAN0 data/address bus 15, and marine engine Monitor And Control Subsystem 5 passes through
CANO interfaces 32 are connected with CAN0 data/address bus 15, and intelligent rudder control subsystem 6 passes through CANO interfaces 36 and CAN0 data/address bus
15 connections, land engine Monitor And Control Subsystem 7 are connected by CANO interfaces 40 with CAN0 data/address bus 15, caterpillar drive control
System 8 is connected by CANO interfaces 44 with CAN0 data/address bus 15, is driven platform 9 and is passed through CANO interfaces 47 and CAN0 data/address bus 15
Connection.The marine engine 59 and land engine 61 respectively possesses 1 CAN interface and is connected on CAN1 data/address bus 16,
I.e. marine engine 59 is connected by CAN1 interfaces with CAN1 data/address bus 16, and land engine 61 passes through CAN1 interfaces and CAN1
Data/address bus 16 is connected.
As shown in figure 3, wherein comprehensive management subsystem 3 further includes control panel 22 and direct-connected communication interface 25, wherein direct-connected
Communication interface 25 by the direct-connected sounding instrument of data cable, searchlight, weather station, draining pump, mast lodge system, fuel sensor and
Voltage sensor, receives and monitors sounding instrument, searchlight, weather station, draining pump, mast lodging system, fuel sensor and electricity
The status data of pressure sensor is then forwarded to subsystem 1, and the control instruction of subsystem 1 is transmitted to searchlight
And mast system.
As seen in figs. 5-6, wherein marine engine Monitor And Control Subsystem 5 further includes control panel 31 and direct-connected communication interface 34,
The control instruction of subsystem 1 is transmitted to ship by wherein direct-connected communication interface 34 by the direct-connected marine engine 59 of data cable
With engine 59.The intelligence rudder control subsystem 6 further includes control panel 35 and direct-connected communication interface 38, wherein direct-connected communication connects
Mouth 38 monitors the movement operating mode of spray pump by the direct-connected spray pump system 58 of data cable, is then forwarded to subsystem 1, and will
The control instruction of subsystem 1 is transmitted to spray pump system 58.
As shown in fig. 7, wherein land engine Monitor And Control Subsystem 7 further includes control panel 39 and direct-connected communication interface 42, its
In direct-connected communication interface 42 by the direct-connected land engine 61 of data cable, the control instruction of subsystem 1 is transmitted to land and is used
Engine 61.
As shown in figure 8, wherein caterpillar drive control subsystem 8 further includes control panel 43 and direct-connected communication interface 46, wherein
Direct-connected communication interface 46 is by the direct-connected hydraulic track system 60 of data cable, specifically by data cable connection hydraulic track system 60
In hydraulic valve bank, leftside track system, right side track system, hydraulic unit driver, receive leftside track system, right side track system
System, and its status data is monitored, subsystem 1 is then forwarded to, and the control instruction of subsystem 1 is transmitted to hydraulic pressure
Driver and hydraulic valve bank；The motor displacement of the hydraulic unit driver control leftside track system and right side track system, is realized
To leftside track system and right side track system motor coordination control, and then realize amphibious unmanned boat integrally accelerate, at the uniform velocity, subtract
The function such as speed and turning.
As shown in figure 4, wherein data administration subsystem 4 further includes control panel 26, memory 28 and direct-connected communication interface 30；
Wherein direct-connected communication interface 30 is used as black box by the direct-connected subsystem 1 of data cable, the memory 28 of data administration subsystem 4
Son manages amphibious unmanned boat operation data, receives and preserve the data that the transmission of subsystem 1 comes, including static data, dynamic
Data and voyage data etc..
As shown in Fig. 2, the power bus of the power distribution communication cabinet 2 configures two power cords, two power cords can be amphibious
Unmanned boat provides two grade power bus, including 24VDC power bus 18 and 12VDC power bus 17；Amphibious unmanned boat control
Subsystem 1, comprehensive management subsystem 3, data administration subsystem 4, marine engine monitoring in system processed and load equipment
Subsystem 5, intelligent rudder control subsystem 6, land engine Monitor And Control Subsystem 7, caterpillar drive control subsystem 8, drive platform 9,
Marine engine 59, land engine 61, hydraulic track system 60, mast lodging system, inertial navigation system 62, Big Dipper radio station, AIS
System 63, millimetre-wave radar, electro optical reconnaissance system, draining pump, wind turbine, compass, navigation lights, VHF communication platform and searchlight are each
From possessing a 24VDC power inlet, as shown in attached drawing 1- Figure 10, subsystem 1 passes through power inlet 14 and 24VDC
Power bus 18 connects, and comprehensive management subsystem 3 is connected by power inlet 24 with 24VDC power bus 18, data management
Subsystem 4 is connected by power inlet 29 with 24VDC power bus 18, and marine engine Monitor And Control Subsystem 5 is defeated by power supply
Entrance 33 is connected with 24VDC power bus 18, and intelligent rudder control subsystem 6 passes through power inlet 37 and 24VDC power bus
18 connections, land engine Monitor And Control Subsystem 7 are connected by power inlet 41 with 24VDC power bus 18, caterpillar drive control
Subsystem 8 is connected by power inlet 45 with 24VDC power bus 18, is driven platform 9 and is passed through power inlet and 24VDC electricity
Source bus 18 connects；Weather station, sounding instrument, VHF communication platform, laser thunder in amphibious unmanned boat control system and load equipment
Reach, preceding camera, cabin camera, broadband radio and digital radio station are each provided with a 12VDC power inlet, i.e., by each
From 12VDC power inlets be connected with 12VDC power bus 17.
As shown in figure 9, the platform 9 that drives includes throttle push rod 49, land machine monitoring panel 54, ship machine monitoring panel 53, land
Electromechanical source switch 51, ship electromechanics source switch 52, steering wheel 50, land machine start-stop button 55, ship machine start-stop button 56, ship machine emergency stop are pressed
Button 57, CAN0 interfaces 47, direct-connected communication interface 48.
Wherein, throttle push rod 49 is connected by CAN0 data/address bus 15 with subsystem 1, is uploaded throttle push rod 49 and is operated
Direction and strength information；Land machine monitoring panel 54 on data cable and land machine monitoring panel 54 by corresponding to land engine 61
Direct-connected communication interface 48 is connected, and receives and shows 61 operating condition information of land engine；Ship machine monitoring panel 53 passes through data
Line is connected with corresponding to the direct-connected communication interface 48 of marine engine 59 on ship machine monitoring panel 53, receives and shows transmission peculiar to vessel
Machine operating condition information；Land electromechanics source switch 51 passes through power cord and ECU (the Electronic Control of land engine 61
Unit, is abbreviated as ECU) interface is connected, and it is that land engine 61 provides upper power information；Ship electromechanics source switch 52 by power cord with
The ECU interfaces of marine engine 59 are connected, and upper power information is provided for marine engine 59；The steering pump access spray pump of steering wheel 50
System 58, steering wheel 50 are connected by CAN0 data/address bus 15 with subsystem 1；Land machine start-stop button 55 passes through CAN0 data
Bus 15 is connected with subsystem 1, and ship machine start-stop button 56, ship machine scram button 57 pass through CAN0 data/address bus 15 and master control
Subsystem 1 is connected.
Embodiment 2:
On the basis of a kind of amphibious unmanned boat control system described in embodiment 1, the present embodiment is to based on above-mentioned amphibious nothing
The control method of people's ship control system illustrates, which includes communication control, power supply supply control, automatic movement control
System and exercise test control four parts.
In communication control method described in the present embodiment, the subsystem 1, comprehensive management subsystem 3, data management
System 4, marine engine Monitor And Control Subsystem 5, intelligent rudder control subsystem 6, land engine Monitor And Control Subsystem 7, caterpillar drive
Control subsystem 8, inertial navigation system 62, AIS systems 63 and the floor data for driving its direct-connected device of the real time monitoring of platform 9.
As shown in Figure 10, the comprehensive management subsystem 3, data administration subsystem 4, marine engine Monitor And Control Subsystem 5,
Intelligent rudder control subsystem 6, land engine Monitor And Control Subsystem 7, caterpillar drive control subsystem 8, inertial navigation system 62, AIS systems
System 63, drive platform 9, marine engine 59, land engine 61 between power distribution communication cabinet 2 and subsystem 1 into line number
According to interaction；Wherein subsystem 1 monitors comprehensive management subsystem 3, data management subsystem in real time by CAN0 data/address bus 15
System 4, marine engine Monitor And Control Subsystem 5, intelligent rudder control subsystem 6, land engine Monitor And Control Subsystem 7, caterpillar drive control
Subsystem 8, inertial navigation system 62, AIS systems 63, the floor data for driving platform 9, and pass through comprehensive management subsystem 3, data pipe
Manage subsystem 4, marine engine Monitor And Control Subsystem 5, intelligent rudder control subsystem 6, land engine Monitor And Control Subsystem 7, crawler belt
Motion control subsystem 8, inertial navigation system 62, AIS systems 63, driving platform 9, that control instruction is transmitted to each system is corresponding direct-connected
Load equipment；Subsystem 1 monitors the fortune of marine engine 59 and land engine 61 by CAN1 data/address bus 16 in real time
Row floor data.
It is described drive in platform 9 throttle push rod 49 by CAN0 data/address bus 15 via subsystem 1 by under control instruction
Issue intelligent rudder control subsystem 6 and caterpillar drive control subsystem 8；Land machine monitoring panel 54 is directly connected to receive by data cable
Collect and show the running state information of land engine 61；Ship machine monitoring panel 53 is directly connected to collect and is shown by data cable
The running state information of marine engine 59；Land electromechanics source switch 51 is provided by power cord for land engine 61ECU to be powered on
Signal；Ship electromechanics source switch 52 provides power on signal by power cord for marine engine 59ECU；Steering wheel 50 realizes spray pump system
What system 58 turned to directly controls；Steering order is handed down to by steering wheel 50 by CAN0 data/address bus 15 via subsystem 1
Caterpillar drive control subsystem 8.
The subsystem 1 integrates the data of monitoring, will by CAN0 interfaces and direct-connected communication interface after unified form
Data storage is into data administration subsystem 4.
In power supply control method therein described in the present embodiment, power distribution communication cabinet 2 using storage battery group as input voltage source,
Power supply is converted into the level power supply such as 12VDC and 24VDC two via direct current transducer (20 and 21), then respectively on give
12VDC power bus 17 and 24VDC power bus 18, and then to load equipment in amphibious unmanned boat and control system power supply.
The power supply of 24VDC power bus 18 is conveyed to searchlight by the power distribution communication cabinet 2 by relay switch, wherein
Relay switch is controlled by comprehensive management subsystem 3.
The power supply of 24VDC power bus 18 is conveyed to subsystem 1, integrated management subsystem by the power distribution communication cabinet 2
System 3, data administration subsystem 4, marine engine Monitor And Control Subsystem 5, intelligent rudder control subsystem 6, land engine monitoring
System 7, caterpillar drive control subsystem 8, drive platform 9, marine engine 59, land engine 61, hydraulic track system 60, mast
Bar lodging system, inertial navigation system 62, Big Dipper radio station, AIS systems 63, millimetre-wave radar, electro optical reconnaissance system, draining pump, wind turbine,
Compass, navigation lights, VHF communication platform.
The power supply of 12VDC power bus 17 is conveyed to weather station, sounding instrument, VHF communication by the power distribution communication cabinet 2
Platform, laser radar, preceding camera, cabin camera, broadband radio and digital radio station.
Embodiment 3：
On the basis of Examples 1 and 2, to the automatic motion control method of the amphibious unmanned boat, illustrate.This implementation
In automatic motion control method described in example, it is related to following five kinds of service conditions, wherein：
With reference to shown in attached drawing 11, automatic motion control method 1：When amphibious unmanned boat needs to keep land traveling, master control
System 1 monitors the work information of land engine 61 via CAN1 data/address bus 16；Subsystem 1 is via CAN0 data/address bus
15 send startup land engine 61 to land engine Monitor And Control Subsystem 7 instructs, and passes through CAN1 data/address bus 16 and monitor land
Whether start success with engine 61；After land engine 61 starts successfully 2s, subsystem 1 is via CAN0 data/address bus
15 send land driving instruction to caterpillar drive control subsystem 8, and 60 action of driving hydraulic track system is realized that land travels, referred to
Order includes starting point, key point, the coordinate information of terminal, and the information such as given each point straight trip, retroversion and turning.
With reference to shown in attached drawing 12, automatic motion control method 2：When amphibious unmanned boat needs land traveling to switch to waters boat
OK, subsystem 1 monitors the work information of land engine 61 via CAN1 data/address bus 16；Subsystem 1 via
CAN0 data/address bus 15 sends crawler belt to caterpillar drive control subsystem 8 and folds instruction, and driving hydraulic track system 60 acts reality
Existing crawler belt folds, and whether subsystem 1 folds the information of completion via the monitoring crawler belt of CAN0 data/address bus 15；When crawler belt folds
After completing 2s, subsystem 1 is sent via CAN0 data/address bus 15 to land engine Monitor And Control Subsystem 7 stops land with starting
Machine 61 instructs, and monitors whether land engine 61 shuts down success.
With reference to shown in attached drawing 13, automatic motion control method 3：When amphibious unmanned boat needs to keep water-area navigation, master control
System 1 monitors the work information of marine engine 59 via CAN1 data/address bus 16；Subsystem 1 is via CAN0 data/address bus
15 send startup marine engine 59 to marine engine Monitor And Control Subsystem 5 instructs, and passes through 16 monitoring ship of CAN1 data/address bus
Whether start success with engine 59；After marine engine 59 starts successfully 2s, subsystem 1 is via CAN0 data/address bus
15 send water-area navigation instruction to intelligent rudder control subsystem 6, and 58 action of driving spray pump system is realized water-area navigation, wrapped in instruction
Include starting point, key point, the coordinate information of terminal, and the information such as given each point straight trip, retroversion and turning.
With reference to shown in attached drawing 14, automatic motion control method 4：When amphibious unmanned boat needs water-area navigation to switch to land row
Sail, subsystem 1 monitors the work information of marine engine 59 via CAN1 data/address bus 16；Subsystem 1 via
CAN0 data/address bus 15 is sent to marine engine Monitor And Control Subsystem 5 to be stopped marine engine 59 and instructs, and monitoring ship is with starting
Whether machine 59 shuts down success；After marine engine 59 shuts down successfully 2s, subsystem 1 gives land via CAN0 data/address bus 15
Sent with engine monitoring subsystem 7 and start land engine 61 and instruct, and land is monitored with starting by CAN1 data/address bus 16
Whether machine 61 starts success；After land engine 61 starts successfully 2s, controlled via CAN0 data/address bus 15 to caterpillar drive
Subsystem 8 sends crawler belt stretching, extension instruction, and 60 action of driving hydraulic track system realizes that crawler belt stretches, subsystem 1 via
Whether CAN0 monitoring crawler belts stretch the information of completion.
With reference to shown in attached drawing 15, automatic motion control method 5：When amphibious unmanned boat needs water-area navigation and land to travel simultaneously
Deposit, subsystem 1 monitors the work information of land engine 61 and marine engine 59 via CAN1 data/address bus 16 at the same time；
Subsystem 1 sends startup land engine 61 to land engine Monitor And Control Subsystem 7 via CAN0 data/address bus 15 and instructs
And send startup marine engine 59 to marine engine Monitor And Control Subsystem 5 and instruct, and pass through CAN1 data/address bus 16 and monitor land
Whether start success with engine 61 and marine engine 59.
After land engine 61 starts successfully 2s, subsystem 1 gives caterpillar drive control via CAN0 data/address bus 15
Subsystem 8 sends land driving instruction, and 60 action of driving hydraulic track system realizes that land travels, instruction include starting point,
The coordinate information of key point, terminal, and the information such as given each point straight trip, retroversion and turning.
After marine engine 59 starts successfully 2s, subsystem 1 gives intelligent rudder to control via CAN0 data/address bus 15
Subsystem 6 sends water-area navigation instruction, and water-area navigation is realized in 58 action of driving spray pump system, instruction include starting point, key point,
The coordinate information of terminal, and the information such as given each point straight trip, retroversion and turning.
During the amphibious automatic motion control of unmanned boat, subsystem 1 monitors land via CAN1 data/address bus 16
When being in starting state with engine 61 or marine engine 59, engine locking enabled instruction no longer restarts, amphibious nothing
People's ship directly performs corresponding subsequent action instruction；When water-area navigation and land travel and deposit operation completion, subsystem 1
The instruction issued according to monitoring center determines that amphibious unmanned boat switchs to either simplex condition by Double-working-condition or all shuts down operating mode, main control warp
By CAN0 data/address bus 15 stopping engine being sent to land engine Monitor And Control Subsystem 7 or marine engine Monitor And Control Subsystem 5
Instruction, switchs to either simplex condition or whole shutdown status by amphibious unmanned boat Double-working-condition in time.
Embodiment 4：
On the basis of Examples 1 and 2, operating personnel realize exercise test control using driving platform 9 to amphibious unmanned boat
The exercise test control method of the amphibious unmanned boat is described in detail in system, the present embodiment.
In the exercise test control method of this amphibious unmanned boat, it is related to following five kinds of service conditions, wherein：
With reference to shown in attached drawing 16, test control method 1：When amphibious unmanned boat needs to keep land row in manned test
When sailing, drive 9 land electromechanics source switch 51 of platform and turn on, powered on to land engine 61ECU；Subsystem 1 is via CAN1 data
Bus 16 monitors the work information of land engine 61；Land machine start-stop button 55 is pressed, enabled instruction is via CAN0 data/address bus
Subsystem 1 is sent on 15, subsystem 1 sends to land engine Monitor And Control Subsystem 7 via CAN0 data/address bus 15 and opens
Dynamic land engine 61 instructs, and monitors whether land engine 61 starts success by CAN1 data/address bus 16；Work as Lu Yongfa
After motivation 61 starts successfully, subsystem 1 sends land row via CAN0 data/address bus 15 to caterpillar drive control subsystem 8
Instruction is sailed, 60 action of driving hydraulic track system realizes that land travels；Subsystem 1 receives via CAN0 and drives 9 throttle of platform
50 action message of push rod 49 and steering wheel, wherein forward action throttle push rod 49, which correspond to, advances, and backward operation throttle push rod 49 is right
It should fall back, the steering wheel 50 that turns left corresponds to be turned to the left, and the steering wheel 50 that turns right, which corresponds to, to be turned to the right, 49 He of throttle push rod
50 operation amplitude of steering wheel is bigger, and amphibious unmanned boat action intensity is bigger.
With reference to shown in attached drawing 17, test control method 2：When amphibious unmanned boat needs to stop land row in manned test
When sailing, subsystem 1 monitors the work information of land engine 61 via CAN1 data/address bus 16；By a land machine start-stop button
55 form and stop land engines 61 and instructs, and command information is via sending subsystem 1, master control subsystem on CAN0 data/address bus 15
System 1 sends stopping land engine 61 to land engine Monitor And Control Subsystem 7 via CAN0 data/address bus 15 and instructs, and passes through
CAN1 data/address bus 16 monitors whether land engine 61 shuts down success.
With reference to shown in attached drawing 18, test control method 3：When amphibious unmanned boat needs to keep waters to navigate in manned test
During row, drive 9 ship electromechanics source switch 52 of platform and turn on, powered on to marine engine 59ECU；Subsystem 1 is via CAN1 data
Bus 16 monitors the work information of marine engine 59；By machine start-stop button 56 of going ashore, enabled instruction is via CAN0 data/address bus
Subsystem 1 is sent on 15, subsystem 1 sends to marine engine Monitor And Control Subsystem 5 via CAN0 data/address bus 15 and opens
Dynamic marine engine 59 instructs, and monitors whether marine engine 59 starts success by CAN1 data/address bus 16；When hair peculiar to vessel
After motivation 59 starts successfully, subsystem 1 gives intelligent rudder control subsystem 6 to send water-area navigation via CAN0 data/address bus 15
Water-area navigation is realized in instruction, the action of spray pump system 58；Subsystem 1 receives via CAN0 data/address bus 15 and drives 9 throttle of platform
Push rod 49, wherein forward action throttle push rod 49, which correspond to, to advance, and backward operation throttle push rod 49, which corresponds to, to fall back, and steering wheel 50 is direct
Manipulate spray pump go to action, the steering wheel 50 that turns right, which corresponds to, to be turned to the right, and 49 operation amplitude of throttle push rod is bigger, it is amphibious nobody
Ship action intensity is bigger.
With reference to shown in attached drawing 19, test control method 4：When amphibious unmanned boat needs stopping waters boat in manned test
During row, subsystem 1 monitors the work information of marine engine 59 via CAN1 data/address bus 16；By a ship machine start-stop button
56 form and stop marine engines 59 and instructs, and command information is via sending subsystem 1, master control subsystem on CAN0 data/address bus 15
System 1 sends stopping marine engine 59 to marine engine Monitor And Control Subsystem 5 via CAN0 data/address bus 15 and instructs, and passes through
CAN1 data/address bus 16 monitors whether marine engine 59 shuts down success.
With reference to shown in attached drawing 20, test control method 5：When amphibious unmanned boat needs water-area navigation anxious in manned test
Stopping time, subsystem 1 monitor the work information of marine engine 59 via CAN1 data/address bus 16；By machine scram button of going ashore
57 form crash stoppings instruction, command information via sending subsystem 1 on CAN0 data/address bus 15, subsystem 1 via
CAN0 data/address bus 15 sends crash stopping instruction to marine engine Monitor And Control Subsystem 5, and is supervised by CAN1 data/address bus 16
Surveying marine engine 59, whether emergency stop is successful.
In the operating mode of amphibious unmanned boat exercise test control, subsystem 1 monitors land via CAN1 data/address bus 16
When being in starting state with engine 61 or marine engine 59, engine locking enabled instruction no longer restarts, amphibious nothing
People's ship directly performs corresponding subsequent action instruction.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in the utility model
Protection domain within.
Claims (8)
1. a kind of amphibious unmanned boat control system, it is characterised in that control system includes：Subsystem (1), power distribution communication cabinet
(2), comprehensive management subsystem (3), data administration subsystem (4), marine engine Monitor And Control Subsystem (5), intelligent rudder control
System (6), land engine Monitor And Control Subsystem (7), caterpillar drive control subsystem (8) and drive platform (9)；In control system
Each subsystem is connected with the subsystem (1), and control system is installed in amphibious unmanned boat control cabinet, amphibious for monitoring
Unmanned boat load equipment；
Further include caterpillar system in amphibious unmanned boat, the hydraulic track in the caterpillar system, which has, to be folded and stretching exercises work
Can, the caterpillar drive control subsystem (8) connects with caterpillar system control, for controlling amphibious unmanned boat land traveling shape
State；Intelligent rudder control subsystem (6) connects with spray pump system (58) control, for controlling amphibious unmanned boat waters transport condition；
Drive platform (9) to be arranged on the operation panel in control cabinet, driving platform (9) by control can realize that movement is surveyed to amphibious unmanned boat
Examination control.
2. amphibious unmanned boat control system according to claim 1, it is characterised in that：
The comprehensive management subsystem (3) senses with sounding instrument, searchlight, weather station, draining pump, mast lodging system, fuel oil
Device is connected with the one or more in voltage sensor；
The data administration subsystem (4) is used to complete data storage and forwarding, and wherein data include static data, dynamic data
And/or voyage data；
The marine engine Monitor And Control Subsystem (5) is connected with marine engine (59)；
The land engine Monitor And Control Subsystem (7) is connected with land engine (61).
3. amphibious unmanned boat control system according to claim 1, it is characterised in that：Power distribution communication cabinet is provided with (2)
CAN data/address bus and power bus；The CAN data/address bus is arranged to two, including CAN0 data/address bus (15) and CAN1 altogether
Data/address bus (16), forms dual CAN bus communication system；The power bus is configured with two power cords, and two power cords are simultaneously
Respectively amphibious unmanned boat provides two grade power cords, and two grade power cords include 12VDC power bus (17) and 24VDC
Power bus (18).
4. amphibious unmanned boat control system according to claim 3, it is characterised in that：The subsystem (1) possesses
Two CAN interfaces, two CAN interfaces be connected to power distribution communication cabinet (2) CAN0 data/address bus (15) and CAN1 data it is total
On line (16)；The comprehensive management subsystem (3), data administration subsystem (4), marine engine Monitor And Control Subsystem (5), intelligence
Rudder control subsystem (6), land engine Monitor And Control Subsystem (7), caterpillar drive control subsystem (8) and drive platform (9) via
Data interaction is carried out between power distribution communication cabinet (2) and subsystem (1)；The comprehensive management subsystem (3), data management subsystem
Unite (4), marine engine Monitor And Control Subsystem (5), intelligence rudder control subsystem (6), land engine Monitor And Control Subsystem (7), shoe
Band motion control subsystem (8) and drive platform (9) and respectively possess 1 CAN interface, and be connected on CAN0 data/address bus (15).
5. amphibious unmanned boat control system according to claim 3, it is characterised in that：The comprehensive management subsystem (3),
Data administration subsystem (4), marine engine Monitor And Control Subsystem (5), intelligent rudder control subsystem (6), land engine monitoring
Subsystem (7), caterpillar drive control subsystem (8), drive the floor data that platform (9) monitors its connection equipment in real time；
The subsystem (1) is connected by CAN0 data/address bus (15) and monitors comprehensive management subsystem (3), data in real time
Manage subsystem (4), marine engine Monitor And Control Subsystem (5), intelligent rudder control subsystem (6), land engine monitoring subsystem
System (7), caterpillar drive control subsystem (8) and the status data for driving platform (9), and pass through comprehensive management subsystem (3), data
Manage subsystem (4), marine engine Monitor And Control Subsystem (5), intelligent rudder control subsystem (6), land engine monitoring subsystem
System (7), caterpillar drive control subsystem (8) and drive platform (9) by control instruction be transmitted to each system it is corresponding it is direct-connected load set
It is standby；
The subsystem (1) is connected by CAN1 data/address bus (16) and monitors marine engine (59) and Lu Yongfa in real time
The operating condition data of motivation (61).
6. amphibious unmanned boat control system according to claim 3, it is characterised in that：The platform (9) that drives includes throttle
Push rod (49), land machine monitoring panel (54), ship machine monitoring panel (53), land electromechanics source switch (51), ship electromechanics source switch (52),
One in steering wheel (50), land machine start-stop button (55), ship machine start-stop button (56) and ship machine scram button (57) or more
；
The throttle push rod (49) is connected by CAN0 data/address bus (15) with subsystem (1)；
The land machine monitoring panel (54) is connected by data cable with land engine (61)；The ship machine monitoring panel (53) is logical
Data cable is crossed with marine engine (59) to be connected；The land electromechanics source switch (51) passes through power cord and land engine (61) phase
Even；The ship electromechanics source switch (52) is connected by power cord with marine engine (59)；The steering pump of the steering wheel (50)
Access spray pump system (58)；
The land machine start-stop button (55) is connected by CAN0 data/address bus (15) with subsystem (1), ship machine start-stop button
(56) it is connected with ship machine scram button (57) by CAN0 data/address bus (15) with subsystem (1).
7. amphibious unmanned boat control system according to claim 6, it is characterised in that：It is described to drive throttle in platform (9) and push away
Control instruction is handed down to intelligent rudder control subsystem by bar (49) by CAN0 data/address bus (15) via subsystem (1)
(6) and caterpillar drive control subsystem (8)；Land machine monitoring panel (54) is directly connected to collect and show Lu Yongfa by data cable
The running state information of motivation (61)；Ship machine monitoring panel (53) is directly connected to collect and show marine engine by data cable
(59) running state information；Land electromechanics source switch (51) provides power on signal by power cord for land engine (61) ECU；
Ship electromechanics source switch (52) provides power on signal by power cord for marine engine (59) ECU；Steering wheel (50) realizes spray pump
What system (58) turned to directly controls；Steering wheel (50) will be turned to by CAN0 data/address bus (15) via subsystem (1)
Instruction is handed down to caterpillar drive control subsystem (8).
8. amphibious unmanned boat control system according to claim 3, it is characterised in that：The power distribution communication cabinet (2)
12VDC power bus (17) and 24VDC power bus (18) are connected with level power supplies such as the 12VDC and 24VDC two of storage battery group,
For powering to load equipment in amphibious unmanned boat and control system, and for being wind turbine, compass, navigation lights and VHF communication
One or more power supply in platform；
The power distribution communication cabinet (2) is connected by 24VDC power bus (18) with searchlight, and 24VDC power bus is set on (18)
Relay switch is equipped with, the comprehensive management subsystem (3) is conveyed by the power supply for controlling relay switch to control searchlight；
The power distribution communication cabinet (2) by 24VDC power bus (18) respectively with subsystem (1), comprehensive management subsystem
(3), data administration subsystem (4), marine engine (59) monitoring system (5), intelligent rudder control subsystem (6), land are with starting
Machine (61) monitoring system (7), caterpillar drive control subsystem (8), drive platform (9), marine engine (59), land engine
(61), hydraulic track system (60), mast lodging system, inertial navigation system (62), Big Dipper radio station, AIS systems (63), millimeter wave thunder
Reach, electro optical reconnaissance system is connected with draining pump, the control system by control 24VDC power bus (18) control power supply；
The power distribution communication cabinet (2) by 12VDC power bus (17) respectively with weather station, sounding instrument, VHF communication platform, swash
Optical radar, preceding camera, cabin camera, broadband radio are connected with digital radio station, and the control system is by controlling 12VDC electric
Source bus (17) control power supply.
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| CN201721337159.8U CN207249488U (en) | 2017-10-17 | 2017-10-17 | A kind of amphibious unmanned boat control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111596579A (en) * | 2020-04-06 | 2020-08-28 | 中国海洋大学 | Driving system for diesel engine of unmanned ship |
| CN112922734A (en) * | 2021-03-19 | 2021-06-08 | 广西玉柴机器股份有限公司 | Control method of unmanned boat engine |
-
2017
- 2017-10-17 CN CN201721337159.8U patent/CN207249488U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111596579A (en) * | 2020-04-06 | 2020-08-28 | 中国海洋大学 | Driving system for diesel engine of unmanned ship |
| CN112922734A (en) * | 2021-03-19 | 2021-06-08 | 广西玉柴机器股份有限公司 | Control method of unmanned boat engine |
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