CN207510668U - A kind of solar energy unmanned boat of closed hull space long-distance remote control seawater sampling - Google Patents
A kind of solar energy unmanned boat of closed hull space long-distance remote control seawater sampling Download PDFInfo
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- CN207510668U CN207510668U CN201721515023.1U CN201721515023U CN207510668U CN 207510668 U CN207510668 U CN 207510668U CN 201721515023 U CN201721515023 U CN 201721515023U CN 207510668 U CN207510668 U CN 207510668U
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Abstract
The utility model discloses a kind of solar energy unmanned boat of closed hull space long-distance remote control seawater sampling, including main hull, electric system, propulsion system, water quality sampling system and control system；Main hull includes planking, hull framing, platform deck and circular arc roof construction；Circular arc roof construction connect to form closed hull space with planking and hull framing；Propulsion system includes propeller, high-strength carbon fiber pipe, connecting rod, propulsion electric machine and steering engine；Propeller is arranged on the tail end of unmanned boat；High-strength carbon fiber pipe one end is fixedly connected with the radome fairing of propulsion electric machine, and the propeller mounting hole that the other end is passed through on hull is connect with connecting rod；Connecting rod is connect with steering engine；Propeller is also connect with propulsion electric machine；The utility model has many advantages, such as that endurance is long, seagoing capacity is excellent, environmentally protective, round-the-clock can perform long-distance remote control water quality sampling task, be provided simultaneously with certain AUTONOMOUS TASK ability.
Description
Technical field
The utility model is related to a kind of unmanned boat, more particularly to a kind of closed hull space long-distance remote control seawater sampling
Solar energy unmanned boat.
Background technology
Unmanned boat is a kind of to be navigated under the remote monitoring of the base station on ground or lash ship control centre with autonomous or remote control mode
The Novel surface motion platform of particular task is gone in the water surface and completed, is marine environmental monitoring, oceanographic hydrological data observation, ocean
One of the important means of disaster alarm.
The mainly artificial acquisition of traditional means of water quality sampling is carried out to offshore sea waters, artificial acquisition needs sample collector first
It takes someone ship and reaches sampling position, then extract water quality sample by water quality sampling equipment, finally multiplied by people's ship is seated
By water quality sample take back on the bank, take someone's ship have to increase displacement with support personnel safety, inevitably
Increase sampling cost；For some are cold, stormy waves is larger or the bad environments marine sites such as pollutant is harmful, people is sampled
Member's progress spot sampling is very arduous and extremely dangerous, and personal safety cannot ensure, even can not reach sample region sometimes
Domain；In addition artificial acquisition also has that the sampling period is longer, can not quickly, accurately reflect the shortcomings that water pollution situation, serious shadow
Ring the development of prevention and control of marine pollution work.
In recent years, as the technologies such as positioning, communication, control, artificial intelligence develop rapidly, unmanned boat (USV), underwater remote-control
The unmanned mobile monitoring platforms such as robot (ROV), underwater unmanned autonomous navigation device nobody (AUV) are gradually applied to ocean water
Quality detection field.Compared with the ROV and AUV that navigate by water under water, unmanned boat is moved in ocean surface, the external constraint being subject to
It is few, there is higher flexibility, application range is very extensive, and with it is of low cost, communication is reliable, positioning is convenient, is easy to control
The advantages that processed, just gradually as one of the research hotspot in marine exploration field.
One of greenization, intelligent emphasis by as ship domain next step development.Specifically, it is by breaking through ship
Body Alignment Design technology, structure optimization technology, drag reduction consumption-reducing technological, efficient Push Technology, clean energy resource and regenerative resource profit
With technology etc., energy conservation and environmental protection type ship is developed；By breaking through key application of the information technologies such as automatic technology on ship
Technology realizes navigation automation, mechanical automation, loading automation, and realizes flight course planning, ship-handling, navigation attitude adjustment, sets
Standby monitoring etc. improves the intelligent level of ship.
Commercialization water quality sampling unmanned boat product is set mostly for the sampling of the small ranges waters such as inland river, lake, harbour at present
Meter, ship cruising ability it is small (<70km), the navigation performances such as stability, sea-keeping, rapidity are poor, can not carry out complicated long distance
From marine sampling operation, requirement of the marine environmental monitoring department to the monitoring point dynamic detection far from seashore cannot be met.
Therefore, there is an urgent need for a kind of endurance is remote, easy to operate, stability and seakeeping capacity are excellent water quality sampling unmanned boats.
In terms of unmanned boat hull platform, the monohull ship type most ripe as technology, in scientific research of seas unmanned boat
Field is widely used.
Utility model content
The technical issues of in the presence of the utility model mainly solution prior art, one kind is provided with the reproducible sun
Can be main energy sources, endurance is remote, ship resistance is small, seakeeping capacity is excellent, easy operation, has the remote of resistance to capsizing
The solar energy monomer unmanned boat of remote controlled sample-taking.
The utility model aim is achieved through the following technical solutions：
A kind of solar energy unmanned boat of closed hull space long-distance remote control seawater sampling, including main hull, electric system,
Propulsion system, water quality sampling system and control system；
The main hull includes planking, hull framing, platform deck and circular arc roof construction；Circular arc roof construction and planking
And hull framing connects to form closed hull space；Platform deck is connect with planking and hull framing, is horizontally set on master
In the closed hull space of hull；Dome structural top is provided with flexible solar film battery assembly, speech ciphering equipment, light and sets
Standby, picture pick-up device, alarm equipment, communication and navigation equipment and avoidance equipment；
The electric system includes flexible solar film battery assembly, terminal box, solar charging controller, lithium battery
Intelligent supervisor and lithium battery group；Lithium battery group is composed in parallel by multiple lithium batteries；Each flexible solar film battery assembly
Equipped with terminal box, multiple flexible solar film battery assemblies are connected in series with by terminal box, and and solar charging controller
Connection, lithium battery intelligent manager are connect with solar charging controller, and lithium battery group is connect with lithium battery intelligent manager；
The propulsion system includes propeller, high-strength carbon fiber pipe, connecting rod, propulsion electric machine and steering engine；Propeller is set
Put the tail end in unmanned boat；High-strength carbon fiber pipe one end is connect with propulsion electric machine, and the other end passes through pushing away on hull
It is connect into device mounting hole with connecting rod；Connecting rod is connect with steering engine；Propeller is also connect with propulsion electric machine；
The water quality sampling system includes pump line, pump head, tube rolling device, peristaltic pump, sampling box and wastewater discharge pipe；Pump head and
Peristaltic pump and peristaltic pump are connected with sampling box by pump line, and wastewater discharge pipe will be empty outside peristaltic pump discharge of wastewater mouth and hull
Between connect；Tube rolling device, peristaltic pump are connect respectively with the tube rolling device controller of control system controller module, wriggling pump controller；
The control system includes main control computer, positioning navigation module, communication module, data acquisition module and controller
Module；Positioning navigation module, communication module, data acquisition module and controller module are connect respectively with main control computer.
Further to realize the utility model aim, it is preferable that the lower part of the main hull is planking and hull framing；
Planking is continuously welded by polylith metal curved slab, and shell plate thickness is 5mm；The continuous welding of planking is covered in bottom and is
V-arrangement, top is on arc-shaped hull framing, form V-arrangement ship section；Circular arc roof construction sequential welding connect be covered in planking with
Closed hull space is formed on hull framing；A pair of a diameter of 400mm of closed hull space interior port and starboard setting, length are
The cylindricality watertight buoyancy compartment of 2000mm.
Preferably, the hull framing is transverse system, and including keel and floor, setting is vertical at hull central fore-and-aft vertical plane hull bottom
To continuous keel, keel thickness is 5mm, and keel lower edge is welded on continuous soldering method on planking；Hull framing rib interdigit
Away from the thickness that for 600mm, setting integral cutting forms at rib position is 5mm, bottom is V-arrangement, top is arc-shaped floor, middle part
Three floors are apart from watertight buoyancy compartment mounting hole of the platform deck height for a diameter of 401mm of setting at 337mm, cylindricality watertight
In the watertight buoyancy compartment mounting hole of buoyancy compartment insertion floor；Each rib position upper bottom portion is V-arrangement, top is arc-shaped floor and keel
Welding forms that bottom is V-arrangement, top is arc-shaped hull framing.
Preferably, the circular arc roof construction is in bow place to the rear setting hatch and watertight hatch, and the hatch is along ship
The minimum widith of wide direction is more than 1740mm, is more than 600m along the minimum length in captain direction；Watertight hatch passes through goat's horn spiral shell
Silk is tightly fixed on circular arc roof construction.
Preferably, hull interior space is divided into two by the platform deck, and two parts hull space is set comprising three
Standby cabin, three equipment cabins are electrical equipment cabin, sample devices cabin and lithium battery cabin；Electrical equipment cabin and sample devices cabin it
Between and sample devices cabin and lithium battery cabin between be interconnected by hatch or hatch door；Platform deck is away from baseline height
500mm, platform deck are higher than Water Plane, and platform deck outer rim is welded on continuous soldering method on planking and hull framing；It is flat
Electrical equipment cabin and sample devices cabin more than platform deck are set gradually from ship stern, is set between electrical equipment cabin and sample devices cabin
Transverse bulkhead and watertight hatch door are put, for sample devices cabin platform deck using pontoon space as lithium battery cabin, platform deck is attached in ship midship
Nearly setting hatch and corresponding watertight hatch connection sample devices cabin and lithium battery cabin；Lithium battery bilge portion sets lithium battery base
Seat.
Preferably, the main control computer is the PCM-9375 single board computers based on PC104 buses；
The positioning navigation module includes GNSS antenna, positioning differential antennae and GNSS signal receiver；Wherein, GNSS days
Line is connect with GNSS signal receiver；GNSS signal receiver accesses the RS-232 serial ports of main control computer；GNSS antenna and fixed
Potential difference divided antenna is arranged on the rear end of circular arc roof construction, and GNSS signal receiver is arranged on the electrical equipment cabin at platform deck rear portion
It is interior；
The communication module includes data transmission antenna, data transmission radio station, screen transmission antenna and screen transmission radio station；
Data transmission antenna is connect with data transmission radio station, and the RS-232 serial ports of main control computer is accessed in data transmission radio station；Screen passes
Defeated antenna is connect with screen transmission radio station, and screen transmission radio station accesses the RS-232 serial ports of main control computer；Data transmission antenna
The rear end of circular arc roof construction is arranged on, data transmission radio station is arranged in the electrical equipment cabin at platform deck rear portion；Screen is transmitted
Antenna is arranged on the rear end of circular arc roof construction, and screen transmission radio station is arranged in the electrical equipment cabin at platform deck rear portion；
The data acquisition module includes video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligence
Gyroscope, 3-axis acceleration sensor and water depth sensor；Video camera, ultrasonic sensor, three axis strapdown reluctance type electronics magnetic
Compass, intelligent gyroscope, 3-axis acceleration sensor and water depth sensor are respectively connected to the RS-232 serial ports of main control computer；Water
Deep sensor is mounted on pump head；
The controller module include propeller control device, steering engine controller, tube rolling device controller, wriggling pump controller,
Camera control unit, lamp dimmer and voice controller；Propeller control device, tube rolling device controller, is wriggled at steering engine controller
Pump controller, camera control unit, lamp dimmer and voice controller are tapped into the RS-232 serial ports of main control computer；It is described
Propeller control device is also connect with propulsion electric machine, is arranged on platform deck rear portion；Steering engine controller is also connect with steering engine；Tube rolling device
Controller is also connect with tube rolling device；Wriggling pump controller is also connect with peristaltic pump；Camera control unit is also electric with video camera servo
Machine connects.
Preferably, the speech ciphering equipment includes loud speaker, the voice controller connection of loud speaker and control system；Light
Equipment includes searchlight and red Bai Lvsan colors navigation lights, searchlight and red Bai Lvsan colors navigation lights respectively with the light of control system
Controller connects；Picture pick-up device includes RS-232 serial ports and the camera control unit company of video camera, video camera and main control computer
It connects；Alarm equipment includes alarm, the voice controller connection of alarm and control system；Avoidance equipment includes supersonic sensing
The RS-232 serial ports connection of device, ultrasonic sensor and main control computer；Loud speaker, searchlight and red Bai Lvsan colors navigation lights are set
It puts in circular arc roof construction forepart；Video camera setting is in dome structure front end；Alarm is arranged on dome structure tail portions；Ultrasound
Wave sensor is arranged on dome structure front end.
Preferably, the propeller control device connection of propulsion electric machine and the control system；The rudder of steering engine and control system
Machine controller connects；Propulsion electric machine rated power is 624W；The connecting rod is mainly made of two rod pieces and transfer, and two
Root rod piece is arranged in parallel, and the both ends of two rod pieces are connect respectively with two transfers.
Preferably, the lithium battery intelligent manager and the propulsion electric machine and steering engine of propulsion system connect, and are adopted with water quality
The tube rolling device of sample system, peristaltic pump, sampling box connection, connect with loud speaker, searchlight, red Bai Lvsan colors navigation lights, alarm；
Lithium battery intelligent manager is also connect with control system main control computer, is connect with the GNSS signal of control system positioning navigation module
Receipts machine connects, and connect with the data transmission antenna of control system communication module, screen transmission radio station, with the acquisition of control system data
The video camera of module, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyroscope, 3-axis acceleration sensing
Device, the propeller control device of water depth sensor connection and control system controller module, steering engine controller, peristaltic pump control
Device, tube rolling device controller, camera control unit, lamp dimmer, voice controller connection；
The multiple flexible solar film battery assembly is laterally pasted onto circular arc roof construction upper surface, passes through terminal box string
Connection forms solar battery group；Flexible solar film battery assembly selects CIGS hull cell；Solar charging controller is set
It puts on hull interior platform deck；Lithium battery intelligent manager is arranged on hull interior platform deck in electric appliance equipment compartment；
Lithium battery is arranged on the lithium battery pedestal of lithium battery cabin, and each lithium battery interval is not less than 25mm；The battery capacity of lithium battery is
100Ah, open-circuit voltage 12V, lithium battery are ternary lithium battery and built-in protection board.
Preferably, the planking and hull framing, platform deck and circular arc roof construction are made of 5086 aluminium alloys；
Described high-strength carbon fiber pipe one end is connect with propulsion electric machine refers to the whole of high-strength carbon fiber pipe one end and propulsion electric machine
Stream cover is fixedly connected.
The utility model improves unmanned boat and exists by setting a pair of of cylindricality watertight buoyancy compartment in sample devices cabin port and starboard
Autonomous stabilisation ability in stormy waves；The utility model platform deck is arranged on hull interior, for arranging various kinds of equipment；Dome
Structure sticking flexible solar film battery forms closed hull space together with planking and hull framing；The utility model
Ensure hull watertight, maintain hull structural strength, make unmanned boat that can with autonomous stabilisation float on sea；
The utility model unmanned boat uses monohull structure, simple for process, Ship Structure from heavy and light, can load load compared with
Greatly, Ship Structure good integrity, safety of structure is higher in high sea.
Compared with prior art, the beneficial effects of the utility model are：
(1) dome designs.Solar energy monomer unmanned boat of the utility model for long-distance remote control sampling uses circular arc
Top design, solar energy light-receiving area is increased under the premise of solar battery group transfer efficiency is not significantly reduced, is improved too
It is positive can battery pack general power, and Quick drainage when dome is to upper wave and rainfall day, reduce the spray and rainwater hull impacted
It is advantageous.
(2) heavy and autonomous stabilisation is resisted to design.The unmanned boat of the utility model sets electricity in hermetically sealed hull space interior
Unsinkability of the unmanned boat in hull damage is improved in multiple watertight cabins such as device equipment compartment, lithium battery cabin；In addition, with general ship
Oceangoing ship center of gravity is on centre of buoyancy, and stability loses difference after hull topples, and the utility model is by reducing unmanned boat height of C.G. again
Realize that center of gravity is relatively low with reference to closed hull space, V-arrangement ship section, centre of buoyancy is higher, " tumbler " shape of centre of buoyancy on center of gravity
State so that unmanned boat can be from master reset after toppling；Meanwhile independent cylindricality watertight buoyancy compartment is set in sample devices cabin, it can be with
Ensure that unmanned boat there remains very big buoyancy in hull damage, make its still have enough transverse metacentric radius, enough
Big roll damping and restoring moment is swayed, so as to improve unmanned boat safety and the autonomous stabilisation energy under severe sea condition
Power.
(3) endurance is remote.The unmanned boat of the utility model reduces ship resistance by shiplines optimization design, together
When, using inexhaustible solar energy as main energy sources, greatly improve its endurance, while entire unmanned boat system
Zero-emission no pollution, energy conservation and environmental protection are realized in system operation.
It (4) can round-the-clock sampling operation.The unmanned boat of the utility model is added while using solar energy as main energy sources
Lithium battery energy storage battery battery pack deposits solar battery group storage dump energy, it is made to have night and rainy days persistently in related marine site
Carry out the ability of water quality sampling work, adopted so as to which the unmanned boat for making the utility model has the round-the-clock dynamic that continues in related marine site
The ability of sample.
(5) maneuverability is good.The unmanned boat of the utility model makes it be easily achieved line navigation using V-shaped section, i.e., without
People's ship possesses good shipping-direction stability；Simultaneously using single propeller vector propulsion mode, pass through servos control underwater propeller
Rotation turns to obtain the thrust of different directions so as to fulfill hull, and unmanned boat can realize pivot stud, and turnability is excellent.Cause
This, the unmanned boat of the utility model possesses good maneuverability.
(6) stability and sea-keeping are good, and rolling amplitude is small.The utility model increases hull rolling using V-shaped section hull
Damping, righting arm when projected hull increases hull rolling, meanwhile, traditional solar energy is substituted using flexible solar film
Plate, by lithium battery group arrangement alow to achieve the purpose that lower the center of gravity, further improve the stability of the utility model and resistance to
Wave performance reduces rolling amplitude, is effectively reduced hull and sways the influence that movement works to water quality sampling, improves water quality and adopt
Sample efficiency；It is computed, the unmanned boat metacentric height GM of the utility model is not less than 1.133m, in level Four sea situation (feature wind speed
Under 20kn), navigation heaving response of heading sea is no more than 0.566m, and navigation pitching response of heading sea is no more than 5.41 °.
(7) using modularized design, equipment flexible arrangement.Hull interior space is abundant, can place various instrument as needed
Device equipment, while hull interior equipment can be also replaced according to actual use function, the utility model is applied to harbour monitoring, water
The fields such as literary prospecting, SAR at Sea.
(8) stratified sampling.The unmanned boat of the utility model extracts the water quality sample of different water depth by controlling the folding and unfolding of pump line
This, and pass through wastewater discharge pipe will in pump line remain seawater discharge hull outside, realize water quality stratified sampling.
Description of the drawings
Fig. 1 is that the structure of the solar energy unmanned boat of the closed hull space long-distance remote control seawater sampling of the utility model is shown
It is intended to；
Fig. 2 is the left schematic diagram of Fig. 1 unmanned boats；
Fig. 3 is the vertical view of Fig. 1 unmanned boats；
Fig. 4 is the front view of Fig. 1 unmanned boats；
Fig. 5 is the schematic diagram of the propulsion system of Fig. 1 unmanned boats；
Fig. 6 is the structure diagram of rib position floor；
Fig. 7 is the control system schematic diagram of Fig. 1 unmanned boats；
In figure：1 is main hull；1-1 is planking, and 1-1-1 is propeller mounting hole, and 1-1-2 passes through hole, 1-2 for pump line
For hull framing, 1-2-1 is keel, and 1-2-2 is floor, and 1-2-3 is watertight buoyancy compartment mounting hole, 1-3 is platform deck, 1-3-
1 is electrical equipment cabin, and 1-3-2 is sample devices cabin, and 1-3-3 is lithium battery cabin, and 1-3-4 is transverse bulkhead, and 1-3-5 is watertight compartment
Door, 1-3-6 are cylindricality watertight buoyancy compartment, and 1-3-7 is hatch, and 1-3-8 is watertight hatch, and 1-3-9 is lithium battery pedestal, 1-4
For circular arc roof construction, 1-4-1 is loud speaker, and 1-4-2 is searchlight, and 1-4-3 is red Bai Lvsan colors navigation lights, and 1-4-4 is alarm
Device, 1-4-5 are hatch, and 1-4-6 is watertight hatch, and 1-4-7 is goat's horn screw；2 be electric system, and 2-1 is flexible solar
Film battery assembly, 2-2 are terminal box, and 2-3 is solar charging controller, and 2-4 is lithium battery intelligent manager, and 2-5 is lithium
Battery；3 be propulsion system, and 3-1 is propeller, and 3-2 is high-strength carbon fiber pipe, and 3-3 is connecting rod, and 3-4 is propulsion electric machine, 3-
5 be steering engine；4 be water quality sampling system, and 4-1 is pump line, and 4-2 is pump head, and 4-3 is tube rolling device, and 4-4 is peristaltic pump, and 4-5 is sampling
Case, 4-6 are wastewater discharge pipe；5 system, 5-1 are main control computer in order to control；5-2 is positioning navigation module, 5-2-1 GNSS
Antenna, 5-2-2 are positioning differential antennae, and 5-2-3 is GNSS signal receiver；5-3 is communication module, and 5-3-1 is data transmission
Antenna, 5-3-2 are data transmission radio station, and 5-3-3 is screen transmission antenna, and 5-3-4 is screen transmission radio station；5-4 is adopted for data
Collect module, 5-4-1 is video camera, and 5-4-2 is ultrasonic sensor, and 5-4-3 is three axis strapdown reluctance type Electronic Megnetic Compass, 5-4-
4 be intelligent gyroscope, and 5-4-5 is 3-axis acceleration sensor, and 5-4-6 is water depth sensor；5-5 device modules in order to control, 5-5-1
For propeller control device, 5-5-2 is steering engine controller, and 5-5-3 is tube rolling device controller, and 5-5-4 is wriggling pump controller, 5-5-
5 be camera control unit, and 5-5-6 is lamp dimmer, and 5-5-7 is voice controller.
Specific embodiment
Preferably to support the utility model, the utility model is further elaborated below in conjunction with the accompanying drawings, but this reality
It is unlimited so with novel embodiment.
As shown in figs. 1-7, a kind of solar energy unmanned boat of closed hull space long-distance remote control seawater sampling, including main ship
Body 1, electric system 2, propulsion system 3, water quality sampling system 4 and control system 5；Wherein, main hull 1 include planking 1-1,
Hull framing 1-2, platform deck 1-3 and circular arc roof construction 1-4；Circular arc roof construction 1-4 and planking 1-1 and hull framing 1-
2 connections form closed hull space；Platform deck 1-3 is connect with planking 1-1 and hull framing 1-2, is horizontally set on main ship
In 1 closed hull space of body；Control system 5 includes main control computer 5-1, positioning navigation module 5-2, communication module 5-3, data
Acquisition module 5-4 and controller module 5-5.
1 lower part of main hull is made of planking 1-1 and hull framing 1-2；Hull framing 1-2 includes keel 1-2-1, floor
1-2-2, the hull framing 1-2 is preferably transverse system；Setting is longitudinally continuous keel 1-2- at hull central fore-and-aft vertical plane hull bottom
1, thickness is preferably 5mm, and lower edge is welded on continuous soldering method on planking 1-1；Hull framing 1-2 rib column pitch is preferred
For 600mm, setting integral cutting forms at the rib position thickness be preferably 5mm, bottom be V-arrangement, top is arc-shaped rib
Plate 1-2-2, three, middle part floor 1-2-2 are preferably for setting diameter at 337mm highly preferred apart from platform deck 1-3
The watertight buoyancy compartment mounting hole 1-2-3 of 401mm；Each rib position upper bottom portion is V-arrangement, top is arc-shaped floor 1-2-2 and keel
1-2-1, which is welded, to form that bottom is V-arrangement, top is arc-shaped hull framing 1-2；Planking 1-1 sterns setting propeller is installed
Hole 1-1-1, fore body setting pump line pass through hole 1-1-2.Planking 1-1 is continuously welded by polylith metal curved slab, ensures ship
Body watertight, makes unmanned boat float on sea；Preferably, the planking 1-1 thickness is preferably 5mm.Planking 1-1 is continuously welded
It is covered in that bottom is V-arrangement, top is that V-arrangement ship section is formed on arc-shaped hull framing 1-2, circular arc roof construction 1-4 is continuous
Welding is covered on planking 1-1 and hull framing 1-2 and forms closed hull space.Compared with common slack bulge type ship, V-type ship
Body transverse projection area is larger, it is easily achieved line navigation, i.e. unmanned boat possesses good shipping-direction stability, in addition, horizontal
Hull roll damping is increased to projected area is larger, righting arm when projected hull increases hull rolling obtains stability
To enhancing.
Hull interior space is divided into two by platform deck 1-3, and two parts hull space includes three equipment cabins, including
Electrical equipment cabin 1-3-1, sample devices cabin 1-3-2 and lithium battery cabin 1-3-3；Electrical equipment cabin 1-3-1 and sample devices cabin 1-
It is interconnected between 3-2 and between sample devices cabin 1-3-2 and lithium battery cabin 1-3-3 by hatch or hatch door；The platform
Deck 1-3 is highly preferred for 500mm away from baseline, slightly above Water Plane, outer rim with continuous soldering method be welded on planking 1-1 and
On hull framing 1-2, platform deck 1-3 will be as the main longitudinal member for bearing wave force；More than platform deck 1-3 is from ship stern
Rise and set gradually electrical equipment cabin 1-3-1 and sample devices cabin 1-3-2, electrical equipment cabin 1-3-1 and sample devices cabin 1-3-2 it
Between transverse bulkhead 1-3-4 and watertight hatch door 1-3-5 is set, a pair of of diameter of sample devices cabin 1-3-2 port and starboards setting is preferably
400mm, length are preferably the cylindricality watertight buoyancy compartment 1-3-6 of 2000mm, cylindricality watertight buoyancy compartment 1-3-6 insertion floors 1-2-2
Watertight buoyancy compartment mounting hole 1-2-3 in, the bulkhead of cylindricality watertight buoyancy compartment 1-3-6 and planking 1-1, hull framing 1-2 and
Platform deck 1-3 etc. is mutual indepedent, i.e., the breakage of above-mentioned planking 1-1, hull framing 1-2, platform deck 1-3 etc. do not change column
Shape watertight buoyancy compartment 1-3-6 structural intergrities, cylindricality watertight buoyancy compartment 1-3-6 will generate resistance in its surrounding hull damage and water inflow
The only buoyancy of Hull sinkage, it is ensured that hull is maintained at floating state to reduce property loss；Platform deck 1-3 is with pontoon space
For lithium battery cabin 1-3-3, platform deck 1-3, hatch 1-3-7 and corresponding watertight hatch 1-3-8 connections are set near ship midship
Sample devices cabin 1-3-2 and lithium battery cabin 1-3-3；Lithium battery cabin 1-3-3 bottoms set lithium battery pedestal 1-3-9 to limit lithium electricity
Relative motion between pond 2-5 and hull.Lithium battery cabin 1-3-3 arrangements underwater lower position, in arrangement weight compared with
Big lithium battery group, so as to greatly reduce unmanned boat height of C.G..Closed hull space, V-arrangement ship section and extremely low
Center of gravity realizes the self-stability of unmanned boat jointly.
It is provided with flexible solar film battery assembly 2-1 at the top of circular arc roof construction 1-4, speech ciphering equipment, light units, takes the photograph
As equipment, alarm equipment, communication and navigation equipment and avoidance equipment.Specifically：Speech ciphering equipment includes loud speaker 1-4-1, with control
The voice controller 5-5-7 connections of system 5 processed；Light units include searchlight 1-4-2 and red Bai Lvsan colors navigation lights 1-4-3,
It is connect respectively with the lamp dimmer 5-5-6 of control system 5；Picture pick-up device includes video camera 5-4-1, with main control computer 5-1
RS-232 serial ports and camera control unit 5-5-5 connections；Alarm equipment includes alarm 1-4-4, the voice with control system 5
Controller 5-5-7 connections；Communication and navigation equipment includes GNSS antenna 5-2-1, positioning differential antennae 5-2-2, data transmission antenna
5-3-1, screen transmission antenna 5-3-3, GNSS antenna 5-2-1, positioning differential antennae 5-2-2 are connect with GNSS radio station, and data pass
Defeated antenna 5-3-1, screen transmission antenna 5-3-3 are connect respectively with data transmission balcony 5-3-2 and screen transmission radio station 5-3-4；
Avoidance equipment includes ultrasonic sensor 5-4-2, is connect with the RS-232 serial ports of main control computer 5-1；Loud speaker 1-4-1 and red
Bai Lvsan color navigation lights 1-4-3 is arranged on circular arc roof construction 1-4 foreparts, and voice is sent out to ship around for bank base controllers
Signal；Searchlight 1-4-2 and red Bai Lvsan colors navigation lights 1-4-3 are arranged on circular arc roof construction 1-4 foreparts, the former navigates for night
Row illumination, the latter are used to send out light signal to ship around, and the red Bai Lvsan colors navigation lights 1-4-3 is from the front of ship
22.5 after to port beamoInterior display feux rouges, to starboard beam after 22.5oInterior display green light, from the dead astern of ship to every side of a ship
67.5oInterior display white light；Video camera 5-4-1 is arranged on circular arc roof construction 1-4 front ends, under camera control unit 5-5-5 controls
Video camera 5-4-1 can 360 degree of real-time image informations looked around and capture unmanned boat surrounding enviroment；Alarm 1-4-4 is arranged on circle
Arc roof construction 1-4 tail portions, for being made a sound to ship around and light alarm signal；GNSS antenna 5-2-1, positioning difference day
Line 5-2-2, data transmission antenna 5-3-1 and screen transmission antenna 5-3-3 are arranged on circular arc roof construction 1-4 tail portions；Ultrasonic wave passes
Sensor 5-4-2 is arranged on circular arc roof construction 1-4 front ends, and effective detection range is more than 10m, and ultrasonic sensor 5-4-2 is used for
The barrier in unmanned boat direction of advance is identified under autonomous navigation pattern.
Circular arc roof construction 1-4 is in bow place setting hatch 1-4-5 to the rear and watertight hatch 1-4-6, the hatch 1-4-5
It is more than 1740mm along the minimum widith in beam direction, is more than 600m along the minimum length in captain direction, passability is good, personnel
Hull interior can be entered by hatch 1-4-5 and carry out overhaul of the equipments；Watertight hatch 1-4-6 is tight by 7 groups of goat's horn screw 1-4-7
It is close to be fixed on above-mentioned circular arc roof construction 1-4, rainwater and seawater etc. and hull interior space can effectively be completely cut off, improve unmanned boat
Survival ability under severe sea condition.
Electric system 2 includes：Flexible solar film battery assembly 2-1, terminal box 2-2, solar charging controller 2-
3rd, lithium battery intelligent manager 2-4 and lithium battery group；Lithium battery group is composed in parallel by multiple lithium battery 2-5；Each flexibility sun
Energy film battery assembly 2-1 is connected equipped with terminal box 2-2, multiple flexible solar film battery assembly 2-1 by terminal box 2-2
Connection, and connect with solar charging controller 2-3, lithium battery intelligent manager 2-4 and solar charging controller 2-3 connects
It connects, lithium battery group is connect with lithium battery intelligent manager 2-4；Lithium battery intelligent manager 2-4 and the propulsion electric machine of propulsion system 3
3-4 is connected with steering engine 3-5, is connect with the tube rolling device 4-3, peristaltic pump 4-4, sampling box 4-5 of water quality sampling system 4, with loud speaker
1-4-1, searchlight 1-4-2, red Bai Lvsan colors navigation lights 1-4-3, alarm 1-4-4 connections output electric energy；Lithium battery intelligent pipe
Reason device 2-4 is also connect with 5 main control computer 5-1 of control system, is connect with the GNSS signal of 5 positioning navigation module 5-2 of control system
The 5-2-3 connections of receipts machine, data transmission balcony 5-3-2, screen transmission radio station 5-3-4 with 5 communication module 5-3 of control system connect
It connects, video camera 5-4-1, ultrasonic sensor 5-4-2, three axis strapdown reluctance types electricity with 5 data acquisition module 5-4 of control system
Sub- magnetic compass 5-4-3, intelligent gyroscope 5-4-4,3-axis acceleration sensor 5-4-5, water depth sensor 5-4-6 connections and control
Propeller control device 5-5-1, steering engine controller 5-5-2, wriggling pump controller 5-5-4, the volume of 5 controller module 5-5 of system processed
Pipe device controller 5-5-4, camera control unit 5-5-5, lamp dimmer 5-5-6, voice controller 5-5-7 connections output electricity
Energy；Multiple flexible solar film battery assembly 2-1 are laterally pasted onto circular arc roof construction 1-4 upper surfaces, are gone here and there by terminal box 2-2
Connection forms solar battery group；Preferably, flexible solar film battery assembly 2-1 selects CIGS (copper indium gallium selenide) thin-film electro
Pond, model MiaSole FLEX-02W (Chinese energy) have light weight, transfer efficiency height etc. a little；Solar charging controller
2-3 is arranged on hull interior platform deck 1-3, it is preferred that solar charging controller 2-3 is MPPT solar charging electric control
Device, output voltage is adjustable and with higher transfer efficiency, can still be kept in the weather of the insufficient lights such as rainy days
Higher transfer efficiency；Lithium battery intelligent manager 2-4 is arranged on ship for being managed to lithium battery 2-5 charging processes
On internal portion platform deck 1-3 in electric appliance equipment compartment 1-3-1；Lithium battery 2-5 is arranged on lithium battery cabin 1-3-3 lithium battery pedestals 1-
On 3-9, it is preferred that each lithium battery 2-5 intervals are not less than 25mm, so that battery radiates；Preferably, the battery of lithium battery 2-5
Capacity is 100Ah, and open-circuit voltage 12V, lithium battery 2-5 are ternary lithium battery and built-in protection board, has output voltage stabilization, can
By the advantages that property is high, service life is long.
As shown in figure 5, propulsion system 3 includes：Propeller 3-1, high-strength carbon fiber pipe 3-2, connecting rod 3-3, electricity is promoted
Machine 3-4 and steering engine 3-5；Propeller 3-1 is arranged on the tail end of unmanned boat；High-strength carbon fiber pipe 3-2 one end and propulsion electric machine
The radome fairing of 3-1 is fixedly connected, and the propeller mounting hole 1-1-1 that the other end is passed through on hull is connect with connecting rod 3-3；Connecting rod
3-3 is connect with steering engine 3-5；Propeller 3-1 is also connect with propulsion electric machine 3-4；Propulsion electric machine 3-4 and the propeller of control system 5
Controller 5-5-1 connections；Steering engine 3-5 is connect with the steering engine controller 5-5-2 of control system 5.Propulsion electric machine 3-4 rated power is excellent
It is selected as 624W, thrust about 245N；Connecting rod 3-3 is mainly made of two rod pieces and transfer, and two rod pieces are arranged in parallel, two
The both ends of rod piece are connect respectively with two transfers；Control system 5 controls steering engine 3-5 to turn to by steering engine controller 5-5-2
And pass through connecting rod 3-3 driving high-strength carbon fiber pipe 3-2 rotations, it realizes and the corners of propeller 3-1 in the horizontal plane is controlled,
It is promoted so as to fulfill single propeller vector, obtains the thrust with course difference angle and corresponding torque, under torque actuated,
Unmanned course changes.
Specifically, the water quality sampling system 4 includes：Pump line 4-1, pump head 4-2, tube rolling device 4-3, peristaltic pump 4-4, sampling
Case 4-5, wastewater discharge pipe 4-6；Pump head 4-2 and peristaltic pump 4-4 and peristaltic pump 4-4 and sampling box 4-5 are connected by pump line 4-1
It connects, peristaltic pump discharge of wastewater mouth is connect by wastewater discharge pipe 4-6 with hull exterior space；Tube rolling device 4-3, peristaltic pump 4-4 distinguish
It is connect with tube rolling device controller 5-5-3, the wriggling pump controller 5-5-4 of 5 controller module 5-5 of control system；Pump line 4-1 is used for
Water sample is conveyed, is stretched out outside hull by hole 1-1-2 by the pump line of stem, it is preferred that pump line 4-1 is soft for corrosion-resistant silica gel
Pipe；Pump head 4-2 is placed in the one end of pump line 4-1 far from peristaltic pump 4-4, and inside is equipped with water depth sensor 5-4-6；Tube rolling device 4-3 is used
Pump head 4-2 is made to reach at the different depth of water in the folding and unfolding of control pump line 4-1；Peristaltic pump 4-4 is responsible for extracting water sample offer power；
Wastewater discharge pipe 4-6 is for emptying in pump line 4-1 remaining seawater so that water quality sampling system 4 performs sampling task next time；It adopts
Sample case 4-5 is placed in the 1-3-2 of sample devices cabin, it is preferred that after unmanned boat completes sampling task, person on shore can open water
Close hatch board 1-3-8 simultaneously replaces sampling box 4-5.
Further, control system 5 includes main control computer 5-1, positioning navigation module 5-2, communication module 5-3, data
Acquisition module 5-4 and controller module 5-5.Preferably, main control computer 5-1 is the PCM-9375 veneers based on PC104 buses
Computer.
The positioning navigation module 5-2 includes：GNSS antenna 5-2-1, positioning differential antennae 5-2-2, GNSS signal receive
Machine 5-2-3；GNSS antenna 5-2-1 is arranged on circular arc roof construction 1-4 rear portions with positioning differential antennae 5-2-2 and is connect with GNSS signal
The 5-2-3 connections of receipts machine, the RS-232 serial ports of GNSS signal receiver 5-2-3 access main control computers 5-1.GNSS antenna 5-2-1,
Positioning differential antennae 5-2-2 is arranged on the rear end of circular arc roof construction 1-4, and GNSS signal receiver 5-2-3 is arranged on platform deck
In the electrical equipment cabin 1-3-1 at 1-3 rear portions.
The communication module 5-3 includes：Data transmission antenna 5-3-1, data transmission radio station 5-3-2, screen transmission antenna
5-3-3, screen transmission radio station 5-3-4；Data transmission antenna 5-3-1 is connect with data transmission radio station 5-3-2, data transmission radio station
The RS-232 serial ports of 5-3-2 access main control computers 5-1；Screen transmission antenna 5-3-3 is connect with screen transmission radio station 5-3-4,
The RS-232 serial ports of screen transmission radio station 5-3-4 access main control computers 5-1.Data transmission antenna 5-3-1 is responsible for controlling and visit
The remote transmission of signal is surveyed, data transmission antenna 5-3-1 is arranged on the rear end of circular arc roof construction 1-4, data transmission radio station 5-
3-2 is arranged in the electrical equipment cabin 1-3-1 at platform deck 1-3 rear portions；Screen transmission antenna 5-3-3 is responsible for video image video
The remote transmission of data, screen transmission setting antenna is in the rear end of circular arc roof construction 1-4, screen transmission radio station 5-3-4 settings
Electrical equipment cabin 1-3-1 at platform deck 1-3 rear portions.
The data acquisition module 5-4 includes：Video camera 5-4-1, ultrasonic sensor 5-4-2, three axis strapdown reluctance types
Electronic Megnetic Compass 5-4-3, intelligent gyroscope 5-4-4,3-axis acceleration sensor 5-4-5, water depth sensor 5-4-6；Video camera
5-4-1, tri- axis strapdown reluctance type Electronic Megnetic Compass 5-4-3 of ultrasonic sensor 5-4-2, intelligent gyroscope 5-4-4, three axis accelerate
Degree sensor 5-4-5, water depth sensor 5-4-6 are respectively connected to the RS-232 serial ports of main control computer 5-1；Video camera 5-4-1 can
360 degree of real-time image informations for looking around capture unmanned boat surrounding enviroment；Three axis strapdown reluctance type Electronic Megnetic Compass 5-4-3 are used to survey
Determine unmanned boat course, intelligent gyroscope 5-4-4 is used to measure hull rolling (Roll), pitching (Pitch) and yawing (Yaw) etc.
Posture, 3-axis acceleration sensor 5-4-5 be used for measure unmanned boat steric acceleration (solid space, around, on
Under), water depth sensor 5-4-6 is mounted on pump head 4-2, for measuring pump head 4-2 current depths.
The controller module 5-5 includes：Propeller control device 5-5-1, steering engine controller 5-5-2, tube rolling device controller
5-5-3, wriggling pump controller 5-5-4, camera control unit 5-5-5, lamp dimmer 5-5-6, voice controller 5-5-7；It pushes away
Into device controller 5-5-1, steering engine controller 5-5-2, tube rolling device controller 5-5-3, wriggling pump controller 5-5-4, video camera control
Device 5-5-5 processed, lamp dimmer 5-5-6, voice controller 5-5-7 are tapped into the RS-232 serial ports of main control computer 5-1；This
Outside, propeller control device 5-5-1 is also connect with propulsion electric machine 3-4, for performing main control computer 5-1 instruction control propulsion electric machines
3-4 stop and start, rotating etc. are preferably provided at platform deck 1-3 rear portions；Steering engine controller 5-5-2 also connects with steering engine 3-5
It connecing, control steering engine 3-5 is turned to and corner and is passed through connecting rod 3-3 drivings propeller 3-1 and rotate synchronously in the horizontal plane, so as to fulfill
Single propeller vector promotes；Tube rolling device controller 5-5-3 is also connect with tube rolling device 4-3, and control tube rolling device 4-3 servo motors turn
The folding and unfolding of pump line 4-1 is realized at angle；Wriggling pump controller 5-5-4 is also connect with peristaltic pump 4-4, controls peristaltic pump 4-4 pump drainage water；
Camera control unit 5-5-5 is also connect with video camera 5-4-1 servo motors, for video camera 5-4-1 servo motors to be controlled to rotate.
Preferably, the planking 1-1 and hull framing 1-2, platform deck 1-3, circular arc roof construction 1-4 are by 5086 aluminium
Alloy is made, and 5086 aluminium alloy qualities are light, has good corrosion resistance and weldability, and its intensity meets unmanned boat structure
Intensity requirement.
The specific working mode of the utility model is as follows：
(1) flexibility at the top of the solar energy unmanned boat of the closed hull space long-distance remote control seawater sampling of the utility model
Solar film battery assembly 2-1 under sunlight, convert light energy into electric energy simultaneously will electrical energy transportation to solar recharging
Controller 2-3, solar charging controller 2-3 above-mentioned electric energy is depressured and be conveyed to lithium battery intelligent manager 2-4 into
And it powers to whole system；The speed of a ship or plane instruction that bank base control station is sent out is captured by data transmission antenna 5-3-1 and feeds back to master control
Computer 5-1, main control computer 5-1 send out control instruction to propeller control device 5-5-1；Propeller control device 5-5-1 is to pushing away
Stepper motor 3-4 gives voltage corresponding with the speed of a ship or plane, so as to rotate propulsion electric machine 3-4 and propeller 3-1 is driven to rotate, propeller
3-1 generates forward thrust and promotes unmanned boat accelerated motion forward；Similar, when bank base control station sends out steering order, control
System processed gives the different voltage of size or direction to steering engine 3-5, and steering engine 3-5 rotates certain angle and passes through connecting rod 3-3 and drives
Dynamic propeller 3-1 rotates synchronously that propeller is made to generate the thrust of different directions and generates work in the horizontal plane in the horizontal plane
With the torque on hull, unmanned boat course change is forced.
(2) at the same time：Positioning navigation module 5-2 is by information such as the unmanned ship position of acquisition, course, acceleration and takes the photograph
The image frame of camera capture feeds back to main control computer 5-1 and transmits day by data transmission antenna 5-3-1 and screen respectively
Line 5-3-3 passes bank base control station back；Lithium battery intelligent manager 2-4 identifies lithium battery group remaining capacity, when lithium battery group electricity
During less than a certain value, battery pack is implemented to charge, the flexible solar film battery assembly 2-1 dump energies generated are stored in
When in lithium battery group；When lithium battery group electricity reaches another higher value, lithium battery intelligent manager 2-4 cut-out charging circuits,
Charging stops；When the electric energy that flexible solar film battery assembly 2-1 is generated is not enough to maintain unmanned boat normal work, lithium electricity
The electric energy of pond group release storage, ensures the supply of unmanned boat electric energy.
(3) further, the solar energy unmanned boat of the closed hull space long-distance remote control seawater sampling of the utility model
Specified sampling position is reached under the real time monitoring of bank base operator, bank base control station sends out sampling instruction；Tube rolling device 4-3 is watched
It takes motor driving tube rolling device 4-3 releases pump head 4-2, pump head 4-2 under main control computer 5-1 controls and drags pump under the effect of gravity
Pipe 4-1 sinks rapidly；At the same time, the water depth sensor 5-4-6 on pump head 4-2 captures Water Depth Information and feeds back to master control calculating
Water Depth Information is sent to bank base control station, bank base control by machine 5-1, main control computer 5-1 by data transmission antenna 5-3-1 biographies
Personnel assign sampling and confirm instruction after confirming that the depth of water is errorless；Peristaltic pump 4-4 starts under the control of main control computer 5-1, will
Seawater sample is extracted to sampling box, and single sampled point sampling process is completed；Repeatedly, the sampling all sampling point samplings in marine site are completed
Work, unmanned boat make a return voyage；Person on shore opens watertight hatchcover 1-4-6, takes out sampling box 4-5, and place new sampling box 4-5；
Unmanned boat sails again performs new sampling task.
(4) the solar energy unmanned boat of the closed hull space long-distance remote control seawater sampling of the utility model has certain
AUTONOMOUS TASK ability.Similarly, under AUTONOMOUS TASK pattern, the above process is completed by pre-set programs instruction is autonomous.
(5) further, under the effect of the external force such as wind and wave, the closed hull space long-distance remote control sea of the utility model
Wide-angle heel occurs for the solar energy unmanned boat hull of hydromining sample, since lithium battery cabin 1-3-3 arranges underwater relatively low position
It puts, the larger lithium battery group of arrangement weight in the 1-3-3 of lithium battery cabin plays main function, together to reducing unmanned boat height of C.G.
When, in the lectotype selection such as flexible solar film battery assembly 2-1 replacements tradition solar panels of selection lighter weight and always
Unmanned boat height of C.G. is optimized in arrangement, realizes that center of gravity is relatively low in conjunction with closed hull space, V-arrangement ship section, floats
The heart is higher, and centre of buoyancy is on center of gravity, and the coupling of gravity and buoyancy generates larger restoring moment, and alist angle is returned rapidly
In zero；Under limiting condition, each equal damage and water inflow in watertight cabin of hull, buoyancy significantly damage in addition to cylindricality watertight buoyancy compartment 1-3-6
It loses, the seawater into hull interior causes the cylindricality watertight buoyancy compartment 1-3-6 being partially flooded with generations and hull mass etc. are big to float
Power, the solar energy unmanned boat of the closed hull space long-distance remote control seawater sampling of the utility model can keep floating state without
As for seabed is sunk to, property loss is reduced.
It should be noted that any change or replacement expected without creative work, should all cover new in this practicality
Within the protection domain of type, the scope of protection of the utility model should be determined by the scope of protection defined in the claims.
Claims (10)
1. a kind of solar energy unmanned boat of closed hull space long-distance remote control seawater sampling, which is characterized in that including main hull,
Electric system, propulsion system, water quality sampling system and control system；
The main hull includes planking, hull framing, platform deck and circular arc roof construction；Circular arc roof construction and planking and
Hull framing connects to form closed hull space；Platform deck is connect with planking and hull framing, is horizontally set on main hull
In closed hull space；Dome structural top be provided with flexible solar film battery assembly, speech ciphering equipment, light units,
Picture pick-up device, alarm equipment, communication and navigation equipment and avoidance equipment；
The electric system includes flexible solar film battery assembly, terminal box, solar charging controller, lithium battery intelligent
Manager and lithium battery group；Lithium battery group is composed in parallel by multiple lithium batteries；Each flexible solar film battery assembly is equipped with
Terminal box, multiple flexible solar film battery assemblies are connected in series with, and connect with solar charging controller by terminal box,
Lithium battery intelligent manager is connect with solar charging controller, and lithium battery group is connect with lithium battery intelligent manager；
The propulsion system includes propeller, high-strength carbon fiber pipe, connecting rod, propulsion electric machine and steering engine；Propeller is arranged on
The tail end of unmanned boat；High-strength carbon fiber pipe one end is connect with propulsion electric machine, and the other end passes through the propeller on hull
Mounting hole is connect with connecting rod；Connecting rod is connect with steering engine；Propeller is also connect with propulsion electric machine；
The water quality sampling system includes pump line, pump head, tube rolling device, peristaltic pump, sampling box and wastewater discharge pipe；Pump head and wriggling
Pump and peristaltic pump are connected with sampling box by pump line, and wastewater discharge pipe connects peristaltic pump discharge of wastewater mouth and hull exterior space
It connects；Tube rolling device, peristaltic pump are connect respectively with the tube rolling device controller of control system controller module, wriggling pump controller；
The control system includes main control computer, positioning navigation module, communication module, data acquisition module and controller mould
Block；Positioning navigation module, communication module, data acquisition module and controller module are connect respectively with main control computer.
2. the solar energy unmanned boat of closed hull space long-distance remote control seawater sampling according to claim 1, feature
It is, the lower part of the main hull is planking and hull framing；Planking is continuously welded by polylith metal curved slab, ship
Coverboard thickness is 5mm；Continuously welding is covered in that bottom is V-arrangement, top is on arc-shaped hull framing to planking, forms V-arrangement
Ship section；Circular arc roof construction sequential welding, which connects to be covered on planking and hull framing, forms closed hull space；Closed hull
A pair of a diameter of 400mm of space interior port and starboard setting, the cylindricality watertight buoyancy compartment that length is 2000mm.
3. the solar energy unmanned boat of closed hull space long-distance remote control seawater sampling according to claim 2, feature
It is, the hull framing is transverse system, is set including keel and floor, at hull central fore-and-aft vertical plane hull bottom and is longitudinally continuous dragon
Bone, keel thickness are 5mm, and keel lower edge is welded on continuous soldering method on planking；Hull framing rib column pitch is 600mm,
The thickness for integral cutting being set to form at rib position is 5mm, bottom is V-arrangement, top is arc-shaped floor, and three, middle part floor exists
Apart from watertight buoyancy compartment mounting hole of the platform deck height for a diameter of 401mm of setting at 337mm, the insertion of cylindricality watertight buoyancy compartment
In the watertight buoyancy compartment mounting hole of floor；Each rib position upper bottom portion is V-arrangement, top is that arc-shaped floor and keel weld to form bottom
Portion is V-arrangement, top is arc-shaped hull framing.
4. the solar energy unmanned boat of closed hull space long-distance remote control seawater sampling according to claim 1, feature
Be, the circular arc roof construction in bow place to the rear setting hatch and watertight hatch, the hatch along beam direction most
Small width is more than 1740mm, is more than 600m along the minimum length in captain direction；Watertight hatch is tightly fastened by goat's horn screw
On circular arc roof construction.
5. the solar energy unmanned boat of closed hull space long-distance remote control seawater sampling according to claim 1, feature
Be, hull interior space is divided into two by the platform deck, two parts hull space include three equipment cabins, three
Equipment cabin is electrical equipment cabin, sample devices cabin and lithium battery cabin；Between electrical equipment cabin and sample devices cabin and sample
It is interconnected between equipment compartment and lithium battery cabin by hatch or hatch door；Platform deck away from baseline height be 500mm, platform deck
Higher than Water Plane, platform deck outer rim is welded on continuous soldering method on planking and hull framing；More than platform deck from ship
Stern rises and sets gradually electrical equipment cabin and sample devices cabin, and transverse bulkhead and watertight are set between electrical equipment cabin and sample devices cabin
Hatch door, for sample devices cabin platform deck using pontoon space as lithium battery cabin, platform deck sets hatch and phase near ship midship
Watertight hatch connection sample devices cabin and the lithium battery cabin answered；Lithium battery bilge portion sets lithium battery pedestal.
6. the solar energy unmanned boat of closed hull space long-distance remote control seawater sampling according to claim 1, feature
It is, the main control computer is the PCM-9375 single board computers based on PC104 buses；
The positioning navigation module includes GNSS antenna, positioning differential antennae and GNSS signal receiver；Wherein, GNSS antenna with
GNSS signal receiver connects；GNSS signal receiver accesses the RS-232 serial ports of main control computer；GNSS antenna and poor location
Divided antenna is arranged on the rear end of circular arc roof construction, and GNSS signal receiver is arranged in the electrical equipment cabin at platform deck rear portion；
The communication module includes data transmission antenna, data transmission radio station, screen transmission antenna and screen transmission radio station；Data
Transmission antenna is connect with data transmission radio station, and the RS-232 serial ports of main control computer is accessed in data transmission radio station；Screen transmits day
Line is connect with screen transmission radio station, and screen transmission radio station accesses the RS-232 serial ports of main control computer；Data transmission antenna is set
In the rear end of circular arc roof construction, data transmission radio station is arranged in the electrical equipment cabin at platform deck rear portion；Screen transmission antenna
The rear end of circular arc roof construction is arranged on, screen transmission radio station is arranged in the electrical equipment cabin at platform deck rear portion；
The data acquisition module includes video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyro
Instrument, 3-axis acceleration sensor and water depth sensor；Video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass,
Intelligent gyroscope, 3-axis acceleration sensor and water depth sensor are respectively connected to the RS-232 serial ports of main control computer；The depth of water passes
Sensor is mounted on pump head；
The controller module includes propeller control device, steering engine controller, tube rolling device controller, wriggling pump controller, camera shooting
Machine controller, lamp dimmer and voice controller；Propeller control device, steering engine controller, tube rolling device controller, peristaltic pump control
Device processed, camera control unit, lamp dimmer and voice controller are tapped into the RS-232 serial ports of main control computer；The propulsion
Device controller is also connect with propulsion electric machine, is arranged on platform deck rear portion；Steering engine controller is also connect with steering engine；Tube rolling device controls
Device is also connect with tube rolling device；Wriggling pump controller is also connect with peristaltic pump；Camera control unit also connects with video camera servo motor
It connects.
7. the solar energy unmanned boat of closed hull space long-distance remote control seawater sampling according to claim 1, feature
It is, the speech ciphering equipment includes loud speaker, the voice controller connection of loud speaker and control system；Light units include visiting
Illuminator and red Bai Lvsan colors navigation lights, searchlight and red Bai Lvsan colors navigation lights connect respectively with the lamp dimmer of control system
It connects；Picture pick-up device includes video camera, RS-232 serial ports and the camera control unit connection of video camera and main control computer；Alarm is set
It is standby to include alarm, the voice controller connection of alarm and control system；Avoidance equipment includes ultrasonic sensor, ultrasonic wave
The RS-232 serial ports of sensor and main control computer connects；Loud speaker, searchlight and red Bai Lvsan colors navigation lights are arranged on circular arc
Roof construction forepart；Video camera setting is in dome structure front end；Alarm is arranged on dome structure tail portions；Ultrasonic sensor
It is arranged on dome structure front end.
8. the solar energy unmanned boat of closed hull space long-distance remote control seawater sampling according to claim 1, feature
It is, the propeller control device connection of the propulsion electric machine and control system；Steering engine and the steering engine controller of control system connect
It connects；Propulsion electric machine rated power is 624W；The connecting rod is mainly made of two rod pieces and transfer, and two rod pieces are parallel
Setting, the both ends of two rod pieces are connect respectively with two transfers.
9. the solar energy unmanned boat of closed hull space long-distance remote control seawater sampling according to claim 1, feature
It is, propulsion electric machine and the steering engine connection of the lithium battery intelligent manager and propulsion system, the volume with water quality sampling system
Pipe device, peristaltic pump, sampling box connection, connect with loud speaker, searchlight, red Bai Lvsan colors navigation lights, alarm；Lithium battery intelligent
Manager is also connect with control system main control computer, is connect with the GNSS signal receiver of control system positioning navigation module,
It is connect with the data transmission antenna of control system communication module, screen transmission radio station, with taking the photograph for control system data acquisition module
Camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyroscope, 3-axis acceleration sensor, the depth of water pass
Sensor connects and the propeller control device of control system controller module, steering engine controller, wriggling pump controller, tube rolling device control
Device processed, camera control unit, lamp dimmer, voice controller connection；
The multiple flexible solar film battery assembly is laterally pasted onto circular arc roof construction upper surface, passes through wiring cassette in series shape
Into solar battery group；Flexible solar film battery assembly selects CIGS hull cell；Solar charging controller is arranged on
On hull interior platform deck；Lithium battery intelligent manager is arranged on hull interior platform deck in electric appliance equipment compartment；Lithium electricity
Pond is arranged on the lithium battery pedestal of lithium battery cabin, and each lithium battery interval is not less than 25mm；The battery capacity of lithium battery is 100Ah,
Open-circuit voltage 12V, lithium battery are ternary lithium battery and built-in protection board.
10. the solar energy unmanned boat of closed hull space long-distance remote control seawater sampling according to claim 1, feature
It is, the planking and hull framing, platform deck and circular arc roof construction are made of 5086 aluminium alloys；The high intensity
Carbon fiber pipe one end is connect with propulsion electric machine refers to that the radome fairing of high-strength carbon fiber pipe one end and propulsion electric machine fixes company
It connects.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108995762A (en) * | 2018-07-27 | 2018-12-14 | 海捷水下潜航器（深圳）有限公司 | A kind of hull and its assembly method |
| CN109001405A (en) * | 2018-09-07 | 2018-12-14 | 华北水利水电大学 | Full waters can use water quality monitoring equipment and system |
| CN109018189A (en) * | 2018-08-16 | 2018-12-18 | 山东钜策新材料科技有限公司 | A kind of unmanned hull of carbon fiber based on solar power generation |
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| CN112549885A (en) * | 2020-12-21 | 2021-03-26 | 中国科学院沈阳自动化研究所 | Folding wing submerged cross-domain marine robot capable of vertically taking off and landing |
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