CN210212716U - Unmanned ship carries on unmanned aerial vehicle's marine patrol equipment - Google Patents
Unmanned ship carries on unmanned aerial vehicle's marine patrol equipment Download PDFInfo
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- CN210212716U CN210212716U CN201920596587.5U CN201920596587U CN210212716U CN 210212716 U CN210212716 U CN 210212716U CN 201920596587 U CN201920596587 U CN 201920596587U CN 210212716 U CN210212716 U CN 210212716U
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- 230000008602 contraction Effects 0.000 description 3
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- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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Abstract
The utility model discloses an unmanned aerial vehicle's marine patrol equipment is carried on to unmanned ship, this patrol equipment include that unmanned ship, unmanned aerial vehicle play platform system and unmanned aerial vehicle battery change charging system automatically. Unmanned aerial vehicle platform system that rises and falls is located unmanned ship hull, including top stabilizer, the platform that rises and falls, lifter and leg fixation clamp, top stabilizer top is fixed with the one deck flat board, installs the lifter on the flat board, and the top of lifter has a hole for the platform that rises and falls in the middle of the platform that rises and falls, can hold the battery and pass through, and six sensors and angular velocity sensor are installed to the platform bottom side that rises and falls, and the leg fixation clamp distributes in the hole both sides. The utility model solves the shaking problem of the unmanned ship to a great extent, so that the unmanned plane can rise and fall stably, and the safety of the whole system is guaranteed; the cruising ability of the unmanned ship and the unmanned aerial vehicle is improved, and the patrol range is expanded.
Description
Technical Field
The utility model relates to a marine patrol equipment, more specifically relates to a marine patrol equipment that unmanned ship carried on unmanned aerial vehicle.
Background
The unmanned ship technology has the advantages that the water surface robot with certain sea cruising ability has strong load capacity, long cruising ability in continuous operation and the like, but objects at a distance cannot be observed due to the fact that the water surface robot is close to the sea level; the unmanned aerial vehicle has the defects of good maneuvering performance, rapid movement response, large high-altitude visual angle, small load capacity of the unmanned aerial vehicle, short continuous operation endurance time due to the limitation of a power supply technology and the like. Therefore, the unmanned ship and the unmanned aerial vehicle can be operated in a combined mode, so that the functions of the unmanned ship and the unmanned aerial vehicle are complementary, and the marine cruising ability can be improved.
Patent number is CN 108945342A's patent and has announced the marine search and rescue equipment of unmanned aerial vehicle is carried on to unmanned ship, utilizes unmanned ship to carry on unmanned aerial vehicle, has improved the marine search and rescue ability of bar of unmanned aerial vehicle, has enlarged the marine search and rescue scope of unmanned aerial vehicle. However, the technical scheme has the following technical problems: 1. the problem that the landing platform cannot be stable when the unmanned aerial vehicle takes off and lands exists, and therefore great potential safety hazards exist in the landing process of the unmanned aerial vehicle. 2. The unmanned ship has the problem of poor cruising ability and is small in search and rescue range. 3. Unmanned aerial vehicle can't carry out continuation of the journey work. The endurance time of the existing four-rotor unmanned aerial vehicle is generally less than 0.5h, and if equipment with other functions is carried, the endurance time is shortened, so that the invention has certain limitation on the search and rescue range, and long-distance and large-range operation cannot be realized.
Disclosure of Invention
Utility model purpose: the utility model aims at providing an unmanned ship carries on unmanned aerial vehicle's marine patrol equipment, this equipment can make unmanned aerial vehicle remain stable when unmanned on the ship rises and falls, improves unmanned aerial vehicle and unmanned on the ship's duration simultaneously.
The technical scheme is as follows: the utility model relates to a marine patrol equipment of unmanned aerial vehicle carried by unmanned ship, which comprises an unmanned ship, an unmanned aerial vehicle landing platform system and an unmanned aerial vehicle battery automatic replacement charging system, wherein the unmanned ship comprises a ship body, a foldable hatch cover and a control system, the hatch cover is positioned above the cabin, and the hatch cover is made of solar cell panels; the unmanned aerial vehicle comprises a body, a motor, a propeller, an unmanned aerial vehicle control system, a GPS, a data transmission system, a picture transmission system, a leg, a battery and a horn, wherein the battery is arranged below the unmanned aerial vehicle; the unmanned aerial vehicle lifting platform system is positioned on a hull of an unmanned ship and comprises a gyro stabilizer, a lifting platform, a first lifting rod and a leg fixing clamp, wherein a layer of flat plate is fixed above the gyro stabilizer, the first lifting rod is installed on the flat plate, the lifting platform is arranged at the top of the first lifting rod, a hole is formed in the middle of the lifting platform and can allow a battery to pass through, six sensors and an angular velocity sensor are installed on the bottom side of the lifting platform, and the leg fixing clamps are distributed on two sides of the hole; the automatic battery replacement and charging system for the unmanned aerial vehicle comprises a battery bin, a circular turntable, a second lifting rod, a lifting platform, a convex slide rail, a concave slide rail and a sliding block, wherein the lifting platform is located at the center of the circular turntable, the battery bin comprises a charging seat, the charging seat is located on the circular turntable, the convex slide rail and the concave slide rail are located on the lifting platform, the second lifting rod is located below the lifting platform, and the sliding block is located on the concave slide rail and provided with a small lifting rod.
The cabin cover of the unmanned ship is foldable, the unmanned ship further comprises a suspension system and metal rods, the suspension system is installed on the unmanned ship through the metal rods and distributed on two sides of the ship body, the shock absorption capacity of the unmanned ship can be improved, and therefore the stability of the unmanned ship is improved. The hull of the unmanned ship is made of the solar cell panel, so that the cruising ability of the unmanned ship can be improved.
The unmanned ship is provided with 4 unmanned aerial vehicle landing platform systems and an unmanned aerial vehicle battery automatic replacement charging system, so that the unmanned aerial vehicle can patrol four areas simultaneously by taking the unmanned ship as a center, and the cruising efficiency is improved.
The image transmission system comprises a camera, an image transmission sending module and an image transmission receiving module, wherein the camera is communicated with the sending module and fixed on the unmanned aerial vehicle, and the receiving module is connected to a control system of the unmanned aerial vehicle.
Wherein, install infrared transmitter on unmanned aerial vehicle's the horn, install infrared receiver and pressure sensor frequently on the horn fixation clamp, can match with the infrared transmitter on the unmanned aerial vehicle horn to improve the descending precision of unmanned aerial vehicle.
Wherein, unmanned aerial vehicle battery is automatic to be changed charging system still includes automatic contraction dish, is located the bottom of circular carousel, distributes in the position of the corresponding charging seat of circular carousel, connects unmanned ship's power and charging seat, can be so that the battery change more convenient.
Has the advantages that: 1. the shaking problem of the unmanned ship is reduced to a great extent, so that the unmanned plane is stable in rising and falling, and the safety of the whole system is guaranteed; 2. the unmanned ship has high cruising ability; 3. the unmanned aerial vehicle has good cruising ability and improves the patrol range.
Drawings
Fig. 1 is a schematic diagram of a marine patrol facility with an unmanned aerial vehicle carried by an unmanned ship;
fig. 2 is a schematic view of the structure of the drone;
fig. 3 is a schematic structural view of an unmanned aerial vehicle landing platform;
FIG. 4 is a schematic structural diagram of an automatic battery replacing device of the unmanned aerial vehicle;
fig. 5 is a partial enlarged view of the structure of the automatic battery replacing device of the unmanned aerial vehicle.
Detailed Description
As shown in fig. 1, unmanned aerial vehicle's marine patrol equipment is carried on by unmanned aerial vehicle includes unmanned aerial vehicle, unmanned aerial vehicle plays platform system and the automatic charging system that changes of unmanned aerial vehicle battery, unmanned aerial vehicle includes hull 1, collapsible hatch cover 3, control system 4, suspension 2 and metal pole 5, suspension 2 passes through metal pole 5 to be installed on unmanned aerial vehicle, distribute in hull 1 both sides, hatch cover 3 is collapsible, hatch cover 3 and hull 1 material are solar cell panel, unmanned aerial vehicle has 4 unmanned aerial vehicle and plays platform system and the automatic charging system that changes of unmanned aerial vehicle battery.
As shown in fig. 2, the unmanned aerial vehicle includes organism 6, motor 7, screw 8, unmanned aerial vehicle control system, GPS19, data transmission system 20, picture transmission system 21, the horn 23, battery 24 and horn 25, battery 24 installs in the unmanned aerial vehicle below, install infrared transmitter on unmanned aerial vehicle's the horn 23, picture transmission system 21 contains the camera, picture transmission sending module, picture transmission receiving module, wherein the camera is linked together with sending module and is fixed on unmanned aerial vehicle, receiving module connects on unmanned ship's control system 4.
As shown in fig. 3, the unmanned aerial vehicle landing platform system includes a gyro stabilizer 9, a landing platform 26, a first lifting rod 11 and a leg fixing clip 12, a layer of flat plate is fixed above the gyro stabilizer 9, the first lifting rod 11 is arranged on the flat plate, the top of the first lifting rod 11 is the landing platform 26, a hole is arranged in the middle of the landing platform 26, a battery can pass through the hole, six sensors and an angular velocity sensor are installed at the bottom side of the landing platform 26, the leg fixing clips 12 are distributed at two sides of the hole, and an infrared frequency receiver and a pressure sensor are installed on the leg fixing clip 12.
As shown in fig. 4, the automatic battery replacement and charging system for the unmanned aerial vehicle includes a battery compartment 10, a circular turntable 13, a second lifting rod 14, a lifting platform 15, a convex slide rail 16, a concave slide rail 17, an automatic contraction disk 18 and a slider 22, wherein the lifting platform 15 is located at the central position of the circular turntable 13, the battery compartment 10 includes 6 charging seats, the charging seats are uniformly distributed on the circular turntable 13, the convex slide rail 16 and the concave slide rail 17 are located on the lifting platform 15, the second lifting rod 14 is located below the lifting platform 15, the slider 22 is located on the concave slide rail 17, and the charging seats are provided with small lifting rods, the automatic contraction disk 18 is located at the position corresponding to the charging seats at the bottom of the circular turntable 13, a power supply and the charging seats of the unmanned aerial vehicle are connected, and the charging seat nearest to the slider.
When the maritime patrol equipment works, firstly planning a flight path of the unmanned ship to run from a land control platform and then sending the flight path to a ground station system of the unmanned ship, so that the unmanned ship sails to a sea area to be cruised along the planned flight path, after reaching a first working point, stopping the navigation of the unmanned ship, opening a hatch cover 3, opening the hatch cover 3 to form a horizontal plane, opening a leg fixing clamp 12 on a landing platform 26 after opening the hatch cover 3, starting and lifting 4 unmanned planes, dividing a square area with the unmanned ship as a center into 4 equally divided square areas, enabling the 4 unmanned planes to correspond to the 4 working areas, conducting crusing according to a fixedly planned flight path, shooting an image of the current patrol area by a camera of the unmanned planes and sending the image to the ground station system of the unmanned ship in real time by a picture transmission system 21, and sending information such as the position of the current unmanned planes, residual electric quantity and the like to the ground station system in real time by a data transmission system 20, ground station will handle signal transmission after through data processing to land control platform, when unmanned aerial vehicle electric quantity is not enough, the current position point of patrolling of unmanned aerial vehicle mark and execution command of returning a voyage, when unmanned aerial vehicle flies back to unmanned ship top, infrared transmitter and the receiver that corresponds on the leg fixation clamp 12 on the platform 26 of rising and falling go on matching on the unmanned aerial vehicle horn 23, and simultaneously, unmanned ship passes through top stabilizer 9, can be so that the change speed that rocks of platform 26 slows down, six sensors of rethread play the platform 26 bottom side of falling and acceleration sensor's data are handled, reach the angle of 4 first lifter 11 respective adjustments, can make the platform 26 of rising and falling keep on the horizontal plane. After the unmanned aerial vehicle falls, the pressure sensor in the middle of the leg fixing clamp 12 receives data, the fixing clamp is closed, and the unmanned aerial vehicle is fixed on the landing platform 26.
After the unmanned aerial vehicle descends, the unmanned ship ground station system runs a program for automatically replacing the battery, and the first lifting rod 11 at the center of the circular rotating disc 13 rises to the height of the unmanned aerial vehicle battery 24. As shown in fig. 5, the slide block 22 located in the concave slide rail 17 of the lifting platform 15 slides to the end of the concave slide rail 17, the small lifting rod on the slide block 22 is lifted and inserted into the rectangular groove corresponding to the battery 24, the slide block 22 drives the battery 24 to slide to the rear end of the slide rail along the concave track 17 after insertion, the first lifting rod 11 at the center of the circular turntable 13 is lowered to the initial position, the circular turntable 13 rotates the vacant charging seat to the position No. 0, after the rotation is completed, the slide block 22 on the lifting platform 15 pushes the battery 24 into the vacant charging seat, and at this time, the small lifting rod located above the slide block 22 is lowered to the initial position. Circular carousel 13 detects and rotates to No. 0 position behind the charging seat of full electric battery 24, rotatory back of accomplishing, little lifter on the slider 22 rises, slider 22 drives full electric battery 24 and removes the other end to the slide rail, first lifter 11 rises, reach unmanned aerial vehicle battery 24's height after, slider 22 removes to initial position, at slider 22's removal in-process, install battery 24 below unmanned aerial vehicle organism 6, little lifter descends to initial position, first lifter 11 descends to initial position, circular carousel is rotatory to initial position.
After the battery 24 is replaced, the leg fixing clamp 12 of the unmanned aerial vehicle is opened, the unmanned aerial vehicle is started to lift off, flies to the position marked by the last flight, and continues to carry out the cruise task. After the endurance task of the unmanned aerial vehicle is completed, the unmanned aerial vehicle returns to the ground, the battery 24 is replaced after the unmanned aerial vehicle descends to the landing platform 26, the cabin cover 3 of the unmanned ship is closed after the replacement is completed, the current region cruises, and the unmanned ship goes to the next working region to crunch.
Claims (10)
1. The marine patrol equipment with the unmanned aerial vehicle carried by the unmanned ship is characterized by comprising the unmanned ship, the unmanned aerial vehicle, an unmanned aerial vehicle landing platform system and an unmanned aerial vehicle battery automatic replacement charging system, wherein the unmanned ship comprises a ship body (1), a foldable hatch cover (3) and a control system (4), and the hatch cover (3) is made of a solar cell panel; the unmanned aerial vehicle comprises a body (6), a motor (7), a propeller (8), an unmanned aerial vehicle control system, a GPS (19), a data transmission system (20), a picture transmission system (21), a leg (23), a battery (24) and a horn (25), wherein the battery (24) is arranged below the unmanned aerial vehicle; the unmanned aerial vehicle lifting platform system is positioned on an unmanned ship body (1) and comprises a gyro stabilizer (9), a lifting platform (26), a first lifting rod (11) and a leg fixing clamp (12), wherein a layer of flat plate is fixed above the gyro stabilizer (9), the first lifting rod (11) is installed on the flat plate, the top of the first lifting rod (11) is the lifting platform (26), a hole is formed in the middle of the lifting platform (26) and can allow a battery to pass through, six-axis sensors and an angular velocity sensor are installed on the bottom side of the lifting platform (26), and the leg fixing clamp (12) is distributed on two sides of the hole; automatic change charging system of unmanned aerial vehicle battery includes battery compartment (10), circular carousel (13), second lifter (14), lift platform (15), protruding type slide rail (16), concave type slide rail (17) and slider (22), lift platform (15) are located circular carousel (13) central point and put, battery compartment (10) are including the charging seat, and the charging seat is located circular carousel (13), protruding type slide rail (16) and concave type slide rail (17) are located lift platform (15), second lifter (14) are located lift platform (15) below, slider (22) are located concave type slide rail (17), have little lifter.
2. A maritime patrol arrangement with drone according to claim 1, characterized in that the hatch (3) of the drone is foldable.
3. The unmanned aerial vehicle-mounted marine patrol apparatus according to claim 1, wherein the hull (1) of the unmanned ship is made of a solar panel.
4. Unmanned aerial vehicle-mounted marine patrol apparatus according to claim 1, wherein the unmanned ship comprises a suspension system (2) and a metal rod (5), and the suspension system (2) is installed on the unmanned ship through the metal rod (5) and distributed on two sides of the ship body (1).
5. The unmanned aerial vehicle-mounted marine patrol apparatus according to claim 1, wherein the unmanned aerial vehicle has 4 unmanned aerial vehicle landing platform systems and an unmanned aerial vehicle battery automatic replacement charging system.
6. The unmanned aerial vehicle-mounted marine patrol device of claim 1, wherein the image transmission system (21) comprises a camera, an image transmission sending module and an image transmission receiving module, wherein the camera is communicated with the sending module and fixed on the unmanned aerial vehicle, and the receiving module is connected to a control system (4) of the unmanned aerial vehicle.
7. A maritime patrol arrangement with a drone according to claim 1, characterised in that the drone has an infrared emitter mounted on its leg (23).
8. Unmanned ship unmanned aerial vehicle-mounted marine patrol apparatus according to claim 7, wherein the leg clamp (12) is provided with an infrared frequency receiver and a pressure sensor.
9. The unmanned aerial vehicle-mounted marine patrol apparatus according to claim 1, wherein the unmanned aerial vehicle battery automatic replacement charging system comprises an automatic retraction coil (18) which is located at the bottom of the circular turntable (13) and is connected with a power supply and a charging seat of the unmanned aerial vehicle.
10. Marine patrol device for unmanned aerial vehicles according to claim 9, wherein the auto-shrink coils (18) are distributed at the position of the corresponding charging seats of the circular carousel (13).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920596587.5U CN210212716U (en) | 2019-04-28 | 2019-04-28 | Unmanned ship carries on unmanned aerial vehicle's marine patrol equipment |
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| CN201920596587.5U CN210212716U (en) | 2019-04-28 | 2019-04-28 | Unmanned ship carries on unmanned aerial vehicle's marine patrol equipment |
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| CN210212716U true CN210212716U (en) | 2020-03-31 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104139A (en) * | 2019-04-28 | 2019-08-09 | 南京信息工程大学 | A kind of unmanned boat carries the patrol on the sea equipment and its application method of unmanned plane |
| CN112319741A (en) * | 2020-10-19 | 2021-02-05 | 浙江海洋大学 | Intelligent search and rescue method and system for offshore unmanned aerial vehicle |
-
2019
- 2019-04-28 CN CN201920596587.5U patent/CN210212716U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104139A (en) * | 2019-04-28 | 2019-08-09 | 南京信息工程大学 | A kind of unmanned boat carries the patrol on the sea equipment and its application method of unmanned plane |
| CN110104139B (en) * | 2019-04-28 | 2023-11-21 | 南京信息工程大学 | Unmanned ship carrying unmanned aerial vehicle offshore patrol equipment and use method thereof |
| CN112319741A (en) * | 2020-10-19 | 2021-02-05 | 浙江海洋大学 | Intelligent search and rescue method and system for offshore unmanned aerial vehicle |
| CN112319741B (en) * | 2020-10-19 | 2021-12-24 | 浙江海洋大学 | Intelligent search and rescue method and system for offshore unmanned aerial vehicle |
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Effective date of registration: 20240124 Address after: Room 109, Building 2, No. 33 Yujia Road, Songjiang District, Shanghai, 201699 Patentee after: SHANGHAI JIWU TECHNOLOGY Co.,Ltd. Country or region after: China Address before: 210044 No. 219 Ning six road, Jiangbei new district, Nanjing, Jiangsu Patentee before: Nanjing University of Information Science and Technology Country or region before: China |
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