CN211375879U - Experimental platform for autonomous navigation control of commercial ship - Google Patents
Experimental platform for autonomous navigation control of commercial ship Download PDFInfo
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- CN211375879U CN211375879U CN202020277851.1U CN202020277851U CN211375879U CN 211375879 U CN211375879 U CN 211375879U CN 202020277851 U CN202020277851 U CN 202020277851U CN 211375879 U CN211375879 U CN 211375879U
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Abstract
The utility model provides an experiment platform for merchant's ship independently navigation control contains the hull, is equipped with on the hull: the propulsion system comprises a propeller, a first transmission shaft system, a propulsion motor and a propulsion motor driver; the steering system comprises a rudder blade, a second transmission rudder system, a steering engine and a steering engine driver; the electric control system comprises a main control box internally provided with a lower computer, and the lower computer is connected with a propulsion motor driver and a steering engine driver; the lower computer is connected with a first wireless data transmission station, the first wireless data transmission station is in communication connection with a second wireless data transmission station on the shore, and the second wireless data transmission station is connected with the shore machine; the propulsion motor driver and the steering engine driver respectively receive signals converted from motor rotating speed and steering engine angle control signals sent by the shore machine, and the propeller is pushed to rotate and control the rudder blade to swing. The utility model sends the data collected in real time back to the shore machine, thereby facilitating the real-time monitoring of the experimental process and the timely response; and better equipment expansion and upgrading capability of the platform at the later stage is ensured.
Description
Technical Field
The utility model relates to an intelligence merchant ship independently navigates by water control field, in particular to an experiment platform that is used for merchant ship independently to navigate by water control.
Background
In the field of ship motion control, in order to ensure navigation safety and reduce energy consumption, in the process of ship design and development, the effectiveness of a control algorithm and the reasonability of a control system need to be repeatedly tested for many times, data of ship control under various sea conditions are collected for analysis and processing, comprehensive evaluation of control performance is given, and on the basis, a sample is improved to finally form a product, but more manpower, material resources, financial resources and time are needed.
Aiming at the situation, a ship navigation control experiment platform is developed, a ship control system and a control algorithm are evaluated by simulating various motion states of a ship, and the performances of a prototype machine and the algorithm are checked and known, so that the safety of an offshore test is ensured, the number of times of the offshore test is reduced, the test cost is reduced, and the development period is shortened.
The existing ship navigation control experiment platform basically installs a computer on a ship model, and data acquisition can be carried out only when the ship model is tested once and returns to the shore, so that the real-time performance is lacked, the motion state of the ship model cannot be controlled in real time, and a lot of limitations exist.
The development of the existing cloud computing technology enables real-time control of the autonomous navigation control experiment platform to be possible, and data collected by the ship model are transmitted to a shore machine on the shore by using wireless transmission equipment, so that people can control and observe the motion state of the ship model in real time, and the experiment efficiency and accuracy are greatly improved.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an experiment platform for merchant's ship is navigation control independently, solved the not durable, data can not real-time transmission, the weak problem of control system expansibility of model that current boats and ships experiment platform exists. The utility model discloses a platform is equipped with two wireless data transfer radio stations for the ship model can send its running state's relevant data to the bank machine in real time when navigation on water, can come the motion of real-time control ship model through bank machine give-out order simultaneously, thereby has realized the real-time interaction of ship model and bank machine, constitutes a complete experiment platform, has satisfied the demand that intelligent boats and ships independently navigation control experiment.
In order to achieve the above purpose, the utility model discloses a following technical scheme realizes:
the utility model provides an experiment platform for merchant's ship is navigation control independently, contains the hull, be equipped with on the hull: the propulsion system comprises a propeller, a first transmission shaft system, a propulsion motor and a propulsion motor driver; the propulsion motor driver is connected with the propulsion motor; the steering system comprises a rudder blade, a second transmission rudder system, a steering engine and a steering engine driver; the steering engine driver is connected with the steering engine; the electric control system comprises a control box, and a lower computer, a first wireless data transmission station, the propulsion motor driver and the steering engine driver are arranged in the control box; the lower computer is respectively connected with the propulsion motor driver and the steering engine driver, the lower computer is connected with the first wireless data transmission radio station, the first wireless data transmission radio station is in communication connection with a second wireless data transmission radio station arranged on the shore, and the second wireless data transmission radio station is connected with the shore;
the lower computer receives a motor rotating speed control signal and a steering engine angle control signal sent by the shore machine through a wireless data transmission radio station, and the propulsion motor driver receives corresponding voltage and current signals converted from the motor rotating speed control signal and drives the propulsion motor to enable the propulsion motor to push the propeller to rotate through a first transmission shafting so as to push the whole ship body to move in water; and the steering engine driver receives corresponding voltage and current signals converted from the steering engine angle control signals and drives the steering engine to enable the steering engine to control the rudder blade to swing through a second transmission rudder system so as to control the steering motion of the ship body.
Preferably, the lower computer receives the propeller rotating speed and the rudder angle fed back by the propulsion motor driver and the steering engine driver respectively and transmits the propeller rotating speed and the rudder angle to the shore machine through a wireless data transmission radio station.
Preferably, the electric control system is provided with a power supply module for supplying power to the ship body; the lower computer is connected with the power supply module, receives the low-power alarm signal output by the power supply module and transmits the low-power alarm signal to the shore computer through a wireless data transmission radio station.
Preferably, the electronic control system is provided with a microcomputer gyroscope or an inertial navigation system for measuring the speed, the acceleration and the motion attitude of the ship body, and the lower computer is connected with the microcomputer gyroscope or the inertial navigation system and receives and stores measurement data fed back by the microcomputer gyroscope or the inertial navigation system.
Preferably, the electric control system is provided with a GPS inertial navigation platform, and the GPS inertial navigation platform is connected with the lower computer; the GPS inertial navigation platform is integrated with an inertial navigation system for measuring the speed, the acceleration and the movement posture of the ship body and a GPS module for measuring the movement track and the position of the ship body, and respectively transmits measurement data to the lower computer.
Preferably, the skeletal structure disposed within the hull comprises: the side board comprises a reinforced rib at the top of the side board, a longitudinal plate at the bottom and a plurality of transverse ribs.
Preferably, the steering engine of the steering system is arranged on a steering engine platform at the stern of the ship body, the propulsion motor of the propulsion system is arranged in a midship, the control box is located in the midship, and the power supply module is located in the midship.
Preferably, an aviation plug, a propulsion motor driver power switch and a steering engine driver power switch are arranged on the control box shell; the propulsion motor and the steering engine which are positioned outside the control box are respectively connected with a propulsion motor driver and a steering engine driver in the control box through aviation plugs; the propulsion motor driver power switch and the steering engine driver power switch are respectively connected with the propulsion motor driver and the steering engine driver.
Preferably, the power module is a lithium battery, and the lithium battery comprises a backup battery.
Compared with the prior art, the beneficial effects of the utility model reside in that: (1) the experiment platform in the utility model is equipped with a wireless data transmission radio station, which can send the collected data back to the shore machine in real time, thereby being convenient for monitoring the experiment process in real time and responding to the problems possibly appearing in the experiment in time; (2) the utility model can realize the wireless control and data acquisition of the experiment platform in the water area by the experimenter operating the bank machine at the bank; (3) the utility model provides a control system of experiment platform has adopted the hardware that has a plurality of independent digital communication passageways, has guaranteed the better equipment extension/upgrading ability in platform later stage.
Drawings
FIG. 1 is a schematic diagram of a free self-propelled ship model system of the present invention;
FIG. 2 is a schematic diagram of the overall arrangement of the experimental platform of the present invention;
FIG. 3 is a schematic diagram of the hardware components of the self-propelled ship maneuvering control experiment platform of the present invention;
FIG. 3a is a schematic view of the propulsion system of the present invention;
FIG. 3b is a schematic view of the control system of the present invention;
fig. 3c is a schematic view of the electric control system of the present invention;
FIG. 4 is a schematic structural view of a hull part of the present invention;
fig. 5 is a schematic view of the structure of the propeller of the present invention;
fig. 6 is a schematic view of the rudder blade structure of the ship model of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
As shown in fig. 1-6 combination, the utility model discloses an experiment platform is applicable to online identification algorithm, track tracking controller and cloud control system's the discernment and control effect carry out experimental verification, and this platform is based on the ship model of freely navigating oneself and designs, and it adopts SIMMAN2008 standard container ship KCS ship model, and model reduced scale ratio 1: 75.5. the utility model discloses an experiment platform contains hull 100, propulsion system 200, control system 300 and electrical system 400.
The hull 100 adopts a female die manufacturing method, namely, the outer surface of the model is pasted to the inner surface after the forming die is erected, so that the molded line of the outer surface of the model can be better controlled; illustratively, the hull 100 is made of glass steel and has the characteristics of firm structure, light weight, corrosion resistance and deformation resistance. The thickness of the ship body is 5 mm. In order to support the hull 100 and improve the strength and prevent deformation, a skeleton, i.e. a plurality of transverse ribs 15 (e.g. two ribs 15 in fig. 4), a reinforcing rib 17 at the topside, a longitudinal plate 16 at the bottom, is arranged inside the hull 100, and the skeleton of the ship model is distributed as shown in fig. 4. The skeleton is made of wood, and the surface of the skeleton is made of glass fiber reinforced plastic serving as a dressing to strengthen the skeleton structure.
As shown in fig. 3a, the propulsion system 200 comprises a propeller 201, a shafting 202, a propulsion motor 203 and a propulsion motor driver 204. As shown in fig. 5, the propeller 201 is a standard propeller KP505 provided for a real ship, the propeller is a five-blade propeller, is manufactured by reducing according to a reduced scale ratio, has a diameter of 105mm, is made of copper alloy, and is used for pushing the whole ship body 100 to move in water. The shaft system 202 is equivalent to a transmission shaft and has the function of transmission and is used for pushing the propeller 201 to rotate; exemplarily, shafting 202 contains a main shaft, a shaft sleeve pipe, one can dismantle radial seal spare, one can not dismantle radial seal spare, a jackshaft, two rolling bearings and two cross universal joints, the utility model discloses do not restrict to this shafting structure. The propulsion motor 203 is a direct current servo motor and is used for driving the propeller 201 to rotate. The propulsion motor driver 204 is a servo driver matched with the propulsion motor 203, can realize the driving of the propulsion motor 203 and the control and feedback of the rotation speed of the propulsion motor, and has the functions of undervoltage, overvoltage, overload, overcurrent, overtemperature and abnormal encoder protection.
As shown in fig. 3b, steering system 300 includes rudder blade 301, rudder train 302, steering engine 303 and steering engine driver 304. The rudder blade 301 is a standard rudder configured for a real ship, is a half-suspended half-balanced rudder, has a section of NACA0018, a rudder height of 131.1mm, an average chord length of 72.8mm, an average thickness of 13.1mm, is made of glass fiber reinforced plastic, and is used for controlling the ship body 100 to make steering motion, as shown in fig. 6. The rudder system 302 plays a role in transmission and is used for controlling the rudder blade 301 to swing; illustratively, the rudder system 302 includes a rudder stock, an axle sleeve, a removable radial seal, a non-removable radial seal, and a set of stops. The steering engine 303 is a stepping motor and is used for pushing the rudder blade 301 to swing; the utility model discloses do not limit to this rudder system structure. The steering engine driver 304 is a closed-loop stepping driver matched with the steering engine 303, can realize the driving of the steering engine 303 and the control and feedback of the rotation angle of the steering engine, and has the functions of under-voltage, over-voltage, overload, over-current, over-temperature and abnormal encoder protection.
As shown in fig. 3c, the electronic control system 400 includes a control box 401, a lower computer 403 (a single-chip microcomputer Arduino, also called a main control board), a level shifter 405 (e.g. an RS232-TTL level shifter), a microcomputer gyroscope 407, a power module and a first wireless data transmission station 404, where the power module is a lithium battery 408. Wherein, a lower computer 403, a first wireless data transmission station 404 and an RS232-TTL level shifter 405 are arranged in the control box 401 and are arranged in a centralized way; the propulsion motor driver 204 and the steering engine driver 304 are also collectively placed in the control box 401. For example, the output voltage of the main power source is 22V-29.4V, and the technical parameters of the main power source can be selected according to the test requirements and the like, which is not limited by the present invention.
The first wireless data transmission platform 404 is arranged on the hull 100 of the experiment platform, and the first wireless data transmission platform 404 is connected with the lower computer 403; meanwhile, the first wireless data transmission station 404 is also in communication connection with a second wireless data transmission station, the second wireless data transmission station is connected with an upper computer, the upper computer is a bank computer, the bank computer is a common personal computer, and the second wireless data transmission station is arranged on the bank. The utility model discloses a two wireless data transfer radio stations, transmission communication data can realize the data transmission within 500m, including the control command of host computer to next machine 403 in the data of this transmission to and the feedback command of next machine 403 to host computer transmission, the utility model discloses can realize sending the data of gathering back shore machine, the real time monitoring experimentation of being convenient for can make timely response to the problem that probably appears in the experiment.
An aviation plug, a main power switch, a propulsion motor driver power switch and a steering engine driver power switch are arranged on the shell of the control box 401. Wherein, the propulsion motor 203 and the steering engine 303 outside the control box 401 are respectively connected with the propulsion motor driver 204 and the steering engine driver 304 through aviation plugs. The propulsion motor driver power switch and the steering engine driver power switch are respectively connected with the propulsion motor driver and the steering engine driver and are respectively used for starting the two drivers.
As shown in fig. 2, the steering engines 303 of the steering system 300 are arranged on steering engine platforms at the stern of the ship hull 100, the propulsion motors 203 of the propulsion system 200 are arranged near the midship, and the lithium batteries 408 are located in the midship. The propulsion motor driver 204, the steering engine driver 304, the first wireless data transmission station 404, the lower computer 403, and the like are all integrated in the control box 401. The control box 401 is placed near the midship. An industrial personal computer platform is arranged behind the propulsion motor 203. Here, the left direction in fig. 2 is the rear direction, the stern direction, and the right direction is the front direction, which is the bow direction, and this is a schematic direction in the drawing and is not an actual direction.
The lower computer 403 of the present invention is installed in the control box 401, which is the core of the electric control system 400; the lower computer 403 is respectively connected with the propulsion motor driver 204 and the steering engine driver 304, and the lower computer 403 can receive and read a motor rotation speed control instruction and a steering engine angle control instruction sent by an analytic upper computer (such as a shore aircraft), and after the instructions are converted into corresponding voltage and current signals, the corresponding voltage and current signals are respectively distributed to the propulsion motor driver 204 and the steering engine driver 304, so that the propulsion motor driver 204 controls the propulsion motor 203 to drive the propeller 201 to rotate according to the control instructions, and the steering engine driver 304 controls the steering engine 303 to drive the rudder blade 301 to swing according to the corresponding control instructions.
The lower computer 403 also receives feedback instructions sent back by the propulsion motor driver 204 and the steering engine driver 304, and the feedback instructions are assembled and sequentially sent to the first wireless data transmission station 404 on the ship body and the second wireless data transmission station on the shore, and then the feedback instructions are fed back to the upper computer by the second wireless data transmission station on the shore.
Illustratively, the micro-computer gyroscope 407 is used to provide the speed, acceleration and attitude of motion (including pitch, roll and heading angle) of the ship model hull; optionally, the micro-computer gyroscope 407 is a micro-computer gyroscope Xsens Mti 300. The micromechanical gyroscope 407 does not need to integrate a rotating component therein, but detects an angular velocity by a vibrating micromechanical component made of silicon, and has the characteristics of small size and light weight on the premise of meeting the precision requirement. The microcomputer gyroscope 407 is connected to the lower computer 403, and feeds back the measured motion attitude data of the ship body to the lower computer 403, and the lower computer 403 stores the acquired data.
In addition, the utility model can also adopt an inertial navigation system to replace a microcomputer gyroscope 407 and can also finish measuring the motion attitude of each degree of freedom of the ship model hull; or, the utility model can realize the measurement of the ship model motion attitude and the like through the common cooperation of the inertial navigation system and the microcomputer gyroscope 407; the utility model discloses do not restrict to this, as long as can realize the ship model motion gesture data measuring device can.
As shown in fig. 2, the electronic control system 400 may further include a GPS inertial navigation platform 14, where the GPS inertial navigation platform 14 is located behind the control box 401, and the GPS inertial navigation platform 14 includes a GPS module (not shown in the figure) and an inertial navigation system; the GPS module is used for measuring the movement track and the actual position of the ship body, and the inertial navigation system is used for measuring the speed, the acceleration and the movement attitude of the ship body; the GPS inertial navigation platform 14 is connected with the lower computer 403 and can feed measured data back to the lower computer; when the electronic control system 400 includes the GPS inertial navigation platform 14, the above-mentioned microcomputer gyroscope 407 may also be omitted, and the inertial navigation system in the GPS inertial navigation platform 14 may be used to replace the microcomputer gyroscope 407; alternatively, the GPS inertial navigation platform 14 may be co-located with the micro-computer gyroscope 407 and installed on the ship body, which is not limited by the present invention.
Illustratively, the lithium battery 408 adopts a secondary lithium battery pack to supply power for the operation of the whole ship model, and the two groups are provided, wherein one group is used as a standby battery, and each group of batteries can supply power continuously for 1-2 hours. Lithium cell 408 is connected with next machine 403, and in the use, when the electric quantity is less than 20%, lithium cell 408 exports low electric quantity alarm signal to next machine 403 to feed back to the bank machine through wireless data transfer radio, inform bank operating personnel, with the real-time experiment platform of controlling returns to navigate and charges or change into stand-by power supply.
The utility model discloses a communication mode of TTL level has been adopted to four serial ports that next computer 403 set up, for guaranteeing the signal matching, has set up four level shifters (for example propulsion motor RS232-TTL level shifter, steering wheel RS232-TTL level shifter, wireless data transmission RS232-TTL level shifter and gyroscope RS232-TTL level shifter), realizes the conversion between RS232-TTL level. The RS 232-to-TTL module is used for realizing signal conversion between the main control board Arduino Mega 2560 and the equipment and achieving the purpose of communication.
Based on the above, the utility model discloses a next machine 403, singlechip Arduino for example, its operational capability satisfies the demand, and the hardware is transparent, the convenient inspection, can realize reading and distribution of bank machine instruction, thereby realize the control to propulsion motor rotational speed, steering wheel angle, long-range independent control screw and rudder, make the platform can advance in the laboratory test pond, back a car, brake, turn to, gyration etc. can gather the actual value of screw rotational speed, helm angle in real time simultaneously, guarantee that the screw rotational speed error that the design navigational speed corresponds and helm angle helm error are all within 5%; and the speed, acceleration and motion attitude data of the ship body fed back by the microcomputer gyroscope 407 (or an inertial navigation system) and the position information of the ship body fed back by the GPS module and the low-power alarm signal fed back by the lithium battery 408 can be acquired in real time.
The utility model discloses an experiment platform's theory of operation as follows:
when a water pool test or an outdoor water area test is carried out, a shore machine sends remote control instructions (the remote control instructions are used for controlling the movement of a ship model by controlling the rudder angle and the rotating speed of a propeller), and a first wireless data transmission radio station 404 on a ship body of an experimental platform receives the remote control instructions and then transmits the remote control instructions to a lower computer 403; the lower computer 403 converts the received control instruction into a voltage signal and a current signal and respectively transmits the voltage signal and the current signal to the propulsion motor driver 204 and the steering engine driver 304 to control the two drivers, the propulsion motor driver 204 drives the propulsion motor 203 to drive the propeller 201 to rotate according to the instruction rotating speed of the shore power, and the steering engine driver 304 controls the steering engine 303 to drive the rudder blade 301 to rotate according to the instruction angle of the shore power; meanwhile, the propulsion motor driver 204 and the steering engine driver 304 respectively feed back the rotation speed of the propeller motor and the steering engine rotation angle to the lower computer 403, and then feed back to the shore machine through a wireless data transmission radio station.
When the ship body moves, the GPS inertial navigation platform 14 measures the movement track and the actual position of the ship body, and sends measurement information back to the shore machine through a wireless data transmission radio station; the speed, the acceleration and the motion attitude of the ship model are measured by the microcomputer gyroscope and/or the inertial navigation system, the measurement result is transmitted to the lower computer 403, the lower computer 403 can store the acquired information, the ship model can be output to a shore machine to be read after returning to the shore, and the information can also be transmitted back to the shore machine through a wireless data transmission radio station. And the shore machine sends out a corresponding new control instruction after receiving the data of the propeller rotating speed, the rudder angle, the ship model position and the ship model attitude, thereby achieving the purposes of controlling the ship model to move in real time and realizing the real-time interaction of the shore machine and the ship model. The power of the whole ship model comes from the lithium battery 408.
While the present invention has been described in detail with reference to the preferred embodiments thereof, it should be understood that the above description should not be taken as limiting the present invention. Numerous modifications and alterations to the present invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be limited only by the attached claims.
Claims (9)
1. The utility model provides an experiment platform for merchant's ship is navigation control independently which characterized in that contains the hull, be equipped with on the hull:
the propulsion system comprises a propeller, a first transmission shaft system, a propulsion motor and a propulsion motor driver; the propulsion motor driver is connected with the propulsion motor;
the steering system comprises a rudder blade, a second transmission rudder system, a steering engine and a steering engine driver; the steering engine driver is connected with the steering engine;
the electric control system comprises a control box, and a lower computer, a first wireless data transmission station, the propulsion motor driver and the steering engine driver are arranged in the control box; the lower computer is respectively connected with the propulsion motor driver and the steering engine driver, the lower computer is connected with the first wireless data transmission radio station, the first wireless data transmission radio station is in communication connection with a second wireless data transmission radio station arranged on the shore, and the second wireless data transmission radio station is connected with the shore;
the lower computer receives a motor rotating speed control signal and a steering engine angle control signal sent by the shore machine through a wireless data transmission radio station, and the propulsion motor driver receives corresponding voltage and current signals converted from the motor rotating speed control signal and drives the propulsion motor to enable the propulsion motor to push the propeller to rotate through a first transmission shafting so as to push the whole ship body to move in water; and the steering engine driver receives corresponding voltage and current signals converted from the steering engine angle control signals and drives the steering engine to enable the steering engine to control the rudder blade to swing through a second transmission rudder system so as to control the steering motion of the ship body.
2. The assay platform of claim 1,
and the lower computer respectively receives the propeller rotating speed and the rudder angle fed back by the propulsion motor driver and the steering engine driver and transmits the propeller rotating speed and the rudder angle to the shore machine through a wireless data transmission radio station.
3. The assay platform of claim 1,
the electric control system is provided with a power supply module for supplying power to the ship body;
the lower computer is connected with the power supply module, receives the low-power alarm signal output by the power supply module and transmits the low-power alarm signal to the shore computer through a wireless data transmission radio station.
4. The assay platform of claim 1,
the electric control system is provided with a microcomputer gyroscope or an inertial navigation system for measuring the speed, the acceleration and the motion attitude of the ship body, and the lower computer is connected with the microcomputer gyroscope or the inertial navigation system and receives and stores measurement data fed back by the microcomputer gyroscope or the inertial navigation system.
5. The assay platform of claim 1 or 4,
the electric control system is provided with a GPS inertial navigation platform, and the GPS inertial navigation platform is connected with the lower computer;
the GPS inertial navigation platform is integrated with an inertial navigation system for measuring the speed, the acceleration and the movement posture of the ship body and a GPS module for measuring the movement track and the position of the ship body, and respectively transmits measurement data to the lower computer.
6. The assay platform of claim 1,
the skeletal structure arranged in the hull comprises: the side board comprises a reinforced rib at the top of the side board, a longitudinal plate at the bottom and a plurality of transverse ribs.
7. The assay platform of claim 3,
the steering engine of the control system is arranged on a steering engine platform at the stern of the ship body, the propulsion motor of the propulsion system is arranged in a midship, the control box is located in a midship, and the power supply module is located in front of the midship.
8. The assay platform of claim 3 or 7,
an aviation plug, a propulsion motor driver power switch and a steering engine driver power switch are arranged on the control box shell;
the propulsion motor and the steering engine which are positioned outside the control box are respectively connected with a propulsion motor driver and a steering engine driver in the control box through aviation plugs;
the propulsion motor driver power switch and the steering engine driver power switch are respectively connected with the propulsion motor driver and the steering engine driver.
9. The assay platform of claim 3,
the power module is a lithium battery, and the lithium battery comprises a standby battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020277851.1U CN211375879U (en) | 2020-03-09 | 2020-03-09 | Experimental platform for autonomous navigation control of commercial ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202020277851.1U CN211375879U (en) | 2020-03-09 | 2020-03-09 | Experimental platform for autonomous navigation control of commercial ship |
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| CN211375879U true CN211375879U (en) | 2020-08-28 |
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| CN202020277851.1U Expired - Fee Related CN211375879U (en) | 2020-03-09 | 2020-03-09 | Experimental platform for autonomous navigation control of commercial ship |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113029516A (en) * | 2021-03-10 | 2021-06-25 | 中国人民解放军国防科技大学 | Overwater self-propulsion test platform |
| CN114545823A (en) * | 2022-02-22 | 2022-05-27 | 武汉理工大学 | Single-handle vector control system for water-jet propulsion ship model sailing test |
| CN115649381A (en) * | 2022-11-10 | 2023-01-31 | 武汉理工大学 | Test prototype suitable for microbubble drag reduction technique |
-
2020
- 2020-03-09 CN CN202020277851.1U patent/CN211375879U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113029516A (en) * | 2021-03-10 | 2021-06-25 | 中国人民解放军国防科技大学 | Overwater self-propulsion test platform |
| CN113029516B (en) * | 2021-03-10 | 2024-07-19 | 中国人民解放军国防科技大学 | Water self-propulsion test platform |
| CN114545823A (en) * | 2022-02-22 | 2022-05-27 | 武汉理工大学 | Single-handle vector control system for water-jet propulsion ship model sailing test |
| CN114545823B (en) * | 2022-02-22 | 2023-08-29 | 武汉理工大学 | Single-handle vector control system for water jet propulsion ship model navigation test |
| CN115649381A (en) * | 2022-11-10 | 2023-01-31 | 武汉理工大学 | Test prototype suitable for microbubble drag reduction technique |
| CN115649381B (en) * | 2022-11-10 | 2024-04-30 | 武汉理工大学 | Test prototype suitable for micro-bubble drag reduction technology |
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