CN213768908U

CN213768908U - Intelligent waterproof grass collecting and releasing probe pneumatic unmanned survey ship

Info

Publication number: CN213768908U
Application number: CN202022916609.7U
Authority: CN
Inventors: 徐路; 王巍
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-12-08
Filing date: 2020-12-08
Publication date: 2021-07-23
Anticipated expiration: 2030-12-08

Abstract

The utility model relates to a pneumatic unmanned surveying ship of probe is receive and release to intelligence of waterproof grass, through probe position control mechanism installation probe on the hull, probe position control mechanism is used for adjusting the position of probe under water. The utility model discloses a pnematic propulsion mode of telescopic electric telescopic handle collocation does not have the equipment at outstanding hull bottom in receive and release the operation in-process, can directly drag the ship to go and push aquatic, can accomplish the people and not be stained with water and accomplish the operation, has improved the convenience of operation. For water areas such as mud beaches, reed swings and the like, the pneumatic unmanned surveying vessel can be driven by sufficient power to flush the beaches, and the reach of operators is achieved.

Description

Intelligent waterproof grass collecting and releasing probe pneumatic unmanned survey ship

Technical Field

The utility model belongs to unmanned equipment field relates to unmanned ship, especially a pneumatic unmanned survey ship of probe is receive and release to intelligence of pasture and water proof.

Background

Most unmanned reconnaissance boat in the market at present adopts the reconnaissance sonar probe that underwater propulsor collocation fixed position, though can accomplish the survey operation demand in water purification waters or ocean, to spring festival and summer and the long-term mad pasture and water waters such as river course, lake, reservoir and pool of four seasons, receive pasture and water face debris's influence, screw, jet pump, pipe oar etc. all can be by pasture and water, the fishing net, debris winding leads to unmanned ship can't march, and to the stronger protection casing of screw protection and jet pump intake foreign matter more easily and injure the impeller. If the lower part of the sonar is filled with the aquatic weeds at a short distance, the actually measured numerical value is not the actual underwater depth, but the distance from the floating or suspended aquatic weeds to the sonar.

In addition, great care is required to prevent damage to the propeller and the probe mount during operation of the unmanned survey vessel. Shallow water is also limited by sonar blind areas and propeller draught.

The existing unmanned ship has the following problems and defects:

1. more protection measures are added to prevent the unmanned ship from bottoming, but the draught of the whole ship is increased, and the exploration requirement of a shallow pool is not met.

2. The sonar probe and the ship bottom are integrated into a whole to be in smooth transition, the influence on the single-beam sonar probe is small, but the single-beam sonar probe and the side-scan sonar probe with large beam angles cannot be realized, and the scanning range influenced by the wave speed angle can be reduced by integrally embedding the sonar probe and the ship bottom into the ship belly. In addition, even if the sonar is made into a smooth transition mode, the propeller still needs to be below a ship waterline, and the propeller still has the risk of being influenced by aquatic weeds and sundries. And the influence of the floating float grass belt on the survey precision can not be broken through in the area with dense redundant float grass.

3. The spraying pump is used for propulsion, although the spraying pump has certain filtering capacity on soft waterweeds and large floating objects, the water inflow is reduced, if the waterweeds grow excessively, the water inlet of the spraying pump can be blocked, the larger the air filter of the spraying pump is, the stronger the vacuum suction effect is, and the more easily sundries are sucked to damage the impeller of the spraying pump. In addition, the propulsion speed of the jet pump is very fast, even greater than 3 m/S, which greatly exceeds the refresh frequency and precision of sonar and GPS/RTK (the data update frequency of most of sonar does not exceed 1HZ), that is to say, the positioning displacement of the ship exceeds 3m within 1 second, which affects the horizontal accuracy of measurement.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to overcome prior art's weak point, provide a waterproof grass's that can carry out the accurate survey in pasture and water waters intelligence receive and releases probe pnematic unmanned survey ship.

The utility model provides a technical scheme that technical problem adopted is:

a pneumatic unmanned survey ship comprises a ship body and a controller, wherein a probe is installed on the ship body through a probe position adjusting mechanism, and the probe position adjusting mechanism is used for adjusting the position of the probe under water.

Moreover, the probe is sonar.

Moreover, the probe position adjusting mechanism comprises a probe depth adjusting mechanism.

Moreover, the probe depth adjusting mechanism is an electric telescopic rod.

Moreover, the probe position adjusting mechanism also comprises a probe angle adjusting mechanism.

And the probe position adjusting mechanism is connected with the controller, and the controller is connected with the remote controller.

And an RTK antenna is arranged above the probe, and the RTK antenna and the probe are in a straight line.

Moreover, the ship body is a U-shaped inflatable ship body.

Also, a fan power system is mounted above the rear of the hull.

Moreover, the fan power system is a single fan power system or a double fan power system.

The utility model has the advantages that:

1. the utility model discloses a pnematic propulsion mode of telescopic electric telescopic handle collocation does not have the equipment at outstanding hull bottom in receive and release the operation in-process, can directly drag the ship to go and push aquatic, can accomplish the people and not be stained with water and accomplish the operation, has improved the convenience of operation. For water areas such as mud beaches, reed swings and the like, the pneumatic unmanned surveying vessel can be driven by sufficient power to flush the beaches, and the reach of operators is achieved.

2. The utility model discloses an electric telescopic handle has strengthened the reliability of sonar probe, has not only prevented sonar probe operation period and has receive and release the support end damage of in-process, still can make sonar probe go deep to pass showy pasture and water through electric telescopic handle's the function of receiving and releasing.

3. The utility model discloses pnematic unmanned ship does not have the equipment part of soaking in aqueous for a long time, has increased the reliability, has prolonged life, and the propeller corrosion becomes all low, uses the maintenance cost low.

4. The utility model discloses an inflatable boat structure can conveniently transport, can increase the redundant buoyancy of ship again, and manufacturing cost intersects in glass steel, carbon fiber, aluminum alloy, rotational moulding etc. lower in addition.

Drawings

Fig. 1 is a front view of a pneumatic unmanned survey vessel according to embodiment 1 of the present invention;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a right side view of FIG. 1;

fig. 4 is a schematic perspective view of the pneumatic unmanned survey vessel according to example 1.

Fig. 5 is a use state diagram (with the electric telescopic rod retracted) of the pneumatic unmanned survey vessel according to embodiment 1 of the present invention.

Fig. 6 is a use state diagram (electric telescopic rod extended) of the pneumatic unmanned survey vessel according to embodiment 1 of the present invention.

Fig. 7 is a front view of a pneumatic unmanned survey vessel according to embodiment 2 of the present invention;

FIG. 8 is a top view of FIG. 7;

FIG. 9 is a left side view of FIG. 7;

fig. 10 is a schematic perspective view of the pneumatic unmanned survey vessel according to example 2.

Fig. 11 is a photograph of a pneumatic unmanned survey vessel according to embodiment 1 of the present invention;

fig. 12 is a view showing a navigation state (in a seaweed area) of the pneumatic unmanned survey vessel according to the embodiment 1 of the present invention;

fig. 13 is a navigation state diagram of the pneumatic unmanned survey vessel according to embodiment 2 of the present invention;

fig. 14 is a schematic view of the working state of the probe in the seaweed area of the pneumatic unmanned surveying vessel according to embodiment 2 of the present invention.

Detailed Description

The present invention will be described in further detail with reference to specific examples, which are provided for illustrative purposes only, and are not intended to be limiting, and the scope of the present invention should not be limited thereby.

Example 1:

a waterproof grass intelligent probe deploying and retracting pneumatic unmanned surveying vessel is shown in figures 1-6 and comprises a vessel body 1, a probe position adjusting mechanism, a controller 2 and a battery, wherein the vessel body is a U-shaped inflatable vessel body, the controller is installed at the front part of the vessel body, the probe position adjusting mechanism is installed in the middle of the vessel body, and a fan power system is installed at the rear part of the vessel body.

The top surface of the ship body is fixedly provided with an object carrying platform 9 which is of a grid type, the front side of the object carrying platform is fixedly provided with a controller, the object carrying platform is fixedly provided with a bracket 5, and the bracket is provided with a single fan pushing mechanism.

Single fan pushing mechanism includes fan 7, fan safety cover 6, rudder plate 8 and steering wheel, the fan is installed on the support, the fan safety cover is the arch, centers on the fan installation, at fan safety cover's rear side top welding rudder plate supporting beam 12, two backup pads of vertical installation 16 between rudder plate supporting beam and cargo platform, two backup pads interval certain distance, all adorn a rudder plate through the hinge 15 hinge in each backup pad, two rudder plate parallel arrangement, two rudder plates link together through connecting rod structure 10, connecting rod structure links together with the steering wheel, adorns two battery casees admittedly at the bilateral symmetry of fan safety cover.

Probe position adjustment mechanism includes electric telescopic handle 4, telescopic link support 3 and sonar probe 11, and the telescopic link support is adorned admittedly on the support, and a vertical electric telescopic handle of adorning admittedly on the telescopic link support, electric telescopic handle extends the hull bottom from cargo platform's fretwork position, at electric telescopic handle's bottom installation sonar probe, the sonar probe passes through angle adjustment mechanism and is connected with electric telescopic handle, angle adjustment mechanism includes support 13, pivot and probe bracket 14, the support is adorned admittedly in electric telescopic handle's bottom surface, probe bracket twists the dress through pivot and support and is connected, adorns sonar probe admittedly in probe bracket's bottom surface.

Electric telescopic handle adopts the stainless steel to add the aluminum alloy and makes, and electric telescopic handle has potentiometre servo, and the concrete length position of receiving and releasing is known to the accessible potentiometre, and electric telescopic handle's receive and release function is realized through direct current screw motor, and electric telescopic handle passes through the PWM circuit and links to each other with the controller, and the controller passes through receiving and releasing of PWM signal control electric vaulting pole, and the controller passes through digital link and links to each other with remote control. The every single move angle that angle adjustment mechanism can adjust sonar probe, according to IMU (gyroscope) tilt data around the experimental data feedback after unmanned ship operation, the artifical every single move angle who sets for probe support, when electric telescopic handle is in the state of packing up, sonar probe's position is higher than the hull bottom, has avoided the support end and pasture and water winding problem. The RTK antenna is installed at the top of the electric telescopic rod, the RTK antenna and the sonar are located on the same straight line, and the consistency of the measured sonar data position and the actual RTK measuring point position is guaranteed.

The upper portion at the support installation sonar host computer, the sonar host computer carries out data interchange through serial ports and the controller on the cargo platform, reaches the minimum blind area of sonar (generally 0.5 meter) when the measuring degree of depth value, then the sonar probe is automatic to be risen income naval abdomen, prevents that the sonar probe from holding in the palm the end.

Example 2:

a waterproof grass intelligent probe deploying and retracting pneumatic unmanned surveying vessel is shown in figures 7-10 and comprises a vessel body 1 and a carrying platform 9, wherein the vessel body is a U-shaped inflatable vessel body, the carrying platform is fixedly arranged on the top surface of the vessel body, a support 5 is fixedly arranged on the top surface of the carrying platform, a controller 2 is arranged in the middle of the top surface of the support, a double-fan pushing mechanism is arranged on the rear side of the top surface of the support, the double-fan pushing mechanism comprises two fans 7, and the two fans are propelled and controlled by the controller in a differential mode. The probe position adjusting mechanism is fixedly installed at the top end of the front side of the support, the structure of the probe position adjusting mechanism is the same as that of the probe position adjusting mechanism in embodiment 1, and a through hole is formed in the position, corresponding to the electric telescopic rod of the probe position adjusting mechanism, of the carrying platform, so that the electric telescopic rod can penetrate out of the through hole. A battery box 17 is fixedly arranged below the bracket on the top surface of the carrying platform.

The utility model discloses unmanned reconnaissance survey ship's survey method, including following step:

step 1, inflating the unmanned survey vessel body, starting up the unmanned survey vessel after the inflation is finished, and pushing the unmanned survey vessel into water.

And 2, carrying out automatic measurement on the unmanned survey vessel according to a planned route or carrying out measurement by remote control.

And 3, when the operation survey is carried out in the water area with luxuriant waterweeds, the unmanned survey ship runs along a parallel water-bank route, the sonar probe is placed down once when the unmanned survey ship stops for 5 or 10 meters at intervals to obtain depth data, if the obtained depth data is obviously smaller than the depth of the previous point, the probe is judged to be influenced by the waterweeds, and the sonar probe is placed down by 10CM again or moved for 1-2 meters and then placed down again for measurement.

In this step, the sonar probe automatically records the measurement data, then transmits to the bank base station through 433M data transmission system, and the bank base station carries out the monitoring of visual map through PC software, and the monitoring data contains international standard satellite positioning protocol NMEA0183 positioning data and depth data.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, many modifications and improvements can be made without departing from the spirit of the present invention, and these modifications and improvements are all within the protection scope of the present invention.

Claims

1. The utility model provides a pneumatic unmanned survey ship of probe is receive and release to intelligence of waterproof grass, includes hull and controller, its characterized in that: the probe is arranged on the ship body through the probe position adjusting mechanism, and the probe position adjusting mechanism is used for adjusting the position of the probe under water.

2. The pneumatic unmanned survey vessel of claim 1, wherein: the probe is a sonar.

3. The pneumatic unmanned survey vessel of claim 1, wherein: the probe position adjusting mechanism comprises a probe depth adjusting mechanism.

4. The pneumatic unmanned survey vessel of claim 3, wherein: the probe depth adjusting mechanism is an electric telescopic rod.

5. The pneumatic unmanned survey vessel of claim 3, wherein: the probe position adjusting mechanism further comprises a probe angle adjusting mechanism.

6. The pneumatic unmanned survey vessel of claim 1, wherein: the probe position adjusting mechanism is connected with the controller, and the controller is connected with the remote controller.

7. The pneumatic unmanned survey vessel of claim 1, wherein: an RTK antenna is arranged above the probe, and the RTK antenna and the probe are in the same straight line.

8. The pneumatic unmanned survey vessel of claim 1, wherein: the ship body is a U-shaped inflatable ship body.

9. The pneumatic unmanned survey vessel of claim 1, wherein: a fan power system is mounted above the rear of the hull.

10. The pneumatic unmanned survey vessel of claim 9, wherein: the fan power system is a single fan power system or a double fan power system.