Ultrasonic underwater detection method for unmanned spaceship cooperatively driven by aerial rotors and propellers
An underwater detection and propeller technology, applied in radio wave measurement systems, aircraft, motor vehicles, etc., can solve problems such as reducing draft, speeding up navigation, and reducing navigation resistance
Pending Publication Date: 2021-01-05
SOUTH CHINA UNIV OF TECH
View PDF10 Cites 5 Cited by
- Summary
- Abstract
- Description
- Claims
- Application Information
AI Technical Summary
Problems solved by technology
[0006] The purpose of the present invention is to overcome the defects that the unmanned ship is easily limited by the natural geographical environment or artificial engineering barriers, the underwater detection speed is slow, the detection accuracy is easily affected by waves during detection, and the detection method is single during underwater detection. An aer
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View moreImage
Smart Image Click on the blue labels to locate them in the text.
Smart ImageViewing Examples
Examples
Experimental program
Comparison scheme
Effect test
Embodiment
[0060] This embodiment will take the two-rotor unmanned spacecraft as an example, and the hull structure of the two-rotor unmanned spacecraft is as follows: figure 2 , image 3 , Figure 4 shown. There are No. 1 servo motor 5, No. 2 servo motor 6, No. 1 brushless motor 3, No. 2 brushless motor 4, No. 1 air rotor 1, No. 2 air rotor 2, and distribution under the tail of the two-rotor unmanned spaceship. There is a brushless motor 7 and a propeller 8, an ultrasonic microarray 10 and a pressure sensor 11 at the bottom, an attitude indicator 12 and a satellite positioning receiver 13 on the inner wall, and a satellite positioning receiver antenna 9 at the top. The No. 1 servo motor 5, No. 2 servo motor 6, No. 1 brushless motor 3, No. 2 brushless motor 4, No. 1 air rotor 1, and No. 2 air rotor 2 distributed above the hull of the two-rotor unmanned spaceship. The No. 1 servo motor 5 and the No. 2 servo motor 6 are fixed on the bracket above the hull through brackets, the No. 1 se...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More PUM
Login to View More Abstract
The invention discloses an ultrasonic underwater detection method for an unmanned spaceship cooperatively driven by aerial rotors and propellers, and the ultrasonic underwater detection method for theunmanned spaceship cooperatively driven by the aerial rotors and the propellers moves and balances the unmanned spaceship by controlling the aerial rotors above the unmanned spaceship and the underwater propellers below the tail part of the unmanned spaceship. The method comprises the following steps: receiving a control command to obtain a detection fixed-point position; flying to a detection fixed point; measuring and recording the attitude of the unmanned spaceship by using an attitude instrument, and counting the wave motion direction; controlling the unmanned spaceship to face the direction perpendicular to the wave motion direction; controlling the unmanned airship to sail around the detection fixed point; controlling the ultrasonic microarray to collect water area parameters; keeping the posture of the unmanned spacecraft; if scanning detection needs to be carried out, changing and detecting the rolling angle and the yaw angle of the unmanned spaceship; and if the fixed-point water area detection is completed, receiving a control command and flying to the next detection fixed point, otherwise, continuing navigation detection. According to the invention, the detection speedand the detection precision of the unmanned spaceship can be improved.
Description
technical field [0001] The invention mainly relates to the field of unmanned water area detection, in particular to an ultrasonic underwater detection method for an unmanned spaceship driven by an aerial rotor and a propeller. Background technique [0002] An unmanned ship is a fully automatic surface robot that can sail on the water surface according to preset tasks with the help of precise satellite positioning and self-sensing without remote control. The English name is unmanned surface vessel, and the English abbreviation is USV. Unmanned ships are mostly used for Surveying, hydrology and water quality monitoring. Replacing manpower with unmanned ships can greatly reduce manpower and improve efficiency. In the past detection missions, the detection personnel need to carry their own detection equipment and carry boats to the detection location for water detection. During the detection process, the boat may run aground. , water pollution, bad weather and other conditions ...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More Application Information
Patent Timeline
Login to View More IPC IPC(8): G01S15/88G01S15/02B64C35/00
CPCG01S15/88G01S15/02B64C35/008B64C35/005Y02A90/30
Inventor 韦岗黄晓鸿曹燕
Owner SOUTH CHINA UNIV OF TECH