Small four-wheel drive intelligent water surface unmanned ship platform and control method thereof

Abstract

The invention provides a small four-wheel drive intelligent water surface unmanned ship platform. The small four-wheel drive intelligent water surface unmanned ship platform comprises a platform body,and driving propellers and a control assembly arranged above the platform body. The platform body is a regular polygon with an even number of edges, each edge of the platform body is provided with adriving propeller, and the driving directions of the driving propellers arranged on every two parallel opposite edges of the platform body are on the same straight line. The invention solves the following problems in the prior art: the maneuverability is seriously insufficient in small water areas such as lake surfaces and river surfaces due to great influence of wind power; the course and the navigational speed of an unmanned ship are mutually coupled, so that the control difficulty in real ship control is increased; when a certain propeller breaks down, an unmanned ship cannot sail normally;due to limitation of the turning radius, a ship cannot run in an obstacle-intensive water area; due to limitation of the number of drivers and a driving structure, fixed posture translation cannot beachieved, fixed point and fixed posture ship berthing cannot be achieved, and water surface fixed object nursing and monitoring tasks cannot be completed.

Description

technical field [0001] The invention relates to the field of unmanned ships, in particular to a small four-wheel-drive intelligent surface unmanned ship platform and a control method thereof. Background technique [0002] An unmanned surface vehicle is a kind of unmanned platform. It is a surface vehicle that can move autonomously under unmanned conditions. It can carry out specified tasks by carrying various mission loads. Due to its small size, light weight, intelligence, unmanned and other advantages, as well as complex functions and many adaptable scenarios, it can be widely used in the field of water automation operations. There are two common driving methods for unmanned surface ships in existing technical solutions. One is the propeller and steering gear driving mode of a monohull ship. The propeller provides thrust, and the steering gear provides rudder force to turn the ship. No. CN107352011A discloses a multi-purpose catamaran unmanned ship. The patent installs a ...

AI Technical Summary

Problems solved by technology

[0004] (1) The two propellers in the prior art are located underwater, and are easy to run aground in diving areas such as riversides and lakesides

[0005] (2) The second existing technology is a catamaran, which requires two propellers to work together, the turning moment of the ship is small, and the maneuverability is average, and once a certain propeller fails, the unmanned ship cannot work normally

[0006] (3) The existing technology 2 course and speed are coupled with each other, thus increasing the control difficulty in actual ship control

[0007] (4) The prior art 2 has only two tail propellers arranged side by side, so it is impossible to achieve fixed attitude translation, and it is also impossible to realize fixed point fixed attitude berthing, so it is impossible to drive in dense waters with obstacles, and it is impossible to complete the care of fixed objects on the water surface, monitoring task

[0008] Therefore, the existing technology is greatly affected by the wind, and sometimes it is impossible to turn against the wind; in small waters such as lakes and rivers, the maneuverability is seriously insufficient; the course and speed of unmanned ships are coupled with each other, which increases the difficulty of control in real ship control ;When one of the propellers fails, the unmanned ship cannot sail normally; limited by the turning radius, it cannot travel in dense waters with obstacles, and due to the limitation of the number of drives and the drive structure, it is impossible to achieve a fixed attitude translation and a fixed position. Berthing the boat at a fixed attitude, unable to complete the tasks of guarding and monitoring fixed objects on the water surface, etc.

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