Multi-purpose unmanned surface reconnaissance remote control station based on scalable modular design

Abstract

The present invention discloses a multi-purpose water surface unmanned reconnaissance remote control station based on expandable modular design, which realizes the discovery, identification, marking and early warning functions of the targets included in the database through artificial intelligence recognition system, 5G remote control and information transmission system and high-precision composite reconnaissance technology, and involves module expansion slots to meet the needs of multiple conditions and multiple uses; the multi-purpose water surface unmanned reconnaissance remote control station based on expandable modular design adopts a new energy power system to achieve the purpose of cleaning. The multi-purpose water surface unmanned reconnaissance remote control station based on expandable modular design provided by the present invention has the advantages of being small and precise, integrated and multi-purpose, clean and environmentally friendly.

Description

Technical Field

[0001] The present invention relates to the field of remote control stations, and in particular to a multi-purpose unmanned surface reconnaissance remote control station based on an expandable modular design. Background Art

[0002] Nowadays, with the increasing demand for marine environmental reconnaissance, surface unmanned reconnaissance remote control stations will become important relay nodes connecting air, ground, water and underwater nodes in unmanned systems. However, in order to enhance environmental adaptability and endurance, surface unmanned reconnaissance remote control stations are currently showing a trend towards large-scale development. Therefore, they cannot adapt to some inland river basins with narrow waters and shallow water depths, and cannot meet the convenience needs of single-person carrying, assembly and operation. In addition, the current multi-modular functions of surface unmanned reconnaissance remote control stations have limitations, and unified standards and flexible settings cannot be achieved. Therefore, they cannot meet the unmanned maritime reconnaissance operations with different functions, different scenarios and different technical requirements, resulting in many tasks being unable to be completed in a timely and accurate manner, which in turn brings many task instability factors.

[0003] Currently, patrol boats used in inland rivers are mainly operated manually, which consumes a lot of manpower and material resources. Due to the uncertainty and risk of the inland river environment, patrol work has caused great resistance. On the one hand, it is impossible to ensure the full coverage of patrol work, and on the other hand, there are many restrictions on water conditions, and the safety of personnel cannot be guaranteed. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to provide a multi-purpose unmanned surface reconnaissance remote control station based on an expandable modular design, which adopts a high-precision composite data feature matching method for multiple sensor modules to realize the discovery, identification, marking and early warning functions of target objects included in the database, and is used for special reconnaissance and detection of inland river basins. The modules carried can be easily replaced according to the tasks to be performed to meet different operational requirements, ultimately achieving "one body with multiple uses".

[0005] Technical solution: The multi-purpose unmanned surface reconnaissance remote control station based on an expandable modular design of the present invention includes a three-body carrying platform, on which an upper expandable modular reconnaissance remote control station is arranged; the upper expandable modular reconnaissance remote control station can rotate relative to the three-body carrying platform, and the three-body carrying platform is installed with a single-chip STM32 motherboard, a NUC host and a 5G remote control and information transmission system, and the upper expandable modular reconnaissance remote control station is equipped with a module expansion slot, which is connected to the serial port of the single-chip STM32 motherboard through a line; the upper expandable modular reconnaissance remote control station integrates modules for the discovery, identification, marking and early warning functions of target objects included in the database through the module expansion slot; the three-body carrying platform is also provided with an energy system for powering the module, the electromagnetic adsorption device, the drive device and the motherboard, and a drive device for driving the hull movement.

[0006] Furthermore, the trimaran carrying platform adopts a detachable main and auxiliary hull form, and the main and auxiliary hulls are connected by a sealing flange, a slot, a power interface and an electromagnetic adsorption device.

[0007] Furthermore, the modules for discovering, identifying, marking and warning the target objects included in the database include a GPS sensor module, an OpenMV4 camera module, an OpenMV4 infrared module, a millimeter-wave radar module and a gyroscope module.

[0008] Furthermore, an electric slip ring rotating connection device is provided between the upper expandable modular reconnaissance remote control station and the three-body carrying platform. One end of the electric slip ring rotating connection device is fixed to the inside of the main hull, and the other end is connected to the upper remote control station. The upper expandable modular reconnaissance remote control station can rotate 360° around the three-body carrying platform through the electric slip ring rotating connection device.

[0009] Furthermore, the energy system includes a lithium storage battery with a large power supply and a polycrystalline silicon solar energy new energy battery; the lithium storage battery with a large power supply is used as the main energy supply, and the polycrystalline silicon solar energy new energy battery is used as the secondary supplementary energy supply.

[0010] Beneficial effects: Compared with the prior art, the present invention has the following advantages: its appearance is small, it can be carried by one person, it is convenient, it has complete internal functions, and it has functions such as communication, identification, monitoring, and navigation; it adopts a "plug and play" task module to generalize and standardize the interfaces and mounting methods of different devices and components to achieve instant updates of equipment and reduce the update cycle and cost of new equipment. In addition, the modules can be easily replaced according to the tasks performed to meet different operational requirements and ultimately achieve "one body for multiple uses". 5G remote control and information transmission technology are used to achieve goals such as long communication distance, high transmission rate, and low power consumption of the receiving device. Composite clean energy technology is used to improve its mobility and endurance while ensuring environmental friendliness. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 The figure shows the overall structure of the multi-purpose unmanned surface reconnaissance remote control station based on the expandable modular design provided by the present invention;

[0012] Figure 2 Shown Figure 1 The schematic diagram of the structure after removing the upper expandable modular reconnaissance remote control station;

[0013] Figure 3 Shown Figure 1 Schematic diagram of the explosion after removing the upper expandable modular reconnaissance remote control station;

[0014] Figure 4 Shown is an explosion diagram of the upper expandable modular reconnaissance remote control station. DETAILED DESCRIPTION

[0015] like Figures 1 to 4 As shown, a multi-purpose unmanned surface reconnaissance remote control station based on an expandable modular design includes a three-body carrying platform 1. The three-body carrying platform 1 adopts a detachable main and auxiliary hulls, and the main and auxiliary hulls are connected by a sealing flange 4, a card slot, a power interface and an electromagnetic adsorption device, and an upper expandable modular reconnaissance remote control station 2 is arranged thereon; an electric slip ring rotating connection device 3 is arranged between the upper expandable modular reconnaissance remote control station 2 and the three-body carrying platform 1, one end of the electric slip ring rotating connection device 3 is fixed to the inside of the main hull, and the other end is connected to the upper remote control station, and the upper expandable modular reconnaissance remote control station 2 rotates 360° around the three-body carrying platform 1 through the electric slip ring rotating connection device 3.

[0016] The trimaran carrying platform 1 is composed of a main hull and a secondary hull, which are detachably connected to each other. The main and secondary hulls are separated by a design, and connection devices or methods such as a sealing flange 4, a card slot buckle 5, and an electromagnetic adsorption device are used. When installing, the main and secondary hulls are first gradually inserted under the guidance of the flange 4. After the buckle on the secondary hull is completely inserted into the card slot, it is installed in place, and then the electromagnetic adsorption device is turned on for further sealing and fixing. When disassembling, first disconnect the power supply of the electromagnetic adsorption, and then remove the secondary hull, which not only ensures the connection firmness of the main and secondary hulls and the strength of the hull, but also facilitates installation and disassembly. Its specific connection structure is as follows:

[0017] Flange 4: The cross section of the sealing flange 4 is notch-shaped, the part on the main hull protrudes outward by about 15 mm, and the auxiliary body is recessed inward by about 15 mm at the corresponding position. When the main and auxiliary bodies are connected, the protruding part on the main hull fits into the recessed part of the auxiliary body. Except for the opening at flange 4, the rest of the hull is sealed. Flange 4 mainly serves the function of connection and sealing. Compared with the general sealing flange 4, the present invention adopts a nested fixed structure, which not only ensures that the sealing structure is completely located in the hull after the main hull is merged, without destroying the appearance of the hull, but also ensures the firmness of the connection through the tightening effect of the rubber ring on flange 4. At the same time, the shape of flange 4 does not adopt the conventional circle, which makes the precision requirement of flange 4 connection higher, and on the one hand, it also plays a role in aligning the positions of the main and auxiliary bodies.

[0018] Slot buckle 5 structure: Slot buckle 5 adopts a mechanical fixing device commonly used in cabinet doors. The slot is installed on the inner outer side of the double hull of the main hull, and the whole is hidden between the two hulls; the buckle is located at the corresponding position on the side of the auxiliary body that is connected to the main hull. When the slot buckle 5 is in place, there is just no gap between the main and auxiliary bodies, and the installation is completed. The slot and buckle are used to connect and fix the main and auxiliary bodies and play a role in limiting. Since the commonly used underwater sealing flange 4 uses a screw fixing interface, it is inconvenient to install and disassemble, so a mechanical slot structure is used to fix the main and auxiliary hulls to prevent the flange 4 from slipping and achieve a sealing effect. On the one hand, when installing the main and auxiliary bodies, the slots need to correspond to the position to be clamped. After clamping, the position of the main and auxiliary bodies can be corrected to align them, and at the same time, the flange 4 can be fully embedded. On the other hand, when disassembling the main and auxiliary bodies, no operation can be performed, and the auxiliary body can be removed relatively simply using the mechanical principle of the slot.

[0019] Power interface: Anderson plug 6. Two Anderson plugs 6 are respectively arranged at the interface of flange 4 of the main and auxiliary hulls, and the positions are kept corresponding by a limit device, and can be pulled outward within a certain range, so as to ensure that the plug does not slip into the hull and can be easily plugged in and out of the hull.

[0020] Electromagnetic adsorption: Power on the fixing device, install an electromagnet on the main hull, and install a permanent magnet on the corresponding position of the auxiliary hull. When the main and auxiliary bodies are aligned and installed, turn on the main power switch while turning on the power of the electromagnet, and the main and auxiliary bodies will be tightly adsorbed together. Turn off the power when disassembling.

[0021] The three-body carrying platform 1 is installed with a single-chip STM32 motherboard, a NUC host, and a 5G remote control and information transmission system. The upper-level expandable modular reconnaissance and remote control station 2 has a built-in module expansion slot, which is connected to the serial port of the single-chip STM32 motherboard through a line; the upper-level expandable modular reconnaissance and remote control station 2 integrates modules for the discovery, identification, marking and early warning functions of target objects included in the database through the module expansion slot; the three-body carrying platform 1 is also provided with an electric energy system 10 for supplying modules, devices and motherboards and a driving device 11 for driving the movement of the hull (not shown in the figure).

[0022] The modules for discovering, identifying, marking and warning the target objects included in the database include GPS sensor module 7, OpenMV4 camera module 8OpenMV4, OpenMV4 infrared module, millimeter wave radar module 9 and gyroscope module. One or more of the above modules can be used by inserting them into the module expansion slot. The specific use principle is as follows: the sensor module 7GPS transmits the received information to the single-chip microcomputer STM32, packages all the received information through an array, and then sends it to the nuc host through the serial port. When the nuc host receives the message, it compares it with the collected data in the database, selects the information with the highest similarity, and then transmits it to the control terminal through the single-chip microcomputer to realize data viewing. At the same time, the NUC host will also use the integrated information received from the single-chip microcomputer to judge the relevant movements of autonomous cruising, and transmit the control instructions to the single-chip microcomputer to perform automatic control and other related operations.

[0023] The energy system 10 includes a lithium storage battery with a large power supply and a polycrystalline silicon solar energy new energy battery; the lithium storage battery with a large power supply is used as the main energy supply, and the polycrystalline silicon solar energy new energy battery is used as the secondary supplementary energy supply.

[0024] The GPS sensor module 7 is located in the remote control reconnaissance station on the upper layer of the main hull, and is composed of a GPS sensor chip, its matching module expansion structure and a GPS antenna. The main function is to provide the NUC host with the location information of the unmanned surface remote control station, including longitude and latitude information; and to cooperate with the information of other sensors to provide the control terminal with the location of the reconnaissance target, including longitude and latitude, in the form of composite data after being processed by the relevant technology of the NUC host. It is a functional module that provides the main location information for the locking and marking functions.

[0025] The OpenMV4 (camera) camera module 8 is located in the spherical camera structure at the front end of the remote control reconnaissance station on the upper layer of the main hull. The main function is to provide the NUC host with various identification feature information and image information of the reconnaissance target, including the size, color, feature points, etc. of the block target; and to cooperate with the information of other sensors to provide the control terminal with the standard information of the reconnaissance target in the database in the form of composite data after being processed by the relevant technology of the NUC host. It is a functional module that provides the main features and image information for the discovery and recognition functions.

[0026] The OpenMV4 (Flir Lepton) infrared module is located in the spherical camera structure at the front end of the remote control reconnaissance station on the upper layer of the main hull. Its main function is to cooperate with the image information of the OpenMV4 (camera) camera module 8 to provide the NUC host with infrared (thermal imaging) image information within the reconnaissance range, so as to more conveniently search, discover and identify reconnaissance targets. It is a functional module that provides secondary image information for the discovery and identification functions.

[0027] The millimeter wave radar module 9 is located in the remote control reconnaissance station on the upper layer of the main hull, and is composed of a millimeter wave radar sensor chip and its matching module expansion structure. The main function is to provide the NUC host with the distance information, direction information and size information of the reconnaissance target; and to cooperate with the information of other sensors to provide the control terminal with the distance, direction and size of the reconnaissance target in the form of composite data after being processed by the relevant technology of the NUC host. It is a functional module that provides the main distance information and secondary direction and size information for the locking and marking functions.

[0028] The gyroscope module is located in the remote control reconnaissance station on the upper layer of the main hull, and is composed of a nine-axis acceleration sensor chip and its matching module expansion structure. The main function is to provide the NUC host with the orientation information of the unmanned surface remote control station itself, angles in various directions, accelerations in various directions, etc.; and cooperate with the information of other sensors to provide the control terminal with the orientation of the unmanned surface remote control station itself in a composite data form after being processed by the relevant technology of the NUC host. The NUC host uses the deviation information of the angles and accelerations in various directions of the 7GPS of the sensor module compared with the standard horizontal orientation, so as to autonomously command the single-chip microcomputer to control the relevant motors to stabilize the upper remote control station and the main hull in various directions. It is not only a functional module that provides the main orientation information for the discovery, identification, locking and marking functions, but also a functional module that provides a better, stable and balanced operating environment for other functional modules and hardware equipment.

[0029] The STM32 microcontroller motherboard is located in the main hull. Its main functions are to receive detection information from various sensors, integrate detection information from various sensors, allocate power and control the operation of related motors, and serve as the main data intermediate hub to receive and transmit various data information. The microcontroller has a customizable WiFi serial port, which can be accessed through the 5G network by programming relevant protocols, thereby achieving efficient remote control and information transmission.

[0030] The NUC host is located in the main hull. Its main function is to use the relevant artificial intelligence programs and technologies that it has written to intelligently process and match the integrated composite sensor detection information transmitted from the single-chip microcomputer with the database, so as to find a series of standard information of reconnaissance targets in the database, and then transmit the found standard information to the control terminal through the single-chip microcomputer for relevant display. At the same time, it can also judge the obstacles and other related cruising conditions on the cruise route of the hull based on the integrated data information transmitted by the single-chip microcomputer, so as to autonomously send control information to the single-chip microcomputer to realize autonomous cruising functions such as autonomous obstacle avoidance, autonomous emergency retreat, and autonomous breakout. It mainly plays the role of "brain core" in the overall hardware system.

[0031] The electric slip ring rotary connection structure is located between the main hull and the upper remote control reconnaissance station. One end of the electric slip ring is fixed to the inside of the main hull, and the other end is connected to the upper remote control station. The main function is to rotate the upper remote control station 360 degrees under the control of the single chip microcomputer, thereby expanding the allowed reconnaissance range. The reconnaissance flexibility and operation stability of the invention are improved.

[0032] The water jet propulsion system is located at the rear of the main hull. It has the function of vector propulsion. Its main function is controlled by a single chip microcomputer, which can flexibly enable the hull to move forward, turn at a low radius, and reverse.

[0033] The solar panel is located at the rear of the main hull deck. Its main function is to serve as a secondary supplementary power source, continuously charging the main lithium battery power source in the hull, thereby continuously providing clean electrical power for the overall hardware equipment.

[0034] The interaction between various modules and electronic components drives the movement of the hull, which is also an important prerequisite for achieving multi-purpose. For the movement of the hull, there are three states designed, namely static, manual control and automatic control. When there is no input signal, the hull is in a static state, and the single-chip microcomputer is ready to receive the terminal remote control signal in real time. When the ship's single-chip computer receives the remote control signal sent by the terminal, the single-chip computer will judge the instruction. If the terminal input signal is a hull navigation signal such as forward or backward, the single-chip computer directly controls the drive module through the power adapter to drive the hull to move; if the terminal input signal is an automatic control signal, the single-chip computer sends a signal to the NUC host, allowing the NUC host to autonomously control the hull. The instructions issued by the NUC host are based on the information from the sensor. The information transmitted by the sensor to the NUC host is matched with the content in its database, and the information with the best similarity is selected. For example, when the sensor detects an obstacle ahead, the information is transmitted to the single-chip computer, and the single-chip computer integrates the information and sends it to the NUC host. When the data matches the content set in advance in the database of the host, the NUC host automatically sends an instruction back to the single-chip computer. After the single-chip computer recognizes and judges, it controls the motor through the power adapter to make the hull avoid.

[0035] At the same time, in order to avoid the NUC host generating erroneous autonomous control signals, double insurance measures are adopted. The first layer of insurance measures is that only after the single-chip microcomputer receives the automatic control signal sent by the terminal, the single-chip microcomputer will transmit a signal to the NUC host to allow the NUC host to autonomously send a control signal; the second layer of insurance, if the NUC host autonomously generates an erroneous control signal and transmits it to the single-chip microcomputer, the single-chip microcomputer needs to re-judge whether the last terminal signal received is an automatic control signal when processing the control signal autonomously sent by the NUC host. Only when the terminal signal is recorded as an automatic control signal, the control command autonomously sent by the NUC host can pass through the single-chip microcomputer, thereby controlling the rotation of the motor through the power adapter to make the boat move.

[0036] In addition, since the present invention has the characteristics of mobility and flexibility, expandability and addition of functional modules, good concealment, wide activity area and low cost of use, it can be used to perform intelligence surveillance and reconnaissance, mine sweeping, search and rescue, mobile targets, underwater exploration, environmental monitoring, accident monitoring, surface search and rescue, logistics supply, hydrological measurement, river transportation, patrol, scientific investigation, mapping and other tasks, thereby achieving the goal of multi-function and multi-purpose.

Claims

1. A multi-purpose unmanned surface reconnaissance remote control station based on expandable modular design, characterized in that It includes a three-body carrying platform, on which an upper expandable modular reconnaissance remote control station is arranged; The upper expandable modular reconnaissance remote control station can rotate relative to the three-body carrying platform. The three-body carrying platform is equipped with a single-chip STM32 motherboard, a NUC host, and a 5G remote control and information transmission system. The upper expandable modular reconnaissance remote control station has a built-in module expansion slot, which is connected to the serial port of the single-chip STM32 motherboard through a line; the upper expandable modular reconnaissance remote control station integrates modules for the discovery, identification, marking and early warning functions of target objects included in the database through the module expansion slot; the three-body carrying platform is also equipped with an energy system for powering the module, the electromagnetic adsorption device, the drive device, and the motherboard, and a drive device and a control terminal for driving the hull movement; the three-body carrying platform adopts a detachable main and auxiliary hull form, and the main and auxiliary hulls are connected with a sealing flange, a card slot, a power interface and an electromagnetic adsorption device; The cross section of the sealing flange is notched, and when the main and auxiliary bodies are connected, the protruding part on the main hull is embedded in the concave part of the auxiliary body; The slot is installed on the outer side of the inner layer of the double-layer shell of the main hull, and the buckle is located at a corresponding position on the side of the auxiliary body connected to the main hull. When the slot and the buckle are in contact, there is no gap between the main body and the auxiliary body.

2. The multi-purpose unmanned surface reconnaissance remote control station based on expandable modular design according to claim 1 is characterized in that The modules for discovering, identifying, marking and warning target objects included in the database include GPS sensor module, OpenMV4 camera module, OpenMV4 infrared module, millimeter wave radar module and gyroscope module.

3. The multi-purpose unmanned surface reconnaissance remote control station based on expandable modular design according to claim 1 is characterized in that An electric slip ring rotating connection device is arranged between the upper expandable modular reconnaissance remote control station and the three-body carrying platform. One end of the electric slip ring rotating connection device is fixed to the inside of the main hull, and the other end is connected to the upper remote control station. The upper expandable modular reconnaissance remote control station can rotate 360° around the three-body carrying platform through the electric slip ring rotating connection device.

4. The multi-purpose unmanned surface reconnaissance remote control station based on expandable modular design according to claim 1 is characterized in that The energy system includes a lithium storage battery with a large power supply and a polycrystalline silicon solar energy new energy battery; the lithium storage battery with a large power supply is used as the main energy supply, and the polycrystalline silicon solar energy new energy battery is used as the secondary supplementary energy supply.

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