An unmanned variable-distance catamaran for navigation mark recovery

Abstract

The present invention discloses an unmanned variable-distance catamaran for navigation mark recovery, comprising a first side sheet body, a second side sheet body, a sheet body connecting bridge and a navigation mark clamping device, wherein the sheet bodies are connected by a connecting bridge, and the connecting bridge is composed of a telescopic rod with a variable distance, a telescopic platform, a base and a rangefinder. The navigation mark clamping device is arranged under the deck, and is composed of a scanning device, a clamping claw, a clamping arm, a hydraulic cylinder and a rotating base. The unmanned variable-distance catamaran for navigation mark recovery of the present invention can automatically drive to the location of the corresponding navigation mark after receiving an instruction, adjust the sheet body spacing and the opening size of the clamping claw at the head of the clamping arm according to the diameter of the cylindrical navigation mark, can adapt to navigation marks of various specifications, effectively improve the recovery efficiency of the navigation mark, and reduce the recovery cost.

Description

Technical Field

[0001] The invention relates to ship engineering technology and is an unmanned variable-pitch catamaran used for navigation mark recovery. Background Art

[0002] The upper structure and lights of the navigation mark may be damaged by the beating of sea water. At the same time, the navigation mark may move violently or even capsize in harsh natural environments. Therefore, the navigation mark needs regular inspection and aging navigation marks need to be towed back to the port by a navigation mark ship.

[0003] Many existing navigation beacon ships need to be equipped with cranes with lifting capacity when retrieving navigation beacons. After receiving the recovery command, the unmanned variable-pitch catamaran used for navigation beacon recovery adjusts the connecting bridge to change the distance between the plates, and uses a clamping device to clamp the navigation beacon between the two plates. It can meet the needs of various specifications of cylindrical navigation beacons and tow the navigation beacons back to the port without human supervision. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the prior art, provide a method for changing the recovery of navigation marks, reduce the cost of navigation mark recovery, and meet the recovery of cylindrical navigation marks of different specifications. The present invention proposes an unmanned variable-distance catamaran for navigation mark recovery.

[0005] The technical scheme for realizing the purpose of the present invention is: an unmanned variable-distance catamaran for navigation mark recovery, comprising a first side sheet body, a second side sheet body, a sheet body connecting bridge and a navigation mark clamping device; the tail ends of the first side sheet body and the second side sheet body are connected by the sheet body connecting bridge, and a signal receiving device, an unmanned driving module, a Beidou navigation system, a first navigation mark clamping device and a second navigation mark clamping device are respectively provided on the first side sheet body and the second side sheet body, and the first navigation mark clamping device and the second navigation mark clamping device are respectively installed under the deck of the first side sheet body and the second side sheet body; the input end of the signal receiving device is connected to the signal sending end of the control end, and its two output ends are respectively connected to the signal receiving device through the unmanned driving module and the Beidou navigation system; one output end of the signal receiving device controls a water pump, and the other output end is connected to an infrared camera; the output end of the infrared camera is respectively connected to the first navigation mark clamping device and the second navigation mark clamping device through a scanning device, a rangefinder and a rotating base control module connected to a motor; the output signal end of the rangefinder is connected to the signal input end of the unmanned driving module.

[0006] Furthermore, the Beidou navigation system includes a first Beidou navigation system and a second Beidou navigation system which are symmetrically arranged on the first side piece body and the second side piece body respectively.

[0007] Furthermore, the sheet connecting bridge is a telescopic platform.

[0008] Furthermore, the signal receiving device includes a signal amplifier and a satellite antenna, which are used to receive signals sent manually and feed them back to the unmanned driving module.

[0009] Furthermore, the sheet connecting bridge includes a variable-distance hydraulic telescopic rod whose two ends are respectively connected to the first side sheet and the second side sheet; the variable-distance hydraulic telescopic rod includes a first telescopic rod, a second telescopic rod, a connecting ring and a base; one end of the first telescopic rod and the second telescopic rod are connected by a connecting ring, and the other end is respectively connected to the base fixed on the first side sheet and the second side sheet.

[0010] Furthermore, the first beacon clamping device and the second beacon clamping device are arranged in a mirror image, and both include a scanning device, a clamping claw, a clamping arm and a hydraulic cylinder; the clamping claw is connected to the clamping arm, and the scanning device is fixed on the clamping arm; a hydraulic cylinder is provided in the clamping arm to control the opening and closing of the clamping claw, and the clamping arm is connected to a rotating base.

[0011] Furthermore, the rotating base control module includes a motor, a rotating base, a driving gear, a driven gear and a motor base. The motor is installed on the motor base, the motor head shaft end passes through the motor base and the center of the driving gear, the driven gear is meshed with the driving gear, and the driven gear is fixedly connected to the clamping arm.

[0012] After adopting the above technical solution, the present invention has the following positive effects: the unmanned variable-pitch catamaran of the present invention can efficiently and quickly recover the navigation mark, reducing the investment in professional navigation mark ships. When the unmanned variable-pitch catamaran reaches the location of the navigation mark, the unmanned driving module quickly identifies the height of the navigation mark from the sea surface, uses a water pump to inject water into the first and second side panels to increase the overall draft of the ship, and then uses the navigation mark clamping device to clamp the navigation mark and tow it back to the port. No manual operation is required throughout the process, reducing the investment in manpower and other heavy equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments and in conjunction with the accompanying drawings, wherein

[0014] Figure 1 It is a working schematic diagram of the unmanned variable-pitch catamaran used for navigation mark recovery of the present invention;

[0015] Figure 2 is a front view of the main hull of the present invention;

[0016] Figure 3 is a side view of a first side sheet body of the present invention;

[0017] Figure 4 It is a structural diagram of the navigation mark clamping device of the present invention;

[0018] Figure 5 It is a principle block diagram of the present invention. DETAILED DESCRIPTION

[0019] like Figures 1 to 5 As shown, the unmanned variable-distance catamaran for navigation mark recovery of the present invention includes a first side panel body 1, a second side panel body 2 and a panel connecting bridge 14 connecting the two panels; a signal receiving device 11, an unmanned driving module 21, a Beidou navigation system module 13 and a first navigation mark clamping device 15 are respectively provided on the two panels, and the first navigation mark clamping device 15 is installed under the deck of the first side panel body 1.

[0020] The signal receiving device 11 includes a signal amplifier 111 and a satellite antenna 112 . The signal receiving device 11 is installed at the bow of the first side panel 1 and is used to receive relevant instructions issued by a person. After receiving the instructions, the unmanned driving module 21 is driven.

[0021] The peripheral equipment of the unmanned driving module 21 includes an infrared camera 211 and a rangefinder 212. The infrared camera 211 is used to identify the surrounding environment of the sea area, identify and calibrate the relative position of the navigation mark and the hull, and upload the environmental information to the unmanned driving module 21 to facilitate the unmanned driving module 21 to identify and avoid obstacles. The rangefinder 212 is used to calculate the distance between the hull and the navigation mark to ensure that the navigation mark is between the two bodies.

[0022] The Beidou navigation system module is used to plan the entire travel path of the ship, locate its own coordinates, and then upload relevant information to the unmanned driving module 21.

[0023] The connection form of the sheet connecting bridge 14 is a stacking type or a telescopic platform. The sheet connecting bridge 14 controls its own width according to the telescopic length of the first telescopic rod 18; the heads of the first telescopic rod 18 and the second telescopic rod 24 are connected by a connecting ring 182, and the tail ends are supported by a base 183. The first telescopic rod 18 and the second telescopic rod 24 are used to adjust the distance between the first side sheet 1 and the second side sheet 2; the rangefinder 181 is connected to the module for controlling the telescopic rod, and is used to monitor the extension distance of the telescopic rod to achieve the purpose of controlling the distance between the two sheets.

[0024] The first beacon clamping device 15 and the second beacon clamping device 22 both include a clamping arm 153, a clamping claw 154, a scanning device 155, and a hydraulic cylinder 156; the rotating base control module 41 includes a driving gear 151, a driven gear 152, a rotating base 157, a motor 158, and a motor base 159; when working, the motor 158 drives the driving gear 151 to rotate, drives the driven gear 152 to rotate, and the driven gear 152 is connected to the clamping arm 153, and the clamping arm 153 is connected to the driven gear 152. The moving gear 152 rotates at the same angle, from the inside of the ship to the outside of the ship; the small hydraulic cylinder 156 is used to drive the jaws 154 to retract and expand; the scanning device 155 is used to identify the diameter of the clamped beacon and adjust the size of the jaws 154 according to the diameter of the beacon; similarly, when the ship is not performing a mission, it is still driven by the motor 158 to drive the active gear 151 to retract the clamping arm 153 into the ship; the motor base 159 is used to fix the motor 158 to prevent the motor 158 from generating relative movement when working.

[0025] When the water pump 16 reaches the navigation mark, it increases its own ballast by pumping water to control the overall draft of the ship, so that the clamp 154 ​​can smoothly clamp the navigation mark; similarly, when the ship is not performing a mission, the water pump 16 is used to pump out water, reduce ballast, and lower the draft.

[0026] The present invention realizes the automatic recovery of the navigation mark. After receiving the information sent manually, the signal receiving device 11 and the unmanned driving module 21 on the first side sheet 1 and the second side sheet 2 use the Beidou navigation system module to plan the route, locate and find the faulty navigation mark, and after arriving at the destination, use the first navigation mark clamping device 15 and the second navigation mark clamping device 22 to clamp the navigation mark together and hold it tightly, and then drag it back to the port.

[0027] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An unmanned variable-pitch catamaran for navigation mark recovery, characterized in that: The invention comprises a first side sheet (1), a second side sheet (2), a sheet connecting bridge (14) and a navigation mark clamping device (15); the tail ends of the first side sheet (1) and the second side sheet (2) are connected via the sheet connecting bridge (14); a signal receiving device (11), an unmanned driving module (21), a Beidou navigation system, a first navigation mark clamping device (15) and a second navigation mark clamping device (22) are respectively provided on the first side sheet (1) and the second side sheet (2); the first navigation mark The clamping device (15) and the second navigation mark clamping device (22) are respectively installed under the decks of the first side panel (1) and the second side panel (2); the first navigation mark clamping device (15) and the second navigation mark clamping device (22) are arranged in a mirror image, and both include a scanning device (155), a clamping claw (154), a clamping arm (153) and a hydraulic cylinder (156); the clamping claw (154) is connected to the clamping arm (153), and the scanning device (155) is fixed On the clamping arm (153); a hydraulic cylinder (156) is arranged in the clamping arm (153) to control the opening and closing of the clamping claw (154); the clamping arm (153) is connected to a rotating base (157); the input end of the signal receiving device (11) is connected to the signal sending end of the control end, and its two output ends are connected to the secondary signal receiving device (31) through an unmanned driving module (21) and a Beidou navigation system respectively; one output end of the secondary signal receiving device (31) controls a water pump (16), and the other output end is connected to an infrared camera (211); the output end of the infrared camera (211) is connected to a first navigation mark clamping device (15) and a second navigation mark clamping device (22) through a scanning device (155), a rangefinder (212) and a rotating base control module (41) connected to a motor (158); the output signal end of the rangefinder (212) is connected to the signal input end of the unmanned driving module (21).

2. The unmanned variable-pitch catamaran for navigation mark recovery according to claim 1, characterized in that: The Beidou navigation system comprises a first Beidou navigation system (13) and a second Beidou navigation system (23) which are symmetrically arranged on the first side sheet body (1) and the second side sheet body (2), respectively.

3. The unmanned variable-pitch catamaran for navigation mark recovery according to claim 1 or 2, characterized in that: The sheet connecting bridge (14) is a telescopic platform.

4. The unmanned variable-pitch catamaran for navigation mark recovery according to claim 1, characterized in that: The signal receiving device (11) comprises a signal amplifier (111) and a satellite antenna (112), and is used to receive signals sent artificially and feed them back to the unmanned driving module (21).

5. The unmanned variable-pitch catamaran for navigation mark recovery according to claim 3, characterized in that: The sheet connecting bridge (14) comprises a variable-distance hydraulic telescopic rod whose two ends are respectively connected to the first side sheet (1) and the second side sheet (2); the variable-distance hydraulic telescopic rod comprises a first telescopic rod (18), a second telescopic rod (24), a connecting ring (182) and a base (183); one end of the first telescopic rod (18) and the second telescopic rod (24) are connected via the connecting ring (182), and the other end is respectively connected to the base (183) fixed on the first side sheet (1) and the second side sheet (2).

6. The unmanned variable-pitch catamaran for navigation mark recovery according to claim 1, characterized in that: The rotating base control module (41) comprises a motor (158), a rotating base (157), a driving gear (151), a driven gear (152) and a motor base (159), wherein the motor (158) is mounted on the motor base (159), the head shaft end of the motor (158) passes through the motor base (159) and the center of the driving gear (151), the driven gear (152) is meshed with the driving gear (151), and the driven gear (152) is fixedly connected to the clamping arm (153).

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