Unmanned monitoring ship for water area

Abstract

The invention relates to the technical field of monitoring ships, in particular to an unmanned monitoring ship for a water area, which comprises a left ship body and a right ship body, the left ship body and the right ship body are symmetrically arranged, fixed propellers are arranged on the rear sides of the left ship body and the right ship body, and baffles are attached to the front ends of the left ship body and the right ship body. And an opening and closing mechanism is arranged at the front end of the left boat body. Through opening and closing of the left ship body and the right ship body, the device can be combined into a single ship shape when high-speed traveling is needed, high-speed traveling and flexible steering are facilitated, when detection is needed, the ship speed can be slowed down, the left ship body and the right ship body can be unfolded into a catamaran shape, and an electric propeller is used for driving, so that the device is convenient to use. The monitoring stability is improved through the state of the catamaran, in addition, when the left boat body and the right boat body are unfolded, the solar photovoltaic panel assemblies can be unfolded synchronously, in this way, in the slow driving and monitoring process, light energy can be utilized for energy storage, and therefore the endurance and energy supply of the catamaran are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of monitoring ships, in particular to an unmanned monitoring ship used in water areas. Background Art

[0002] A monitoring ship refers to a ship that can conduct activities such as channel mapping, underwater topography mapping, concealed pipe detection, online water quality analysis, and emergency law enforcement monitoring. It is usually a small unmanned ship. Most of these unmanned monitoring ships are remotely controlled or sail on the water in autonomous mode.

[0003] Monitoring ships in the prior art are mostly divided into two types: single-hull and catamaran. Single-hull ships have the advantages of flexibility and speed, but the stability problem will affect the use of infrared, radar and other detection systems. Catamarans are relatively stable when traveling on the water, but the steering and speed of catamarans are inferior to those of single-hull unmanned monitoring ships. In addition, the power of existing unmanned monitoring ships is divided into two drive modes: electric and fuel. The battery life of electric ships depends on the size of the battery pack. A larger battery pack will occupy more space in the hull, increase the weight of the hull, and may have the problem of insufficient battery life. Compared with electric ships, the cost of recharging fuel is higher when using fuel. In actual use, most people will choose electric or fuel single-hull or catamaran ships according to their needs. Since a large number of monitoring equipment needs to be installed on the monitoring ship, the fuel ship also needs to increase the power supply to supply energy to the monitoring equipment. Therefore, due to the limitation of the storage capacity, the length of the monitoring cycle is reduced. Summary of the invention

[0004] The purpose of the present invention is to provide an unmanned monitoring ship for use in water areas to solve the problems mentioned in the above background technology that the monohull is not stable enough, the catamaran is not flexible enough in movement, and the power supply of the monitoring equipment limits the length of the detection cycle.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: an unmanned monitoring ship for use in waters, comprising a left hull and a right hull, the left hull and the right hull are symmetrically arranged, the rear sides of the left hull and the right hull are both provided with fixed propellers, the front ends of the left hull and the right hull are attached with baffles, and the front end of the left hull is provided with an opening and closing mechanism; Two groups of fork-shaped frames are arranged between the left hull and the right hull, the two groups of fork-shaped frames are arranged in parallel up and down, a positioning column is arranged in the middle of the fork-shaped frames, the four ends of the upper and lower groups of fork-shaped frames are connected by rotatably installed connecting columns, the two groups of connecting columns at the rear side are rotatably installed on the left hull and the right hull respectively, an unfolding drive mechanism is arranged in the left hull, and the unfolding drive assembly is connected to the connecting column on the left side of the front end; Support rods are rotatably installed in the openings on the opposite sides of the left hull and the right hull, and the rear ends of the two groups of support rods are rotatably connected through positioning shafts, and a center frame is rotatably arranged on the positioning column; A central connecting seat is rotatably sleeved on the positioning column, and solar photovoltaic panel assemblies are hingedly connected at the left and right ends of the central connecting seat, respectively. The solar photovoltaic panel assemblies are provided in multiple groups, and the multiple groups of solar photovoltaic panel assemblies are hingedly connected in turn in a transversely staggered manner to form a plate shape; A connecting frame is rotatably mounted at the rear end of the central frame, a swing driving mechanism is arranged in the rear end of the central frame, a connecting plate is arranged at the tail end of the connecting frame, an electric propeller is mounted at the rear end of the connecting plate, a rudder plate is arranged at the tail of the electric propeller, and a steering mechanism is arranged on the connecting plate.

[0006] Preferably, the opening and closing mechanism includes a first connecting rod, the cross-section of the baffle is V-shaped, the inner side of the baffle is in contact with the front end edges of the left hull and the right hull, the upper end of the baffle is symmetrically rotatably mounted with a first connecting rod and a second connecting rod, the rear end of the first connecting rod is rotatably mounted on the upper end of the left hull, a first motor is installed inside the left hull, the output shaft of the first motor is connected to the rear end of the second connecting rod, and the first connecting rod and the second connecting rod are arranged in parallel.

[0007] Preferably, both upper and lower ends of the two front groups of connecting columns are equipped with ball bearings, and the inner walls of the openings on the opposite sides of the left hull and the right hull are provided with guide rails compatible with the ball bearings, and the ball bearings roll in the guide rails.

[0008] Preferably, the unfolding drive mechanism includes a first screw rod, a slide groove is provided in the side opening of the left hull, the first screw rod is rotatably installed in the slide groove, a second motor is installed in the left hull, the output end of the second motor is connected to the rear end of the first screw rod, a slider is slidably connected in the slide groove, the slider is fixedly connected to the connecting column at the left front end, a first screw sleeve is threadedly sleeved on the first screw rod, and the first screw sleeve is fixedly installed in the slider.

[0009] Preferably, two groups of support seats are arranged at the upper end of the positioning shaft, a limiting through slot is opened on the front side of the center frame, the positioning shaft is inserted in the limiting through slot, and the center frame is located between the two groups of support seats.

[0010] Preferably, the center frame is U-shaped, and the upper center position and the lower front end of the center frame are rotatably connected to the positioning column.

[0011] Preferably, the solar photovoltaic panel assembly near one side of the left hull and the right hull is hinged with a side connecting seat, and two groups of T-shaped blocks are symmetrically arranged on the lower side of the side connecting seat, and a T-shaped groove is opened on the lower inner wall of the opening on the opposite side of the left hull and the right hull, and the T-shaped block slides in the T-shaped groove.

[0012] Preferably, the swing-down driving mechanism includes an inclined rod, the head end of the connecting frame is rotatably connected to the inclined rod, the front end of the inclined rod is rotatably connected to the rear end of a sleeve, the sleeve is in the rear opening of the center frame, a limiting block is provided on the front side of the sleeve, a limiting groove is provided on the inner wall of the opening of the center frame, the limiting block slides in the limiting groove, a second screw sleeve is fixedly installed at the front end opening of the sleeve, a second screw is threadedly inserted in the second screw sleeve, a third motor is fixedly installed in the center frame, the front end of the second screw is rotatably installed in the opening of the center frame, and the front end of the second screw is connected to the output end of the third motor.

[0013] Preferably, the steering mechanism includes a guide groove, the upper and lower ends of the front side of the rudder plate are rotatably connected to the lower end of the connecting plate and the electric propeller respectively, the upper end of the rudder plate is provided with a guide groove, a guide rod is movably inserted in the guide groove, a guide through groove is provided on the connecting plate, the guide rod is in the guide through groove, a driving gear is fixedly installed in the connecting plate, a driving gear and a transmission gear are rotatably installed in the connecting plate, the driving gear is connected to the output end of the fourth motor, the driving gear is meshed with the transmission gear, a shift rod is rotatably installed on the surface of the transmission gear, and the other end of the shift rod is rotatably connected to the upper end of the guide rod.

[0014] Preferably, a card slot is provided on the opposite side of the left hull and the right hull, and the card slot is located at the tail of the left hull and the right hull, and the inner diameter of the card slot is matched with the outer diameter of the connecting frame.

[0015] The beneficial effects of the present invention are as follows: by arranging the opening and closing of the left hull and the right hull, the present invention allows the device to be combined into a single-hull shape when high-speed driving is required, which is beneficial to high-speed driving and flexible steering; when detection is required, the ship speed can be slowed down, the left hull and the right hull can be unfolded into a catamaran shape, and driven by an electric propeller, and the stability of monitoring is increased by the state of the catamaran. In addition, when the left hull and the right hull are unfolded, the solar photovoltaic panel assembly will be unfolded synchronously and laid flat between the left hull and the right hull, so that in the process of slow driving and monitoring, light energy can be used to store energy, thereby increasing the endurance and energy supply of the present device. The present device combines the advantages of a single-hull ship and a catamaran, can be flexibly adapted to different water surfaces and usage needs, and can be The unfolded solar photovoltaic panel assembly increases the photovoltaic charging area over a large area, effectively ensures the endurance, increases the monitored energy supply cycle, and the unfolded size of the catamaran can be adjusted according to the width of the water surface and the actual driving needs. After merging, the gap between the front sides of the left hull and the right hull can be blocked by the baffle, which can reduce water resistance while protecting the front side. In addition, when the left hull and the right hull are merged, the electric propeller can be retracted to the upper side through the swing drive mechanism to be driven by the fixed propeller, reducing the resistance generated when the electric propeller is placed in the water, and the fixed propeller and the electric propeller can be driven separately by fuel and electricity. In this way, the practicality of the device is increased while ensuring the endurance through the dual kinetic energy drive mode. BRIEF DESCRIPTION OF THE DRAWINGS In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic front view of the structure of the present invention; Figure 2 It is a front view schematic diagram of the structure of the present invention; Figure 3 It is a schematic side view of the structure of the present invention; Figure 4 It is a rear view schematic diagram of the structure of the present invention; Figure 5 It is a structural schematic diagram of the opening and closing mechanism in the present invention; Figure 6 It is a schematic diagram of the closed state of the baffle in the present invention; Figure 7 It is a front cross-sectional schematic diagram of the structure of the present invention; Figure 8It is a schematic diagram of the structure of the ball and the guide rail in the present invention; Fig. 9 It is a structural schematic diagram of the fork frame and the support rod in the present invention; Fig.10 It is a bottom view schematic diagram of the structure of the fork frame and the support rod in the present invention; Fig.11 It is a structural schematic diagram of the support seat in the present invention; Fig.12 It is a structural schematic diagram of the central connecting seat and the solar photovoltaic panel assembly in the present invention; Fig.13 It is a structural schematic diagram of the side connecting seat in the present invention; Fig.14 It is a structural schematic diagram of the swing drive mechanism in the present invention; Fig.15 It is a schematic diagram of the structural cross section of the connecting plate in the present invention; Fig.16 It is a schematic diagram of the structural cross section of the steering mechanism in the present invention; Fig.17 It is a structural schematic diagram of the left hull and the center frame in the present invention.

[0018] In the figure: 1, left hull; 2, right hull; 3, fixed propeller; 4, baffle; 5, first connecting rod; 6, second connecting rod; 7, first motor; 8, fork frame; 9, positioning column; 10, connecting column; 11, ball bearing; 12, guide rail; 13, slideway; 14, first screw; 15, second motor; 16, slider; 17, first screw sleeve; 18, support rod; 19, positioning shaft; 20, support seat; 21, center frame; 22, limit slot; 23, center connecting seat; 24, Solar photovoltaic panel assembly; 25, side connecting seat; 26, T-shaped block; 27, T-shaped slot; 28, connecting frame; 29, connecting plate; 30, inclined tie rod; 31, sleeve; 32, limit block; 33, limit slot; 34, second screw sleeve; 35, second screw rod; 36, third motor; 37, electric propeller; 38, rudder plate; 39, guide slot; 40, guide rod; 41, guide through slot; 42, fourth motor; 43, driving gear; 44, transmission gear; 45, lever; 46, slot. DETAILED DESCRIPTION The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1-17The present invention provides an embodiment: an unmanned monitoring ship for waters, comprising a left hull 1 and a right hull 2, the left hull 1 and the right hull 2 ​​are symmetrically arranged, the rear sides of the left hull 1 and the right hull 2 ​​are both provided with a fixed propeller 3, the front ends of the left hull 1 and the right hull 2 ​​are attached with a baffle 4, and the front end of the left hull 1 is provided with an opening and closing mechanism; Two groups of fork frames 8 are arranged between the left hull 1 and the right hull 2. The two groups of fork frames 8 are arranged in parallel up and down. A positioning column 9 is arranged in the middle of the fork frames 8. The four ends of the upper and lower groups of fork frames 8 are connected by rotatably installed connecting columns 10. The two groups of connecting columns 10 at the rear are rotatably installed on the left hull 1 and the right hull 2 ​​respectively. An unfolding drive mechanism is arranged in the left hull 1, and the unfolding drive assembly is connected to the front left connecting column 10. Support rods 18 are rotatably installed in the openings on the opposite sides of the left hull 1 and the right hull 2, and the rear ends of the two groups of support rods 18 are rotatably connected through a positioning shaft 19, and a center frame 21 is rotatably arranged on the positioning column 9; A central connecting seat 23 is rotatably sleeved on the positioning column 9, and solar photovoltaic panel assemblies 24 are hingedly connected to the left and right ends of the central connecting seat 23. The solar photovoltaic panel assemblies 24 are provided in multiple groups, and the multiple groups of solar photovoltaic panel assemblies 24 are hingedly connected in turn in a plate shape. Figure 3 and Figure 4 As shown, the solar photovoltaic panel components 24 are arranged horizontally and hinged in sequence up and down to ensure that they can fit each other when folded and unfolded to reduce the space occupied by the gap. The structure and principle of this part are hinge technologies in the prior art and will not be described in detail here. A connecting frame 28 is rotatably mounted at the rear end of the center frame 21, a swing driving mechanism is arranged in the rear end of the center frame 21, a connecting plate 29 is arranged at the tail end of the connecting frame 28, an electric propeller 37 is installed at the rear end of the connecting plate 29, a rudder plate 38 is arranged at the tail of the electric propeller 37, and a steering mechanism is arranged on the connecting plate 29.

[0021] The rudder plate 38 and the fixed propeller 3 can be fully electric, or the fixed propeller 3 can be fuel-driven and the electric propeller 37 can be electrically driven, which is convenient for use in different waters, and hybrid can avoid energy replenishment restrictions. At the same time, different monitoring equipment can be installed on the left hull 1 and the right hull 2 ​​according to usage requirements. The energy supply can be a battery power supply unit, and the battery is installed at the tail of the left hull 1 and the right hull 2, such as Figure 7 As shown, in addition to external charging, the battery can also be charged by the solar photovoltaic panel assembly 24, which can ensure endurance. In addition, the draft of the left hull 1 and the right hull 2 ​​should be much lower than the openings on the opposite side of the left hull 1 and the right hull 2, which can avoid the components in the openings from being continuously immersed in water. At the same time, the electrical connection components of the hull must all be waterproof, and the structure and principle of this part are existing mature technologies, which will not be elaborated here.

[0022] Furthermore, the opening and closing mechanism includes a first connecting rod 5, the cross-section of the baffle 4 is V-shaped, the inner side of the baffle 4 is in contact with the front end edges of the left hull 1 and the right hull 2, the upper end of the baffle 4 is symmetrically rotatably mounted with the first connecting rod 5 and the second connecting rod 6, the rear end of the first connecting rod 5 is rotatably mounted on the upper end of the left hull 1, a first motor 7 is installed inside the left hull 1, the output shaft of the first motor 7 is connected to the rear end of the second connecting rod 6, and the first connecting rod 5 and the second connecting rod 6 are arranged in parallel.

[0023] like Figure 5 and Figure 6 As shown, the structure is used to open and close the baffle 4. Before the left hull 1 and the right hull 2 ​​are unfolded, the baffle 4 can be moved to the side to prevent the left hull 1 and the right hull 2 ​​from being unable to unfold normally. When closed, the front edges of the left hull 1 and the right hull 2 ​​can be blocked. In this way, during forward driving, the baffle 4 will break the water and guide the water to both sides, thereby avoiding the increase of water resistance due to the gap during driving and affecting the driving efficiency. The first connecting rod 5 and the second connecting rod 6 can be connected to the baffle 4 by a detachable installation method such as bolts, which is beneficial to the replacement of the baffle 4 while ensuring normal rotation.

[0024] Furthermore, balls 11 are installed at both upper and lower ends of the two front connecting columns 10 , and guide rails 12 matched with the balls 11 are provided on the inner walls of the openings on the opposite sides of the left hull 1 and the right hull 2 ​​, and the balls 11 roll in the guide rails 12 .

[0025] like Figure 7 and Figure 8 As shown, the structure is used to guide and limit the movement of the connecting column 10 through the ball 11, and reduce the components of the connecting column 10 moving in the left hull 1 and the right hull 2, so that the opening and closing of the fork frame 8 is smoother.

[0026] Furthermore, the unfolding drive mechanism includes a first screw 14, a slide groove 13 is opened in the side opening of the left hull 1, the first screw 14 is rotatably installed in the slide groove 13, a second motor 15 is installed in the left hull 1, the output end of the second motor 15 is connected to the rear end of the first screw 14, a slider 16 is slidably connected in the slide groove 13, the slider 16 is fixedly connected to the connecting column 10 at the left front end, a first screw sleeve 17 is threadedly sleeved on the first screw 14, and the first screw sleeve 17 is fixedly installed in the slider 16.

[0027] like Figure 7As shown, the structure is used to drive the opening and closing of the fork frame 8, so as to control the change of the left hull 1 and the right hull 2 ​​to a single body and a double body, and through the threaded action of the first screw 14 and the first screw sleeve 17, different degrees of expansion can be achieved, which is beneficial to the form of different widths of the ship and different form requirements, and the opening edge of the slide 13 should be in an arc shape to facilitate the rapid discharge of water after entering.

[0028] Furthermore, two groups of support seats 20 are provided at the upper end of the positioning shaft 19 , a limiting through slot 22 is provided on the front side of the center frame 21 , the positioning shaft 19 is inserted into the limiting through slot 22 , and the center frame 21 is located between the two groups of support seats 20 .

[0029] like Fig. 9 and Fig.11 As shown, the structure is used to support the front side of the center frame 21 through the support seat 20, and at the same time, the center frame 21 is used to reversely support the rear side of the support rod 18, forming a good connection and increasing the structural strength when separated.

[0030] Furthermore, the center frame 21 is U-shaped, and the upper center position and the lower front end of the center frame 21 are rotatably connected to the positioning column 9.

[0031] like Fig. 9 and Fig.10 This structure enables the rear side of the center frame 21 to have sufficient support and strength to connect the connecting frame 28 and the electric propeller 37 on its lower side, and is not easily deformed and has high strength.

[0032] Furthermore, the solar photovoltaic panel assembly 24 near the left hull 1 and the right hull 2 ​​is hinged with a side connecting seat 25, and two groups of T-shaped blocks 26 are symmetrically arranged on the lower side of the side connecting seat 25. A T-shaped groove 27 is opened on the lower inner wall of the opening on the opposite side of the left hull 1 and the right hull 2, and the T-shaped block 26 slides in the T-shaped groove 27.

[0033] like Fig.13 As shown, this structure enables the side connecting seat 25 to extend outward along the T-shaped groove 27 through the T-shaped block 26 when the solar photovoltaic panel assembly 24 is unfolded, so that the solar photovoltaic panel assembly 24 has a certain displacement, thereby avoiding obstacles due to offset and the like during folding and unfolding. At the same time, the side connecting seat 25 is used to connect the solar photovoltaic panel assembly 24 to the left hull 1 and the right hull 2, and the connection is not fixed and has a certain displacement, thereby avoiding the solar photovoltaic panel assembly 24 from being bent back when the hull is stressed and deformed.

[0034] Furthermore, the swing drive mechanism includes an inclined rod 30, the head end of the connecting frame 28 is rotatably connected to the inclined rod 30, the front end of the inclined rod 30 is rotatably connected to the rear end of the sleeve 31, the sleeve 31 is in the rear opening of the center frame 21, a limit block 32 is arranged on the front side of the sleeve 31, a limit groove 33 is arranged on the inner wall of the opening of the center frame 21, the limit block 32 slides in the limit groove 33, a second screw sleeve 34 is fixedly installed at the front end opening of the sleeve 31, a second screw 35 is threadedly inserted in the second screw sleeve 34, a third motor 36 is fixedly installed in the center frame 21, the front end of the second screw 35 is rotatably installed in the opening of the center frame 21, and the front end of the second screw 35 is connected to the output end of the third motor 36.

[0035] like Fig.14 As shown, the structure is used to control the swinging and lifting of the electric propeller 37. When swinging down, it enters the water for driving. Before the left hull 1 and the right hull 2 ​​are closed, the water resistance is reduced by lifting it to the tail of the hull.

[0036] Furthermore, the steering mechanism includes a guide groove 39, and the upper and lower ends of the front side of the rudder plate 38 are rotatably connected to the lower ends of the connecting plate 29 and the electric propeller 37 respectively. A guide groove 39 is provided at the upper end of the rudder plate 38, and a guide rod 40 is movably inserted in the guide groove 39. A guide through groove 41 is provided on the connecting plate 29, and the guide rod 40 is located in the guide through groove 41. A driving gear 43 is fixedly installed in the connecting plate 29, and a driving gear 43 and a transmission gear 44 are rotatably installed in the connecting plate 29. The driving gear 43 is connected to the output end of the fourth motor 42, and the driving gear 43 is meshed with the transmission gear 44. A shift lever 45 is rotatably installed on the surface of the transmission gear 44, and the other end of the shift lever 45 is rotatably connected to the upper end of the guide rod 40.

[0037] like Fig.15 and Fig.16 As shown, the structure is used to control the direction of the rudder plate 38 to cooperate with the electric propeller 37 to achieve driving and steering, wherein the fourth motor 42 should be waterproofed, and the driving gear 43 and the transmission gear 44 should be in the housing to avoid direct contact with external obstacles.

[0038] Furthermore, a slot 46 is provided on opposite sides of the left hull 1 and the right hull 2 ​​, and the slot 46 is located at the tail of the left hull 1 and the right hull 2 ​​, and the inner diameter of the slot 46 is matched with the outer diameter of the connecting frame 28 .

[0039] like Fig.17 As shown, the slot 46 allows the connecting frame 28 to be placed in the slot 46 when the left hull 1 and the right hull 2 ​​are closed, so that the connecting plate 29 and the electric propeller 37 at the rear are supported by the restriction of the connecting frame 28 by the slot 46, thereby reducing the stress caused by shaking and the like, which may cause damage to the device.

[0040] Working principle: When used, Figure 1 As shown, the boat is first put into the water in a single-body mode and can be driven by two sets of fixed propellers 3. When it reaches the monitoring area, the boat speed can be slowed down and the fixed propellers 3 can be stopped. The first motor 7 is controlled to drive the second connecting rod 6 to rotate, so that the second connecting rod 6 drives the baffle 4 to cooperate with the first connecting rod 5 to move toward the side of the left hull 1, thereby opening the baffle 4 so that the baffle 4 no longer blocks the front sides of the left hull 1 and the right hull 2.

[0041] Then, the second motor 15 is turned on, and the first screw rod 14 is controlled to rotate by the second motor 15, so that the first screw sleeve 17 drives the slider 16 to slide toward the rear side in the slide groove 13 through the action of the thread, and the slider 16 drives the connecting column 10 to move toward the rear side, so that both sides of the front ends of the two sets of fork-shaped frames 8 move toward the rear sides of the left hull 1 and the right hull 2 ​​along the guide rail 12 through the ball bearings 11. In this process, the two sets of fork-shaped frames 8 rotate along the positioning columns 9 to open the left hull 1 and the right hull 2 ​​to each other. , and because the positioning column 9 will continue to move away from the left hull 1 and the right hull 2 ​​and be in the middle position, the solar photovoltaic panel assembly 24 will be pulled by the central connecting seat 23 on the lower side of the positioning column 9, and rotate and unfold from the left hull 1 and the right hull 2, and at the same time, the side connecting seat 25 will be forced to extend from the left hull 1 and the right hull 2 ​​along the T-shaped groove 27 through the T-shaped block 26. After the fork frame 8 is fully unfolded, the solar photovoltaic panel assembly 24 will be folded and fully unfolded and laid flat on the lower fork frame 8, as shown in FIG. Figure 4 and Figure 3 As shown; And because when unfolding, the positioning column 9 will drive the center frame 21 to extend out from the left hull 1 and the right hull 2, the positioning shaft 19 will drive the two sets of support rods 18 to rotate and unfold to the lower side of the solar photovoltaic panel assembly 24 due to the limitation of the limiting groove 22, so as to support and support, and cooperate with the fork frame 8 to increase the support and connection strength between the left hull 1 and the right hull 2. After the unfolding is completed, photovoltaic charging can be carried out through the solar photovoltaic panel assembly 24. In addition, the third motor 36 can be turned on, so that the third motor 36 drives the second screw rod 35 to rotate, and then the second screw sleeve 34 will drive the sleeve 31 to move backward through the thread action, and then the inclined rod 30 will tilt When the left hull 1 and the right hull 2 ​​are unfolded, the boat is in the shape of a boat, and the driving gear 43 is driven by the fourth motor 42 to rotate the driving gear 43, and the driving gear 43 drives the transmission gear 44 to rotate. When the transmission gear 44 rotates, the guide rod 40 is pulled by the lever 45 to make an arc motion along the guide groove 41, and the lower end of the guide rod 40 moves along the guide groove 39, and drives the rudder plate 38 to rotate and tilt, so that the rudder plate 38 can cooperate with the electric propeller 37 to drive the steering by guiding the water flow. When the left hull 1 and the right hull 2 ​​are unfolded, the boat is as follows: Figure 3The catamaran shape shown can ensure the stability of the hull, making the monitoring more stable and accurate.

[0042] After the monitoring work of slow driving is completed, if acceleration is needed, the fixed propeller 3 can be turned on. If fast driving is needed, the electric propeller 37 and the fourth motor 42 can be turned off first, and then the third motor 36 can be started to reverse, so that the sleeve 31 moves toward the front side and pulls the connecting frame 28 to rotate upward through the inclined rod 30 to lift the electric propeller 37 off the water surface and reset it, and then the second motor 15 is started to retract the fork frame 8 to fit the left hull 1 and the right hull 2 ​​together, and during the retraction process, the solar photovoltaic panel assembly 24 will automatically fold and retract. After the left hull 1 and the right hull 2 ​​are closed, the first motor 7 is started to reverse and reset the first motor 7, and the baffle 4 is driven by the first connecting rod 5 and the second connecting rod 6 to stick to the front side of the left hull 1 and the right hull 2 ​​for protection, and to avoid the situation where the driving speed is affected by the increase of water resistance due to the gap.

[0043] The electric control in the present invention can use the control program in the prior art to achieve one-touch expansion or folding, and it only needs to be controlled in the order of the steps described above. The above is the entire working principle of the present invention.

[0044] In the description of the present application, it should be understood that the terms "front", "rear", "left", "right", etc., indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0045] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An unmanned monitoring ship for use in waters, characterized in that: The invention comprises a left hull (1) and a right hull (2), wherein the left hull (1) and the right hull (2) are symmetrically arranged, a fixed propeller (3) is arranged at the rear side of the left hull (1) and the right hull (2), a baffle (4) is attached to the front end of the left hull (1) and the right hull (2), and an opening and closing mechanism is arranged at the front end of the left hull (1); Two groups of fork-shaped frames (8) are arranged between the left hull (1) and the right hull (2), the two groups of fork-shaped frames (8) are arranged in parallel up and down, a positioning column (9) is arranged in the middle of the fork-shaped frames (8), the four ends of the upper and lower groups of fork-shaped frames (8) are connected by rotatably installed connecting columns (10), the two groups of connecting columns (10) at the rear side are rotatably installed on the left hull (1) and the right hull (2), respectively, an unfolding drive mechanism is arranged in the left hull (1), and the unfolding drive assembly is connected to the connecting column (10) at the front left side; Support rods (18) are rotatably mounted in openings on opposite sides of the left hull (1) and the right hull (2), and rear ends of the two groups of support rods (18) are rotatably connected via positioning shafts (19), and a center frame (21) is rotatably mounted on the positioning column (9); A central connecting seat (23) is rotatably sleeved on the positioning column (9), and solar photovoltaic panel assemblies (24) are respectively hingedly connected to the left and right ends of the central connecting seat (23), and a plurality of groups of solar photovoltaic panel assemblies (24) are provided, and the plurality of groups of solar photovoltaic panel assemblies (24) are hingedly connected in a transversely staggered manner in sequence to form a plate shape; A connecting frame (28) is rotatably mounted on the rear end of the center frame (21), a swing-down driving mechanism is arranged in the rear end of the center frame (21), a connecting plate (29) is arranged on the tail end of the connecting frame (28), an electric propeller (37) is mounted on the rear end of the connecting plate (29), a rudder plate (38) is arranged on the tail of the electric propeller (37), and a steering mechanism is arranged on the connecting plate (29).

2. The unmanned monitoring ship for use in water areas according to claim 1, characterized in that: The opening and closing mechanism comprises a first connecting rod (5), the cross section of the baffle (4) is V-shaped, the inner side of the baffle (4) is in contact with the front edges of the left hull (1) and the right hull (2), the upper end of the baffle (4) is symmetrically rotatably mounted with a first connecting rod (5) and a second connecting rod (6), the rear end of the first connecting rod (5) is rotatably mounted on the upper end of the left hull (1), a first motor (7) is mounted inside the left hull (1), the output shaft of the first motor (7) is connected to the rear end of the second connecting rod (6), and the first connecting rod (5) and the second connecting rod (6) are arranged in parallel.

3. The unmanned monitoring ship for use in water areas according to claim 1, characterized in that: Ball bearings (11) are installed at both upper and lower ends of the two front groups of connecting columns (10), and guide rails (12) matching the ball bearings (11) are provided on the inner walls of the openings on the opposite sides of the left hull (1) and the right hull (2), and the ball bearings (11) roll in the guide rails (12).

4. The unmanned monitoring ship for use in water areas according to claim 1, characterized in that: The unfolding driving mechanism comprises a first screw rod (14), a slide groove (13) is provided in a side opening of the left hull (1), the first screw rod (14) is rotatably mounted in the slide groove (13), a second motor (15) is mounted in the left hull (1), an output end of the second motor (15) is connected to a rear end of the first screw rod (14), a slider (16) is slidably connected in the slide groove (13), the slider (16) is fixedly connected to a connecting column (10) at the left front end, a first screw sleeve (17) is threadedly sleeved on the first screw rod (14), and the first screw sleeve (17) is fixedly mounted in the slider (16).

5. The unmanned monitoring ship for use in water areas according to claim 1, characterized in that: Two groups of support seats (20) are arranged at the upper end of the positioning shaft (19), a limiting through slot (22) is provided on the front side of the center frame (21), the positioning shaft (19) is inserted into the limiting through slot (22), and the center frame (21) is located between the two groups of support seats (20).

6. The unmanned monitoring ship for use in water areas according to claim 1, characterized in that: The center frame (21) is U-shaped, and the upper center position and the lower front end of the center frame (21) are both rotatably connected to the positioning column (9).

7. The unmanned monitoring ship for use in water areas according to claim 1, characterized in that: A solar photovoltaic panel assembly (24) is hingedly connected to a side connection seat (25) near the left hull (1) and the right hull (2). Two groups of T-shaped blocks (26) are symmetrically arranged on the lower side of the side connection seat (25). A T-shaped groove (27) is provided on the lower inner wall of the opening on the opposite side of the left hull (1) and the right hull (2). The T-shaped block (26) slides in the T-shaped groove (27).

8. The unmanned monitoring ship for use in water areas according to claim 1, characterized in that: The swing-down driving mechanism comprises an inclined rod (30), the head end of the connecting frame (28) is rotatably connected to the inclined rod (30), the front end of the inclined rod (30) is rotatably connected to the rear end of a sleeve (31), the sleeve (31) is located in a rear opening of the center frame (21), a limit block (32) is arranged on the front side of the sleeve (31), a limit groove (33) is arranged on the inner wall of the opening of the center frame (21), the limit block (32) slides in the limit groove (33), a second screw sleeve (34) is fixedly mounted at the front opening of the sleeve (31), a second screw rod (35) is threadedly inserted in the second screw sleeve (34), a third motor (36) is fixedly mounted in the center frame (21), the front end of the second screw rod (35) is rotatably mounted in the opening of the center frame (21), and the front end of the second screw rod (35) is connected to the output end of the third motor (36).

9. The unmanned monitoring ship for use in water areas according to claim 1, characterized in that: The steering mechanism comprises a guide groove (39), the upper and lower ends of the front side of the rudder plate (38) are rotatably connected to the connecting plate (29) and the lower end of the electric propeller (37), the upper end of the rudder plate (38) is provided with a guide groove (39), a guide rod (40) is movably inserted in the guide groove (39), the connecting plate (29) is provided with a guide through groove (41), the guide rod (40) is located in the guide through groove (41), a driving gear (43) is fixedly installed in the connecting plate (29), a driving gear (43) and a transmission gear (44) are rotatably installed in the connecting plate (29), the driving gear (43) is connected to the output end of the fourth motor (42), the driving gear (43) is meshed with the transmission gear (44), a shifting rod (45) is rotatably installed on the surface of the transmission gear (44), and the other end of the shifting rod (45) is rotatably connected to the upper end of the guide rod (40).

10. The unmanned monitoring ship for use in water areas according to claim 1, characterized in that: A clamping groove (46) is provided on opposite sides of the left hull (1) and the right hull (2), and the clamping groove (46) is located at the tail of the left hull (1) and the right hull (2), and the inner diameter of the clamping groove (46) is matched with the outer diameter of the connecting frame (28).

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