Unmanned magnetic attraction butt joint ship

Abstract

The invention relates to the technical field of unmanned ships, in particular to an unmanned magnetic attraction butt joint ship which comprises a ship body, magnetic attraction devices arranged on the four side faces of the ship body and an ultrasonic obstacle avoidance device. Four propulsion motors are arranged at the four corners of the lower portion of the ship body to drive the ship body, the propulsion motors are loaded on a transmission shaft vertically extending downwards from the ship body, the transmission shaft is controlled by a steering engine in the ship body to rotate, and an antenna connected with a positioning module and a 4G communication module in the ship body is flush with the upper surface of the ship body. After a processor of a PCB in the hull receives and processes data of sensors such as the positioning module, the ultrasonic obstacle avoidance module and the 4G communication module, on one hand, the posture of the hull is adjusted through the steering engine, and on the other hand, whether magnetic force of the magnetic attraction device is in butt joint or not is controlled by changing the current of the coil capable of being powered on. The unmanned magnetic attraction docking device has the advantages that the structure is simple, no complex hull structure is needed, the four side faces of the ship can be docked with the same unmanned magnetic attraction ship, the unmanned ship is docked through magnetic force, manual docking is not needed, the cost is reduced, the docking safety and convenience are improved, and the docking efficiency is improved. And a new thought is provided for rapidly building a water surface platform in the prior art.

Description

Technical Field:

[0001] The present invention relates to the technical field of unmanned ships and designs an unmanned magnetic docking ship. Technical Background:

[0002] The unmanned magnetic docking ship has the advantages of being intelligent, automated, convenient to operate, low in cost, flexible in mobility, applicable to multiple scenarios, capable of being freely spliced or disassembled to maximize resource utilization, and can perform the work of most ships. It can be widely used in fields such as building temporary bases, temporary bridges, temporary fishing grounds, mobile playgrounds, and coastal sightseeing tours.

[0003] In the existing technology, most ships adopt customized solutions, which require separate design, slow construction speed, high construction difficulty, large disassembly difficulty after scrapping, and single use, such as oil tankers. Summary of the Invention:

[0004] The present invention overcomes the defects of the prior art and provides an unmanned magnetic docking ship.

[0005] The technical problem to be solved by the present invention is achieved by the following technical solutions: An unmanned magnetic docking ship includes a hull, magnetic attraction devices embedded in four sides of the hull, intelligent fixed buckle devices and ultrasonic obstacle avoidance devices embedded in eight sides. At the bottom of the hull, there are also propulsion motors and propellers distributed at four corners, and a transmission shaft connecting the propulsion motors and the steering gear inside the hull. A PCB circuit board integrated with a processor is installed inside the hull. Two antenna holes are provided on the upper deck of the hull, which are the antennas of the positioning module and the 4G communication module respectively. The motors and propellers at the bottom of the hull control the rotation angle of the steering gear through the processor and adjust the hydrodynamic direction of the propulsion motors and propellers through the transmission shaft, thereby adjusting the heading of the hull. The magnetic attraction device controls the presence or absence of magnetism through the processor, thereby completing the docking between ships.

[0006] Preferably, the hull includes magnetic attraction devices on four sides of the hull, ultrasonic obstacle avoidance devices on four sides, four propulsion motors and propellers at four corners of the bottom of the hull, and a transmission shaft connecting and adjusting the steering of the propulsion motors. Steering gears are provided at four corners inside the hull. There are holes on the deck of the hull for loading the antennas of the positioning module and the 4G communication module, as well as four screw holes and screws for fixing the deck of the hull. A PCB circuit board is also provided in the center inside the hull.

[0007] Preferably, the magnetic attraction device is a cylinder, with a magnetic core and an energizable coil inside, and a sealing ring seals the gap of the cavity where the magnetic attraction device is located. A cross-shaped steel frame structure is used to fix the magnetic attraction device, and the magnetic attraction device is controlled by a switch through the PCB circuit board.

[0008] Preferably, the intelligent fixed buckle device embedded in the eight sides includes a lock buckle, a lock pin and a lead screw structure. The lock buckle and the lock pin are connected to the lead screw structure through a metal plate, and the movement of the lead screw structure drives the lock buckle and the lock pin to move. The intelligent fixed buckle device embedded in the eight sides is controlled by a PCB circuit board to move.

[0009] Preferably, the lead screw structure includes a screw rod, a synchronous motor, a metal sheet, a motor support seat and a base.

[0010] Preferably, a steering gear inside the hull and a transmission shaft connected thereto, and the transmission shaft is connected to a motor, and the motor is connected to a propeller.

[0011] Preferably, the ultrasonic obstacle avoidance device is located at the center of the four sides of the hull, and the ultrasonic obstacle avoidance device is flush with the surface of the hull side and fixed by a fixing material, and it is controlled by a PCB circuit board.

[0012] Preferably, the positioning module and the 4G communication module are located inside the hull, and their respective antennas are fixed in two holes drilled on the deck, and the top of the antenna is on the same horizontal line as the deck surface.

[0013] Working process:

[0014] The unmanned ship docks at the shore. The communication module receives the wake-up instruction and the destination sent by the server and then sends the data to the control chip for calculation. The control chip mobilizes each module to execute tasks according to the program. After the four steering gears receive the instructions, they rotate to a specified angle to change the directions of the four transmission shafts and the propulsion motors. After the four propulsion motors receive the instructions, they start to operate at a specified speed, and the ship heads to the destination.

[0015] After the ship ① arrives at the destination, the control chip shares its own positioning data to the server, and receives the positioning information of the ship to be docked, and slowly approaches the ship ② and adjusts the ship's attitude so that the corners of the docking surfaces of the hulls correspond and are as flush as possible. After reaching the limit of the positioning accuracy, the ultrasonic module senses the distance between the two ships and adjusts the ship speed and finely adjusts the ship's attitude until the two hulls are roughly aligned and then slowly approaches. When the value measured by the ultrasonic sensor for the distance between the two hulls is less than the predetermined value, the magnetic attraction device is activated to dock the two ships. At the same time as the docking is successful, the intelligent fixed buckle device is activated to connect and fix the two ships. While connecting and fixing, the power supply to the magnetic attraction device is cancelled, so that the two ships complete the docking and are connected and fixed to form a water surface platform.

[0016] The separation process of the unmanned ship is similar to the docking process.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. The ship provided by the present invention has a simple structure, can carry a certain weight, does not require a long design and manufacturing process, and can be simply modified and equipped with modules according to requirements to adapt to new scenario tasks, with strong economy and versatility.

[0019] 2. The magnetic attraction device and intelligent lock device carried by the present invention can achieve autonomous docking without human intervention, enabling the ship to be conveniently and quickly converted from a small size to a multi-form and large-size ship. The unmanned magnetic attraction docking ship provided by the present invention applies intelligence and modularity to the ship, makes full use of the sensing data of each module, realizes the improvement of the utilization rate of the ship's energy, and improves the safety of the navigation and docking process by using the positioning module and the ultrasonic module at medium and short distances. Description of the Drawings:

[0020] Figure 1 Schematic diagram of the docking of the unmanned ship of the present invention;

[0021] Figure 2 Cross-sectional view of the unmanned ship of the present invention;

[0022] Figure 3 Schematic diagram of the structure of the unmanned ship of the present invention;

[0023] Figure 4 Schematic diagram of the structure of the unmanned ship of the present invention;

[0024] Figure 5 Schematic diagram of the structure of the unmanned ship of the present invention;

[0025] In the figure: 1 - ship body; 2 - magnetic attraction device; 3 - ultrasonic obstacle avoidance device; 4 - propeller; 5 - steering gear; 6 - transmission shaft; 7 - PCB circuit board; 8 - positioning module antenna; 9 - 4G communication module antenna; 10 - screw hole; 11 - screw; 12 - locking pin; 13 - lock; 14 - lead screw structure; 141 - screw rod; 142 - metal sheet; 143 - motor support seat; 144 - synchronous motor; 145 - base; 15 - propulsion motor. Detailed Embodiments:

[0026] In order to make the technical means, innovative features, achieved purposes and effects of the present invention easy to understand, the present invention will be further clarified below with reference to specific embodiments.

[0027] Embodiment Case:

[0028] Such as Figure 1 , Figure 2 , Figure 3 , Figure 4 And Figure 5As shown in the figure, an unmanned magnetic docking vessel includes a hull 1. The hull 1 of this vessel is a cube, with magnetic adsorption devices 2 installed on four sides of the hull 1, intelligent lock devices 12, 13, 14, and an ultrasonic obstacle avoidance device 3. There are four propulsion motors 15 at the four corners under the hull 1 to drive the hull 1. The propulsion motors 15 are mounted on a transmission shaft 6 extending vertically downward from the hull 1, and the transmission shaft 6 is controlled to rotate by a steering gear 5 located inside the hull 1. Above the hull 1, there is an antenna flush with the upper surface of the hull and connected to a positioning module 8 and a 4G communication module 9 inside the hull 1. The steering gear 5 adjusts the attitude of the hull 1 after receiving sensor data such as the positioning module 8, the ultrasonic obstacle avoidance module 3, and the 4G communication module 9 via a PCB board processor 7 inside the hull 1.

[0029] In the prior art, the common way to build a water surface platform is to ship pontoons or floating boxes to the designated water area and then build them manually, which is time-consuming, laborious, costly, cumbersome to assemble and disassemble, and cannot be quickly built and deployed. The unmanned magnetic docking vessel provided by the present invention combines the convenience and speed of a vessel. It uses magnetic adsorption devices distributed on the side of the hull to achieve rapid docking, and has the characteristics of intelligence, automation, convenient operation, low cost, flexible mobility, applicable to multiple scenarios, free splicing or disassembly, etc.

[0030] Working process:

[0031] The unmanned vessel docks at the shore. The positioning module 8, the ultrasonic obstacle avoidance module 3, and the 4G communication module 9 receive the wake-up instructions issued by the PCB board processor 7 and send data to the PCB board processor 7 after reaching the destination. The PCB board processor 7 mobilizes the positioning module 8, the ultrasonic obstacle avoidance module 3, and the 4G communication module 9 to execute tasks according to the program. After receiving the instructions, the four steering gears 5 rotate by a specified angle to change the rotation directions of the four transmission shafts 6 and the propulsion motors 15. After receiving the instructions, the four propulsion motors 15 start to operate at a specified speed, and the vessel heads to the destination; after the vessel ① reaches the destination, the PCB board processor 7 shares its own positioning and data to the terminal server, receives the positioning information of the vessel to be docked, and slowly approaches the vessel ② and adjusts the attitude of the hull 1 so that the corners of the docking surfaces of the hulls correspond and are as flush as possible. After reaching the limit of the positioning accuracy, the ultrasonic obstacle avoidance module 3 senses the distance between the two vessels and adjusts the speed and finely adjusts the attitude of the hull 1 until the two hulls 1 are roughly aligned and then slowly approaches. When the distance between the two hulls 1 measured by the ultrasonic obstacle avoidance sensor 3 is less than the predetermined value, the magnetic adsorption device 2 is started to dock the two vessels. At the same time of successful docking, the intelligent fixed buckle devices 12, 13, 14 are started to connect and fix the two vessels. While connecting and fixing, the power supply to the magnetic adsorption device is cancelled, so that the two vessels complete docking and are connected and fixed to form a water surface platform; the separation process of the unmanned vessel is similar to the docking process.

[0032] The foregoing has shown and described the basic principles, main features and characteristics of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and what is described in the above embodiments and the specification only illustrates the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. An unmanned magnetic docking ship, characterized in that The invention comprises a hull (1), a magnetic device (2) embedded in four sides of the hull (1), intelligent fixing buckle devices (12) (13) (14) and an ultrasonic obstacle avoidance device (3) embedded in eight sides. The bottom of the hull (1) is also provided with a propulsion motor (15) and a propeller (4) distributed at four corners and a transmission shaft (6) connecting the propulsion motor (15) and a steering gear (5) inside the hull. A PCB circuit board (7) with an integrated processor is installed inside the hull (1). Two antenna holes are arranged on the upper deck of the hull (1), which are respectively an antenna (8) of a positioning module and an antenna (9) of a 4G communication module. The propulsion motor (15) and the propeller (4) at the bottom of the hull (1) control the rotation angle of the steering gear (5) through the processor and adjust the hydrodynamic direction of the propulsion motor and the propeller through the transmission shaft (6), thereby adjusting the heading of the hull. The magnetic device (2) controls the presence or absence of magnetic force through the processor, thereby completing docking between ships.

2. The unmanned magnetic docking ship according to claim 1, characterized in that: The hull (1) comprises magnetic devices (2) located on four sides of the hull, ultrasonic obstacle avoidance devices (3) arranged on the four sides, four propulsion motors (15) and propellers (4) arranged at four corners of the bottom of the hull, and a transmission shaft (6) for connecting and adjusting the direction of the propulsion motors, and steering gears (5) arranged at four corners inside the hull. The deck of the hull (1) has holes for loading positioning module antennas (8) and 4G communication module antennas (9), as well as four screw holes (10) and screws (11) for fixing the hull deck. A PCB circuit board (7) located in the center is also arranged inside the hull (1).

3. The unmanned magnetic docking ship according to claim 2, characterized in that: The magnetic attraction device (2) is a cylinder having a magnetic core and an energized coil inside, and a sealing ring to seal the gap of the cavity in which the magnetic attraction device is located, and a cross steel frame structure is used to fix the magnetic attraction device (2), and the magnetic attraction device is controlled to switch via a PCB circuit board (7).

4. The unmanned magnetic docking ship according to claim 2, characterized in that: The eight side-embedded intelligent fixing buckle devices (12) (13) (14) comprise a lock buckle (12), a lock pin (13) and a lead screw structure (14); the lock buckle (12) and the lock pin (13) are connected to the lead screw structure (14) via a metal plate; the lock buckle (12) and the lock pin (13) are driven to move by the movement of the lead screw structure (14); the eight side-embedded intelligent fixing buckle devices (12) (13) (14) are controlled to move by a PCB circuit board (7).

5. The unmanned magnetic docking ship according to claim 2, characterized in that: The lead screw structure (14) comprises a screw rod (141), a metal sheet (142), a motor support seat (143), a synchronous motor (144), and a base (145).

6. The unmanned magnetic docking ship according to claim 2, characterized in that: The hull (1) includes a steering gear (5) and a transmission shaft (6) connected thereto, wherein the transmission shaft (6) is connected to a motor (15), and the motor is connected to a propeller (4).

7. The unmanned magnetic docking ship according to claim 2, characterized in that: The ultrasonic obstacle avoidance device (3) is located in the center of the four sides of the hull (1), and the ultrasonic obstacle avoidance device (3) is kept flush with the surface of the side of the hull (1), is fixed using a fixing material, and is controlled by a PCB circuit board (7).

8. The unmanned magnetic docking ship according to claim 2, characterized in that: The positioning module and the 4G communication module are located in the hull (1), and their respective antennas are fixed in two holes drilled on the deck, with the top of the antenna being on the same horizontal line as the deck surface.

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