Unmanned ship capable of diving

Abstract

The utility model provides a diving unmanned ship which comprises a double-body buoyancy tank, the double-body buoyancy tank comprises two buoyancy tank bodies and a connecting assembly connected with the two buoyancy tank bodies in a bridging mode, each buoyancy tank body is provided with a hollow cavity used for containing liquid, the hollow cavity is provided with a water inlet / outlet, and the water inlet / outlet is communicated with the connecting assembly. The water inlet / outlet is provided with a water inlet / outlet control valve; the cabin is arranged on the connecting assembly; the compressed air tank is detachably arranged in the cabin, and the two ends of the compressed air tank communicate with the hollow cavities of the corresponding buoyancy tanks through air inlet control valves correspondingly; the propeller mechanism group is arranged on the double-body buoyancy tank; and the control unit is arranged in the sealed cabin, is used for being in wireless or wired connection with a ground control station or a mobile terminal, and is electrically connected with the water inlet / outlet control valve, the air inlet control valve and each driving motor of the propeller mechanism group. The unmanned ship is simple in structure, and can sail on the water surface and can sail underwater.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned driving on water, in particular to a submersible unmanned driving ship. Background Art

[0002] Under complex hydrological conditions, it is very dangerous to conduct water or underwater detection and rescue. With the development of the shipbuilding industry, unmanned ships that can realize automatic cruising on the water surface are becoming more and more important. Unmanned ships can replace manned ships to perform various surface tasks under harsh conditions. Compared with ordinary ships, unmanned ships have the advantages of low risk, low cost and high efficiency.

[0003] Developing an unmanned ship that can achieve long-distance diving or surface navigation without being affected by harsh environments has important practical significance and application value. Utility Model Content

[0004] The purpose of the utility model is to provide a submersible unmanned boat, so as to solve the above-mentioned problems existing in the prior art.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0006] The utility model provides a submersible unmanned boat, the driving boat comprises: a catamaran pontoon, the catamaran pontoon comprises two pontoons and a connecting assembly spanning the two pontoons, each of the pontoons has a hollow chamber for accommodating liquid, the hollow chamber is provided with an inlet / water outlet, and the inlet / water outlet is provided with an inlet / water outlet control valve; a cabin, which is arranged on the connecting assembly; a compressed air tank, which is detachably arranged on the cabin, and the two ends of the compressed air tank are respectively communicated with the hollow chamber of the corresponding pontoon through the air intake control valve; a thruster mechanism group, which is arranged on the catamaran pontoon; a control unit, which is arranged in the sealed cabin, and is used for wireless or wired connection with a ground control station or a mobile terminal, and is respectively electrically connected to the inlet / water outlet control valve, the air intake control valve and each driving motor of the thruster mechanism group, so as to respectively control the opening and closing of the inlet / water outlet control valve, the opening and closing of the air intake control valve and drive the driving boat to travel.

[0007] Optionally, the driving boat further includes: two groups of liquid level sensors, each group having two, each group of liquid level sensors being respectively arranged at the upper liquid level and the lower liquid level of the corresponding buoyancy tank, and the liquid level sensors being respectively electrically connected to the control unit.

[0008] Optionally, when the unmanned ship needs to dive, the control unit opens the inlet / outlet control valve, water enters the pontoon, and when the liquid level sensor located at the upper liquid level detects that the water level in the pontoon reaches the upper liquid level, the control unit closes the inlet / outlet control valve, and the weight of the unmanned ship increases, thereby causing the unmanned ship to dive;

[0009] When the unmanned ship needs to float and sail, the control unit opens the air intake control valve and the inlet / outlet control valve respectively, and the high-pressure gas in the compressed air tank enters the pontoon. As the pressure in the pontoon increases, the water in the pontoon is discharged through the inlet / outlet control valve. When the liquid level sensor located at the lower liquid level detects that the water level in the pontoon has dropped to the lower liquid level, the control unit closes the air intake control valve and the inlet / outlet control valve, and the weight of the unmanned ship is reduced, thereby causing the unmanned ship to float.

[0010] Optionally, the propeller mechanism group includes: a front propeller mechanism arranged at the cabin near the bow, and a rear propeller mechanism respectively arranged at two pontoons near the stern.

[0011] Optionally, the front thruster mechanism includes: a first swinging servo, arranged at the bottom of the cabin, the axial direction of the output shaft of the first swinging servo is horizontal; a second rotating servo, connected to the output shaft end of the first swinging servo through a guide tube, the axial direction of the output shaft of the second rotating servo is vertical; a first pump-jet propeller, the axial central area of ​​which is connected to the output shaft end of the second rotating servo; the motors of the first swinging servo, the second rotating servo and the first pump-jet propeller are electrically connected to the control unit respectively.

[0012] Optionally, the rear thruster mechanism comprises:

[0013] The propeller suspension is respectively arranged on the corresponding buoys near the stern;

[0014] A third steering steering gear is arranged on the propeller suspension, an output shaft of the third steering steering gear passes through the propeller suspension, and an axis direction of the output shaft of the third steering steering gear is vertical;

[0015] A second pump-jet propeller, the central area of ​​which is axially connected to the end of the output shaft of the third steering servo;

[0016] The third steering servo and the motor of the second pump-jet propulsion unit are electrically connected to the control unit respectively.

[0017] Optionally, the connecting assembly includes: two support frames, a front support frame close to the bow and a rear support frame close to the stern.

[0018] Optionally, the cabin comprises: a mounting plate, a central area of ​​the mounting plate having an open receiving chamber, and a cover plate is sealed on the opening of the receiving chamber;

[0019] The two ends of the mounting plate are respectively mounted on the front support frame and the rear support frame, and the accommodating chamber is located between the front support frame and the rear support frame; the control unit is sealed in the accommodating chamber, and the compressed air tank is arranged below the mounting plate near the stern.

[0020] Optionally, the control unit includes: a positioning module, a communication module and a single chip microcomputer; the positioning module is used to receive satellite positioning information;

[0021] A single chip microcomputer is electrically connected to the positioning module, the communication module, the inlet / outlet control valve, the air intake control valve and the driving motor of the propeller mechanism group respectively;

[0022] The single chip microcomputer is used to wirelessly connect to a ground control station or a mobile terminal through the communication module, or the single chip microcomputer is connected to the ground control station or the mobile terminal by wire.

[0023] Optionally, the control unit includes: a communication module and a single-chip microcomputer, wherein the single-chip microcomputer is electrically connected to the positioning module, the communication module, the inlet / outlet control valve, the air intake control valve and the driving motor of the propeller mechanism group respectively;

[0024] The communication module is also used for wireless connection with the ground base station.

[0025] Optionally, the driving boat further comprises:

[0026] The millimeter wave radar is arranged in the cabin near the bow; the millimeter wave radar is electrically connected to the single chip microcomputer.

[0027] The beneficial effects of the utility model are:

[0028] The unmanned ship of the utility model can sail on the water surface and can also dive underwater for operation; the unmanned ship has a simple structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a structural schematic diagram of an unmanned ship of the utility model;

[0030] Figure 2 It is a schematic diagram of the catamaran pontoon structure of the unmanned ship of the utility model;

[0031] Figure 3 This is a schematic diagram of the structure of the front propeller mechanism of the unmanned ship of the utility model;

[0032] Figure 4The utility model is a schematic diagram of the stern structure of the unmanned ship.

[0033] In the figure:

[0034] 1. Catamaran pontoon; 2. Rear thruster mechanism; 3. Thruster suspension; 4. Connection assembly; 5. Diving system; 6. Antenna; 7. Cover plate; 8. Millimeter-wave radar; 9. Mounting plate; 10. Storage compartment; 11. Front thruster mechanism; 12. Compressed air tank; 13. Intake solenoid valve; 14. Liquid level sensor; 15. Inlet / outlet control valve; 16. First pump-jet thruster; 17. Second rotary servo; 18. Guide pipe; 19. First swing servo; 20. Cabin. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation methods described here are only used to explain the utility model and are not used to limit the utility model.

[0036] like Figure 1 As shown, the utility model proposes a submersible unmanned boat, the driving boat comprises: a catamaran pontoon 1, the catamaran pontoon 1 comprises two pontoons and a connecting assembly 4 spanning the two pontoons, each of the pontoons has a hollow chamber (not shown in the figure) for accommodating liquid, the hollow chamber is provided with an inlet / drainage port (not shown in the figure), the inlet / drainage port is provided with an inlet / drainage control valve 15; a cabin 20, arranged on the connecting assembly 4; a compressed air tank 12, detachably arranged on the cabin 20, the compressed air tank The two ends of 12 are connected with the hollow chamber of the corresponding pontoon through the air intake control valve 13 respectively; the thruster mechanism group is arranged in the catamaran pontoon 1; the control unit (not shown in the figure) is arranged in the sealed cabin 20, which is used for wireless or wired connection with the ground control station or mobile terminal, and is respectively electrically connected with the inlet / water discharge control valve 15, the air intake control valve 13 and each driving motor of the thruster mechanism group, so as to respectively control the opening and closing of the inlet / water discharge control valve 15, the opening and closing of the air intake control valve 13 and drive the driving boat to travel.

[0037] Each pontoon of the catamaran pontoons in the unmanned ship of the utility model is a hollow structure. Water is injected into and discharged from the pontoons through the diving system 5, so that the unmanned ship can dive and float, and realize navigation on the surface route or diving operations. The diving system 5 includes: an inlet / outlet control valve 15, an air intake solenoid valve 13 and a compressed air tank 12, etc. The compressed air tank can be detachably connected to the cabin by bolts. The two pontoons of the unmanned ship are connected at a certain distance, and the cabin is arranged in the connecting assembly and is located between the two pontoons, so that the unmanned ship is more stable. High-pressure gas is stored in the compressed air tank, and each of the pontoons is provided with an air inlet. The air inlet is located on the inner side of the pontoon near the stern, so the compressed air tank is arranged in the cabin near the stern to facilitate communication with the pontoon; the inlet / outlet is arranged in the central area of ​​the bottom inner side of the pontoon or near the bow, such as Figure 2 As shown, the air intake control valve and the air intake / discharge control valve are the air intake solenoid valve and the air intake / discharge solenoid valve respectively. The compressed air tank is close to the stern, and the control unit of the unmanned boat is wirelessly or wiredly connected to the ground control station or the mobile terminal. When the boat is on the water surface, the ground control station or the mobile terminal can remotely control the boat by wirelessly connecting to the control unit of the boat to realize unmanned driving; when the boat is diving underwater, the ground control station or the mobile terminal controls the boat by wired connection with the control unit of the boat to realize unmanned driving. A battery compartment is also provided in the cabin, in which batteries are placed to power each propeller mechanism and the control unit. The cabin is sealed to protect the internal components, and the cabin has an IP68 waterproof rating. The unmanned boat of the utility model can be used for detection, rescue, water performances and other activities on the water surface and underwater.

[0038] It should be noted that the working process of the unmanned boat diving and surfacing is as follows: when the unmanned boat needs to dive, the control unit opens the air inlet / outlet control valve of each pontoon. At this time, the air inlet control valve of each pontoon is in a closed state, water enters the pontoon, and the weight of the unmanned boat increases. The water intake of the unmanned boat can be controlled according to the valve opening time or the liquid level inside the pontoon. When the valve opening time or the water intake reaches a preset threshold, the control unit closes the air inlet / outlet solenoid valve. At this time, the control unit also starts the propeller mechanism group to cooperate and push the unmanned boat into the water.

[0039] When the unmanned boat needs to surface for sailing, the control unit opens the air intake solenoid valve and the inlet / water discharge solenoid valve respectively, and the high-pressure gas in the compressed air tank enters the pontoon. As the pressure in the pontoon increases, the water in the pontoon is discharged through the inlet / water discharge solenoid valve, and the weight of the unmanned boat is reduced. The displacement of the unmanned boat can be controlled according to the valve opening time or the liquid level inside the pontoon. When the valve opening time or the displacement reaches a preset threshold, the control unit closes the air intake solenoid valve and the inlet / water discharge solenoid valve. At this time, the control unit also starts the propeller mechanism group to push the unmanned boat to the surface.

[0040] The control unit of the utility model can also control the propeller mechanism group to adjust the posture of the unmanned ship, so that the unmanned ship can sail freely in multiple directions whether underwater or on the surface, so that the unmanned ship can dive and sail with posture adjustment. The control unit can also pre-store the navigation route so that the driving ship can automatically sail according to the preset route.

[0041] like Figure 2 As shown, as a specific example of a driving boat, the driving boat also includes: two groups of liquid level sensors 14, each group has two, each group of liquid level sensors 14 is respectively arranged at the upper liquid level and the lower liquid level of the corresponding buoyancy tank, and the liquid level sensors 14 are respectively electrically connected to the control unit.

[0042] The liquid level sensor of the utility model can adopt a duckbill type float liquid level sensor.

[0043] How does unmanned boat diving work?

[0044] The interior of the catamaran pontoon is a hollow structure. When the unmanned ship needs to dive, the control unit controls the inlet / drainage solenoid valve 15 to open, and water enters the pontoon. When the water level reaches the upper liquid level, the liquid level sensor 14 located at the upper liquid level detects the liquid level change and transmits the liquid level information to the control unit. The control unit closes the inlet / drainage solenoid valve 15. Due to the increase in the weight of the hull, the unmanned ship meets the diving requirements, and the thruster mechanism group cooperates to propel, thereby realizing the diving of the unmanned ship; when the unmanned ship needs to float, the control unit controls the air intake solenoid valve 13 and the inlet / drainage solenoid valve 15 to open, and the high-pressure gas in the compressed air tank 12 enters the pontoon. Due to the increase in pressure in the pontoon, the water in the pontoon is discharged through the inlet / drainage solenoid valve 15. When the water level drops to the lower liquid level, the liquid level sensor 14 located at the lower liquid level detects the liquid level change and transmits the liquid level information to the control unit. The control unit closes the air intake solenoid valve 13 and the inlet / drainage solenoid valve 15, the weight of the unmanned ship is reduced, and the thruster mechanism group cooperates to propel, so that the unmanned ship floats.

[0045] As a specific example of the propeller mechanism group, the propeller mechanism group includes: a front propeller mechanism 11 arranged at the cabin near the bow, and rear propeller mechanisms 2 respectively arranged at two pontoons near the stern.

[0046] The front propeller mechanism of the utility model is arranged in the central area of ​​the two buoys, close to the bow, and specifically arranged at the bottom of the cabin. The control unit of the utility model realizes hovering and sailing in various directions by controlling the propulsion direction of the three propeller mechanisms, and the direction control is more flexible.

[0047] like Figure 3 As shown, as a specific example of a front thruster mechanism, the front thruster mechanism 11 includes: a first swinging servo 19, which is arranged at the bottom of the cabin 20, and the axial direction of the output shaft of the first swinging servo 19 is horizontal; a second rotating servo 17, which is connected to the output shaft end of the first swinging servo 19 through a guide tube, and the axial direction of the output shaft of the second rotating servo 17 is vertical; a first pump-jet propeller 16, the axial central area of ​​which is connected to the output shaft end of the second rotating servo 17; the motors of the first swinging servo 19, the second rotating servo 17 and the first pump-jet propeller 16 are electrically connected to the control unit respectively.

[0048] The front propeller mechanism 11 of the unmanned ship of the present invention adopts a double servo structure. The longitudinal servo controls the vertical swing, and the horizontal servo controls the horizontal rotation of the propeller. The vertical swing of the propeller can control the surfacing and diving of the unmanned ship, and the horizontal rotation of the servo controls the forward movement and steering of the unmanned ship. The central area of ​​the first pump-jet propeller in the present invention is sleeved with a connecting piece, and the connecting piece is connected to the output shaft end of the second rotating servo. The motor of the first swing servo is provided with a fixing part, and the fixing part is fixed to the bottom of the cabin. The output shaft end of the first swing servo is connected to one end of the guide tube; the output shaft sleeve of the second swing servo is provided with a connecting tube, and the first end of the connecting tube is fixedly connected to the motor of the second swing servo, and the output shaft end of the second swing servo extends out of the second end of the connecting tube, and the connecting tube is connected to the other end of the guide tube to fix the second swing servo.

[0049] The structure and function of the front thruster mechanism: The front thruster mechanism includes: a first pump-jet thruster 16, a horizontal rotating servo, a guide tube 18 and a vertical swing servo; the first swing servo 19 is a vertical swing servo, and the second swing servo 17 is a horizontal rotating servo, wherein the motor in the vertical swing servo drives the guide tube 18 to rotate forward and reverse, that is, clockwise and counterclockwise, so that the first pump-jet thruster 16 swings up and down, that is, swings in the vertical direction, and the vertical direction is the direction perpendicular to the unmanned ship; the motor in the horizontal rotating servo drives the pump-jet thruster to rotate horizontally and circumferentially, and the horizontal rotation is the direction parallel to the unmanned ship.

[0050] The front thruster mechanism controls the rotation angle of the first pump-jet propeller along the water surface through the second rotating servo, thereby controlling the navigation direction of the unmanned ship; the longitudinal angle control unit, that is, the first swing servo, controls the vertical rotation angle of the first pump-jet propeller, thereby controlling the thrust of the unmanned ship during diving and surfacing. The rotation speed of the first pump-jet propeller is controlled by the control unit, thereby realizing the control of the speed of the unmanned ship.

[0051] Specifically, the diving and surfacing control of the unmanned ship: when the unmanned ship needs to dive, the control unit controls the vertical swing servo to rotate, so as to adjust the nozzle of the first pump-jet propulsion system to tilt upward, thereby generating an upward thrust, and driving the unmanned ship to sail underwater; when the unmanned ship needs to surface, the control unit controls the vertical swing servo to rotate, so as to adjust the nozzle of the first pump-jet propulsion system to tilt downward, thereby generating a downward thrust, and driving the unmanned ship to sail on the water; when the unmanned ship needs to maintain horizontal navigation, the nozzle of the pump-jet propulsion system remains horizontal.

[0052] Unmanned ship direction control: When the unmanned ship needs to turn left, the horizontal steering servo controls the pump-jet propulsion to rotate left, and the nozzle generates thrust to the right rear, thereby pushing the unmanned ship to turn left; when the unmanned ship needs to turn right, the horizontal steering servo controls the pump-jet propulsion to rotate right, and the nozzle generates thrust to the left rear, thereby pushing the unmanned ship to turn right.

[0053] like Figure 4 As shown, the rear thruster mechanism 2 includes: a thruster suspension 3, which is respectively arranged at the corresponding pontoon near the stern; a third steering servo (not marked in the figure), which is arranged on the thruster suspension 3, and the output shaft of the third steering servo passes through the thruster suspension 3, and the axial direction of the output shaft of the third steering servo is vertical; a second pump-jet propeller (not marked in the figure), the axial central area of ​​which is connected to the output shaft end of the third steering servo; the motors of the third steering servo and the second pump-jet propeller are respectively electrically connected to the control unit.

[0054] The rear pump-jet propeller mechanism 2 of the utility model adopts a single steering gear mode, and the steering gear controls the horizontal rotation of the pump-jet propeller, thereby controlling the navigation direction of the unmanned ship, and can cooperate with the front propeller mechanism to realize the hovering of the unmanned ship.

[0055] The central area of ​​the second pump-jet propeller of the utility model is sleeved with a connecting piece, and the connecting piece is connected to the output shaft end of the third steering servo. There are two rear-mounted propeller mechanisms, each of which includes a second pump-jet propeller, and each second pump-jet propeller is equipped with a third steering servo. The propulsion direction of the second pump-jet propeller can be adjusted by the third steering servo to control the navigation direction of the unmanned ship. At the same time, it can cooperate with the front propeller to achieve hovering. For example, when the unmanned ship needs to hover, the two third steering servos respectively control the horizontal rotation of the corresponding second pump-jet propeller, and the thrust generated in the water spraying direction of the two offsets the thrust generated in the water spraying direction of the first pump-jet propeller, thereby controlling the navigation direction of the unmanned ship and achieving the hovering of the unmanned ship; the specific rotation angle is set according to the actual situation and is not limited here.

[0056] The pump-jet propeller used in the unmanned boat of the utility model is vector controlled, and the direction of the jet port can be adjusted arbitrarily, so that the hull can realize navigation control in all directions; vector control is to control the speed of the pump-jet propeller motor through a single-chip microcomputer, adjust the thrust of the propeller, and control the angle of the propeller through a steering gear, thereby controlling the direction of the boat. The three propellers of the unmanned boat of the utility model all use pump-jet propellers, which have high propulsion efficiency; the three propellers are all equipped with steering gears, and the unmanned boat can sail or hover in all directions by adjusting the angles of the three propellers. A buoyancy balance box is set in the hull buoyancy box to realize the buoyancy and diving of the hull.

[0057] The unmanned boat of the utility model can realize surface routes and diving operations at the same time; the propeller adopts pump jet, which greatly improves the efficiency; and three propellers are adopted to realize hovering and navigation in all directions.

[0058] like Figure 1 As shown, as a specific example of a connection component, the connection component 4 includes: two support frames, a front support frame close to the bow and a rear support frame close to the stern.

[0059] The cabin of the unmanned ship of the utility model is arranged in the area between the two support frames, so that the unmanned ship has a compact structure.

[0060] As a specific example of a cabin, the cabin 20 includes: a mounting plate 9, a central area of ​​the mounting plate 9 having an open storage bin (not shown in the figure), and a cover plate 7 is sealed on the opening of the storage bin; both ends of the mounting plate 9 are respectively mounted on the front support frame and the rear support frame, and the storage bin is located between the front support frame and the rear support frame; the control unit is sealed in the storage bin, and the compressed air tank 12 is arranged below the mounting plate near the stern.

[0061] The storage compartment of the utility model is located between the front support frame and the rear support frame, and the compressed air tank is arranged below the mounting plate near the stern. Figure 4 The storage compartment is provided with a battery compartment, and the battery compartment has built-in batteries to supply power to each pump-jet propeller, each steering gear and control unit.

[0062] A support frame is arranged on the catamaran pontoon 1 of the utility model, a mounting plate 9 is fixed on the support frame, a storage compartment 10 is arranged at the bottom of the mounting plate, the storage compartment 10 is divided into a battery compartment and a control compartment, a control unit is arranged in the control compartment, and a battery is arranged in the battery compartment. A cover plate 7 is arranged on the upper part of the mounting plate, which can seal the cabin to prevent water from entering the cabin, and a millimeter wave radar 8 is placed in the front part of the mounting plate to monitor obstacles ahead.

[0063] As a specific example of a driving ship, the driving ship further includes: a millimeter wave radar 8, which is arranged in the cabin 20 near the bow; and the millimeter wave radar 8 is electrically connected to the single chip microcomputer.

[0064] The millimeter wave radar is placed at the front of the unmanned boat of the utility model, which can detect obstacles in front and realize the obstacle avoidance function. Specifically, the millimeter wave radar is arranged at a position close to the bow of the mounting plate. The driving boat is also provided with a sonar (not shown in the figure), which is arranged in the cabin; the sonar is arranged in the storage compartment, and the sonar is used for detection and navigation.

[0065] As a specific example of a control unit, the control unit includes: a positioning module (not shown in the figure), a communication module (not shown in the figure) and a single-chip microcomputer (not shown in the figure); the positioning module is used to receive satellite positioning information; the single-chip microcomputer is electrically connected to the positioning module, the communication module, the intake / discharge control valve, the intake control valve and the drive motor of the thruster mechanism group, respectively; the single-chip microcomputer is used to wirelessly connect to a ground control station or a mobile terminal through the communication module, or the single-chip microcomputer is wired to the ground control station or the mobile terminal.

[0066] The control unit of the utility model is placed in the cabin, specifically arranged in the storage compartment, and includes: a GPS Beidou dual-mode positioning module and a single-chip microcomputer, wherein the GPS Beidou dual-mode positioning module is a positioning module, and the GPS Beidou dual-mode positioning module receives satellite positioning information to determine the operating position of the unmanned ship and assist the single-chip microcomputer in detecting the route; according to the operating position of the unmanned ship, the single-chip microcomputer controls the rotation angle of each steering gear and the operating state of each pump-jet propeller to adjust the navigation state of the unmanned ship in real time, and the single-chip microcomputer can also pre-store navigation and waypoint location information to realize automatic cruising. The communication module can be a 4G card or wireless communication method such as WI FI, which can realize long-distance communication.

[0067] The unmanned ship may also be provided with a remote controller, which is wirelessly connected to the communication module, so that the control mode includes remote control and automatic navigation, and the two modes can be switched at any time.

[0068] The communication module can also be connected to an antenna, which is arranged on the mounting plate. The antenna 6 can receive remote control signals to realize remote control of the unmanned ship. The maximum speed of the unmanned ship on the water surface is designed to be 15 knots, and the maximum range is 60km. The single-chip microcomputer has built-in embedded computing software and is placed in the cabin 10. The GPS Beidou dual-mode positioning module receives the location information of the unmanned ship. The single-chip microcomputer can also pre-store navigation and location information. The GPS Beidou dual-mode positioning module communicates with the single-chip microcomputer through the corresponding interface.

[0069] As a specific example of a control unit, the control unit includes: a communication module and a single-chip microcomputer, and the single-chip microcomputer is electrically connected to the positioning module, the communication module, the intake / discharge control valve, the intake control valve and the driving motor of the thruster mechanism group respectively; the communication module is also used for wireless connection with a ground base station.

[0070] The ground base station of the utility model is used to locate the position of the driving ship. The ground base station can be a base station with high positioning accuracy such as an RTK base station; the ground control station or mobile terminal is used to remotely control the navigation of the driving ship. Generally speaking, the accuracy of normal satellite positioning is not very high. In order to improve the accuracy, a ground base station can be used to locate the driving ship. The base station is first located by satellite, and then the driving ship is located by the ground base station, so as to reduce the positioning error; after the ground control station or mobile terminal issues a remote control and automatic cruise switching command, the two modes of remote control and automatic navigation can be switched.

[0071] The above is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications should also be considered as the protection scope of the present invention.

Claims

1. A submersible unmanned vessel, characterized in that: The pilot boat comprises: A catamaran pontoon, the catamaran pontoon comprising two pontoons and a connecting assembly spanning the two pontoons, each of the pontoons having a hollow chamber for containing liquid, the hollow chamber being provided with an inlet / outlet, and the inlet / outlet being provided with an inlet / outlet control valve; A cabin, arranged on the connecting assembly; A compressed air tank is detachably arranged in the cabin, and both ends of the compressed air tank are respectively connected to the hollow chamber of the corresponding buoyancy box through an air intake control valve; A propeller mechanism group is arranged on the catamaran pontoon; The control unit is arranged in the sealed cabin and is used for wireless or wired connection with a ground control station or a mobile terminal, and is respectively electrically connected to the intake / discharge control valve, the air intake control valve and each driving motor of the propeller mechanism group, so as to respectively control the opening and closing of the intake / discharge control valve, the opening and closing of the air intake control valve and drive the driving boat to travel.

2. The driving boat according to claim 1, characterized in that: The driving boat also includes: two groups of liquid level sensors, each group has two, each group of liquid level sensors is respectively arranged at the upper liquid level and the lower liquid level of the corresponding buoyancy box, and the liquid level sensors are respectively electrically connected to the control unit.

3. The driving boat according to claim 2, characterized in that: When the unmanned ship needs to dive, the control unit opens the inlet / outlet control valve, water enters the pontoon, and when the liquid level sensor at the upper liquid level detects that the water level in the pontoon reaches the upper liquid level, the control unit closes the inlet / outlet control valve, the weight of the unmanned ship increases, and the unmanned ship dives; When the unmanned ship needs to float and sail, the control unit opens the air intake control valve and the inlet / outlet control valve respectively, and the high-pressure gas in the compressed air tank enters the pontoon. As the pressure in the pontoon increases, the water in the pontoon is discharged through the inlet / outlet control valve. When the liquid level sensor located at the lower liquid level detects that the water level in the pontoon has dropped to the lower liquid level, the control unit closes the air intake control valve and the inlet / outlet control valve, and the weight of the unmanned ship is reduced, thereby causing the unmanned ship to float.

4. The driving boat according to claim 3, characterized in that: The propeller mechanism group includes: a front propeller mechanism arranged on the cabin near the bow, and rear propeller mechanisms respectively arranged on two buoyancy boxes near the stern.

5. The driving boat according to claim 4, characterized in that: The front thruster mechanism comprises: A first swing steering gear is arranged at the bottom of the cabin, and the axis direction of the output shaft of the first swing steering gear is horizontal; A second rotary steering gear is connected to the end of the output shaft of the first swing steering gear through a guide tube, and the axis direction of the output shaft of the second rotary steering gear is vertical; a first pump-jet propeller, the central area of ​​which is axially connected to the end of the output shaft of the second rotary steering gear; The first swinging steering gear, the second rotating steering gear and the motor of the first pump-jet propeller are electrically connected to the control unit respectively.

6. The driving boat according to claim 5, characterized in that: The rear thruster mechanism comprises: The propeller suspension is respectively arranged on the corresponding buoys near the stern; A third steering steering gear is arranged on the propeller suspension, an output shaft of the third steering steering gear passes through the propeller suspension, and an axis direction of the output shaft of the third steering steering gear is vertical; A second pump-jet propeller, the central area of ​​which is axially connected to the end of the output shaft of the third steering servo; The third steering servo and the motor of the second pump-jet propulsion unit are electrically connected to the control unit respectively.

7. The driving boat according to claim 6, characterized in that: The connection assembly comprises two support frames, namely a front support frame close to the bow and a rear support frame close to the stern.

8. The driving boat according to claim 7, characterized in that: The cabin comprises: a mounting plate, a central area of ​​the mounting plate having an open storage bin, and a cover plate is sealed on the opening of the storage bin; The two ends of the mounting plate are respectively mounted on the front support frame and the rear support frame, and the accommodating chamber is located between the front support frame and the rear support frame; the control unit is sealed in the accommodating chamber, and the compressed air tank is arranged below the mounting plate near the stern.

9. The driving boat according to claim 8, characterized in that: The control unit includes: a positioning module, a communication module and a single chip microcomputer; the positioning module is used to receive satellite positioning information; A single chip microcomputer is electrically connected to the positioning module, the communication module, the inlet / outlet control valve, the air intake control valve and the driving motor of the propeller mechanism group respectively; The single chip microcomputer is used to wirelessly connect to a ground control station or a mobile terminal through the communication module, or the single chip microcomputer is connected to the ground control station or the mobile terminal by wire.

10. The driving boat according to claim 9, characterized in that: The control unit comprises: a communication module and a single chip microcomputer, wherein the single chip microcomputer is electrically connected to the positioning module, the communication module, the inlet / outlet control valve, the air intake control valve and the driving motor of the propeller mechanism group respectively; The communication module is also used for wireless connection with the ground base station.

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