Water area magnetic method detection system based on unmanned ship carrying

Abstract

The utility model relates to a water area magnetic method detection system based on unmanned ship carrying, and relates to the field of water area detection equipment. The system comprises a remote monitoring unit, a remote control unit, an unmanned ship body and a magnetometer probe connected with the unmanned ship body. A signal processing unit is carried in the unmanned ship body, the output end of the magnetometer probe is in signal connection with the input end of the signal processing unit through a magnetic method data cable, and the remote monitoring unit and the remote control unit are both in signal connection with the signal processing unit. The water area detection device has the effect of more conveniently and safely realizing water area detection operation.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of water area detection equipment, and in particular to a water area magnetic method detection system based on an unmanned ship. BACKGROUND

[0002] In recent years, the unmanned ship technology has developed rapidly and is widely applied to military and civilian fields. In the military field, the unmanned ship can be used for mine sweeping, anti-terrorism, anti-submarine and intelligence investigation; in the civilian field, the unmanned ship is mainly used for surveying and mapping, hydrology and environmental protection and the like. The leading domestic enterprises such as Yunzhou Intelligent Technology and Jinghai Company of Shanghai University have launched many large unmanned ships such as Yunzhou M80 and Jinghai No. 1, which are mainly used for marine environment detection. Marine research institutes such as Qingdao Marine Geological Research Institute and South China Sea Branch of the State Oceanic Administration also use unmanned ships for marine investigation and carry the seismic, gravity and other equipment.

[0003] In the field of unmanned ships, the unmanned ships produced by Huachu, Zhonghaida and the like are mainly used for underwater topographic mapping and hydrological investigation and carry the single / multi-beam echo sounder, side scan sonar and the like. However, the current equipment carrying mode is mainly fixed, and the application of the magnetic method detection equipment is still less seen. The traditional magnetic method exploration relies on manned ships and is limited by tonnage, draft and ship magnetic field interference, and it is difficult to operate in near-shore shallow water or complex water area. CONTENT OF THE UTILITY MODEL

[0004] In order to more conveniently and safely realize the water area detection operation, the application provides a water area magnetic method detection system based on an unmanned ship.

[0005] The water area magnetic method detection system based on the unmanned ship provided by the application adopts the following technical scheme:

[0006] The water area magnetic method detection system based on the unmanned ship comprises a remote monitoring unit, a remote control unit, an unmanned ship body and a magnetometer probe connected with the unmanned ship body; a signal processing unit is carried in the unmanned ship body, an output end of the magnetometer probe is connected to an input end of the signal processing unit through a magnetic method data cable, and the remote monitoring unit and the remote control unit are both connected with the signal processing unit.

[0007] Through the above technical scheme, the magnetometer probe is connected with the signal processing unit through the magnetic method data cable, so that the collected data can be quickly and stably transmitted to the signal processing unit, and the reliability and accuracy of the data are improved; through the remote monitoring unit and the remote control unit, real-time data display and route display can be realized, the working state and trajectory of the unmanned ship can be easily mastered by the personnel on the shore, and the safety and reliability of the operation are improved. The system can efficiently, flexibly and safely perform the water area magnetic field detection and is suitable for complex water area environment.

[0008] As preferred, the signal processing unit comprises a controller, a signal receiving box and a power supply, the signal receiving box is connected with the controller through a data line, the magnetometer probe is connected with the signal receiving box through the magnetic method data cable, and the voltage output end of the power supply is connected with the power supply end of the signal receiving box through a power line.

[0009] The controller is further electrically connected with a driving module and a communication module, the controller is connected with a remote monitoring unit through the communication module, the driving module is connected with the controller and a remote control unit, and the driving module is used for driving the unmanned ship body.

[0010] By adopting the above technical scheme, the specific structural design of the signal processing unit ensures the stability and reliability of the system. The cooperative work of the controller, the signal receiving box and the power supply ensures the accurate reception and processing of the magnetometer probe data. The integration of the driving module and the communication module enables the unmanned ship to move accurately according to the remote control instruction, while transmitting data in real time, thereby improving the automation level and operation convenience of the system.

[0011] As preferred, the tail of the unmanned ship body is provided with a fixing ring, the magnetic method data cable passes through the fixing ring and is fixedly connected to the fixing ring.

[0012] By adopting the above technical scheme, the setting of the fixing ring reduces the risk of falling off of the magnetic method data cable during the dragging process, thereby ensuring the continuity and reliability of data transmission.

[0013] As preferred, the bottom of the unmanned ship body is provided with a waterproof opening, one end of the magnetic method data cable is electrically connected to the signal processing unit, and the other end of the magnetic method data cable passes through the waterproof opening and is connected with the magnetometer probe.

[0014] By adopting the above technical scheme, the design of the waterproof opening effectively prevents water from entering the unmanned ship body, thereby protecting the internal electronic equipment from water damage.

[0015] As preferred, the unmanned ship body is further provided with a GPS antenna.

[0016] By adopting the above technical scheme, the use of the GPS antenna provides a real-time positioning function, which facilitates timely discovery and correction of deviation, thereby ensuring the smooth progress of the detection task.

[0017] As preferred, the magnetometer probe is detachably connected with a floating ball.

[0018] By adopting the above technical scheme, the installation of the floating ball enables the unmanned ship to adapt to the shallow water environment, thereby expanding the application range.

[0019] As preferred, the tail of the unmanned ship body and the side close to the water area are provided with a propeller, the propeller is connected with a motor inside the unmanned ship body through a transmission shaft, and the motor is controlled to be connected to the signal processing unit.

[0020] By adopting the above technical scheme, the propeller is driven by the motor and controlled by the signal processing unit, so that the unmanned ship can maintain stable sailing speed and direction under various water area conditions, thereby improving the stability during the detection process.

[0021] As preferred, the opposite sides of the unmanned ship body are symmetrically provided with unmanned ship auxiliary wings.

[0022] By adopting the above technical scheme, the auxiliary wings can effectively reduce the influence of wind and waves, maintain the stability of the unmanned ship body, and ensure the accuracy of data during the detection process.

[0023] In summary, the present application has the following at least one beneficial technical effect:

[0024] 1. By combining the magnetometer probe with the unmanned ship body, and being equipped with a signal processing unit, a remote monitoring unit and a remote control unit, remote real-time monitoring and control of the water area magnetic field are realized. The system can adapt to complex water area environment, and significantly improves the detection efficiency and flexibility;

[0025] 2. The combination of the GPS antenna and the magnetometer probe on the unmanned ship body can realize high-precision positioning and magnetic field data acquisition, providing reliable spatial data support for water area magnetic field mapping and analysis, and improving the accuracy of the detection results;

[0026] 3. Through the design of the fixing ring, the waterproof opening, the driving module and the auxiliary wing, the stable operation of the unmanned ship body in the water area and the safety of the magnetic method data cable and the signal processing unit are ensured, the durability and reliability of the system are enhanced, and the system is suitable for long-time and complex environment detection tasks. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 is a schematic diagram of the overall structure of the embodiment of the present application;

[0028] Figure 2 is a schematic diagram of the overall structure of the embodiment of the present application from another perspective;

[0029] Figure 3 is a principle block diagram of the embodiment of the present application.

[0030] Reference signs: 1, unmanned ship body; 2, unmanned ship hatch cover; 3, waterproof opening; 4, propeller; 5, signal processing unit; 6, magnetic method data cable; 7, fixing ring; 8, magnetometer probe; 9, unmanned ship auxiliary wing; 10, GPS antenna. DETAILED DESCRIPTION

[0031] The accompanying drawings are incorporated in and constitute a part of this specification. Figures 1-3 The application is further described in detail.

[0032] The embodiment of the application discloses a water area magnetic method detection system based on an unmanned ship.

[0033] With reference to Figure 1 , Figure 2 and Figure 3 , the water area magnetic method detection system based on the unmanned ship comprises a remote monitoring unit, a remote control unit, an unmanned ship body 1 and a magnetometer probe 8 connected with the unmanned ship body 1, and the magnetometer probe 8 is used for realizing magnetic method detection of the water area. The signal processing unit 5 is carried in the unmanned ship body 1, the output end of the magnetometer probe 8 is connected to the input end of the signal processing unit 5 through a magnetic method data cable 6, so that the received data can be collected. The remote monitoring unit and the remote control unit are both connected with the signal processing unit 5, so that the onshore personnel can realize display of the collected data and display of the route of the unmanned ship body 1 through the remote monitoring unit, and the onshore personnel can manually control the navigation route of the unmanned ship body 1 through the remote control unit.

[0034] The unmanned ship cabin cover 2 is arranged on the top of the unmanned ship body 1 away from the water surface, so that the onshore personnel can more easily physically adjust or maintain the internal signal processing unit 5 by opening the unmanned ship cabin cover 2, and the signal processing unit 5 can be protected by closing the unmanned ship cabin cover 2.

[0035] The propeller 4 is arranged on the tail of the unmanned ship body 1 and close to the side of the water area, and the propeller 4 is connected with the motor in the unmanned ship body 1 through a transmission shaft. The motor is connected to the signal processing unit 5 in a controlled manner, so that the motor can be controlled to be turned on or turned off through the signal processing unit 5, and the rotating speed can be adjusted according to the preset navigation track or manual instruction, so as to realize accurate navigation control. When the motor is started, the propeller 4 can be driven to rotate, so that the unmanned ship body 1 can be navigated, and the magnetometer probe 8 can be dragged to move, so as to realize magnetic method detection of the water area. The unmanned ship auxiliary wings 9 are symmetrically arranged on the opposite sides of the unmanned ship body 1 adjacent to the propeller 4, so that the balance of the unmanned ship body 1 during driving can be effectively ensured, and the shaking caused by wind and waves and the like can be reduced.

[0036] The bottom of the unmanned ship body 1 is provided with a waterproof opening 3, the periphery of the waterproof opening 3 is sealed well and is used for preventing moisture from penetrating, and a fixing ring 7 is arranged on the side of the tail of the unmanned ship body 1 away from the water area. One end of a magnetic method data cable 6 is electrically connected with a signal processing unit 5, the other end of the magnetic method data cable 6 penetrates through the waterproof opening 3, then penetrates through the fixing ring 7 and is connected to a magnetometer probe 8, and the magnetic method data cable 6 is also fixedly connected to the fixing ring 7. By arranging the waterproof opening 3, the waterproof effect of the inside of the unmanned ship body 1 can be achieved, and the protection of the signal processing unit 5 is further increased. Moreover, by arranging the fixing ring 7, it is ensured that the cable will not easily fall off when subjected to a large pulling force. The material of the fixing ring 7 can be selected from stainless steel or aluminum alloy, which has good corrosion resistance and mechanical strength.

[0037] On this basis, a GPS antenna 10 is also arranged on the top of the unmanned ship body 1, and the real-time position information of the unmanned ship body 1 can be obtained by arranging the GPS antenna 10. Moreover, a float ball or a tow body can be fixed on a plastic foam tow raft to replace the float ball according to different water environments, so as to ensure the safety of operation and adapt to extremely shallow water areas.

[0038] The signal processing unit 5 includes a controller, a signal receiving box and a power supply, and the controller is arranged as a host computer in the embodiment. The personnel on the shore can set the navigation information through the controller in the unmanned ship body 1, and the navigation information includes the setting of coordinate parameters and the planning of a route. The signal receiving box is signal-connected with the controller through a data line, and the magnetometer probe 8 is signal-connected with the signal receiving box through the magnetic method data cable 6. Thus, the data from the magnetometer probe 8 can be received and transmitted to the controller for processing. The voltage output end of the power supply is electrically connected to the power supply end of the signal receiving box through a power line, so as to realize the power supply of the controller and the magnetic detection instrument.

[0039] The controller is also electrically connected with a driving module and a communication module, and the communication module adopts 5G communication in the embodiment, so as to ensure the high speed and low delay of data transmission. The controller is signal-connected with a remote monitoring unit through the communication module, so as to realize the uploading of collected data and position information. Moreover, through the communication module, the personnel on the shore can start the remote desktop control, so as to realize the control of the controller in the unmanned ship body 1. The driving module is controlledly connected to the controller and the remote control unit, so as to realize the manual control and automatic control of the unmanned ship body 1.

[0040] The implementation principle of the water area magnetic method detection system based on the unmanned ship according to an embodiment of the application is as follows: before the unmanned ship body 1 is put into water, debugging is performed first. The switch of the unmanned ship body 1 is started, and the unmanned ship body 1 and the remote control unit and the remote monitoring unit are debugged on the shore first to ensure that the unmanned ship system operates normally. After the debugging is completed, the unmanned ship hatch 2 is closed, and the unmanned ship body 1 and the magnetic method instrument probe 8 are sequentially put into water. After the unmanned ship body 1 is put into water, the unmanned ship body 1 is first manually controlled to run a straight line through the remote control unit, and if the remote monitoring unit shows no abnormality, the initialization is successful. The automatic cruise of the planned survey line of the unmanned ship body 1 is controlled, and the controller in the unmanned ship body 1 is started to start the magnetic method acquisition function under the control of the remote detection unit. During the detection process, the controller monitors the magnetic method acquisition state and the position of the unmanned ship body 1 in real time, and the remote control unit is used for manual auxiliary control in an emergency to ensure the operation safety of the entire acquisition system.

[0041] The above are preferred embodiments of the application, and do not limit the protection scope of the application, so: equivalent changes made according to the structure, shape, principle of the application should be covered within the protection scope of the application.

Claims

1. An unmanned ship-carrying water area magnetic method detection system, characterized in that: The unmanned ship body (1) is internally provided with a signal processing unit (5), an output end of the magnetometer probe (8) is signal connected to an input end of the signal processing unit (5) through a magnetic data cable (6), and the remote monitoring unit and the remote control unit are both signal connected with the signal processing unit (5).

2. The water area magnetic method detection system based on unmanned ship carrying according to claim 1, characterized in that: The signal processing unit (5) comprises a controller, a signal receiving box and a power supply, the signal receiving box is signal connected with the controller through a data line, the magnetometer probe (8) is signal connected with the signal receiving box through the magnetic data cable (6), and a voltage output end of the power supply is electrically connected to a power supply end of the signal receiving box. The controller is further electrically connected with a driving module and a communication module, the controller is signal connected with the remote monitoring unit through the communication module, the driving module is connected to the controller and the remote control unit, and the driving module is used for driving the unmanned ship body (1).

3. The water area magnetic method detection system based on unmanned ship carrying according to claim 1, characterized in that: The tail of the unmanned ship body (1) is provided with a fixing ring (7), the magnetic data cable (6) passes through the fixing ring (7) and is fixedly connected to the fixing ring (7).

4. The water area magnetic method detection system based on unmanned ship carrying according to claim 1, characterized in that: The bottom of the unmanned ship body (1) is provided with a waterproof opening (3), one end of the magnetic data cable (6) is electrically connected to the signal processing unit (5), and the other end of the magnetic data cable (6) is connected with the magnetometer probe (8) through the waterproof opening (3).

5. The water area magnetic method detection system based on unmanned ship carrying according to claim 1, characterized in that: The unmanned ship body (1) is further provided with a GPS antenna (10).

6. The water area magnetic method detection system based on unmanned ship carrying according to claim 1, characterized in that: The magnetometer probe (8) is detachably connected with a floating ball.

7. The water area magnetic method detection system based on unmanned ship carrying according to claim 1, characterized in that: The tail of the unmanned ship body (1) and one side close to the water area are provided with a propeller (4), the propeller (4) is connected with a motor in the unmanned ship body (1) through a transmission shaft, and the motor is connected to the signal processing unit (5) in a controlled manner.

8. The water area magnetic method detection system based on unmanned ship carrying according to claim 1, characterized in that: Opposite sides of the unmanned ship body (1) are symmetrically provided with unmanned ship auxiliary wings (9).

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