Mud flat amphibious portable base station

Abstract

The utility model provides a mud flat amphibious portable base station which comprises a ship body, walking wheels are arranged at the bottom of the ship body, a propeller is arranged at one end of the ship body, and a main control module, a walking wheel driving motor, a propeller driving motor, an inertial navigation module and a satellite positioning module are arranged in the ship body. The walking wheel driving motor and the propeller driving motor are electrically connected with the main control module, by arranging the walking wheels and the propellers, the base station can wander in a certain area and cannot be taken away by sea waves during flood tide, the base station can rapidly walk to a certain fixed position and does not move during ebb tide, and then accurate positioning signals are provided for mud flat equipment. The base station adapts to the sea and mud flat land environment, in addition, the main control module controls operation of the walking wheel driving motor to control starting and stopping of the walking wheels, the base station can walk on the land, the walking base station can cover the whole mud flat area, and manual erection is not needed.

Description

TECHNICAL FIELD

[0001] The utility model relates to a beach fishery technical field, concretely relates to a beach amphibious portable base station. BACKGROUND

[0002] Traditional beach fishery cultivation mode is backward and has great labor intensity, taking beach shellfish catching equipment as an example, there are working area omission and repetitive labor problems, this problem can be solved by high-precision automatic positioning equipment, but at present, inland equipment mainly uses the cors positioning service provided by a merchant, does not cover the beach area, mainly uses ordinary positioning mode in the sea, and the plane positioning precision is about 3m, also difficult to meet the positioning demand on the sea, for the problem that the cors positioning cannot cover the operation range of the beach operation, and the precision of the ordinary positioning mode is not enough, at present, portable base stations are used to solve the problem, but the portable base station needs to be manually erected, and the equipment is easily damaged due to the tide phenomenon. CONTENT OF THE UTILITY MODEL

[0003] In view of the deficiency of the prior art, the utility model provides a beach amphibious portable base station, which does not need manual erection and can avoid equipment damage caused by the tide phenomenon.

[0004] The technical scheme of the utility model is as follows:

[0005] A beach amphibious portable base station, comprising a ship body, the bottom of the ship body is provided with a walking wheel, one end of the ship body is provided with a propeller, the inside of the ship body is provided with a main control module, a walking wheel driving motor, a propeller driving motor, an inertial navigation module and a satellite positioning module, the output shaft of the walking wheel driving motor is connected with the walking wheel, the output shaft of the propeller driving motor is connected with the propeller, the walking wheel driving motor and the propeller driving motor are electrically connected with the main control module respectively, and the inertial navigation module and the satellite positioning module are in communication connection with the main control module.

[0006] Preferably, the ship body has an inner cavity, the main control module, the walking wheel driving motor, the propeller driving motor, the inertial navigation module and the satellite positioning module are arranged in the inner cavity, a waterproof plate for covering the inner cavity is arranged on the ship body, a leveling piece for adjusting the inclination angle of the waterproof plate is arranged in the inner cavity, and the leveling piece is connected with the bottom surface of the waterproof plate.

[0007] Preferably, the leveling piece comprises a first leveling rod, a second leveling rod, a base, a first joint shaft fixed on the bottom surface of the waterproof plate, a second joint shaft fixed on the lower end of the first leveling rod, a third joint shaft fixed on the lower end of the second leveling rod, a first driving piece for driving the first joint shaft to rotate, a second driving piece for driving the second joint shaft to rotate and a third driving piece for driving the third joint shaft to rotate.

[0008] The upper end of the first leveling rod is hinged to the bottom surface of the waterproof plate through a first joint shaft so that the waterproof plate can swing up and down relative to the first leveling rod, the lower end of the first leveling rod is hinged to the upper end of the second leveling rod through a second joint shaft so that the first leveling rod can swing left and right relative to the second leveling rod, the lower end of the second leveling rod is hinged to the upper end of the base through a third joint shaft so that the second leveling rod can swing up and down relative to the base, the lower end of the base is fixed to the bottom of the inner cavity, and the first driving member, the second driving member and the third driving member are electrically connected with the master control module.

[0009] Preferably, the base comprises a main body and an inclined part, the lower end of the main body is fixed to the bottom of the inner cavity, the inclined part is upwardly inclined arranged at the upper end of the main body, and the upper end of the inclined part is hinged to the second leveling rod.

[0010] Preferably, the top surface of the waterproof plate is provided with a radio antenna for emitting base station position information, and the radio antenna is in communication connection with the master control module.

[0011] Preferably, the top surface of the waterproof plate is provided with a satellite module antenna for receiving base station position information emitted by a satellite, and the satellite module antenna is in communication connection with the satellite positioning module.

[0012] Preferably, the inside of the ship body is further provided with a battery for power supply.

[0013] Preferably, the walking wheel is a Mecanum wheel.

[0014] Compared with the prior art, the utility model has the advantages that:

[0015] (1) The ship body of the beach amphibious portable base station is provided with an inertial navigation module and a satellite positioning module, the inertial navigation module and the satellite positioning module are in communication connection with the master control module of the base station, the inertial navigation module and the satellite positioning module are both used for positioning of the base station, high-precision original satellite positioning data is acquired by the satellite positioning module, combined with inertial data measured by the inertial navigation module, the calculation precision of the positioning coordinates of the base station is improved, the base station is accurately positioned, and the positioning of the beach operation equipment is more accurate, the defect of poor positioning precision of the beach is avoided, and the inertial navigation module can provide auxiliary positioning when the satellite positioning signal is poor, avoiding positioning failure of the beach operation equipment;

[0016] (2) by setting the bottom of the hull of the base station walking wheel, the main control module controls the operation of the walking wheel drive motor to control the start and stop of the walking wheel, so that the base station can walk on land, the walking base station can cover the entire mudflat area, and does not need to be manually erected, which can reduce the labor intensity; at the same time, by setting the hull, the base station can float on the water surface when the tide rises, avoiding damage caused by the base station being soaked due to the tide phenomenon, and one end of the hull is provided with a propeller, the main control module controls the operation of the propeller drive motor to control the start and stop of the propeller, so that the base station can walk on the sea, ensuring that the base station can linger in a certain area without being taken away by the sea, thereby ensuring that the base station can quickly walk to a fixed position when the tide falls, and then providing accurate positioning signals for the mudflat equipment, in addition, the hull can be controlled to leave the sea area when the tide rises, so that the base station can adapt to different working environments such as the sea and the mudflat land, and avoid damage to the base station caused by the tide phenomenon. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the utility model;

[0018] Figure 2 It is an internal structure schematic diagram of the hull in the utility model;

[0019] Figure 3 It is a structural schematic diagram of the leveling piece in the utility model;

[0020] Figure 4 It is a schematic diagram of the waterproof plate and the leveling piece when the inner cavity of the utility model is covered;

[0021] Figure 5 It is a schematic diagram of the waterproof plate and the leveling piece when the inner cavity of the utility model is not covered;

[0022] Figure 6 It is a schematic diagram of the waterproof plate and the leveling piece in the utility model in an inclined state.

[0023] IDENTIFICATION OF DRAWINGS:

[0024] 1, hull; 1-1, inner cavity; 2, walking wheel; 3, propeller; 4, main control module; 5, walking wheel drive motor; 6, inertial navigation module; 7, satellite positioning module; 8, battery; 9, waterproof plate; 10, leveling piece; 10-1, first leveling rod; 10-2, second leveling rod; 10-3, base; 10-3a, main body; 10-3b, inclined part; 11, radio antenna; 12, satellite module antenna. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative efforts belong to the scope of the present application.

[0026] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0027] Referring to Figure 1 and Figure 2 The utility model provides a kind of beach amphibious portable base station, including ship body 1, the bottom of ship body 1 is equipped with running wheel 2, one end of ship body 1 is equipped with propeller 3, the inside of ship body 1 is equipped with main control module 4, running wheel drive motor 5, propeller drive motor (not shown in drawing), inertial navigation module 6 and satellite positioning module 7.

[0028] The output shaft of running wheel drive motor 5 is connected with running wheel 2, and running wheel drive motor 5 can drive running wheel 2 to rotate, the output shaft of propeller drive motor is connected with propeller 3, and propeller drive motor can drive propeller 3 to rotate. Running wheel drive motor 5 and propeller drive motor are electrically connected with main control module 4 respectively, inertial navigation module 6 and satellite positioning module 7 are communicatively connected with main control module 4 respectively.

[0029] The ship body 1 of the beach amphibious portable base station is provided with an inertial navigation module 6 and a satellite positioning module 7, the inertial navigation module 6 and the satellite positioning module 7 are respectively in communication connection with a main control module 4 of the base station, the inertial navigation module 6 and the satellite positioning module 7 are both used for positioning of the base station, high-precision original satellite positioning data is acquired by the satellite positioning module 7, combined with inertial data measured by the inertial navigation module 6, the calculation precision of the positioning coordinates of the base station is improved, the base station is accurately positioned, and the positioning of the beach operation equipment is more accurate, the defect of poor positioning precision of the beach is avoided, and the inertial navigation module 6 can provide auxiliary positioning when the satellite positioning signal is poor, avoiding positioning failure of the beach operation equipment;

[0030] By arranging the walking wheels 2 at the bottom of the ship body 1, the main control module 4 controls the operation of the walking wheel driving motor 5 to control the start and stop of the walking wheels 2, so that the base station can walk on land, the walking base station can cover the entire beach area, and manual erection is not required, and the labor intensity can be reduced; at the same time, by arranging the ship body, the base station can float on the water surface when the tide rises, avoiding damage caused by the base station being soaked due to the tide phenomenon, and one end of the ship body 1 is provided with a propeller 3, the main control module 4 controls the operation of the propeller driving motor to control the start and stop of the propeller 3, so that the base station can walk on the sea, ensuring that the base station can linger in a certain area without being taken away by the sea waves, thereby ensuring that the base station can quickly walk to a fixed position when the tide falls, and then providing accurate positioning signals for the beach equipment, in addition, the ship body 1 can be driven away from the sea area by controlling the propeller 3 when the tide rises, so that the base station can adapt to different working environments such as sea and beach land, and damage to the base station caused by the tide phenomenon is avoided. Therefore, the arrangement of the propeller 3 enables the base station to linger in a certain area or leave the sea area when the tide rises.

[0031] Generally, when the tide rises, the base station is preferentially ensured to linger in a certain area, when encountering large waves, extreme weather or maintenance and the like, the base station can be driven away from the sea area by the propeller 3 and returned to the shore. Among them, the inertial navigation module 6 and the satellite positioning module 7 use existing devices, the inertial navigation module 6 can acquire instantaneous speed and instantaneous position data to calculate the position of the base station, and the satellite positioning module 7 can acquire high-precision original satellite positioning data.

[0032] Specifically, the operation of the base station is divided into a path finding mode and a base station mode. In the path finding mode, the position information of the base station itself is obtained by the inertial navigation module 6 and the satellite positioning module 7 and sent to the main control module 4, the main control module 4 controls the rotation of the walking wheel driving motor 5 to drive the walking wheel 2 to rotate, and the rotation speed of the walking wheel 2 can be used to determine whether the base station is on land or on water. If the base station is on water, the base station completes path finding by controlling the rotation of the propeller, and if the base station is on land, the base station completes path finding by controlling the rotation of the walking wheel 2 driven by the walking wheel driving motor 5, and reaches the designated position to wait for orders. In the base station mode, the base station is positioned by the satellite positioning module 7, the attitude information of the device itself is obtained by the inertial navigation module 6 and sent to the main control module 4 for auxiliary positioning, and then the positioning of the base station is sent to the mudflat operation device until the tide rises and the mode is switched to the path finding mode. The camera can be arranged on the hull 1 to detect the tide, the water level information can be obtained by the camera, the tide phenomenon can be monitored, and the main control module 4 can control the base station to quickly leave the water area when the tide rises to reduce economic losses. The camera can also be used to determine whether the base station reaches a certain fixed position when the tide falls and whether the base station lingers in a certain area when the tide rises. The certain fixed position and the certain area can be preset by manual operation.

[0033] The walking wheel 2 is a Mecanum wheel. In this embodiment, four Mecanum wheels are arranged on the bottom of the hull 1, two on each side. Four walking wheel driving motors 5 are arranged, and each walking wheel driving motor 5 drives one Mecanum wheel. The Mecanum wheels can control the direction and speed of each wheel by the main control module 4. The final resultant force vector is generated in any required direction to ensure that the base station can move freely in the direction of the final resultant force vector without changing the direction of the walking wheel itself. Therefore, the use of the Mecanum wheel enables the base station to have the ability of omni-directional movement, and the base station walks more flexibly.

[0034] In a possible implementation, referring to Figure 2 The hull 1 has an inner cavity 1-1, the main control module 4, the walking wheel driving motor 5, the propeller driving motor, the inertial navigation module 6 and the satellite positioning module 7 are arranged in the inner cavity 1-1, the hull 1 is provided with a waterproof plate 9 for covering the inner cavity 1-1, and the inner cavity 1-1 is provided with a leveling device 10 for adjusting the inclination angle of the waterproof plate 9, and the leveling device 10 is connected with the bottom surface of the waterproof plate 9. The inclination angle of the waterproof plate 9 is adjusted by the leveling device 10, so that the inner cavity 1-1 is opened or covered, which can protect the devices inside the hull 1 from seawater erosion and play a waterproof role.

[0035] In a possible implementation, referring to Figures 3 to 6The leveling member 10 comprises a first leveling rod 10-1, a second leveling rod 10-2, a base 10-3, a first joint shaft 10-4 fixed to the bottom surface of the waterproof plate 9, a second joint shaft 10-5 fixed to the lower end of the first leveling rod 10-1, a third joint shaft 10-6 fixed to the lower end of the second leveling rod 10-2, a first driving member for driving the first joint shaft 10-4 to rotate, a second driving member for driving the second joint shaft 10-5 to rotate, and a third driving member for driving the third joint shaft 10-6 to rotate, the upper end of the first leveling rod 10-1 is hinged to the bottom surface of the waterproof plate 9 through the first joint shaft 10-4 so that the waterproof plate 9 can swing up and down relative to the first leveling rod 10-1, the lower end of the first leveling rod 10-1 is hinged to the upper end of the second leveling rod 10-2 through the second joint shaft 10-5 so that the first leveling rod 10-1 can swing left and right relative to the second leveling rod 10-2, the lower end of the second leveling rod 10-2 is hinged to the upper end of the base 10-3 through the third joint shaft 10-6 so that the second leveling rod 10-2 can swing up and down relative to the base 10-3, the lower end of the base 10-3 is fixed to the bottom of the inner cavity 1-1, and the first driving member, the second driving member and the third driving member are electrically connected with the main control module 4 respectively.

[0036] The waterproof plate 9 can be adjusted arbitrarily through the first driving member, the second driving member and the third driving member. Specifically, the main control module 4 can drive the first joint shaft 10-4 to rotate through the control of the first driving member, thereby realizing the up and down swing control of the waterproof plate 9 fixedly connected with the first joint shaft 10-4; the second joint shaft 10-5 can be driven to rotate through the control of the second driving member, thereby realizing the left and right swing control of the first leveling rod 10-1 fixedly connected with the second joint shaft 10-5; the third joint shaft 10-6 can be driven to rotate through the control of the third driving member, thereby realizing the up and down swing control of the second leveling rod 10-2 fixedly connected with the third joint shaft 10-6. Figure 4 When the waterproof plate 9 is horizontally arranged and covers the inner cavity 1-1, the leveling member is as shown in Figure 5 When the waterproof plate 9 is horizontally arranged and does not cover the inner cavity 1-1 (i.e. the inner cavity 1-1 is opened), as shown in Figure 6 When the waterproof plate 9 is inclined, as shown in

[0037] In a possible implementation, the base 10-3 comprises a main body 10-3a and an inclined part 10-3b, the lower end of the main body 10-3a is fixed at the bottom of the inner cavity 1-1, the inclined part 10-3b is arranged at the upper end of the main body 10-3a in an upward inclination, and the upper end of the inclined part 10-3b is hinged to the second leveling rod 10-2. Due to the arrangement of the inclined part 10-3b, the upper end of the base 10-3 is inclined, which is more conducive to the yaw of the first leveling rod 10-1 and the second leveling rod 10-2 relative to the vertical base 10-3, and facilitates the adjustment of the waterproof plate 9,

[0038] In a possible implementation, as Figure 1 The top surface of the waterproof plate 9 is provided with a radio antenna 11, the radio antenna 11 is in communication connection with the master control module 4, and the radio antenna 11 is used to transmit base station positioning information to the mudflat working equipment.

[0039] In a possible implementation, as Figure 1 The top surface of the waterproof plate 9 is provided with a satellite module antenna 12, the satellite module antenna 12 is in communication connection with the satellite positioning module 7, and the satellite module antenna 12 is used to receive the base station position information sent by the satellite.

[0040] In a possible implementation, as Figure 2 The inside of the ship body 1 is further provided with a battery 8 for power supply, the battery 8 can supply power to the entire base station, including the power supply of the master control module 4, the walking wheel driving motor 5, the propeller driving motor, the inertial navigation module 6, the satellite positioning module 7 and the leveling part 10.

[0041] The above is only a preferred embodiment of the present application, and is not intended to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A portable amphibious base station for tidal flats, characterized in that: The system includes a hull, with wheels at the bottom and a propeller at one end. Inside the hull are a main control module, a wheel drive motor, a propeller drive motor, an inertial navigation module, and a satellite positioning module. The output shaft of the walking wheel drive motor is connected to the walking wheel, and the output shaft of the propeller drive motor is connected to the propeller; The walking wheel drive motor and the propeller drive motor are electrically connected to the main control module, and the inertial navigation module and the satellite positioning module are communicatively connected to the main control module.

2. The amphibious portable base station for tidal flats according to claim 1, characterized in that: The hull has an inner cavity, and the main control module, the walking wheel drive motor, the propeller drive motor, the inertial navigation module and the satellite positioning module are all located inside the inner cavity; The hull is provided with a waterproof plate for covering the inner cavity, and a leveling component is provided in the inner cavity for adjusting the tilt angle of the waterproof plate. The leveling component is connected to the bottom surface of the waterproof plate.

3. The amphibious portable base station for tidal flats according to claim 2, characterized in that: The leveling component includes a first leveling rod, a second leveling rod, a base, a first joint shaft fixed to the bottom surface of the waterproof membrane, a second joint shaft fixed to the lower end of the first leveling rod, a third joint shaft fixed to the lower end of the second leveling rod, a first driving component for driving the first joint shaft to rotate, a second driving component for driving the second joint shaft to rotate, and a third driving component for driving the third joint shaft to rotate. The upper end of the first leveling rod is hinged to the bottom surface of the waterproof membrane via the first joint shaft so that the waterproof membrane can swing up and down relative to the first leveling rod. The lower end of the first leveling rod is hinged to the upper end of the second leveling rod via the second joint axis so that the first leveling rod can swing left and right relative to the second leveling rod. The lower end of the second leveling rod is hinged to the upper end of the base via the third joint axis so that the second leveling rod can swing up and down relative to the base; The lower end of the base is fixed to the bottom of the inner cavity, and the first drive component, the second drive component, and the third drive component are electrically connected to the main control module.

4. The amphibious portable base station for tidal flats according to claim 3, characterized in that: The base includes a main body and an inclined portion; The lower end of the main body is fixed to the bottom of the inner cavity, and the inclined part is inclined upward at the upper end of the main body. The upper end of the inclined part is hinged to the second leveling rod.

5. The amphibious portable base station for tidal flats according to claim 2, characterized in that: The top surface of the waterproof plate is equipped with a radio antenna for transmitting base station location information, and the radio antenna is communicatively connected to the main control module.

6. The amphibious portable base station for tidal flats according to claim 2, characterized in that: The top surface of the waterproof membrane is provided with a satellite module antenna for receiving base station location information transmitted by satellites, and the satellite module antenna is communicatively connected to the satellite positioning module.

7. The amphibious portable base station for tidal flats according to claim 1, characterized in that: The ship's interior is also equipped with batteries for power supply.

8. The amphibious portable base station for tidal flats according to claim 1, characterized in that: The wheels are Mecanum wheels.

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