Remote electric lifting support control device carried by unmanned ship

Abstract

This utility model provides a remote electric lifting support control device for an unmanned surface vessel (USV), including a drive motor electrically connected to the USV's ship control system. A reducer is installed at the output end of the drive motor, and an electric lifting rod is installed at the output end of the reducer. A connecting bracket is installed on the outer surface of the electric lifting rod, and a sensor traction rod is installed on the side of the connecting bracket. In use, the drive motor is connected to the USV's electronic control device via a relay. The drive motor receives a PWM signal output from the ship control system and converts it into a circuit on / off control signal output by the relay to control the operation mode of the drive motor. This, in turn, drives the sensor traction rod to rise and fall via the reducer and the electric lifting rod. A sensor mounting bracket is installed at the bottom of the sensor traction rod to secure the underwater sensor, thus achieving convenient and accurate deployment of the underwater sensor.

Description

Technical Field

[0001] This utility model relates to the field of underwater sensor deployment technology, and in particular to a remote electric lifting support control device mounted on an unmanned vessel. Background Technology

[0002] With the rapid development of unmanned surface vessel (USV) technology, the deployment and retrieval of underwater sensors have become crucial aspects of USV operations. Underwater sensors generally have certain depth requirements, but due to the limited draft of USVs, lifting devices are needed to extend the underwater equipment out of the hull. Currently, the main control methods for USV lifting devices include the following:

[0003] 1. Independent Circuit Button Control Scheme: The lifting support of the unmanned surface vessel (USV) typically uses a 12V power supply for control, allowing for direct control of its raising and lowering via physical buttons on the hull. The drawback is that manual control is required after the vessel has reached a certain depth in the water.

[0004] 2. Independent wireless communication control scheme: Add a remote control box to the lifting bracket and use independent communication control. The disadvantage is that it adds extra configuration to a single device.

[0005] 3. Existing PWM control scheme: Traditional ship control systems use the PWM channel only for propeller control, lacking the ability to directly control auxiliary equipment, especially the precise position control of the underwater lifting support.

[0006] Currently, there is no simple and reliable method for unmanned vessel systems based on open-source ship control platforms such as Pixhawk to directly utilize the PWM resources of the ship control system to control the underwater lifting support and achieve precise position control.

[0007] Therefore, this application proposes a remote electric lifting support control device mounted on an unmanned vessel to improve the convenience and location accuracy of underwater sensor deployment. Utility Model Content

[0008] In view of the shortcomings of the prior art mentioned above, the purpose of this utility model is to provide a remote electric lifting support control device for unmanned vessels, which solves the problems of inconvenient deployment and inaccurate positioning of underwater sensors mentioned in the prior art.

[0009] To achieve the above and other related objectives, this utility model provides a remote electric lifting support control device for an unmanned vessel, including a drive motor, which is electrically connected to the unmanned vessel's ship control system. The output end of the drive motor is equipped with a reducer, and the output end of the reducer is equipped with an electric lifting rod.

[0010] The outer surface of the electric lifting pole is provided with a connecting bracket, and the side of the connecting bracket is provided with a sensor traction rod. The lower end of the sensor traction rod passes through the unmanned boat and extends to the bottom of the unmanned boat.

[0011] The lower end of the sensor towing rod is provided with a sensor mounting bracket, which is used to fix the underwater sensor.

[0012] Preferably, the sensor mounting bracket and the sensor traction rod are connected in a detachable manner.

[0013] Preferably, a hull connecting plate is provided at the connection between the drive motor and the reducer, and the hull connecting plate is connected to the top of the unmanned vessel.

[0014] Preferably, a reducer support frame is provided on the top of the hull connecting plate, and the reducer support frame is connected to the outer surface of the reducer.

[0015] Preferably, the hull connecting plate has a U-shaped groove at the end away from the reducer, and the sensor traction rod passes through the U-shaped groove on the hull connecting plate.

[0016] Preferably, a flange connecting plate is provided on the side of the sensor towing rod, a limit slider is provided on the flange connecting plate, a support slide rail is provided on the outer surface of the limit slider, the support slide rail is arranged parallel to the sensor towing rod, and the support slide rail passes through the U-shaped groove on the hull connecting plate, and the limit slider and the support slide rail are slidably connected.

[0017] The support rail is fixed to the unmanned vessel.

[0018] As described above, the remote electric lifting support control device for an unmanned surface vessel of this invention has the following beneficial effects:

[0019] 1. This utility model connects the drive motor and the electronic control device of the unmanned vessel through a relay. It receives the PWM signal output by the ship control system and converts it into a circuit on / off control signal output by the relay to control the operation mode of the drive motor. This drives the sensor tow rod to rise and fall through the reducer and electric lifting rod. A sensor fixing frame is set at the bottom of the sensor tow rod to fix the underwater sensor, thereby achieving convenient and accurate deployment of the underwater sensor.

[0020] 2. This utility model uses a simple drive motor, reducer and electric lifting rod to control the lifting of the sensor traction rod, and installs the underwater sensor through the sensor mounting bracket, so as to reduce the weight and complexity of the equipment and improve the reliability and position accuracy of the underwater sensor deployment.

[0021] 3. This utility model limits the sensor traction rod by setting a flange connecting plate on the side of the sensor traction rod and installing a limiting slider on the flange connecting plate to cooperate with the support slide rail, thereby improving the stability of the sensor traction rod when it is raised and lowered. The electric lifting rod and the support slide rail cooperate to prevent the sensor traction rod from shaking, thereby improving the stability of the underwater sensor during movement.

[0022] Therefore, this utility model effectively overcomes the various shortcomings of the prior art and has high industrial application value. Attached Figure Description

[0023] Figure 1 The diagram shown is a schematic of the present invention installed on an unmanned vessel.

[0024] Figure 2 The image shown is a side view of the present invention installed on an unmanned vessel.

[0025] Figure 3 The diagram shown is a structural schematic of this utility model.

[0026] Figure 4 The diagram shown is a side view of the structure of this utility model.

[0027] Figure 5 The diagram shown is a schematic diagram of the electric lifting support control system for the unmanned vessel of this utility model.

[0028] Component designation explanation:

[0029] 1. Drive motor; 2. Reducer; 3. Electric lifting rod; 4. Connecting bracket; 5. Sensor traction rod; 6. Sensor mounting bracket; 7. Flange connecting plate; 8. Limit slider; 9. Support slide rail; 10. Hull connecting plate; 11. Reducer support frame; 12. Unmanned surface vessel. Detailed Implementation

[0030] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0031] Please see Figures 1 to 5It should be understood that the structures, proportions, sizes, etc., illustrated in the accompanying drawings are merely for illustrative purposes to aid those skilled in the art and are not intended to limit the scope of this invention. Therefore, they have no substantial technical significance. Any modifications to the structure, changes in proportions, or adjustments to size, without affecting the effectiveness and purpose of this invention, should still fall within the scope of the technical content disclosed in this invention. Furthermore, the terms such as "upper," "lower," "left," "right," "middle," and "one" used in this specification are merely for clarity and are not intended to limit the scope of this invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered within the scope of this invention.

[0032] like Figure 1 and Figure 2 As shown, this utility model provides a remote electric lifting support control device mounted on an unmanned surface vessel (USV), including a drive motor 1, which is electrically connected to the ship control system of the USV 12. The ship control system, as the control core, runs adapted ship control firmware, configures a specific PWM output channel for support control, and receives the PWM signal output by the ship control system through a relay control module, converting it into a circuit on / off control signal output by the relay. It includes two connection modes: positive and negative. The movement direction of the electric support is controlled according to the PWM signal state switching. Furthermore, based on a time control mechanism, the output duration of the PWM signal is controlled by parameter settings to achieve the support stopping at a designated position.

[0033] This technical solution extends the following core parameters of the Ardupilot ship control firmware:

[0034] SAMPLING_LIFTER (integer, range: 1000-2000):

[0035] This parameter is used to control the output of a specified PWM channel. Typically, the acceptable range for PWM control devices is 1000-2000, with 1500 being the default median value.

[0036] Setting a three-state PWM control scheme:

[0037] PWM value < 1300μs: Trigger descent action.

[0038] 1400μs < PWM value < 1600μs: Remain in a stopped state.

[0039] PWM value > 1700μs: Trigger rising action.

[0040] Intermediate transition zones 1300-1400μs and 1600-1700μs: buffer zones to ensure control stability.

[0041] Timer interrupt control mechanism:

[0042] Use the ship control system's hardware timer resources to create a separate timed task for support control:

[0043] Periodic accuracy: 10ms;

[0044] Response time: <20ms.

[0045] The relay control module uses a commercially available standard 2-channel relay module as its core control component. Its main specifications are as follows:

[0046] The maximum load of the normally open interface is 250V / 10A AC and 30V / 10A DC, which is sufficient to meet the load requirements of most unmanned vessel lifting support motors.

[0047] Utilizing optocoupler-based opto-isolation technology, it provides excellent electrical isolation performance. The trigger current is as low as 5mA, fully compatible with the ship control system's PWM output current, effectively protecting the ship control system from motor current feedback and electromagnetic interference. The module's operating voltage can be selected as 5V, 12V, or 24V. This application uses a 5V operating voltage, directly utilizing the 5V power supply provided by the ship control system, avoiding additional power conversion circuitry and simplifying system design. High / low level trigger modes are selected via jumpers. This embodiment uses a low-level trigger mode, matched to the PWM signal characteristics using a COM and LOW short-circuit configuration; the relay activates when the PWM signal is low.

[0048] The relay module is housed within the waterproof enclosure of the 12-inch unmanned surface vessel control box, with all seams and wiring holes sealed using aerospace-grade waterproof connector sealant. The relay module is secured with elastic shock-absorbing pads, the circuit board is reinforced to prevent loosening due to vibration, and the wiring incorporates strain relief design to prevent vibration transmission.

[0049] A reducer 2 is installed at the output end of the drive motor 1. The reducer 2 enables the drive motor 1 to control the electric lifting rod 3 more stably and precisely. The electric lifting rod 3 is installed at the output end of the reducer 2. The electric lifting rod 3 is a multi-section tube or rod that is nested together and achieves its telescopic function under the drive of gears.

[0050] A connecting bracket 4 is provided on the outer surface of the electric lifting mast 3. The connecting bracket 4 is fixedly connected to the outer surface of the electric lifting mast 3, so that the connecting bracket 4 can be driven to rise and fall synchronously when the electric lifting mast 3 extends or retracts. A sensor traction rod 5 is provided on the side of the connecting bracket 4. When the connecting bracket 4 rises and falls with the electric lifting mast 3, the connecting bracket 4 will drive the sensor traction rod 5 to rise and fall synchronously. The lower end of the sensor traction rod 5 passes through the unmanned vessel 12 and extends to the bottom of the unmanned vessel 12, so that the lower end of the sensor traction rod 5 can penetrate into the water. A sensor fixing frame 6 is provided at the lower end of the sensor traction rod 5. The sensor fixing frame 6 is used to fix the underwater sensor, so as to deploy the underwater sensor in the water and set the depth of the underwater sensor in the water as needed.

[0051] like Figure 3 As shown, in some embodiments, the sensor mounting bracket 6 and the sensor traction rod 5 are connected in a detachable manner. This allows the sensor mounting bracket 6 to be easily replaced to adapt to unmanned surface vessels 12 and underwater sensors with different signals, improving the adaptability of the device.

[0052] like Figure 1 and Figure 3 As shown, in some embodiments, a hull connecting plate 10 is provided at the connection between the drive motor 1 and the reducer 2 of this utility model. The hull connecting plate 10 is connected to the top of the unmanned boat 12, so that the drive motor 1 and the reducer 2 are stably installed on the unmanned boat 12.

[0053] like Figure 3 and Figure 4 As shown, in some embodiments, a reducer support frame 11 is provided on the top of the hull connecting plate 10 of this utility model. The reducer support frame 11 is installed on the top of the hull connecting plate 10 by bolts. The reducer support frame 11 supports the reducer 2 by connecting to the outer surface of the reducer 2, thereby further improving the stability of the drive motor 1 and the reducer 2.

[0054] like Figure 1 , Figure 3 and Figure 4 As shown, in some embodiments, the end of the hull connecting plate 10 away from the reducer 2 has a U-shaped groove. The sensor traction rod 5 passes through the U-shaped groove on the hull connecting plate 10, thereby supporting and limiting the sensor traction rod 5 through the U-shaped groove.

[0055] In some embodiments, the sensor tow rod 5 of this invention has a flange connecting plate 7 on its side. A limiting slider 8 is provided on the flange connecting plate 7, and a supporting slide rail 9 is provided on the outer surface of the limiting slider 8. The supporting slide rail 9 is parallel to the sensor tow rod 5 and passes through a U-shaped groove on the hull connecting plate 10. The limiting slider 8 and the supporting slide rail 9 are slidably connected. The supporting slide rail 9 is fixed to the unmanned vessel 12. Through the cooperation of the limiting slider 8 and the supporting slide rail 9, the movement trajectory of the sensor tow rod 5 can be further limited, thereby improving the stability of the sensor tow rod 5's lifting and lowering.

[0056] The specific working principle of this utility model is as follows:

[0057] like Figure 5 As shown, by utilizing the existing PWM control channel of the Pixhawk ship control system, direct control of the electric lifting support can be achieved without adding a separate controller.

[0058] By expanding the functionality of the ship control system, the PWM channel originally used for motor control was redefined as a dedicated channel for the control of the lifting support.

[0059] Ascending control logic:

[0060] When the ship control output PWM value is <1300μs, it is converted to a low level by the signal conditioning circuit;

[0061] The positive terminal of the power supply is connected to the lifting bracket via a relay to drive motor 1, which in turn drives the sensor traction rod 5 to move upward.

[0062] Descent control logic:

[0063] When the ship control output PWM value is greater than 1700μs, it is converted to a low level by the signal conditioning circuit.

[0064] The positive terminal of the power supply is connected to the lifting bracket drive motor 1 through a relay, and the drive motor 1 drives the sensor traction rod 5 to descend.

[0065] Stop state logic:

[0066] When the ship control output PWM value is in the range of 1400μs-1600μs

[0067] When the signal conditioning circuit outputs a high level, both relays remain in the off state and do not activate, driving motor 1 is de-energized, and sensor traction rod 5 maintains its current position.

[0068] In summary, the remote electric lifting support control device of this utility model connects the drive motor 1 and the electrical control device of the unmanned vessel 12 through a relay. It receives the PWM signal output by the ship control system and converts it into a circuit on / off control signal output by the relay to control the operation mode of the drive motor 1. This drives the sensor traction rod 5 to rise and fall through the reducer 2 and the electric lifting rod 3. A sensor fixing frame 6 is set at the bottom of the sensor traction rod 5 to fix the underwater sensor, thereby achieving convenient and accurate deployment of the underwater sensor.

[0069] This invention uses a simple drive motor 1, reducer 2, and electric lifting rod 3 to control the lifting and lowering of the sensor traction rod 5, and installs the underwater sensor through the sensor mounting bracket 6, thereby reducing the weight and complexity of the equipment and improving the reliability and positioning accuracy of the underwater sensor deployment.

[0070] This invention provides a flange connecting plate 7 on the side of the sensor traction rod 5, and installs a limiting slider 8 on the flange connecting plate 7 to cooperate with the support slide rail 9, thereby limiting the sensor traction rod 5 and improving the stability of the sensor traction rod 5 when it is raised and lowered. The electric lifting rod 3 and the support slide rail 9 cooperate to prevent the sensor traction rod 5 from shaking, thereby improving the stability of the underwater sensor during movement.

[0071] Therefore, this utility model effectively overcomes the various shortcomings of the prior art and has high industrial application value.

[0072] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A remote-controlled electric lifting support control device mounted on an unmanned surface vessel, characterized in that, Includes a drive motor (1), which is electrically connected to the ship control system of the unmanned ship (12), and the output end of the drive motor (1) is provided with a reducer (2), and the output end of the reducer (2) is provided with an electric lifting rod (3). The outer surface of the electric lifting pole (3) is provided with a connecting bracket (4), and the side of the connecting bracket (4) is provided with a sensor traction rod (5). The lower end of the sensor traction rod (5) passes through the unmanned boat (12) and extends to the bottom of the unmanned boat (12). The lower end of the sensor traction rod (5) is provided with a sensor mounting bracket (6), which is used to fix the underwater sensor.

2. The remote electric lifting support control device mounted on the unmanned vessel according to claim 1, characterized in that: The sensor mounting bracket (6) and the sensor traction rod (5) are connected in a detachable manner.

3. The remote electric lifting support control device mounted on the unmanned vessel according to claim 1, characterized in that: A hull connecting plate (10) is provided at the connection between the drive motor (1) and the reducer (2), and the hull connecting plate (10) is connected to the top of the unmanned boat (12).

4. The remote electric lifting support control device mounted on the unmanned vessel according to claim 3, characterized in that: The top of the hull connecting plate (10) is provided with a reducer support frame (11), which is connected to the outer surface of the reducer (2).

5. The remote electric lifting support control device mounted on the unmanned vessel according to claim 3, characterized in that: The hull connecting plate (10) has a U-shaped groove at one end away from the reducer (2), and the sensor traction rod (5) passes through the U-shaped groove on the hull connecting plate (10).

6. The remote electric lifting support control device mounted on the unmanned surface vessel according to claim 5, characterized in that: The sensor traction rod (5) is provided with a flange connecting plate (7) on its side. A limit slider (8) is provided on the flange connecting plate (7). A support slide rail (9) is provided on the outer surface of the limit slider (8). The support slide rail (9) is arranged parallel to the sensor traction rod (5). The support slide rail (9) passes through the U-shaped groove on the hull connecting plate (10). The limit slider (8) and the support slide rail (9) are slidably connected. The support rail (9) is fixed on the unmanned vessel (12).

Images