Gerris USV - hydrodrone kuyambira poyambira!

Masiku ano, "Mu Workshop" ili pafupi ndi ntchito yokulirapo pang'ono - ndiko kuti, chotengera chosayendetsedwa chomwe chimagwiritsidwa ntchito, mwachitsanzo, kuyeza kwa bathymetric. Mutha kuwerenga za catamaran yathu yoyamba, yosinthidwa ndi mtundu woyendetsedwa ndi wailesi, mu kope la 6 la "Young Technician" la 2015. Panthawiyi, gulu la MODELmaniak (gulu la owonetsa luso logwirizana ndi Kopernik Model Workshops Group ku Wrocław) lidakumana ndi vuto laubwenzi lopanga kuyambira poyambira nsanja yoyandama yogwirizana ndi miyala. miyala, yowonjezereka kukhala yoyima yokha, kupatsa wogwiritsa ntchito chipinda chopumira.

Yayamba ndi makonda ...

Tidakumana ndi vutoli koyamba pomwe tidafunsidwa zaka zingapo zapitazo za kuthekera koyambitsa ma actuators ndi kusintha kwa radio control trailed bathymetric (i.e. nsanja yoyezera yomwe imagwiritsidwa ntchito kuyeza kuya kwa madzi).

1. Mtundu woyamba wa nsanja yoyezera, umangosinthidwa ku mtundu wa RC

2. Ma drive a hydrodrone oyamba anali osinthidwa pang'ono a aquarium inverters - ndipo adagwira ntchito bwino, ngakhale analibe "kukana kumanga".

Ntchito yachitsanzo inali kupanga ndi kupanga ma actuators a PE zoyandama zomwe zidapangidwa kale pogwiritsa ntchito ukadaulo wowombetsa (PCBM - wofanana ndi mabotolo a PET). Titasanthula momwe magwiridwe antchito ndi zosankha zomwe zilipo, tidasankha njira yachilendo - ndipo, popanda kusokoneza ziboliboli pansi pamtsinje wamadzi, tidayika ma aquarium inverter circulators ngati ma drive omwe ali ndi kuthekera kowonjezera kozungulira 360 ° ndikukweza (mwachitsanzo, pamene kugunda chopinga kapena paulendo) . Njira yothetsera vutoli, yothandizidwa ndi njira yosiyana yolamulira ndi magetsi, inachititsa kuti azitha kuyendetsa ndikubwezeretsanso kwa wogwiritsa ntchito ngakhale atalephera gawo limodzi (kumanja kapena kumanzere). Njira zothetsera vutoli zidakhala zopambana kwambiri kotero kuti catamaran ikugwirabe ntchito.

3. Pokonzekera pulojekiti yathu, tinafufuza mwatsatanetsatane (nthawi zambiri payekha!) Mayankho ambiri ofanana - mu fanizo ili German ...

4... apa pali waku America (ndi khumi ndi awiri ena). Tidakana ma monohull ngati osasunthika, komanso ma drive omwe amatuluka pansi ngati atha kukhala ovuta pogwira ntchito ndi mayendedwe.

Komabe, choyipa chinali kukhudzika kwa ma disks ku kuipitsidwa kwa madzi. Ngakhale mutha kuchotsa mchenga kuchokera ku rotor mutatha kusambira mwadzidzidzi kumtunda, muyenera kusamala ndi mbali iyi poyambitsa ndi kusambira pafupi ndi pansi. Chifukwa imaphatikizapo, komabe, ikuphatikiza kukula kwa mphamvu zoyezera, ndipo yakulanso panthawiyi. kuchuluka kwa hydrodrone (pamitsinje) mnzathuyo adawonetsa chidwi ndi mtundu watsopano wapulatifomu wopangidwira izi. Tidalimbana ndi vutoli - molingana ndi mbiri ya didactic yama studio athu komanso nthawi yomweyo timapereka mwayi woyesa mayankho opangidwa mwakuchita!

5. Milandu yopindika mwachangu inali yolimbikitsa kwambiri ndi kusinthasintha kwawo komanso kumasuka kwa mayendedwe 3 (chithunzi: zida za opanga)

Gerris USV - data yaukadaulo:

• Utali / m'lifupi / kutalika 1200/1000/320 mm

• Zomangamanga: galasi la epoxy composite, aluminiyumu yolumikizira chimango.

• Kusamuka: 30 kg, kuphatikizapo kunyamula mphamvu: osachepera 15 kg

• Thamangitsani: Ma motors 4 a BLDC (okhazikika m'madzi)

• Mphamvu zamagetsi: 9,0 V… 12,6 V

• Kuthamanga: kugwira ntchito: 1 m / s; pazipita: 2 m/s

• Nthawi yogwiritsira ntchito pa mtengo umodzi: mpaka maola 8 (ndi mabatire awiri a 70 Ah)

• Webusaiti ya polojekiti: https://www.facebook.com/GerrisUSV/

Zochitazo zinapitilira - ndiko kuti, malingaliro a polojekiti yatsopano

Mfundo zotsogoza zomwe tidadzipangira tokha popanga Baibulo lathu ndi izi:

• zikopa ziwiri (monga mu mtundu woyamba, kutsimikizira kukhazikika kwakukulu kofunikira kuti mupeze miyeso yolondola ndi mawu omveka);
• ma drive owonjezera, mphamvu ndi machitidwe owongolera;
• kusamuka, kulola kuyika zida zapabodi zolemera min. 15 kg;
• disassembly zosavuta zoyendera ndi magalimoto owonjezera;
• miyeso yomwe imalola mayendedwe mgalimoto wamba yonyamula anthu, ngakhale itasonkhanitsidwa;
• kutetezedwa ku kuwonongeka ndi kuipitsidwa, maulendo obwerezabwereza podutsa thupi;
• chilengedwe chonse cha nsanja (kutha kuzigwiritsa ntchito pazinthu zina);
• kuthekera kokwezera ku mtundu wa standalone.

6. Ntchito yoyambirira ya pulojekiti yathu inali yogawikana m'zigawo zomangidwa pogwiritsa ntchito matekinoloje osiyanasiyana, omwe, komabe, amatha kusonkhanitsidwa mosavuta ngati midadada yotchuka ndikulandira ntchito zosiyanasiyana: kuchokera ku zitsanzo zopulumutsira zoyendetsedwa ndi wailesi, kudzera pamapulatifomu a USV, mpaka mabwato oyenda magetsi.

Kupanga motsutsana ndiukadaulo mwachitsanzo, kuphunzira kuchokera ku zolakwa (kapena kuwirikiza katatu kuposa zaluso)

Poyamba panali, ndithudi, maphunziro - nthawi yochuluka inagwiritsidwa ntchito kufufuza pa intaneti pa mapangidwe ofanana, mayankho ndi matekinoloje. Iwo anatilimbikitsa kwambiri hydrodrony ntchito zosiyanasiyana, komanso ma modular kayak ndi mabwato ang'onoang'ono onyamula anthu kuti azisonkhana. Pakati pa zoyamba tinapeza chitsimikiziro cha mtengo wa makonzedwe awiri a unit (koma pafupifupi onse a iwo ma propellers anali pansi pa nyanja - ambiri a iwo anapangidwa kuti azigwira ntchito m'madzi oyera). Modular zothetsera Ma kayak amakampani adatipangitsa kulingalira kugawa chiboliboli chachitsanzo (ndi ntchito yamisonkhano) kukhala tizidutswa tating'ono. Choncho, mtundu woyamba wa polojekitiyi unapangidwa.

7. Chifukwa cha mkonzi wa Jakobsche, zosankha zotsatiridwa za 3D zidapangidwa mwachangu - zofunikira kuti zikhazikitsidwe muukadaulo wosindikiza wa filament (zigawo ziwiri zoyamba ndi ziwiri zomaliza za thupi ndi chifukwa cha kuchepa kwa malo osindikiza omwe ali nawo).

Poyamba, tinatengera teknoloji yosakanikirana. Pachitsanzo choyamba, mauta ndi zigawo zakumbuyo ziyenera kupangidwa ndi zinthu zamphamvu kwambiri zomwe tingapeze (acrylonitrile-styrene-acrylate - ASA mwachidule).

8. Ndi kuyembekezera kulondola ndi kubwerezabwereza kwa ma modules, zigawo zapakati (theka la mita kutalika, pamapeto pake komanso mita imodzi) zimafuna zipangizo zoyenera.

9. Katswiri wathu wapamwamba wa mapulasitiki anapanga ma modules oyesera asanasindikizidwe chinthu choyamba cha ASA.

Pamapeto pake, pambuyo pa umboni wa lingaliro, kuti tigwiritse ntchito mwachangu ziboliboli zotsatizana, tidawonanso kugwiritsa ntchito zibodazo ngati ziboda kupanga zisankho zalamination. Ma module apakati (masentimita 50 kapena 100) adayenera kumangirizidwa pamodzi kuchokera ku mbale zapulasitiki - zomwe woyendetsa wathu weniweni komanso katswiri wa teknoloji yamapulasitiki - Krzysztof Szmit (odziwika kwa owerenga "Pa msonkhano", kuphatikizapo wolemba nawo ( MT 10 / 2007) kapena galimoto yoyendetsedwa ndi wailesi ya amphibious hammer (MT 7/2008).

10. Kusindikiza kwa ma module akunja kunachedwa moopsa, kotero tinayamba kupanga ma templates abwino a thupi - apa mu classic, rebate version.

11. Plywood sheathing idzafuna putty pang'ono ndi penti yomaliza - koma, monga momwe zinakhalira, ichi chinali chitetezo chabwino ngati kulephera kwa gulu la navigation ...

Mapangidwe a 3D amtundu watsopano kuti lisindikizidwe, lolembedwa ndi Bartłomiej Jakobrze (zolemba zake zambiri zoperekedwa ku mapulojekiti amagetsi a mbali zitatu zitha kupezeka m'nkhani za "Młodego Technika" kuyambira 9/2018–2/2020). Posakhalitsa tinayamba kusindikiza zinthu zoyambirira za fuselage - koma masitepe oyambirira anayamba... Kusindikiza kolondola kunatenga nthawi yaitali mosadziwika bwino kuposa momwe timayembekezera, ndipo panali zolakwika zamtengo wapatali zobwera chifukwa chogwiritsa ntchito zinthu zamphamvu kwambiri kuposa nthawi zonse...

12. …yemwe anapanga ziboda zofanana ndi thupi la thovu la XPS ndi luso la CNC.

13. Chithovu chapakati chinayeneranso kutsukidwa.

Ndi tsiku lovomerezeka likuyandikira mofulumira kwambiri, tinaganiza zochoka pa mapangidwe a modular ndi Kusindikiza kwa 3D kwaukadaulo wolimba komanso wodziwika bwino wa laminate - ndipo tinayamba kugwira ntchito m'magulu awiri ofanana pamitundu yosiyanasiyana yamitundu yabwino (ziboda) thupi: zachikhalidwe (zomanga ndi plywood) ndi thovu (pogwiritsa ntchito rauta yayikulu ya CNC). Mu mpikisano uwu, "gulu la matekinoloje atsopano" lotsogozedwa ndi Rafal Kowalczyk (mwa njira, wosewera mpira wa multimedia pamipikisano yapadziko lonse ndi yapadziko lonse kwa omanga mawayilesi olamulidwa ndi wailesi - kuphatikizapo wolemba nawo wolemba "Pa Msonkhano" 6/ 2018) adapeza mwayi.

14. ... kukhala oyenera kupanga matrix olakwika ...

15. …kumene magalasi oyamba osindikizira a epoxy oyandama anapangidwa posakhalitsa. Chovala chimodzi cha gel chinagwiritsidwa ntchito, chomwe chikuwonekera bwino pamadzi (popeza tinali titasiya kale ma modules, panalibe chifukwa chosokoneza ntchito ndi zokongoletsera zamitundu iwiri).

Chifukwa chake, ntchito yowonjezereka ya msonkhanowo idatsata njira yachitatu yopangira Rafal: kuyambira pakupanga mawonekedwe abwino, kenako zoyipa - kudzera pazithunzi zamilandu yamagalasi a epoxy - kupita kumapulatifomu opangidwa okonzeka a USV (): choyambirira chokhala ndi zida zonse, ndiyeno zotsatira, makope apamwamba kwambiri a mndandanda woyamba. Apa mawonekedwe ndi tsatanetsatane wa thupi adasinthidwa kuukadaulo uwu - posachedwa mtundu wachitatu wa polojekitiyo unalandira dzina lapadera kuchokera kwa mtsogoleri wake.

. kuwongolera kapangidwe kake sikunathere pamenepo.

17. Awa ndi mabatire ang'onoang'ono omwe amagwiritsidwa ntchito - amalola kuti nsanja igwire ntchito kwa maola anayi pansi pa ntchito. Palinso mwayi wowonjezera kuwirikiza kawiri - mwamwayi, zikwapu zautumiki ndi kukwera kwakukulu kumalola zambiri.

Gerris USV ndi mwana wansangala, wogwira ntchito (komanso ndi malingaliro ake!)

Garris Ili ndi dzina lachilatini la akavalo - mwina tizilombo todziwika bwino, mwina tikuyenda m'madzi ndi miyendo yotalikirana.

Target Hydrodrone Hulls Wopangidwa kuchokera ku magalasi angapo opangidwa ndi epoxy laminate - yolimba mokwanira kuti ikhale yovuta, mchenga ndi miyala ya ntchito yomwe ikufuna. Amalumikizidwa ndi chimango cha aluminiyamu cholumikizidwa mwachangu chokhala ndi ma sliding (kuti athandizire kukonza) mizati yolumikizira zida zoyezera (echo sounder, GPS, kompyuta yapa bolodi, ndi zina). Zina zowonjezera pamayendedwe ndi kugwiritsa ntchito zili m'mawu amilandu. amayendetsa (awiri pa choyandama). Ma motors apawiri amatanthauzanso ma propeller ang'onoang'ono komanso odalirika kwambiri, pomwe nthawi yomweyo amatha kugwiritsa ntchito kayeseleledwe kochulukirapo kuposa ma mota amakampani.

18. Kuyang'ana pa salon yokhala ndi ma motors ndi bokosi lamagetsi. Chubu lowoneka la silikoni ndi gawo la njira yozizirira madzi.

19. Pamayesero oyambirira pamadzi, tinapangitsa kuti ziboliboli zikhale zolemera kwambiri kuti catamaran izichita bwino pamikhalidwe ya ntchito yomwe inafunidwa - koma tinkadziwa kale kuti nsanjayo ikhoza kuigwira!

M'matembenuzidwe otsatirawa, tinayesa machitidwe osiyanasiyana oyendetsa, pang'onopang'ono kuwonjezera mphamvu zawo ndi mphamvu - kotero matembenuzidwe otsatirawa a nsanja (mosiyana ndi catamaran yoyamba zaka zambiri zapitazo) amakhalanso ndi kuthamanga kwa mtsinje uliwonse wa ku Poland ndi malire otetezeka.

20. Basic set - ndi imodzi (yosanalumikizidwe pano) sonar. Miyezo iwiri yoperekedwa ndi ogwiritsa ntchito imalolanso kubwereza kwa zida zoyezera ndipo motero zimawonjezera kudalirika kwa miyeso yokha.

21. Malo ogwirira ntchito nthawi zambiri amakhala amiyala okhala ndi madzi amphumphu kwambiri.

Popeza unit lakonzedwa kuti ntchito maola 4 mpaka 8 mosalekeza, ndi mphamvu 34,8 Ah (kapena 70 Ah mu Baibulo lotsatira) - mmodzi aliyense wa nyumba. Ndi nthawi yayitali yogwira ntchito, zikuwonekeratu kuti ma motors a magawo atatu ndi owongolera awo ayenera kuziziritsidwa. Izi zimachitika pogwiritsa ntchito njira yofananira ndi madzi yomwe imatengedwa kuseri kwa ma propellers (pampu yowonjezera yamadzi idakhala yosafunikira). Chitetezo china ku kulephera kotheka chifukwa cha kutentha mkati mwa zoyandama ndikuwerenga kwa telemetric kwa magawo pa gulu lowongolera (ie, transmitter yofananira masiku ano). Makamaka, kuthamanga kwa injini, kutentha kwa injini, kutentha kwa olamulira, magetsi operekera batri, ndi zina zotero zimapezeka nthawi zonse.

22. Awa si malo amitundu yowoneka bwino!

23. Chinthu chotsatira pa chitukuko cha polojekitiyi chinali kuwonjezera kwa Autonomous Control Systems. Pambuyo pofufuza malo osungiramo madzi (pogwiritsa ntchito mapu a Google kapena pamanja - poyendayenda mozungulira malo osungiramo madzi), kompyuta imawerengeranso njirayo molingana ndi magawo omwe akuyembekezeka ndipo atatha kuyatsa makina oyendetsa galimoto ndi switch imodzi, woyendetsa akhoza kukhala momasuka komanso penyani kagwiridwe kachipangizocho muli ndi chakumwa choziziritsa kukhosi m'manja...

Ntchito yayikulu ya zovuta zonse ndikuyesa ndikusunga mu pulogalamu yosiyana ya geodetic zotsatira za kuyeza kwakuya kwamadzi, zomwe zimagwiritsidwa ntchito pambuyo pake kuti zizindikire kuchuluka kwa malo osungiramo madzi (ndipo motero, mwachitsanzo, kuyang'ana kuchuluka kwa miyala yosankhidwa kuyambira pamenepo). muyeso womaliza). Miyezo iyi imatha kupangidwa poyang'anira bwato (lofanana ndi choyandama choyandama chakutali) kapena kugwiritsa ntchito chosinthira. Kenako mawerengedwe amakono a sonar molingana ndi kuya komanso kuthamanga kwa kuyenda, momwe ntchitoyo ilili kapena malo omwe chinthucho (kuchokera pa cholandila cholondola kwambiri cha RTK GPS, choyikidwa molondola 5 mm) chimaperekedwa kwa wogwiritsa ntchito nthawi zonse. maziko ndi dispatcher ndi ntchito yolamulira (ikhozanso kukhazikitsa magawo a ntchito yomwe inakonzedwa).

Yesani mitundu ya mayeso ndi chitukuko

anafotokoza hydrodroni Yapambana mayeso angapo m'malo osiyanasiyana, momwe amagwirira ntchito, ndipo yakhala ikugwira ntchito kwa nthawi yopitilira chaka chimodzi, "ikulima" movutikira malo osungira atsopano.

Kupambana kwachiwonetserocho komanso zomwe zidasokonekera zidapangitsa kubadwa kwatsopano, mayunitsi apamwamba kwambiri agawoli. Kusinthasintha kwa nsanja kumapangitsa kuti isagwiritsidwe ntchito pa geodetic application, komanso, mwachitsanzo, pama projekiti a ophunzira ndi ntchito zina zambiri.

Ndikukhulupirira kuti chifukwa cha zisankho zopambana komanso khama ndi luso la woyang'anira polojekiti, posachedwa padzakhala mabwato a gerris, atasinthidwa kukhala ntchito yamalonda, adzapikisana ndi mayankho a ku America operekedwa ku Poland, omwe nthawi zambiri amakhala okwera mtengo kwambiri pogula ndi kukonza.

Ngati mukufuna zambiri zomwe sizinafotokozedwe apa komanso zaposachedwa kwambiri pakukula kwanyumba yosangalatsayi, chonde pitani patsamba la polojekitiyi: GerrisUSV pa Facebook kapena pachikhalidwe: MODElmaniak.PL.

Ndikulimbikitsa owerenga onse kuti abweretse maluso awo pamodzi kuti apange mapulojekiti atsopano komanso opindulitsa pamodzi-mosasamala kanthu za (zodziwika!) "Palibe malipiro apa." Kudzidalira, chiyembekezo ndi mgwirizano wabwino kwa tonsefe!