Gerris USV - hydrodrone kubva kutanga!

Nhasi, "Mumusangano" ndeye purojekiti yakakura zvishoma - kureva, pamusoro pemudziyo usina kushandiswa wakashandiswa, semuenzaniso, kune zviyero zvebhatimetric. Iwe unogona kuverenga nezve yedu yekutanga catamaran, yakachinjirwa kune redhiyo-inodzorwa vhezheni, mune yechitanhatu chinyorwa che "Young Technician" ye6. Panguva ino, timu yeMODELmaniak (boka revagadziri vane ruzivo vakabatana neKopernik Model Workshops Group muWrocław) vakatarisana nedambudziko reushamwari rekugadzira kubva mukutanga chikuva chekuyeresa chinoyangarara chakatogadziridzwa zvirinani kumamiriro ematombo. quarry, inokwidziridzwa kune yakamira-yega vhezheni, ichipa opareta imwe nzvimbo yekufema.

Yakatanga nekugadzirisa ...

Takatanga kusangana nedambudziko iri patakabvunzwa makore mashoma apfuura nezve mukana wekuunza actuators uye kuchinjika kune redhiyo control trailed bathymetric (kureva chikuva chekuyeresa chinoshandiswa kuyera hudzamu hwemitumbi yemvura).

1. Shanduro yekutanga yepuratifomu yekuyera, inongogadziriswa kuRC version

2. Madhiraivha ekutanga hydrodrone akagadziridzwa zvishoma aquarium inverters - uye akashanda nemazvo, kunyangwe hazvo aive asina "kuvaka kuramba".

Basa rekuenzanisira raive rekugadzira nekugadzira maactivators ezvakagadzirwa kare PE zvinoyangarara zvakagadzirwa uchishandisa stretch-blow tekinoroji (PCBM - yakafanana nemabhodhoro ePET). Mushure mekuongorora mamiriro ekushanda uye sarudzo dziripo, takasarudza mhinduro isina kujairika - uye, tisingakanganise mabhuru ari pazasi pemvura, takaisa aquarium inverter circulators sedhiraivha nekuwedzera kugona kutenderera 360 ° uye kusimudza (semuenzaniso, kana kurova chipingamupinyi kana panguva yekufambisa). Iyi mhinduro, yakawedzerwa inotsigirwa neyakasiyana kutonga uye magetsi emagetsi system, yakaita kuti zvikwanise kudzora uye kudzoreredza kune mushandisi kunyangwe pakaitika kutadza kwechimwe chezvikamu (kurudyi kana kuruboshwe). Mhinduro dzakazove dzakabudirira zvekuti catamaran ichiri kushanda.

3. Pakugadzirira purojekiti yedu, takaongorora zvakadzama (kazhinji pachedu!) Mhinduro dzakawanda dzakafanana - mumufananidzo uyu weGermany ...

4... heino muAmerica (uye mamwe gumi nemaviri akawanda). Isu takaramba mamonohulls seasina kuita zvakasiyana-siyana, uye madhiraivha anobudira pazasi pazasi sezvingaite dambudziko mukushanda nekufambisa.

Zvisinei, kunzwisiswa kwema disks kune kusvibiswa kwemvura kwakave kusina kunaka. Kunyangwe iwe uchigona kukurumidza kubvisa jecha kubva kune rotor mushure mekushambira kwechimbichimbi kuenda kumahombekombe, unofanirwa kungwarira nechinhu ichi paunotanga uye kushambira pedyo nepasi. Nekuti inoita, zvisinei, inosanganisira kuwedzera kwekuyerwa kugona, uye yakawedzerawo panguva ino. chiyero che hydrodrone (panzizi) shamwari yedu yakaratidza kufarira shanduro itsva yepuratifomu yakagadzirirwa izvi zvinangwa. Isu takatora dambudziko iri - zvinoenderana neiyo didactic mbiri yestudio yedu uye panguva imwe chete ichipa mukana wekuyedza mhinduro dzakagadziriswa mukuita!

5. Kupeta-kupeta modular makesi aikurudzira zvikuru nekusiyana-siyana uye nyore kwekufambisa 3 (mufananidzo: zvinhu zvemugadziri)

Gerris USV - data yehunyanzvi:

• Kureba/kufara/kureba 1200/1000/320 mm

• Kuvaka: epoxy glass composite, aluminium yekubatanidza furemu.

• Displacement: 30 kg, kusanganisira kutakura simba: kwete pasi pe15 kg

• Dhiraivha: 4 BLDC motors (mvura-yakatonhorera)

• Magetsi ekushandisa: 9,0 V… 12,6 V

• Kukurumidza: kushanda: 1 m / s; kukwirira: 2 m/s

• Nguva yekushanda pamutengo mumwe chete: kusvika kumaawa masere (ane mabhatiri maviri e8 Ah)

• Webhusaiti yeprojekiti: https://www.facebook.com/GerrisUSV/

Iwo maekisesaizi akaenderera mberi - kureva, fungidziro dzepurojekiti nyowani

Misimboti inotungamira yatakazvimisira pachedu pakugadzira vhezheni yedu yaive yakadai:

• kaviri-gomba (semushanduro yekutanga, ichivimbisa kugadzikana kwakanyanya kunodiwa kuti uwane zviyero zvakaringana neiyo echo sounder);
• redundant drive, simba uye kutonga masisitimu;
• displacement, kubvumira kuiswa kwe-on-board midziyo inorema min. 15 kg;
• nyore disassembly zvekufambisa uye mamwe motokari;
• zviyero zvinobvumira kutakurwa mumotokari yakajairika, kunyangwe kana yakaunganidzwa;
• yakadzivirirwa kubva mukukuvadzwa uye kusvibiswa, madhiraivha akadzokororwa mukunzvenga kwemuviri;
• universality yepuratifomu (kukwanisa kuishandisa mune mamwe maapplication);
• kugona kukwidziridza kune yakamira vhezheni.

6. Shanduro yepakutanga yepurojekiti yedu yaisanganisira kupatsanurwa kwemodular kuita zvikamu zvakavakwa pachishandiswa matekinoroji akasiyana, izvo, zvisinei, zvaigona kuunganidzwa zviri nyore semabhuroko akakurumbira uye kugamuchira kushandiswa kwakasiyana-siyana: kubva paredhiyo-inodzorwa kununura mhando, kuburikidza neUSV mapuratifomu, kune emagetsi pedal mabhoti.

Dhizaini vs tekinoroji i.e. kudzidza kubva mukukanganisa (kana kusvika katatu kupfuura art)

Pakutanga kwaive, hongu, zvidzidzo - nguva yakawanda yakashandiswa kutsvaga paInternet kune mamwe magadzirirwo, mhinduro uye matekinoroji. Vakatikurudzira zvikuru hydrodronium kushandiswa kwakasiyana-siyana, pamwe ne modular kayaks uye zvikepe zvidiki zvevafambi zvekuzvibatanidza. Pakati pekutanga takawana husimbiso hwekukosha kwekaviri-hull marongerwo eiyo unit (asi munenge ese iwo mapropeller aive pasi pegungwa - mazhinji acho akagadzirirwa kushanda mumvura yakachena). Modular mhinduro maindasitiri kayaks akatikurudzira kufunga kupatsanura iyo modhi hull (uye basa remusangano) kuita zvidimbu zvidiki. Nokudaro, shanduro yekutanga yeprojekti yakagadzirwa.

7. Kutenda kumupepeti weJakobsche, sarudzo dzakazotevera dzekugadzira 3D dzakagadzirwa nekukurumidza - zvinodiwa kuti zviitwe mune tekinoroji yekudhinda filament (maviri ekutanga uye maviri ekupedzisira zvikamu zvemuviri mhedzisiro yekudhinda nzvimbo yekugumira kwevanodhinda).

Pakutanga, takatora tekinoroji yakasanganiswa. Muchiratidziro chekutanga, uta uye zvikamu zvemashure zvaifanira kugadzirwa nezvinhu zvakasimba zvataigona kuwana (acrylonitrile-styrene-acrylate - ASA kwenguva pfupi).

8. Nekunyatsotarisirwa uye kudzokororwa kwekubatanidza module, zvikamu zvepakati (hafu yemamita kureba, pakupedzisira uyewo mita imwe) yaida midziyo yakakodzera.

9. Yedu yepamusoro mapurasitiki tekinoroji akaita nhevedzano yebvunzo modules pamberi pekutanga yakanyanyisa ASA element yakadhindwa.

Pakupedzisira, mushure mehumbowo hwepfungwa, yekukurumidza kuisirwa mahull anotevera, isu takafunga zvakare kushandisa zvinoonekwa semahwanda kugadzira molds yekurarisa. Iwo epakati mamodules (50 kana 100 cm kureba) aifanira kunamirwa pamwe chete kubva kumaplatifomu epurasitiki - ayo mutyairi wedu chaiye uye nyanzvi mune zvepurasitiki tekinoroji - Krzysztof Szmit (anozivikanwa nevaverengi ve "Pamusangano", kusanganisira semunyori-munyori ( MT 10 / 2007) kana redhiyo-inodzorwa amphibious hammer mota (MT 7/2008).

10. Kudhindwa kwemamodule ekunze kwakanonoka kunonoka, saka takatanga kugadzira ma templates emuviri akanaka - pano mune classic, rebate version.

11. Iyo plywood sheathing inoda zvishoma putty uye pendi yekupedzisira - asi, sezvazvakazoitika, iyi yaive chengetedzo yakanaka kana paine kutadza kwechikwata chekufamba ...

3D dhizaini yemhando nyowani yekudhinda, yakapepetwa naBartłomiej Jakobrze (akatevedzana ezvinyorwa zvake zvakatsaurirwa kune matatu-dimensional mapurojekiti emagetsi anogona kuwanikwa muzvinyorwa zve "Młodego Technika" kubva 9/2018–2/2020). Nenguva isipi takatanga kudhinda zvinhu zvekutanga zvefuselage - asi zvino matanho ekutanga akatanga... Kudhinda nemazvo kwakatora nguva yakareba zvisinganzwisisike kupfuura zvataitarisira, uye pakanga paine hurema hunodhura hwakakonzerwa nekushandiswa kwakasimba kupfuura zvenguva dzose...

12. …ndiani akagadzira mahwanda akafanana kubva mumutumbi wefuro weXPS uye tekinoroji yeCNC.

13. Iyo furo core zvakare yaifanira kucheneswa.

Nezuva rekugamuchirwa richisvika zvinokatyamadza nekukurumidza, isu takasarudza kubva pane modular dhizaini uye 3D kudhinda kune yakaoma uye inozivikanwa zviri nani laminate tekinoroji - uye takatanga kushanda muzvikwata zviviri zvakafanana pamhando dzakasiyana dzemaitiro akanaka (mahwanda) muviri: yechinyakare (kuvaka uye plywood) uye furo (uchishandisa yakakura CNC router). Munhangemutange iyi, "timu yehunyanzvi hutsva" inotungamirwa naRafal Kowalczyk (nenzira, mutambi wemultimedia mumakwikwi enyika nepasirese eredhiyo inodzorwa modhi vanovaka - kusanganisira munyori wemubatanidzwa weakatsanangurwa "Pamusangano" 6/ 2018) akawana mukana.

14. ... kuve akakodzera kugadzira matrix asina kunaka ...

15. …apo maprinta egirazi ekutanga epoxy anoyangarara akagadzirwa munguva pfupi. Rimwe jasi regel rakashandiswa, rinonyatsooneka pamvura (sezvo takanga tatosiya ma modules, pakanga pasina chikonzero chekuvhiringidza basa nekushongedza kwemavara maviri).

Naizvozvo, rimwe basa remusangano rakatevera nzira yechitatu yekugadzira yaRafal: kutanga kubva pakusikwa kwemafomu akanaka, ipapo asina kunaka - kuburikidza neprints epoxy-girazi makesi - kune akagadzirira-akagadzirwa USV mapuratifomu (): chekutanga prototype yakashongedzerwa, uyezve zvinotevera, kunyange mamwe makopi epamberi ekutanga akatevedzana. Pano chimiro uye ruzivo rwemuviri zvakagadziridzwa kune iyi tekinoroji - munguva pfupi yechitatu vhezheni yeprojekiti yakagamuchira zita rakasiyana kubva kumutungamiriri wayo.

16. Fungidziro yepurojekiti iyi yedzidzo yaive yekushandisa inowanikwa pachena, yekufananidza michina - asi izvi hazvireve kuti isu takabva tave nepfungwa yechinhu chimwe nechimwe - pane zvinopesana, nhasi zvakaoma kuverenga kuti mangani magadzirirwo akaedzwa - uye kunatsiridzwa kwemagadzirirwo hakuna kupera ipapo.

17. Aya ndiwo mabhatiri maduku anoshandiswa - anobvumira chikuva kushanda kwemaawa mana pasi pebasa rekushanda. Kune zvakare sarudzo yekuwedzera kaviri huwandu - nerombo rakanaka, masevhisi mabheti uye yakakura buoyancy inobvumira zvakawanda.

Gerris USV mwana ane hupenyu, anoshanda (uye nepfungwa dzake!)

Garris Iri ndiro zita rechiLatin rezita remabhiza - pamwe tupembenene tunozivikanwa, pamwe tuchifamba mumvura pamakumbo akaparadzana.

Target Hydrodrone Hulls Yakagadzirwa kubva kune akawanda-layer girazi epoxy laminate - yakasimba zvakakwana kune yakaoma, jecha uye matombo mamiriro ebasa rakarongwa. Aive akabatanidzwa nearuminiyamu yakakurumidzira kupatsanurwa ine kutsvedza (kufambisa dhizaini yekumisikidza) matanda ekubatanidza ekuyeresa zviridzwa (echo sounder, GPS, on-board komputa, nezvimwewo). Kuwedzera kurerukira mukufambisa uye kushandiswa kuri mune maratidziro emakesi. dhisiki (mbiri pakuyangarara). Dual motors zvinorevawo mapropeller madiki uye kuvimbika kwakanyanya, panguva imwe chete achikwanisa kushandisa kunyange yakawandisa simulation kupfuura maindasitiri mota.

18. Kutarisa ku salon ine injini uye bhokisi remagetsi. Iyo inooneka silicone chubhu chikamu chemvura inotonhorera system.

19. Nokuda kwekuedzwa kwekutanga pamusoro pemvura, takaita kuti huturu huremerwe kuitira kuti catamaran iite zvakaringana nemamiriro ekushanda kwakarongwa - asi isu taitoziva kuti chikuva chaigona kuzvibata!

Mushanduro dzakazotevera, takaedza masisitimu akasiyana-siyana, zvishoma nezvishoma tichiwedzera kushanda nesimba uye simba - saka shanduro dzakazotevera dzepuratifomu (kusiyana neyokutanga catamaran makore mazhinji apfuura) inosanganawo nekuyerera kwerwizi rwese rwePoland rune muganho wakachengeteka wekumhanya.

20. Basic set - neimwe (isati yabatanidzwa pano) sonar. Mabhii maviri ekumisikidza anopihwa nemushandisi anobvumirawo kudzokororwa kwemidziyo yekuyeresa uye nekudaro kuwedzera kuvimbika kwezviyero pachazvo.

21. Nzvimbo yekushanda inowanzoita matombo ane marara ane mvura yakawanda.

Sezvo chikwata chakagadzirirwa kushanda kubva ku4 kusvika ku8 maawa nguva dzose, ine simba re 34,8 Ah (kana 70 Ah mune inotevera shanduro) - imwe mune imwe neimwe yezvivakwa. Nenguva yakareba kudaro yekushanda, zviri pachena kuti matatu-phase motors nevatongi vavo vanoda kutonhodzwa. Izvi zvinoitwa uchishandisa yakajairwa inofananidzwa yedunhu remvura inotorwa kubva kuseri kwepropeller (yekuwedzera pombi yemvura yakave isina kufanira). Imwe dziviriro kubva pakutadza kukonzeresa kunokonzerwa nekupisa mukati mezvinoyangarara ndiko kuverenga kwetelemetric yemaparamita pane opareta control panel (kureva, transmitter yakafanana neyemazuva ano simulation). Kunyanya, kumhanya kweinjini, tembiricha yeinjini, tembiricha yeregulator, kupa bhatiri voltage, nezvimwe zvinoonekwa nguva dzose.

22. Ino haisi nzvimbo yemamodheru akachekwa!

23. Nhanho inotevera mukugadzirwa kwechirongwa ichi kwaiva kuwedzera kweAutonomous Control Systems. Mushure mekutsvaga dziva (uchishandisa mepu yeGoogle kana nemaoko - nekuyerera uchitenderedza contour unit yeyakayerwa reservoir), komputa inoverengazve nzira zvinoenderana neanotarisirwa paramita uye mushure mekubatidza autopilot neimwe switch, mushandisi anogona kugara zvakanaka uye. tarisa kushanda kwemudziyo uine chinwiwa chiri muruoko...

Basa guru reiyo yakaoma kunzwisisa ndeyekuyera uye kuchengetedza mune yakaparadzana geodetic chirongwa mhedzisiro yekuyera kwemvura kuyerwa, iyo inoshandiswa gare gare kuona iyo interpolated yakazara reservoir kugona (uye nekudaro, semuenzaniso, kutarisa huwandu hwematombo akasarudzwa kubvira. kuyerwa kwekupedzisira). Zviyero izvi zvinogona kuitwa nekudzora chikepe (yakafanana neyakajairwa iri kure inodzorwa modhi inoyangarara) kana nekuita otomatiki kushanda kweswichi. Zvino kuverenga kwazvino kwesonar maererano nekudzika uye nekumhanya kwekufamba, chimiro chemishoni kana nzvimbo yechinhu (kubva pachokwadi chakanyanya RTK GPS inogamuchira, yakamisikidzwa nekurongeka kwe5 mm) inotumirwa kune anoshanda pane inoenderera. hwaro neiyo dispatcher uye yekudzora application (inogona zvakare kuseta maparamita eiyo yakarongwa mishoni).

Dzidzira shanduro dzebvunzo nekusimudzira

akatsanangura hydrodrone Yakabudirira kupasa bvunzo dzinoverengeka munzvimbo dzakasiyana-siyana, kazhinji dzekushanda, uye yanga ichishandira mushandisi wekupedzisira kweanopfuura gore, inorwadza "irima" madhamu matsva.

Kubudirira kweiyo prototype uye chiitiko chakaunganidzwa chakakonzera kuzvarwa kwezvitsva, zvakatonyanya kusimudzira zvikamu zvechikamu ichi. Iko kushandiswa kwakasiyana-siyana kwepuratifomu kunobvumira kuti ishandiswe kwete chete mu geodetic application, asiwo, semuenzaniso, mumapurojekiti evadzidzi uye mamwe akawanda mabasa.

Ndinotenda kuti nekuda kwezvisarudzo zvakabudirira uye kushingaira uye tarenda yemutungamiri weprojekiti, munguva pfupi iri kuuya gerris zvikepe, mushure mokunge vashandurwa kuva purojekiti yekutengeserana, vachakwikwidzana neAmerican solutions inopiwa muPoland, iyo yakawanda kakawanda inodhura maererano nekutenga nekugadzirisa.

Kana iwe uchida ruzivo rusina kuvharwa pano uye neruzivo rwazvino nezve kuvandudzwa kweiyi inonakidza chimiro, ndapota shanyira webhusaiti yeprojekiti: GerrisUSV paFacebook kana zvechinyakare: MODElmaniak.PL.

Ndinokurudzira vaverengi vose kuti vauye nematarenda avo pamwe chete kuti vagadzire mapurogiramu matsva uye anopa mubayiro pamwe chete-zvisinei ne (vanozivikanwa!) "Hapana chinobhadhara pano." Kuzvivimba, kutarisira uye kubatana kwakanaka kwatiri tose!