CN109250031A - Unmanned combination ship - Google Patents
Unmanned combination ship Download PDFInfo
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- CN109250031A CN109250031A CN201810853014.6A CN201810853014A CN109250031A CN 109250031 A CN109250031 A CN 109250031A CN 201810853014 A CN201810853014 A CN 201810853014A CN 109250031 A CN109250031 A CN 109250031A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/14—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected resiliently or having means for actively varying hull shape or configuration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Traffic Control Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The present invention relates to a kind of unmanned combination ships.It includes that monomer carries mould group and unit ship, the more monomers carry cooperative control system between mould group and/or unit ship, fast demountable and bindiny mechanism between more ships, central payload platform can be wherein equipped with, to realize monomer ship, catamaran, trimaran, four body the ships even quick assembly and disassembly of multi-hull craft, to meet the needs of different task.The whole navigation of reconstruct unmanned boat is realized by different bindiny mechanisms and steering mechanism.Eventually by the single load capacity of ship of calculating and the self weight of bindiny mechanism, vacant carrying platform and load weight out.
Description
Technical field
The invention belongs to mechanical and electronic integration technology fields, and in particular to the Modularized unmanned that one kind can be freely combined
Ship.
Background technique
Marine environmental monitoring is to prevent ocean disaster, the sudden marine pollution incident of prevention, and assessment marine ecology is flat
The important means of weighing apparatus, be guarantee marine ecology civilization important measure, it has also become including Europe, the U.S., Japan, Australia,
The state plan and strategy of countries in the world including Canada etc..For marine environmental protection under the new situation and management, ocean money
Source develops and uses situation, and Tidal resuspension monitoring water environment and pollution from land-based sources control are proposed and clearly required；Publication one simultaneously
Serial scheme, planning, it is desirable that push marine eco-environment monitoring layout optimization and capability improving energetically.
There are the islands and reefs water front and 270,000 square kilometres of water in the coastline up to 18000 kilometers, 14217.8 kilometers in China
Domain area, heavy to monitoring water environment task, expense is huge, so under the auxiliary of artificial intelligence and robot technology, intelligence
Unmanned boat comes into being, as robot in a kind of modular water, by technologies such as environment sensing, trajectory planning, intelligent recognitions,
At present can be relatively broad apply in a series of fields such as environmental monitoring, sampling, mapping.
For blue montains and green waters in the future, it is specified that the claimed range to water quality monitoring is very extensive, including it is contaminated and
Contaminated natural water (river, river, lake, sea and underground water) and various industrial water drainages etc..Main monitoring project can be divided into
Two major classes: one kind is to reflect the overall target of water quality condition, such as temperature, coloration, turbidity, pH value, conductivity, suspended matter, dissolution
Oxygen, COD and biochemical oxygen demand (BOD) etc.；Another kind of is some noxious materials, such as phenol, cyanogen, arsenic, lead, chromium, cadmium, mercury and organic
Pesticide etc..It needs to carry out flow velocity and flow sometimes in addition to above-mentioned monitoring project for the situation of objective appraisal rivers and ocean water quality
Measurement.
Often unmanned boat will consider how to carry in place of design the instruments of these difference monitoring purposes, and some of them
Several kilograms are only weighed together, and another part sampling analysis equipment will be several hundred kilograms great, result is exactly the type of unmanned boat
Various, testing staff is also not clear respective using difference and maintenance mode after taking home；The design of another aspect unmanned boat
Restrained by a variety of requirements, final result is frequently not to be short of power, continue a journey inadequate, and it is limited etc. exactly to carry ability.
Summary of the invention
The invention reside in the deficiencies for being directed to prior art, provide a kind of unmanned combination ship, mainly mention with regard to Modularized unmanned ship
A kind of new departure out, a kind of Modularized unmanned ship that can freely reconstruct have benefited from the designed monomer ship applied early period, binary
On the basis of the series unmanned boat such as ship, trimaran, propose that a kind of Functions: An Analysis is clear, the convenient unmanned boat of working service.
In order to achieve the above objectives, insight of the invention is that
Rely on energy module complete inside ship, driver, sub-controller, propeller, steering-engine and other machinery knots
Structure manipulates all power devices by master-slave controller and energy source device distribution exports each ultromotivity；Pass through different connections
Mechanism and steering mechanism realize the whole navigation of reconstruct unmanned boat.Eventually by the load capacity and bindiny mechanism for calculating single ship
Self weight, vacant carrying platform and load weight out.
Rely on independent power supply and sub-controller, master controller by calculate associated fluid resistance with from redistribution, to
Sub-controller output order, and then control whole navigation attitude and the speed of a ship or plane.
Rely on bindiny mechanism fast-assembling design, central payload platform can quickly and easily with the ship unit of different number
Library management is carried out, central payload platform mainly supports support plate by front end connecting bracket and rear end connecting bracket jointly, together
When by the central payload platform of unique design, realization subtract shake, a series of optimization design such as damping.
Conceived according to foregoing invention, the present invention adopts the following technical solutions:
A kind of unmanned combination ship, including monomer carry mould group and unit ship, the more monomers carry mould groups and/or unit ship it
Between cooperative control system, fast demountable and bindiny mechanism between more ships, wherein central payload platform can be equipped with, to realize
Monomer ship, catamaran, trimaran, four body the ships even quick assembly and disassembly of multi-hull craft, to meet the needs of different task.
The monomer ship mainly carries mould group by two monomers and constitutes, and the addition that two monomers carry mould group can greatly increase
The stability of monomer ship, two of them monomer carry mould group and are connect by rear end connecting bracket with main unit ship hinge.
The catamaran is mainly made of two unit ships, and described two unit ships are connected by front end connecting bracket, rear end
It connects bracket and two unit ships is grouped together into catamaran, the front end connecting bracket, rear end by way of hinged disk
Connecting bracket supports central payload platform jointly.
The trimaran mainly adds a unit ship again behind catamaran, and subsequent unit ship passes through cylindrical hinge
Mode is connect with front catamaran, and subsequent unit ship can provide the turning function of trimaran with by rotation turning platform.
The four bodies ship is mainly constituted with two catamarans, connection before and after two catamarans, before two catamarans
End connecting bracket, rear end connecting bracket collectively form central payload platform.
The multi-hull craft is connected mainly by N number of unit ship permutation and combination by the front end connecting bracket of N number of unit ship, rear end
The connection of bracket is connect, a biggish payload platform can be built, biggish load can be born.
Fast quick-detach and bindiny mechanism mainly include that front end damping connection mechanism, rear end quickly connect machine between more ships
Structure, two sides quick-connect machanism；The front end damping connection mechanism is the front end for being fixed on hull, is bolted in hull
On；The rear end quick-connect machanism is the rear end for being fixed on hull, is bolted on hull；The two sides quickly connect
Connection mechanism is the two sides for being fixed on hull, is bolted on the protrusion square end face of hull two sides；All of above connection machine
Structure is on hull structure reinforcing rib.
The center payload platform is equipped with main control box and various instrument and equipments, and the main control box is the son to multi-hull craft
Controller distributes relevant control instruction；The various instrument and equipments mainly include perception communication apparatus: radar, wireless telecommunications are set
Standby, camera, laser radar, function monitoring equipment: multi parameter analysis instrument, nutrient salt analyzer, side-scan sonar, simple beam, more
Wave beam sonar.
The unit ship is equipped with battery module, propeller module, steering module, driver, sub-controller etc., the sub- control
Device processed is responsible for monitoring unit ship internal information --- battery capacity, temperature, motor status and rudder angle information.
The cooperative control system of more ships includes power assembly system, context aware systems, navigation obstacle avoidance system, power
Distribution system and mission payload system；The power assembly system is contained in each unit ship；The context aware systems are by ring
Border awareness apparatus provides data, extracts obstacle information by Cluster-Fusion algorithm；The navigation obstacle avoidance system merges sea chart number
According to, map datum, obstacle information data, referring to International Maritime navigate by water code requirement planning path information；The power distribution
The dynamic Information number for being distributed to each unit ship is calculated in the kinetic parameter of system passage path information and Modularized unmanned ship
According to, and the line load of each unit ship is dynamically adjusted according to the status feedback information of unit ship in time.
The front end damping connection mechanism includes front end attachment base, spring, hinged disk, and the front end attachment base passes through bolt
Be connected on hull, the spring be 3 Hookean springs, be fixed among front end attachment base and hinged disk, the hinged disk and
Front-end bracket is connected by a hinge.
The rear end quick-connect machanism is mainly rear end attachment base, and the rear end attachment base is bolted in hull
On, rear end attachment base can quickly connect rear end support by hinge.
The two sides quick-connect machanism is mainly end face connection.The end face attachment base is bolted in hull two
On the protrusion square end face of side, end face attachment base can pass through the quick linkage function payload module of bolt, central location, other connection moulds
Block or other unit ships.
The present invention has following obvious prominent substantive distinguishing features and significant technological progress compared with the existing technology:
1, unit ship light-weight design is, it can be achieved that quickly assembling and dismounting, uses convenient for unmanned boat transport with on-site assembly.
2, unit ship modularized design can form monomer ship, catamaran, trimaran, multi-hull craft according to task use demand
Etc. different combinations, further increase function load load capacity and overall course continuation mileage as needed
3, the design of unit ship quick assembling mechanism further increases unmanned boat function center, it can be achieved that multi-hull craft damping, subtract and the functions such as shake
The stability of payload platform.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is Modularized unmanned ship master control flow chart；
Fig. 2 is the assembling schematic diagram of Modularized unmanned ship difference collocation connection central platform；
Fig. 3 is monomer ship overall schematic；
Fig. 4 is the overall schematic of catamaran；
Fig. 5 is front end damping schematic diagram；
Fig. 6 is rear end quick-connect machanism schematic diagram；
Fig. 7 is trimaran overall schematic；
Fig. 8 is four body ship overall schematics；
Fig. 9 is multi-hull craft overall schematic；
Wherein, 1. hull, 2. front end connecting bracket, 3. hinged disk, 4. spring, 5. battery, 6. controller, 7. driver, 8. water
13. 14. load support plate of lower 9. rear end attachment base of propeller 10 main control box, 11. radar, 12. camera, 15. front end
16. rear end connecting bracket 17. of attachment base rotates 18. extension plate of turning platform.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment one:
With reference to Fig. 1 ~ Fig. 9, this unmanned combination ship includes that monomer carries mould group and unit ship, the more monomers carry mould groups and/
Or cooperative control system between unit ship, fast demountable and bindiny mechanism between more ships, wherein it is flat to be equipped with central load
Platform, so that monomer ship, catamaran, trimaran, four body the ships even quick assembly and disassembly of multi-hull craft are realized, to meet different appoint
The needs of business.
Embodiment two:
The monomer ship mainly carries mould group by two monomers and constitutes, and the addition that two monomers carry mould group can greatly increase monomer
The stability of ship, two of them monomer carry mould group and are connect by rear end connecting bracket with main unit ship hinge.
The catamaran is mainly made of two unit ships, and described two unit ships are connected by front end connecting bracket, rear end
It connects bracket and two unit ships is grouped together into catamaran, the front end connecting bracket, rear end by way of hinged disk
Connecting bracket supports central payload platform jointly.
The trimaran mainly adds a unit ship again behind catamaran, and subsequent unit ship passes through cylindrical hinge
Mode is connect with front catamaran, and subsequent unit ship can provide the turning function of trimaran with by rotation turning platform.
The four bodies ship is mainly constituted with two catamarans, connection before and after two catamarans, before two catamarans
End connecting bracket, rear end connecting bracket collectively form central payload platform.
The multi-hull craft is connected mainly by N number of unit ship permutation and combination by the front end connecting bracket of N number of unit ship, rear end
The connection of bracket is connect, a biggish payload platform can be built, biggish load can be born.
Fast quick-detach and bindiny mechanism mainly include that front end damping connection mechanism, rear end quickly connect machine between more ships
Structure, two sides quick-connect machanism；The front end damping connection mechanism is the front end for being fixed on hull, is bolted in hull
On；The rear end quick-connect machanism is the rear end for being fixed on hull, is bolted on hull；The two sides quickly connect
Connection mechanism is the two sides for being fixed on hull, is bolted on the protrusion square end face of hull two sides；All of above connection machine
Structure is on hull structure reinforcing rib.
The center payload platform is equipped with main control box and various instrument and equipments, and the main control box is the son to multi-hull craft
Controller distributes relevant control instruction；The various instrument and equipments mainly include perception communication apparatus: radar, wireless telecommunications are set
Standby, camera, laser radar, function monitoring equipment: multi parameter analysis instrument, nutrient salt analyzer, side-scan sonar, simple beam, more
Wave beam sonar.
The unit ship is equipped with battery module, propeller module, steering module, driver, sub-controller etc., the sub- control
Device processed is responsible for monitoring unit ship internal information --- battery capacity, temperature, motor status and rudder angle information.
The cooperative control system of more ships includes power assembly system, context aware systems, navigation obstacle avoidance system, power
Distribution system and mission payload system；The power assembly system is contained in each unit ship；The context aware systems are by ring
Border awareness apparatus provides data, extracts obstacle information by Cluster-Fusion algorithm；The navigation obstacle avoidance system merges sea chart number
According to, map datum, obstacle information data, referring to International Maritime navigate by water code requirement planning path information；The power distribution
The dynamic Information number for being distributed to each unit ship is calculated in the kinetic parameter of system passage path information and Modularized unmanned ship
According to, and the line load of each unit ship is dynamically adjusted according to the status feedback information of unit ship in time.
The front end damping connection mechanism includes front end attachment base, spring, hinged disk, and the front end attachment base passes through bolt
Be connected on hull, the spring be 3 Hookean springs, be fixed among front end attachment base and hinged disk, the hinged disk and
Front-end bracket is connected by a hinge.
The rear end quick-connect machanism is mainly rear end attachment base, and the rear end attachment base is bolted in hull
On, rear end attachment base can quickly connect rear end support by hinge.
The two sides quick-connect machanism is mainly end face connection.The end face attachment base is bolted in hull two
On the protrusion square end face of side, end face attachment base can pass through the quick linkage function payload module of bolt, central location, other connection moulds
Block or other unit ships.
Embodiment three:
The present embodiment mainly proposes that a kind of new departure, a kind of Modularized unmanned ship that can freely reconstruct obtain with regard to Modularized unmanned ship
On the basis of the serial unmanned boat such as monomer ship, catamaran, trimaran for applying designed by early period, a kind of Functions: An Analysis is proposed
It is clear, the convenient unmanned boat of working service.The whole boat of reconstruct unmanned boat is realized by different bindiny mechanisms and steering mechanism
Row.Eventually by the single load capacity of ship of calculating and the self weight of bindiny mechanism, vacant carrying platform and load weight out.
Rely on independent power supply and sub-controller, master controller by calculate associated fluid resistance with from redistribution, to
Sub-controller output order, and then whole navigation attitude and the speed of a ship or plane are controlled, it is as shown in Fig. 1 specific control framework.Total control box
It is communicated by CAN bus with unit ship, each unit ship has oneself battery module, propeller module, steering module, drive
Dynamic device.Driver, motor are controlled by processor ARM, finally realizes the control of the rudder angle, spiral of each single unit ship.
As shown in Fig. 4,7,8,9, central payload platform is mainly propped up by front end connecting bracket 2 and rear end connecting bracket 16 jointly
Prop up support plate 14,14 front end of support plate is flexibly connected by straight pin hinge with front end connecting bracket 2, rear end pass through bolt and
Rear end connecting bracket 16 is fixedly connected.This connection type can make support plate 14 have certain flexibility, more when carrying load
Stablize, it is final realize central payload platform subtract shake, the purpose of damping.
As shown in Figure 5, Figure 6, quick-connect machanism mainly by unit ship front end attachment base 15, rear end attachment base 9
It realizes connection task, 4 springs 4 is arranged between front end attachment base 15 and hinged disk 3, hinged disk 3 and front end connecting bracket 2 are logical
Cross cylinder pin connection, this arragement construction can realize subtract shake, the function of damping.There is rear end attachment base 9 at the rear portion of unit ship, after
Attachment base 9 and rear end connecting bracket 16 is held to pass through cylinder pin connection.Since the rear and front end of unit ship is connected by straight pin
It connects, it is possible to quickly finish assembling, the disassembly process of multi-hull craft.
Rely on bindiny mechanism fast-assembling design, central payload platform can quickly and easily with the ship unit of different number
Carry out Library management, while by the central payload platform of unique design, realization subtract shake, a series of optimization design such as damping,
As shown in Fig. 2.Wherein stain part is elastic connection, it can be achieved that a certain amount of bit shift compensation or torsion compensate, so that more bodies
Ship ride the sea in it is more stable.
The fast-assembling design of bindiny mechanism is relied on, monomer ship is poor compared to its stability of multi-hull craft, relies on quickly connection
Mechanism can carry the addition of mould group by monomer in two sides, further promote the stability of unmanned boat, as shown in Fig. 3.Its
In two monomers carry mould groups and connect by rear end connecting bracket 16 with 9 hinge of rear end attachment base on main unit ship.
The fast-assembling for relying on bindiny mechanism designs fast-assembling and disassembly, it can be achieved that multi-hull craft.Below mainly with catamaran
Detailed introduction about the construction is done in fast-assembling and disassembly, as shown in Fig. 3.Wherein catamaran include hull 1, front-end bracket 2, hinged disk 3,
Spring 4, battery 5, controller 6, driver 7, underwater propeller 8, rear end attachment base 9, main control box 10, radar 11, camera
12, wireless telecommunications system 13, load support plate 14, front end attachment base 15.Wherein hull 1 can be connected by quick-connect machanism
More ships；Radar 11, camera 12, wireless telecommunications system 13 are fixed by the bracket on load support plate 14；Main control 10 is direct
It is fixed on load support plate 14；Battery 5, driver 6 and driver 7 are directly anchored on hull 1, controller 6 and driver 7
For controlling underwater propeller 8, battery 5 is powered for 1 whole system of hull；Front end damping is mainly by hinged disk 3 and bullet
Spring 4 is constituted；Hinged disk 3 is connect with front-end bracket 2 by straight pin hinge；Spring 4 is fixed on hinged disk 3 and front end attachment base 15
Between；Rear end quick-connect machanism is connect by rear end attachment base 9 with 16 straight pin hinge of rear end connecting bracket；Wherein rear end connects
Seat 9 is fixed on hull 1.
As shown in Fig. 7, under trimaran carrying mode, traditional three-body can be optimized by the steering mechanism of unique design
Ship turns to the defects of not flexible, realizes the possibility of pivot stud, and then under the premise of further increasing load-carrying ability, realizes more
Use under small space.Trimaran mainly adds a monomer ship again behind above-mentioned catamaran, and the catamaran of front is in tail portion
An extension plate 18 is connected, the rear end connecting bracket 16 of this 18 one end of extension plate and catamaran is bolted, the other end
It is connect with rotation turning platform 17 by straight pin hinge.Due to having installed extension plate 18 additional, 14 area of load support plate can be bigger,
Be conducive to carry more load.Rotation turning platform 17 is installed on front end attachment base 15, and subsequent monomer ship can lead to
Overwinding turns turning platform 17 and provides the turning function of trimaran, and the connection type of other structures is identical as above-mentioned catamaran.
The fast-assembling design for relying on bindiny mechanism, can quickly be assembled into four body ships, multi-hull craft as shown in Figures 8 and 9.Wherein
Four body ships are mainly constituted with two catamarans, and connection, passes through the front end connecting bracket of two catamarans before and after two catamarans
15, rear end connecting bracket 16 collectively forms central payload platform.Wherein multi-hull craft passes through mainly by N number of unit ship permutation and combination
The connection of the front end connecting bracket 15, rear end connecting bracket 16 of N number of unit ship can build a biggish payload platform, can hold
By biggish load.The connection type of other structures is identical as catamaran.
Specific examples are applied in the present invention, and principle and implementation of the present invention are described, above embodiments
Illustrate to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, according to
According to thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (13)
1. unmanned combination ship, including monomer carry mould group and unit ship, it is characterised in that: the more monomers carry mould groups and/
Or cooperative control system between unit ship, fast demountable and bindiny mechanism between more ships, wherein it is flat to be equipped with central load
Platform, so that monomer ship, catamaran, trimaran, four body the ships even quick assembly and disassembly of multi-hull craft are realized, to meet different appoint
The needs of business.
2. unmanned combination ship according to claim 1, it is characterised in that: the monomer ship mainly carries mould by two monomers
Group is constituted, and the addition that two monomers carry mould group can greatly increase the stability of monomer ship, and it is logical that two of them monomer carries mould group
Later end connecting bracket is connect with main unit ship hinge.
3. unmanned combination ship according to claim 1, it is characterised in that: the catamaran is mainly by two unit ship groups
At described two unit ships are in such a way that front end connecting bracket, rear end connecting bracket are by hinged disk by two unit ship groups
It is combined to form catamaran, the front end connecting bracket, rear end connecting bracket support central payload platform jointly.
4. unmanned combination ship according to claim 1, it is characterised in that: the trimaran mainly behind catamaran again
Add a unit ship, subsequent unit ship is connect by way of cylindrical hinge with front catamaran, and subsequent unit ship
The turning function of trimaran can be provided with by rotation turning platform.
5. unmanned combination ship according to claim 1, it is characterised in that: the four bodies ship, mainly with two catamaran structures
At connection, collectively forms central load by the front end connecting bracket of two catamarans, rear end connecting bracket before and after two catamarans
Lotus platform.
6. unmanned combination ship according to claim 1, it is characterised in that: the multi-hull craft is mainly arranged by N number of unit ship
Combination, by the connection of the front end connecting bracket, rear end connecting bracket of N number of unit ship, can build a biggish payload platform,
It can bear biggish load.
7. unmanned combination ship according to claim 1, it is characterised in that: fast quick-detach and bindiny mechanism between more ships
It mainly include front end damping connection mechanism, rear end quick-connect machanism, two sides quick-connect machanism；The front end damping connects machine
Structure is the front end for being fixed on hull, is bolted on hull；The rear end quick-connect machanism is fixed on hull
Rear end is bolted on hull；The two sides quick-connect machanism is the two sides for being fixed on hull, is bolted
On the protrusion square end face of hull two sides；All of above bindiny mechanism is on hull structure reinforcing rib.
8. unmanned combination ship according to claim 1, it is characterised in that: the center payload platform be equipped with main control box and
Various instrument and equipments, the main control box are that relevant control instruction is distributed to the sub-controller of multi-hull craft；The various instruments are set
It is standby main including perception communication apparatus: radar, wireless telecommunications system, camera, laser radar, function monitoring equipment: multi-parameter
Analyzer, nutrient salt analyzer, side-scan sonar, simple beam, multi-beam sonar.
9. unmanned combination ship according to claim 1, it is characterised in that: the unit ship is equipped with battery module, propeller
Module, steering module, driver, sub-controller etc., the sub-controller are responsible for monitoring unit ship internal information --- battery electricity
Amount, temperature, motor status and rudder angle information.
10. unmanned combination ship according to claim 1, it is characterised in that: the cooperative control system of more ships includes dynamic
Power assembly system, context aware systems, navigation obstacle avoidance system, power distribution system and mission payload system；The power assembly
System is contained in each unit ship；The context aware systems provide data by environment sensing equipment, pass through Cluster-Fusion algorithm
Extract obstacle information；The navigation obstacle avoidance system merges chart data, map datum, obstacle information data, referring to international
Maritime affairs navigate by water code requirement planning path information；The power of the power distribution system passage path information and Modularized unmanned ship
Parameter is learned, the dynamic Information data for being distributed to each unit ship are calculated, and move in time according to the status feedback information of unit ship
The line load of state adjustment each unit ship.
11. unmanned combination ship according to claim 7, it is characterised in that: the front end damping connection mechanism includes front end
Attachment base, spring, hinged disk, the front end attachment base are bolted on hull, and the spring is 3 Hookean springs,
It is fixed among front end attachment base and hinged disk, the hinged disk is connected by a hinge with front-end bracket.
12. unmanned combination ship according to claim 7, it is characterised in that: after the rear end quick-connect machanism is mainly
Attachment base is held, the rear end attachment base is bolted on hull, and rear end attachment base can quickly connect rear end by hinge
Bracket.
13. unmanned combination ship according to claim 7, it is characterised in that: the two sides quick-connect machanism is mainly held
Face connection, the end face attachment base are bolted on the protrusion square end face of hull two sides, and end face attachment base can pass through spiral shell
The quick linkage function payload module of bolt, central location, other link blocks or other unit ships.
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|---|---|---|---|
| CN201810853014.6A CN109250031B (en) | 2018-07-30 | 2018-07-30 | Unmanned combined boat |
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|---|---|---|---|
| CN201810853014.6A CN109250031B (en) | 2018-07-30 | 2018-07-30 | Unmanned combined boat |
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| CN109250031A true CN109250031A (en) | 2019-01-22 |
| CN109250031B CN109250031B (en) | 2021-07-06 |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109927853A (en) * | 2019-03-22 | 2019-06-25 | 天津大学 | It is novel to be based on carbon fiber support structure removable multifunctional unmanned boat |
| CN110077536A (en) * | 2019-05-13 | 2019-08-02 | 泰州市柯普尼通讯设备有限公司 | Marine unmanned boat |
| CN110203321A (en) * | 2019-07-19 | 2019-09-06 | 赛奎鹰智能装备(威海)有限责任公司 | Combined-type shock-absorption ships and light boats |
| CN110386226A (en) * | 2019-08-05 | 2019-10-29 | 上海大学 | A kind of maritime meteorological observation ship and observation method |
| CN111874167A (en) * | 2020-07-06 | 2020-11-03 | 镇江元理创新科技有限公司 | Unmanned ship platform for remotely recovering and releasing equipment on water surface and underwater |
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| CN113955023A (en) * | 2020-07-20 | 2022-01-21 | 江苏雨能水利工程有限公司 | Hydrology is measured unmanned ship and is supported fixed knot structure with sample |
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| CN111874167A (en) * | 2020-07-06 | 2020-11-03 | 镇江元理创新科技有限公司 | Unmanned ship platform for remotely recovering and releasing equipment on water surface and underwater |
| CN113955023A (en) * | 2020-07-20 | 2022-01-21 | 江苏雨能水利工程有限公司 | Hydrology is measured unmanned ship and is supported fixed knot structure with sample |
| CN113955023B (en) * | 2020-07-20 | 2024-03-26 | 江苏雨能水利工程有限公司 | Sampling support fixing structure for hydrologic measurement unmanned ship |
| CN112733378A (en) * | 2021-01-18 | 2021-04-30 | 中国人民解放军91776部队 | Unmanned ship demand calculation and configuration method and device |
| CN112733378B (en) * | 2021-01-18 | 2022-03-08 | 中国人民解放军91776部队 | Unmanned ship demand calculation and configuration method and device |
| CN114802587A (en) * | 2021-01-27 | 2022-07-29 | 杜宇 | Active displacement compensation type hyperstable four-body ship |
| FR3123883A1 (en) * | 2021-06-15 | 2022-12-16 | Ixblue | Device and method for autonomously controlling a boat |
| WO2022263453A1 (en) * | 2021-06-15 | 2022-12-22 | Ixblue | Device and method for autonomously controlling a boat |
| WO2023051789A1 (en) * | 2021-10-01 | 2023-04-06 | 孙怡然 | Trimaran |
| CN114132443A (en) * | 2021-12-08 | 2022-03-04 | 无锡市鸿声船用玻璃钢有限公司 | Unmanned equipment transportation naval vessel and navigation use mode thereof |
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