CN109250031B - Unmanned combined boat - Google Patents
Unmanned combined boat Download PDFInfo
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- CN109250031B CN109250031B CN201810853014.6A CN201810853014A CN109250031B CN 109250031 B CN109250031 B CN 109250031B CN 201810853014 A CN201810853014 A CN 201810853014A CN 109250031 B CN109250031 B CN 109250031B
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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
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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
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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Abstract
The invention relates to an unmanned combination boat. The multi-boat cooperative control system comprises single carrying modules and unit boats, wherein a plurality of single carrying modules and/or unit boats are cooperatively controlled, a central load platform can be arranged between the multi-boat quick assembly and disassembly and the connecting mechanism, so that the single boat, the double-body boat, the triple-body boat, the four-body boat and even the multi-body boat can be quickly assembled and disassembled, and the requirements of different tasks are met. The overall navigation of the reconstructed unmanned ship is realized through different connecting mechanisms and steering mechanisms. And finally, the carrying platform and the load weight are set aside by calculating the load capacity of the single boat and the self weight of the connecting mechanism.
Description
Technical Field
The invention belongs to the technical field of mechanical and electronic integration, and particularly relates to a freely combinable modular unmanned boat.
Background
Marine environmental monitoring is an important means for preventing marine environmental disasters, sudden marine pollution events and assessing marine ecological balance, is an important measure for ensuring marine ecological civilization, and has become a national plan and strategy in countries of the world including europe, the united states, japan, australia, canada, and the like. Specific requirements are provided for monitoring the water environment of estuary sea areas and controlling land source pollution aiming at the protection and management of the marine environment under new conditions and the development and utilization conditions of marine resources; and a series of schemes and plans are released at the same time, so that the optimization and the capacity improvement of the marine ecological environment monitoring layout are greatly promoted.
China has coastlines as long as 18000 kilometers, island reef coastlines as long as 14217.8 kilometers and water areas as long as 27 ten thousand square kilometers, the water environment monitoring task is heavy, the cost is huge, so that the intelligent unmanned ship can be transported with the assistance of artificial intelligence and robot technology, and the intelligent unmanned ship can be widely applied to a series of fields of environment monitoring, sampling, surveying and mapping at present as a modularized water robot through the technologies of environment perception, trajectory planning, intelligent identification and the like.
In order to use green water in green mountains in the future, the requirement range of water quality monitoring is quite wide, and the requirement range comprises natural water (rivers, lakes, seas and underground water) which is not polluted and is polluted, various industrial drainage and the like. The main monitoring projects can be divided into two main categories: one is a comprehensive index reflecting the water quality conditions, such as temperature, chroma, turbidity, pH value, conductivity, suspended matters, dissolved oxygen, chemical oxygen demand, biochemical oxygen demand and the like; the other is some toxic substances, such as phenol, cyanogen, arsenic, lead, chromium, cadmium, mercury, organic pesticides and the like. In order to objectively evaluate the water quality of rivers and oceans, it is sometimes necessary to measure the flow velocity and flow rate in addition to the above-mentioned monitoring items.
Often, how to carry the instruments for different monitoring purposes is considered in the design place of the unmanned boat, some of the instruments only weigh several kilograms together, and the other part of the sampling analysis equipment has several hundred kilograms, so that the unmanned boat is various in types, and the use difference and the maintenance mode of the unmanned boat are not clear after the detection personnel take the unmanned boat back; on the other hand, unmanned ship design is restrained by various requirements, and the final result is often that power is insufficient, endurance is insufficient, or carrying capacity is limited.
Disclosure of Invention
The invention provides an unmanned combination boat aiming at the defects of the prior art, and mainly provides a new scheme for a modularized unmanned boat, the modularized unmanned boat can be freely reconstructed, and the unmanned boat has clear function analysis and convenient use and maintenance on the basis of serial unmanned boats such as single boats, double-body boats, triple-body boats and the like which are designed and applied in the early stage.
In order to achieve the purpose, the invention has the following conception:
all power devices and energy devices are controlled by the main controller and the slave controller to output respective power in a distributed manner by depending on a complete energy module, a driver, a sub controller, a propeller, a steering engine and other mechanical structures in the boat; the overall navigation of the reconstructed unmanned ship is realized through different connecting mechanisms and steering mechanisms. And finally, the carrying platform and the load weight are set aside by calculating the load capacity of the single boat and the self weight of the connecting mechanism.
Depending on an independent power supply and the sub-controllers, the main controller outputs commands to the sub-controllers by calculating the related fluid resistance and the self-weight distribution, so as to control the whole navigation attitude and the navigation speed.
The central load platform can be quickly and conveniently recombined with different numbers of boat units by means of quick assembly of the connecting mechanisms, the supporting plate is supported by the front end connecting support and the rear end connecting support together, and meanwhile a series of optimized designs such as stabilization and shock absorption are achieved through the uniquely designed central load platform.
According to the inventive concept, the invention adopts the following technical scheme:
the utility model provides an unmanned combination ship, includes monomer carries on module and unit ship, and is many monomer carries on module and/or unit ship between the cooperative control system, but quick assembly disassembly and coupling mechanism between this many boats, can be equipped with central load platform wherein to realize the fast assembly and the dismantlement of monomer ship, binary ship, three-body ship, four-body ship or even many boats, satisfy the needs of different tasks.
The monomer ship mainly comprises two monomer carrying modules, the stability of the monomer ship can be greatly increased by adding the two monomer carrying modules, and the two monomer carrying modules are connected with the main unit ship through the rear end connecting support and the main unit ship hinge.
The double-body boat mainly comprises two unit boats, the two unit boats are combined together in a hinged disc mode through a front end connecting support and a rear end connecting support to form the double-body boat, and the central load platform is supported by the front end connecting support and the rear end connecting support together.
The three-body boat is mainly characterized in that a unit boat is additionally arranged behind the double-body boat, the rear unit boat is connected with the front double-body boat in a cylindrical hinge mode, and the rear unit boat can provide the steering function of the three-body boat through a rotary steering platform.
The four-body boat mainly comprises two-body boats which are connected front and back, and a central load platform is formed by the front end connecting support and the rear end connecting support of the two-body boats.
The multi-hull boat is mainly composed of N unit boats in an arrangement mode, and a large load platform can be built through connection of the front end connecting support and the rear end connecting support of the N unit boats, so that a large load can be borne.
The quick disassembling and connecting mechanism among the boats mainly comprises a front-end damping connecting mechanism, a rear-end quick connecting mechanism and two-side quick connecting mechanisms; the front end damping connecting mechanism is fixed at the front end of the boat body and is connected to the boat body through a bolt; the rear-end quick connecting mechanism is fixed at the rear end of the boat body and is connected to the boat body through a bolt; the two-side quick connecting mechanisms are fixed on two sides of the boat body and connected to the end surfaces of the protruding blocks on the two sides of the boat body through bolts; all the connecting mechanisms are positioned on the boat body structure reinforcing rib.
The central load platform is provided with a main control box and various instruments and equipment, and the main control box is used for distributing related control instructions to sub-controllers of the multi-hull vessel; the various instruments and devices mainly comprise perception communication devices: radar, wireless communication equipment, camera, laser radar, function monitoring facilities: multi-parameter analyzer, nutrient salt analyzer, side-scan sonar, single-beam, multi-beam sonar.
The unit boat is provided with a battery module, a propeller module, a steering module, a driver, a sub-controller and the like, wherein the sub-controller is responsible for monitoring the internal information of the unit boat, namely the battery electric quantity, the temperature, the motor state and the rudder angle information.
The multi-boat cooperative control system comprises a power assembly system, an environment sensing system, a navigation obstacle avoidance system, a power distribution system and a task load system; the power assembly system is contained in each unit boat; the environment sensing system provides data by environment sensing equipment and extracts barrier information through a clustering fusion algorithm; the navigation obstacle avoidance system fuses chart data, map data and obstacle information data, and plans path information according to international maritime navigation specification requirements; the power distribution system calculates power information data distributed to each unit boat through path information and dynamic parameters of the modularized unmanned boat, and timely and dynamically adjusts the power load of each unit boat according to state feedback information of the unit boat.
The front end shock attenuation coupling mechanism includes front end connecting seat, spring, articulated dish, the front end connecting seat passes through bolted connection on the hull, the spring is 3 linear springs, fixes in the middle of front end connecting seat and articulated dish, articulated dish passes through hinged joint with the front end support.
The rear end quick connecting mechanism is mainly a rear end connecting seat, the rear end connecting seat is connected to the boat body through a bolt, and the rear end connecting seat can be quickly connected with the rear end support through a hinge.
The two-side quick connecting mechanism is mainly connected through an end face. The end face connecting seats are connected to the end faces of the protruding square blocks on the two sides of the boat body through bolts, and the end face connecting seats can be connected with the functional load modules, the central units, other connecting modules or other unit boats through bolts quickly.
Compared with the prior art, the invention has the following obvious substantive characteristics and remarkable technical progress:
1. the lightweight design of unit ship can realize fast assembly and dismouting, and the unmanned ship transportation of being convenient for is used with the on-the-spot equipment.
2. The modular design of the unit boat can form different combination forms of a single boat, a double boat, a triple boat, a multi-body boat and the like according to the task use requirements, and the functional load capacity and the total endurance mileage are further improved according to the requirements
3. The unit boat fast-assembling mechanism is designed, so that the functions of shock absorption, rolling reduction and the like of a multi-hull boat can be realized, and the stability of the functional central load platform of the unmanned boat is further improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a general control flow diagram of a modular unmanned boat;
FIG. 2 is an assembly schematic diagram of the modular unmanned vehicle with different mating connection central platforms;
FIG. 3 is a schematic view of a single boat;
FIG. 4 is an overall schematic view of a catamaran;
FIG. 5 is a schematic view of a front end dampening mechanism;
FIG. 6 is a schematic view of a rear quick connect mechanism;
FIG. 7 is a schematic view of a trimaran in its entirety;
FIG. 8 is a schematic view of a quad boat in its entirety;
FIG. 9 is a schematic view of the entire multi-hull boat;
the ship comprises a ship body 1, a ship body 2, a front end connecting support 3, a hinged disc 4, a spring 5, a battery 6, a controller 7, a driver 8, an underwater propeller 9, a rear end connecting seat 10, a main control box 11, a radar 12, a camera 13.14, a load supporting plate 15, a front end connecting seat 16, a rear end connecting support 17, a rotary steering table 18 and an extension plate.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The first embodiment is as follows:
referring to fig. 1 to 9, the unmanned combination boat comprises a single carrying module and a unit boat, a plurality of single carrying modules and/or unit boats are cooperatively controlled by a system, and a plurality of boats can be rapidly disassembled and connected by a connecting mechanism, wherein a central load platform can be arranged, so that rapid assembly and disassembly of the single boat, a twin boat, a triple boat, a quad boat and even the multi-boat are realized, and requirements of different tasks are met.
Example two:
the monomer ship mainly comprises two monomer carrying modules, the stability of the monomer ship can be greatly increased by adding the two monomer carrying modules, and the two monomer carrying modules are connected with the main unit ship through the rear end connecting support and the main unit ship hinge.
The double-body boat mainly comprises two unit boats, the two unit boats are combined together in a hinged disc mode through a front end connecting support and a rear end connecting support to form the double-body boat, and the central load platform is supported by the front end connecting support and the rear end connecting support together.
The three-body boat is mainly characterized in that a unit boat is additionally arranged behind the double-body boat, the rear unit boat is connected with the front double-body boat in a cylindrical hinge mode, and the rear unit boat can provide the steering function of the three-body boat through a rotary steering platform.
The four-body boat mainly comprises two-body boats which are connected front and back, and a central load platform is formed by the front end connecting support and the rear end connecting support of the two-body boats.
The multi-hull boat is mainly composed of N unit boats in an arrangement mode, and a large load platform can be built through connection of the front end connecting support and the rear end connecting support of the N unit boats, so that a large load can be borne.
The quick disassembling and connecting mechanism among the boats mainly comprises a front-end damping connecting mechanism, a rear-end quick connecting mechanism and two-side quick connecting mechanisms; the front end damping connecting mechanism is fixed at the front end of the boat body and is connected to the boat body through a bolt; the rear-end quick connecting mechanism is fixed at the rear end of the boat body and is connected to the boat body through a bolt; the two-side quick connecting mechanisms are fixed on two sides of the boat body and connected to the end surfaces of the protruding blocks on the two sides of the boat body through bolts; all the connecting mechanisms are positioned on the boat body structure reinforcing rib.
The central load platform is provided with a main control box and various instruments and equipment, and the main control box is used for distributing related control instructions to sub-controllers of the multi-hull vessel; the various instruments and devices mainly comprise perception communication devices: radar, wireless communication equipment, camera, laser radar, function monitoring facilities: multi-parameter analyzer, nutrient salt analyzer, side-scan sonar, single-beam, multi-beam sonar.
The unit boat is provided with a battery module, a propeller module, a steering module, a driver, a sub-controller and the like, wherein the sub-controller is responsible for monitoring the internal information of the unit boat, namely the battery electric quantity, the temperature, the motor state and the rudder angle information.
The multi-boat cooperative control system comprises a power assembly system, an environment sensing system, a navigation obstacle avoidance system, a power distribution system and a task load system; the power assembly system is contained in each unit boat; the environment sensing system provides data by environment sensing equipment and extracts barrier information through a clustering fusion algorithm; the navigation obstacle avoidance system fuses chart data, map data and obstacle information data, and plans path information according to international maritime navigation specification requirements; the power distribution system calculates power information data distributed to each unit boat through path information and dynamic parameters of the modularized unmanned boat, and timely and dynamically adjusts the power load of each unit boat according to state feedback information of the unit boat.
The front end shock attenuation coupling mechanism includes front end connecting seat, spring, articulated dish, the front end connecting seat passes through bolted connection on the hull, the spring is 3 linear springs, fixes in the middle of front end connecting seat and articulated dish, articulated dish passes through hinged joint with the front end support.
The rear end quick connecting mechanism is mainly a rear end connecting seat, the rear end connecting seat is connected to the boat body through a bolt, and the rear end connecting seat can be quickly connected with the rear end support through a hinge.
The two-side quick connecting mechanism is mainly connected through an end face. The end face connecting seats are connected to the end faces of the protruding square blocks on the two sides of the boat body through bolts, and the end face connecting seats can be connected with the functional load modules, the central units, other connecting modules or other unit boats through bolts quickly.
Example three:
the embodiment mainly provides a new scheme for the modularized unmanned ship, the modularized unmanned ship capable of being freely reconfigured benefits from the basis of serial unmanned ships such as single ships, twin ships, triple ships and the like designed and applied in the early stage, and the unmanned ship with definite function analysis and convenient use and maintenance is provided. The overall navigation of the reconstructed unmanned ship is realized through different connecting mechanisms and steering mechanisms. And finally, the carrying platform and the load weight are set aside by calculating the load capacity of the single boat and the self weight of the connecting mechanism.
Depending on an independent power supply and a sub-controller, the main controller outputs a command to the sub-controller by calculating the relevant fluid resistance and the dead weight distribution, so as to control the whole navigation attitude and the overall navigation speed, as shown in the attached figure 1, a specific control framework. The master control box is communicated with the unit boats through the CAN bus, and each unit boat is provided with a battery module, a propeller module, a steering module and a driver. The controller and the motor are controlled by the processor ARM, and finally the control of the rudder angle and the screw of each single-unit boat is realized.
As shown in fig. 4, 7, 8 and 9, the central load platform mainly supports the support plate 14 by the front end connecting bracket 2 and the rear end connecting bracket 16 together, the front end of the support plate 14 is movably connected with the front end connecting bracket 2 through a cylindrical pin hinge, and the rear end is fixedly connected with the rear end connecting bracket 16 through a bolt. The connection mode can ensure that the supporting plate 14 has certain flexibility, is more stable when carrying a load, and finally achieves the purposes of stabilizing and damping the central load platform.
As shown in fig. 5 and 6, the quick connection mechanism mainly realizes the connection task by the front end connection seat 15 and the rear end connection seat 9 on the unit boat, 4 springs 4 are arranged between the front end connection seat 15 and the hinge plate 3, the hinge plate 3 is connected with the front end connection bracket 2 through a cylindrical pin, and the arrangement structure can realize the functions of roll reduction and shock absorption. The rear end connecting seat 9 is arranged at the rear part of the unit boat, and the rear end connecting seat 9 is connected with the rear end connecting bracket 16 through a cylindrical pin. Because the front end and the rear end of the unit boat are connected through the cylindrical pins, the assembling and disassembling processes of the multi-body boat can be rapidly completed.
By means of the quick-assembly design of the connecting mechanism, the central load platform can be quickly and conveniently recombined with different numbers of boat units, and meanwhile, a series of optimized designs such as stabilization and shock absorption are achieved through the uniquely designed central load platform, as shown in the attached drawing 2. The black point part is in elastic connection, and a certain amount of displacement compensation or torsion compensation can be realized, so that the multi-hull ship is more stable in sea navigation.
By means of the quick-mounting design of the connecting mechanism, the stability of the single boat is poor compared with that of a multi-boat, and by means of the quick connecting mechanism, the stability of the unmanned boat can be further improved by adding the single carrying modules on two sides, as shown in the attached drawing 3. Two of the single carrying modules are hinged with the rear connecting seat 9 on the main unit boat through the rear connecting bracket 16.
The multi-hull boat is fast-assembled and disassembled by means of the fast-assembling design of the connecting mechanism. The following description will mainly be made in terms of the quick assembly and disassembly of the catamaran, as shown in fig. 3. The catamaran comprises a catamaran body 1, a front end support 2, a hinged disc 3, a spring 4, a battery 5, a controller 6, a driver 7, an underwater propeller 8, a rear end connecting seat 9, a main control box 10, a radar 11, a camera 12, wireless communication equipment 13, a load supporting plate 14 and a front end connecting seat 15. Wherein the ship body 1 can be connected with a plurality of boats through a quick connecting mechanism; the radar 11, the camera 12 and the wireless communication equipment 13 are fixed on the load support plate 14 through a bracket; the main control 10 is directly fixed to the load support plate 14; the battery 5, the driver 6 and the driver 7 are directly fixed on the boat body 1, the controller 6 and the driver 7 are used for controlling the underwater propeller 8, and the battery 5 is used for supplying power to the whole system of the boat body 1; the front end damping mechanism mainly comprises a hinged disc 3 and a spring 4; the hinged disc 3 is hinged with the front end bracket 2 through a cylindrical pin; the spring 4 is fixed between the hinged disc 3 and the front end connecting seat 15; the rear end quick connecting mechanism is hinged with a cylindrical pin of a rear end connecting bracket 16 through a rear end connecting seat 9; wherein the rear end connecting base 9 is fixed on the hull 1.
As shown in fig. 7, in the carrying mode of the trimaran, the defects of inflexibility and the like of the conventional trimaran can be optimized by the steering mechanism with a unique design, so that the possibility of pivot steering is realized, and further, the trimaran can be used in a smaller space on the premise of further improving the load capacity. The three-body boat is mainly characterized in that a single boat is additionally arranged behind the double-body boat, the tail of the double-body boat in front is connected with an extension plate 18, one end of the extension plate 18 is connected with a rear end connecting support 16 of the double-body boat through a bolt, and the other end of the extension plate is hinged with a rotary steering platform 17 through a cylindrical pin. Due to the extension plate 18, the area of the load support plate 14 can be larger, which is beneficial to bearing more load. A rotary steering platform 17 is installed on the front connecting seat 15, and the rear mono-hull boat can provide the steering function of the tri-hull boat by rotating the steering platform 17, and the other structures are connected in the same manner as the above-described bi-hull boat.
By means of the fast-assembly design of the connecting mechanism, the four-body boat and the multi-body boat can be quickly assembled as shown in the attached drawings 8 and 9. The four-body boat mainly comprises two double-body boats which are connected front and back, and a central load platform is formed by the front end connecting support 15 and the rear end connecting support 16 of the two double-body boats. The multi-hull boat is mainly composed of N unit boats, and a large load platform can be built through the connection of the front end connecting support 15 and the rear end connecting support 16 of the N unit boats, so that a large load can be borne. The connection mode of other structures is the same as that of the catamaran.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (12)
1. Unmanned combination ship carries on module and unit ship, its characterized in that including the monomer: the multi-hull boat is mainly composed of N unit boats which are arranged and combined, the front end connecting support and the rear end connecting support of the N unit boats are connected, a plurality of single carrying modules and the unit boats are cooperatively controlled, a larger load platform is built, and larger load can be borne, so that the requirements of different tasks are met; the integral navigation of the reconstructed unmanned ship is realized through different connecting mechanisms and steering mechanisms, and a carrying platform and the load weight are vacant by calculating the load capacity of a single ship and the self weight of the connecting mechanisms; the central load platform mainly supports a support plate by a front end connecting support and a rear end connecting support together, the front end of the support plate is movably connected with the front end connecting support through a cylindrical pin hinge, and the rear end of the support plate is fixedly connected with the rear end connecting support through a bolt; the quick connecting mechanism mainly realizes the connecting task by a front end connecting seat and a rear end connecting seat on the unit boat, 4 springs are arranged between the front end connecting seat and a hinged disc, and the hinged disc is connected with a front end connecting support through a cylindrical pin; and an independent power supply and a sub-controller are adopted, and the main controller outputs a command to the sub-controller by calculating the related fluid resistance and the self-weight distribution so as to control the integral navigation attitude and the navigation speed.
2. The unmanned combination craft of claim 1, wherein: the monomer ship mainly comprises two monomer carrying modules, the stability of the monomer ship can be greatly increased by adding the two monomer carrying modules, and the two monomer carrying modules are connected with the main unit ship through the rear end connecting support and the main unit ship hinge.
3. The unmanned combination craft of claim 1, wherein: when N is 2, the multi-hull boat forms a twin-hull boat which mainly comprises two unit boats, the two unit boats are combined together in a manner of hinging discs through a front end connecting support and a rear end connecting support to form the twin-hull boat, and the front end connecting support and the rear end connecting support jointly support a central load platform.
4. The unmanned combination craft of claim 1, wherein: when N is 3, the multi-hull boats form a tri-hull boat, the tri-hull boat is mainly formed by adding a unit boat behind the twin-hull boat, the rear unit boat is connected with the front twin-hull boat in a cylindrical hinge mode, and the rear unit boat can provide the steering function of the tri-hull boat through rotating the steering platform.
5. The unmanned combination craft of claim 1, wherein: and when N is 4, the multi-hull boats form a quad boat which mainly comprises two binary boats, the two binary boats are connected in front and back, and a central load platform is formed by the front end connecting support and the rear end connecting support of the two binary boats.
6. The unmanned combination craft of claim 1, wherein: the quick disassembling and connecting mechanisms among the unit boats mainly comprise front-end damping connecting mechanisms, rear-end quick connecting mechanisms and two-side quick connecting mechanisms; the front end damping connecting mechanism is fixed at the front end of the boat body and is connected to the boat body through a bolt; the rear-end quick connecting mechanism is fixed at the rear end of the boat body and is connected to the boat body through a bolt; the two-side quick connecting mechanisms are fixed on two sides of the boat body and connected to the end surfaces of the protruding blocks on the two sides of the boat body through bolts; all the connecting mechanisms are positioned on the boat body structure reinforcing rib.
7. The unmanned combination craft of claim 1, wherein: the central load platform is provided with a main control box and various instruments and equipment, and the main control box is used for distributing related control instructions to sub-controllers of the multi-hull vessel; the various instruments and devices mainly comprise radars, wireless communication equipment, cameras and function monitoring equipment, wherein the function monitoring equipment adopts a multi-parameter analyzer, a nutrient salt analyzer, a side-scan sonar, a single beam and a multi-beam sonar.
8. The unmanned combination craft of claim 1, wherein: the unit boat is provided with a battery module, a propeller module, a steering module, a driver and a sub-controller, wherein the sub-controller is responsible for monitoring the internal information of the unit boat, such as battery power, temperature, motor state and rudder angle information.
9. The unmanned combination craft of claim 1, wherein: the system for carrying out cooperative control between the single carrying modules and the unit boats comprises a power assembly system, an environment sensing system, a navigation obstacle avoidance system, a power distribution system and a task load system; the power assembly system is contained in each unit boat; the environment sensing system provides data by environment sensing equipment and extracts barrier information through a clustering fusion algorithm; the navigation obstacle avoidance system fuses chart data, map data and obstacle information data, and plans path information according to international maritime navigation specification requirements; the power distribution system calculates power information data distributed to each unit boat through path information and dynamic parameters of the modularized unmanned boat, and timely and dynamically adjusts the power load of each unit boat according to state feedback information of the unit boat.
10. The unmanned combination craft of claim 6, wherein: the front end shock attenuation coupling mechanism includes front end connecting seat, spring, articulated dish, the front end connecting seat passes through bolted connection on the hull, the spring is 3 linear springs, fixes in the middle of front end connecting seat and articulated dish, articulated dish passes through hinged joint with the front end support.
11. The unmanned combination craft of claim 6, wherein: the rear end quick connecting mechanism is mainly a rear end connecting seat, the rear end connecting seat is connected to the boat body through a bolt, and the rear end connecting seat can be quickly connected with the rear end support through a hinge.
12. The unmanned combination craft of claim 6, wherein: the quick connecting mechanisms on the two sides are mainly end face connecting seats, the end face connecting seats are connected to the end faces of the protruding square blocks on the two sides of the boat body through bolts, and the end face connecting seats can be connected with the functional load modules, the central units, other connecting modules or other unit boats through bolts quickly.
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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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| CN109250031B true CN109250031B (en) | 2021-07-06 |
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| 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 |
| CN110077536B (en) * | 2019-05-13 | 2023-04-14 | 泰州中益海洋装备有限公司 | Unmanned sea 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 |
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