CN109606578B - Small water plane improvement twin-hull unmanned ship for marine environment monitoring - Google Patents

Small water plane improvement twin-hull unmanned ship for marine environment monitoring Download PDF

Info

Publication number
CN109606578B
CN109606578B CN201811465070.9A CN201811465070A CN109606578B CN 109606578 B CN109606578 B CN 109606578B CN 201811465070 A CN201811465070 A CN 201811465070A CN 109606578 B CN109606578 B CN 109606578B
Authority
CN
China
Prior art keywords
monitoring
unmanned ship
sail
bridge
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201811465070.9A
Other languages
Chinese (zh)
Other versions
CN109606578A (en
Inventor
王井
高沙沙
余永强
杨松林
张雯轩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu University of Science and Technology
Original Assignee
Jiangsu University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jiangsu University of Science and Technology filed Critical Jiangsu University of Science and Technology
Priority to CN201811465070.9A priority Critical patent/CN109606578B/en
Publication of CN109606578A publication Critical patent/CN109606578A/en
Application granted granted Critical
Publication of CN109606578B publication Critical patent/CN109606578B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • 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 
    • 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
    • B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
    • B63B1/121—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising two hulls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
    • B63B43/10—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
    • B63B43/14—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using outboard floating members
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H9/00—Marine propulsion provided directly by wind power
    • B63H9/04—Marine propulsion provided directly by wind power using sails or like wind-catching surfaces
    • B63H9/06—Types of sail; Constructional features of sails; Arrangements thereof on vessels
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Physics & Mathematics (AREA)
  • Fluid Mechanics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Other Liquid Machine Or Engine Such As Wave Power Use (AREA)

Abstract

The invention discloses a small water plane improved twin-hull unmanned ship for marine environmental monitoring, the invention comprises a main boat body of an superstructure and a small waterplane area improved double-sheet body, a boat body monitoring and motion intelligent control system, a navigation planning and decision-making system and an environment monitoring system, wherein a small waterplane area catamaran is used as a carrier, and the ship type parameters of the small waterplane area catamaran are optimized and calculated through comprehensive optimization software to obtain the scheme with the best sailing performance aiming at the main function of oceanographic monitoring, so that the wave-making and interference resistance among the sheet bodies are effectively reduced, and the stable working environment can be provided for various monitoring devices by combining the advantages of small wave-making resistance, large deck area, good wave resistance, small sailing resistance and good stability of the small waterplane area catamaran, and the good navigation performance can meet the working requirement of the unmanned ship in offshore and open sea water areas.

Description

Small water plane improvement twin-hull unmanned ship for marine environment monitoring
Technical Field
The invention relates to a small waterplane area twin-hull unmanned ship for marine environment monitoring, and belongs to the technical field of ship engineering.
Background
In the context of the big data era, ship intellectualization has become a necessary trend in the development of the fields of ship manufacturing and shipping. The unmanned ship plays an increasingly important role in the military field due to excellent performance, aims at the problems existing in the marine environment monitoring and marine management of China at present, combines the characteristics of the unmanned ship, and explores and expects the application prospect of the unmanned ship in the aspects of marine environment monitoring and marine management.
Most of monitoring boats at home and abroad are mostly water surface type unmanned boats, wherein have a common shortcoming, just it is poor to be able to bear or endure ripples nature, what this work design is a little water surface boat, its advantage is better resistant ripples nature, has overcome monomer skimming boat and conventional trimaran type water surface unmanned boat static and float and during high-speed navigation motion stability poor and economic nature poor shortcoming, and its comprehensive properties is superior to monomer skimming boat and conventional trimaran type unmanned boat, especially shakes the motion behavior and obtains greatly improving. Simultaneously, the product is also provided with a hydrofoil device to improve the navigation performance.
Meanwhile, due to environmental protection, the call for energy conservation and emission reduction is higher and higher, development and utilization of various new energy sources and clean energy sources are more and more emphasized by various countries, conventional clean energy sources such as solar energy and wind energy are adopted by multiple countries and are in a constantly updated research and development state, and on the unmanned boat, the solar energy is converted into electric energy by using the solar cell panel, and the storage battery is charged by using the controller. In the aspect of wind energy utilization, wind propulsion and wind power generation are mainly carried out in two main directions at present, and the wind propulsion is adopted to become a better mode for utilizing clean energy such as wind energy in consideration of higher difficulty in practical application of wind power generation.
Disclosure of Invention
The purpose of the invention is as follows: in order to ensure that the unmanned ship can accurately, timely and effectively complete the task of oceanographic monitoring and obtain relevant oceanographic data, the project loads a series of monitoring modules on the unmanned ship, realizes the meteorological monitoring task under various modes through an intelligent navigation system, increases the endurance time and saves energy through the design of a creative solar sail.
The technical scheme is as follows: in order to achieve the above object, the present invention provides a small waterplane area improved twin-hull unmanned ship for marine environment monitoring, comprising: the intelligent control system for the monitoring and motion of the hull of the upper-layer building, the intelligent control system for the monitoring and motion of the hull of the main boat, the navigation planning and decision-making system and the environment monitoring system are all arranged on the main boat body, and the intelligent control system for the monitoring and motion of the hull of the main boat is characterized in that the main boat body comprises an upper box-shaped connecting bridge, two long and thin sheet bodies which are symmetrically arranged left and right and fixedly connected to the lower part of the upper box-shaped connecting bridge, and a main floating body fixedly connected to the lower parts of the two long and thin sheet bodies; wherein, the cross section of the upper box-type connecting bridge is rectangular, and the length-width ratio of the box-type connecting bridge is 1.2-4: 1, the length of the upper box-type connecting bridge is LBridge with a bridge bodyPosterior height of midship HBridge with a bridge bodyAnd width BBridge with a bridge bodyConstant height H from midship to foremostBridge with a bridge bodyGradually decreases to 3/5-4/5HBridge with a bridge bodyMaximum value and width BBridge with a bridge bodyGradually decreases to 4/7-8/9BBridge with a bridge bodyA maximum value;
the length-width ratio of the two slender sheets is 16-26: 1. the geometrical shapes and the sizes of the wing profiles are completely the same, the waterline surface shape below the waterline surface is approximately symmetrical wing profiles and does not change along with the draught, the waterline surface shape above the waterline surface at the head of 1/3-the tail end is the same as the waterline below the waterline, the waterline surface shape above the waterline surface at the head of 1/3 at the head of the midship is symmetrical wing profiles, and the length-width ratio of the wing profiles is 1.5 from the connecting bridge: 1 is gradually raised to 6 at the water line level: 1; the two main floating bodies have the same geometric shape and size, the left and the right of the cross section of each main floating body are respectively a half ellipse or a half circle, and the length-width ratio of the two main floating bodies is 9-15: 1. the length-height ratio is 8.8-16: 1; length L of the main floatMain floating body11-55 m, LBridge with a bridge bodyAnd LMain floating bodyThe ratio of (A) to (B) is 0.96-1.12: 1, the ratio of the distance between the main floating body and the two slender sheets is 1.66-8.88: 1.
further, as preferred, the superstructure includes anemoscope, anemoscope and solar energy sail, and the outside wind direction wind-force data that obtains through anemoscope and anemoscope, the solar energy sail is by motion intelligent control system control angle, the sail of solar energy sail provides auxiliary power for auxiliary advancing device when navigating for unmanned ship, solar energy sail can also be with collecting the solar energy conversion electric energy storage in order to improve unmanned ship's duration.
Further, preferably, the environment monitoring system comprises a camera, a water source extraction device, a PM2.5 monitoring device, a thermometer and a PH value sensor, wherein the camera realizes real-time monitoring around the unmanned ship and realizes a collision prevention function;
the PM2.5 monitoring device, the thermometer and the PH value sensor are used for carrying out environmental monitoring on the environment and transmitting data in real time;
the water source extraction device extracts and stores water at different positions through positioning, and performs later-stage water quality detection.
Further, preferably, the intelligent control system for monitoring and moving the ship hull comprises a temperature monitor, an emergency refrigeration device, a power supply voltage monitoring device and a motor rotating speed monitoring device, wherein the temperature monitor is responsible for monitoring the temperature of the motor; the emergency refrigerating device is arranged outside the motor, and is used for cooling the motor in an emergency manner when the temperature of the motor is overheated;
the power supply voltage monitoring device is responsible for monitoring the power supply voltage of the unmanned ship, the power supply voltage is prevented from being too low, and when the power supply voltage is monitored to be too low and lower than a set value, a standby power supply is adopted emergently;
the motor rotating speed monitoring is assisted to monitor the rotating speed of the motor, and when the rotating speed of the motor is too low or too high, the motion intelligent control system controls the output power of the power supply and adjusts the rotating speed.
Further, preferably, the navigation planning and decision-making system can synthesize the self condition of the unmanned ship, collected information of wind direction and wind speed of the sea area where the unmanned ship is located, global climate and ocean current changes received from a shore base, perform calculation and analysis, plan the safety, high-efficiency running speed and running route of the unmanned ship, and control the running state and the speed route of the unmanned ship in real time through the motion intelligent control system.
Further, preferably, the solar sail comprises a solar sail support rod, a small sail, a solar photovoltaic panel, a bottom rotating motor, an upper rotating motor, a lower rotating motor, a speed reducing motor, an upper auxiliary carbon rod cross rod, a lower auxiliary carbon rod cross rod and a rope, wherein the small sail is fixed on the sail support rod and is made of a carbon rod material, the solar photovoltaic panel is horizontally and orderly arranged on the small sail, the bottom end of the solar sail support rod is vertically connected to the boat body through the bottom rotating motor, the lower auxiliary carbon rod cross rod is hinged to the solar sail support rod through a degree of freedom, and the hinged position is driven to rotate through the lower rotating motor so as to adjust the angle of the lower auxiliary carbon rod cross rod; the upper side carbon rod long rod is hinged with the solar sail supporting rod through the degree of freedom, and the hinged part is driven to rotate by an upper rotating motor so as to adjust the angle of the upper auxiliary carbon rod cross rod; the speed reducing motor is fixedly connected with the outer end of the upper carbon rod long rod through a cotton rope, when the sail works, the upper rotating motor and the lower rotating motor rotate simultaneously, and the upper carbon rod long rod and the lower carbon rod long rod are put down; the speed reduction motor rotates to put down the rope, and the rope provides an auxiliary fixing effect for the small sail; the bottom rotating electrical machines rotate the sail to a proper angle so as to adapt to the angle of the sun according to the system requirements, and under the working state of the sail, the solar photovoltaic panels arranged on one side of the sail stabilize the collected solar energy through the voltage stabilizer and store the solar energy in the storage battery, so that the endurance time of the unmanned boat is prolonged.
Preferably, the electric transmission device is arranged in each of the left elongated sheet body and the right elongated sheet body, the controller and the motor driver are arranged on the ship body, the controller is connected with the motor driver, the motor driver is connected with the electric transmission device, and the electric transmission device comprises a motor, a universal coupling, a transmission shaft and a propeller which are connected in sequence.
Preferably, the navigation planning and decision system further comprises a GPS, a nine-axis sensor and a gyroscope, wherein the GPS positioned on the hull of the unmanned ship determines the position coordinate of the unmanned ship and the position coordinate of the target point, and the nine-axis sensor obtains the deviation direction angle and is combined with a control program in the single chip microcomputer to realize the autonomous cruise and various monitoring modes of the unmanned ship.
Further, as the optimization, still include the photosensitive element, photosensitive element is connected with control system to the sunlight that detects through photosensitive element controls bottom rotating electrical machines drive angle, improves the efficiency that the sail utilized solar energy and wind energy
In addition, the invention provides a method for calculating the scale ratio and the geometric shape of each part of the improved twin-hull unmanned ship on the basis of comprehensive performance optimization, which is characterized by comprising the following steps of:
(1) selecting design variables
A total of 18 design variables were selected, including: length L, width B, draft T, length L of submerged bodyhDiameter of submerged body D1Length of strut LSMaximum width t of strutsLongitudinal position L of floating corecpSquare coefficient of CbLength of water line LwCoefficient of water surface CwDistance C between the pieces of catamaran0Height of center of gravity ZgDiameter D of propellerPDisc surface ratio AeoPitch ratio PDPPropeller speed N, design speed VS；
(2) Building optimized mathematical model
Constructing a comprehensive performance total objective function of the unmanned surface vehicle according to the form of power exponent product:
F(x)＝f1(x)α1*f2(x)α2*f3(x)α3*f4(x)α4*f5(x)α5
in the formula: f. of1(x)、f2(x)、f3(x)、f4(x)、f5(x) α 1, α 2, α 3, α 4 and α 5 are weights of four systems respectively, α 1, α 2, α 3, α 4, α 5 and 1, and specific expressions of each sub-target function are as follows:
f1(x) The unmanned ship resistance and the efficiency of the propulsion device are respectively used as target functions for a rapidity target function, the expression is,
Figure BDA0001889570540000041
f2(x) For the purpose of a steering target function, three sense amplitudes are used as the target function, and the expression is,
f2(x)＝2.00σζ
f3(x) is a target function of the stability and the stability, and is expressed as follows,
f3(x)＝GMT β1·GML β2
beta 1 and beta 2 are weights of target functions of stability and longitudinal stability, and satisfy that beta 1. beta 2 is 1;
f4(x) For green energy utilization and system reliability, C1(x) The expression is as follows,
f4(x)＝C1(x)
f6(x) As an overall layout characteristic and environmental monitoring function objective function, D1(x) As an overall arrangement characteristic index, D2(x) The expression of the index of the environmental monitoring function characteristic is as follows,
f5(x)＝D1 β1·D2 β2
(3) constraint conditions
The constraint conditions include: hydrostatic buoyancy constraint, thrust resistance balance constraint, torque balance constraint, initial stability high constraint, rolling constraint, pitching constraint, and requirement of the propeller to meet cavitation constraint and green energy system constraint;
an optimization objective function is established by combining the hull form performance of the boat and a green energy system, and the final expression form of the optimization objective function is an optimization fitness value; and combining an intelligent optimization method genetic algorithm and a parallel strategy, and realizing comprehensive optimization calculation of the algorithm and the strategy by the optimized fitness value and the optimized method interface to finally obtain the scale and the geometric shape of each part.
Has the advantages that:
the small waterplane area catamaran is used as a carrier, and the ship type parameters of the small waterplane area catamaran are optimized and calculated through comprehensive optimization software to obtain the scheme with the best navigation performance aiming at the main function of oceanographic monitoring, so that the wave making and interference resistance among the sheets is effectively reduced, and the stable working environment can be provided for various monitoring devices by combining the advantages of small wave making resistance, large deck area, good wave resistance, small navigation resistance and good stability of the small waterplane area catamaran, and the better navigation performance can meet the working requirements of the unmanned ship in offshore and open-sea water areas. In recent years, the shipping industry has been increasing the technical investment in smart ships due to the demands of increased operating costs, complicated ship operations, and increasingly strict environmental regulations. The intelligent ship system realizes intelligent sensing, judgment analysis, decision and control of the ship, thereby better ensuring the navigation safety and efficiency of the ship.
Drawings
FIG. 1 is a schematic top view of a portion of a hull of the present invention;
FIG. 2 is a side view of the entire boat of the present invention;
FIG. 3 is a schematic view of a solar sail of the present invention;
FIG. 4 is an elevation view of the entire boat of the present invention;
fig. 5 is a cross-sectional view of the midship 1/3 of the present invention;
FIG. 6 is a lower cross-sectional view of the connecting bridge of the present invention;
FIG. 7 is a design waterline cross-sectional view of the present invention;
description of reference numerals:
1 main hull, 2 floating bodies, 3 sheet bodies, 4 propellers, 5 steering engines, 6 solar sail support rods, 7 solar sails
8 anemoscope 9 anemoscope 10 temperature detection device 11GPS 12 nine-axis sensor and singlechip
701 little sail body 702 solar photovoltaic board 703 bottom motor 704 on rotating electrical machines 705 down rotating electrical machines 706 gear-down motor 707 on supplementary carbon rod stock 708 down supplementary carbon rod stock 709 cotton rope
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1-7, a small waterplane improved twin-hull unmanned ship for marine environmental monitoring comprises: the invention relates to a small waterplane improved twin-hull unmanned ship for marine environment monitoring, which comprises: the intelligent control system for the monitoring and motion of the hull of the upper-layer building, the intelligent control system for the monitoring and motion of the hull of the main boat, the navigation planning and decision-making system and the environment monitoring system are all arranged on the main boat body, and the intelligent control system for the monitoring and motion of the hull of the main boat is characterized in that the main boat body comprises an upper box-shaped connecting bridge, two long and thin sheet bodies which are symmetrically arranged left and right and fixedly connected to the lower part of the upper box-shaped connecting bridge, and a main floating body fixedly connected to the lower parts of the two long and thin sheet bodies; wherein, the cross section of the upper box-type connecting bridge is rectangular.
The invention relates to a small waterplane area improved double-body unmanned ship, which is characterized in that the ratio of each scale and the geometric shape of each part are optimized and calculated by adopting the following method, and the method comprises the following steps:
(1) selecting design variables
A total of 18 design variables were selected, including: length L, width B, draft T, length L of submerged bodyhDiameter of submerged body D1Length of strut LSMaximum width t of strutsLongitudinal position L of floating corecpSquare coefficient of CbLength of water line LwCoefficient of water surface CwDistance C between the pieces of catamaran0Height of center of gravity ZgDiameter D of propellerPDisc surface ratio AeoPitch ratio PDPPropeller speed N, design speed VS；
(2) Building optimized mathematical model
Constructing a comprehensive performance total objective function of the unmanned surface vehicle according to the form of power exponent product:
F(x)＝f1(x)α1*f2(x)α2*f3(x)α3*f4(x)α4*f5(x)α5
in the formula: f. of1(x)、f2(x)、f3(x)、f4(x)、f5(x) α 1, α 2, α 3, α 4 and α 5 are weights of four systems respectively, α 1, α 2, α 3, α 4, α 5 and 1, and specific expressions of each sub-target function are as follows:
f1(x) The unmanned ship resistance and the efficiency of the propulsion device are respectively used as target functions for a rapidity target function, the expression is,
Figure BDA0001889570540000061
f2(x) For the purpose of a steering target function, three sense amplitudes are used as the target function, and the expression is,
f2(x)＝2.00σζ
f3(x) For the stability and the stability objective function, the expression is as follows,
f3(x)＝GMT β1·GML β2
beta 1 and beta 2 are weights of target functions of stability and longitudinal stability, and satisfy that beta 1. beta 2 is 1;
f4(x) For green energy utilization and system reliability, C1(x) The expression is as follows,
f4(x)＝C1(x)
f6(x) As an overall layout characteristic and environmental monitoring function objective function, D1(x) As an overall arrangement characteristic index, D2(x) The expression of the index of the environmental monitoring function characteristic is as follows,
f5(x)＝D1 β1·D2 β2
(3) constraint conditions
The constraint conditions include: hydrostatic buoyancy constraint, thrust resistance balance constraint, torque balance constraint, initial stability high constraint, rolling constraint, pitching constraint, and requirement of the propeller to meet cavitation constraint and green energy system constraint;
an optimization objective function is established by combining the hull form performance of the boat and a green energy system, and the final expression form of the optimization objective function is an optimization fitness value; and combining an intelligent optimization method genetic algorithm and a parallel strategy, and realizing comprehensive optimization calculation of the algorithm and the strategy by the optimized fitness value and the optimized method interface to finally obtain the scale and the geometric shape of each part.
The geometric shapes and the sizes of all parts obtained by the optimized calculation by the method are as follows: the length-width ratio of the box-shaped connecting bridge is 1.2-4: 1, the length of the upper box-type connecting bridge is LBridge with a bridge bodyPosterior height of midship HBridge with a bridge bodyAnd width BBridge with a bridge bodyConstant height H from midship to foremostBridge with a bridge bodyGradually decreases to 3/5-4/5HBridge with a bridge bodyMaximum value and width BBridge with a bridge bodyGradually decreases to 4/7-8/9BBridge with a bridge bodyA maximum value; the length-width ratio of the two slender sheets is 16-26: 1. the geometrical shapes and the sizes of the wing profiles are completely the same, the waterline surface shape below the waterline surface is approximately symmetrical wing profiles and does not change along with the draught, the waterline surface shape above the waterline surface at the head of 1/3-the tail end is the same as the waterline below the waterline, the waterline surface shape above the waterline surface at the head of 1/3 at the head of the midship is symmetrical wing profiles, and the length-width ratio of the wing profiles is 1.5 from the connecting bridge: 1 is gradually raised to 6 at the water line level: 1; the two main floating bodies have the same geometric shape and size, the left and the right of the cross section of each main floating body are respectively a half ellipse or a half circle, and the length-width ratio of the two main floating bodies is 9-15: 1. the length-height ratio is 8.8-16: 1; length L of the main floatMain floating body11-55 m, LBridge with a bridge bodyAnd LMain floating bodyThe ratio of (A) to (B) is 0.96-1.12: 1, the ratio of the distance between the main floating body and the two slender sheets is 1.66-8.88: 1.
in this embodiment, the superstructure includes anemoscope 8, anemoscope 9 and solar sail 7, and external wind direction wind data obtained through anemoscope 8 and anemoscope 9, solar sail 7 is controlled by the motion intelligent control system, and the sail of solar sail 7 provides auxiliary power for the auxiliary propulsion device when navigating for the unmanned ship, and solar sail 7 can also convert the collected solar energy into electric energy to be stored so as to improve the cruising ability of the unmanned ship.
As a preferred embodiment, the environment monitoring system comprises a camera, a water source extraction device, a PM2.5 monitoring device, a thermometer and a PH sensor, wherein the camera realizes real-time monitoring around the unmanned ship and realizes a collision avoidance function; the PM2.5 monitoring device, the thermometer and the PH value sensor are used for carrying out environmental monitoring on the environment and transmitting data in real time; the water source extraction device extracts and stores water at different positions through positioning, and performs later-stage water quality detection.
As a preferred embodiment, the intelligent control system for monitoring and moving the boat body comprises a temperature monitor, an emergency refrigeration device, a power supply voltage monitoring device and a motor rotating speed monitoring device, wherein the temperature monitor is responsible for monitoring the temperature of the motor; the emergency refrigerating device is arranged outside the motor, and is used for cooling the motor in an emergency manner when the temperature of the motor is overheated; the power supply voltage monitoring device is responsible for monitoring the power supply voltage of the unmanned ship, the power supply voltage is prevented from being too low, and when the power supply voltage is monitored to be too low and lower than a set value, a standby power supply is adopted emergently; the motor rotating speed monitoring is assisted to monitor the rotating speed of the motor, and when the rotating speed of the motor is too low or too high, the motion intelligent control system controls the output power of the power supply and adjusts the rotating speed.
As a better embodiment, the navigation planning and decision-making system can synthesize the self condition of the unmanned ship, collected information of wind direction and wind speed of the sea area where the unmanned ship is located, and global climate and ocean current changes received from a shore base, perform calculation and analysis, plan the safety, high-efficiency running speed and running route of the unmanned ship, and control the running state and the speed route of the unmanned ship in real time through the motion intelligent control system.
In this embodiment, the solar sail 7 includes a solar sail support rod 6, a small sail 701, a solar photovoltaic panel 702, a bottom rotating motor 703, an upper rotating motor 704, a lower rotating motor 705, a decelerating motor 706, an upper auxiliary carbon rod cross bar 707, a lower auxiliary carbon rod cross bar 708, and a string 709, wherein the small sail 701 is fixed on the sail support rod 6, the sail support rod 6 is made of a carbon rod material, the solar photovoltaic panel 702 is horizontally and neatly arranged on the small sail 701, the bottom end of the solar sail support rod 6 is vertically connected to the hull by the bottom rotating motor 703, the lower auxiliary carbon rod cross bar 708 is hinged to the solar sail support rod 6 by a 90-degree-of-freedom hinge, and the hinged position is driven to rotate by the lower rotating motor 705 so as to adjust the angle of the lower auxiliary carbon rod cross bar 708; the upper carbon rod long rod 707 is hinged with the solar sail support rod 6 by using a degree-of-freedom 90 degree, and the hinged part is driven to rotate by adopting an upper rotating motor 704 so as to adjust the angle of the upper auxiliary carbon rod cross rod 707; the speed reducing motor 706 is fixedly connected with the outer end of the upper carbon rod long rod 707 through a wire rope 709, when the sail needs to work, the upper rotating motor 704 and the lower rotating motor 705 rotate simultaneously, and the upper carbon rod long rod 707 and the lower carbon rod long rod 708 are put down; the speed reducing motor 706 rotates to release a wire rope 709, and the wire rope 709 provides an auxiliary fixing effect for the small sail; the bottom rotating electrical machines 703 rotates the sail to suitable angle so that the angle of adaptation sun according to the system needs, and under the sail operating condition, arrange the solar photovoltaic board 702 of sail one side with the solar energy of collecting and pass through the stabiliser steady voltage, store in the battery, increase unmanned ship's time of endurance.
The solar sail 7 comprises a photosensitive element which is connected with a control system so as to control the driving angle of the bottom rotating motor through sunlight detected by the photosensitive element, and the efficiency of the sail in utilizing solar energy and wind energy is improved.
Wherein, the slender lamellar body 3 on left side and the slender lamellar body 3 on right side all are equipped with electric transmission in, are equipped with controller and motor drive on the hull, and the controller is connected with motor drive, and motor drive is connected with electric transmission, electric transmission includes motor, universal coupling, transmission shaft and the screw propeller 4 that connects gradually.
As a preferred embodiment, the navigation planning and decision-making system further comprises a GPS11, a nine-axis sensor 12 and a gyroscope, wherein the GPS11 located on the hull of the unmanned boat determines the position coordinates of the unmanned boat and the position coordinates of the target point, the nine-axis sensor 12 obtains the deviation direction angle, and the deviation direction angle is combined with a control program in the single chip microcomputer to realize the autonomous cruising and various monitoring modes of the unmanned boat.
The small waterplane area catamaran is used as a carrier, and the ship type parameters of the small waterplane area catamaran are optimized and calculated through comprehensive optimization software to obtain the scheme with the best navigation performance aiming at the main function of oceanographic monitoring, so that the wave making and interference resistance among the sheets is effectively reduced, and the stable working environment can be provided for various monitoring devices by combining the advantages of small wave making resistance, large deck area, good wave resistance, small navigation resistance and good stability of the small waterplane area catamaran, and the better navigation performance can meet the working requirements of the unmanned ship in offshore and open-sea water areas. In recent years, the shipping industry has been increasing the technical investment in smart ships due to the demands of increased operating costs, complicated ship operations, and increasingly strict environmental regulations. The intelligent ship system realizes intelligent sensing, judgment analysis, decision and control of the ship, thereby better ensuring the navigation safety and efficiency of the ship.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (9)

1. A marine environment monitoring green energy small waterplane area improved twin-hull unmanned ship comprises: the intelligent control system for the ship body monitoring and motion, the navigation planning and decision system and the environment monitoring system are all arranged on the main ship body (1),
the main boat body (1) comprises an upper box-shaped connecting bridge, two slender sheet bodies (3) which are arranged in a bilateral symmetry mode and fixedly connected to the lower portion of the upper box-shaped connecting bridge, and a main floating body (2) fixedly connected to the lower portions of the two slender sheet bodies (3); wherein the content of the first and second substances,
the cross section of the upper box-type connecting bridge is rectangular, and the length-width ratio of the box-type connecting bridge is 1.2-4: 1, the length of the upper box-type connecting bridge is LBridge with a bridge bodyPosterior height of midship HBridge with a bridge bodyAnd width BBridge with a bridge bodyConstant height H from midship to foremostBridge with a bridge bodyGradually decreases to 3/5-4/5HBridge with a bridge bodyMaximum value and width BBridge with a bridge bodyGradually decreases to 4/7-8/9BBridge with a bridge bodyA maximum value;
the length-width ratio of the two slender sheets (3) is 16-26: 1. the geometrical shapes and the sizes of the wing profiles are completely the same, the waterline surface shapes below the waterline surface are approximate symmetrical wing profiles and do not change along with the draught, the waterline surface shapes of the tail end of 1/3 in front of the midship above the waterline surface are the same as the waterline surface below the waterline, the waterline surface shapes of the bow end of 1/3 in front of the midship above the waterline surface are symmetrical wing profiles and the length-width ratio of the wing profiles is 1.5 from the connecting bridge: 1 is gradually raised to 6 at the water line level: 1;
the two main floating bodies have the same geometric shape and size, the left and the right of the cross section of each main floating body are respectively a half ellipse or a half circle, and the length-width ratio of the two main floating bodies is 9-15: 1. the length-height ratio is 8.8-16: 1;
the length L of the main floating body (2)Main floating body11-55 m, LBridge with a bridge bodyAnd LMain floating bodyThe ratio of (A) to (B) is 0.96-1.12: 1, the ratio of the distance between the main floating body and the two slender sheets is 1.66-8.88: 1.
2. the small-waterplane-improved twin-hull unmanned ship for marine environment monitoring as claimed in claim 1, wherein the superstructure comprises an anemoscope (8), a wind direction indicator (9) and a solar sail (7), external wind direction and wind force data obtained through the anemoscope (8) and the wind direction indicator (9) are obtained, the angle of the solar sail (7) is controlled by a motion intelligent control system, the sail of the solar sail (7) provides auxiliary power for an auxiliary propulsion device when the unmanned ship sails, and the solar sail (7) can convert collected solar energy into electric energy to be stored so as to improve the cruising ability of the unmanned ship.
3. The small waterline area improved twin-hull unmanned ship for marine environmental monitoring as claimed in claim 1, wherein said environmental monitoring system comprises a camera, a water source extraction device, a PM2.5 monitoring device, a thermometer, a PH sensor, wherein said camera realizes real-time monitoring around unmanned ship and collision avoidance function;
the PM2.5 monitoring device, the thermometer and the PH value sensor are used for carrying out environmental monitoring on the environment and transmitting data in real time;
the water source extraction device extracts and stores water at different positions through positioning, and performs later-stage water quality detection.
4. The marine environment monitoring green energy small waterplane area improved twin-hull unmanned ship according to claim 1, wherein the intelligent ship hull monitoring and motion control system comprises a temperature monitor, an emergency refrigeration device, a power supply voltage monitoring device and a motor rotation speed monitoring device, wherein the temperature monitor is responsible for monitoring the temperature of the motor; the emergency refrigerating device is arranged outside the motor, and is used for cooling the motor in an emergency manner when the temperature of the motor is overheated;
the power supply voltage monitoring device is responsible for monitoring the power supply voltage of the unmanned ship, the power supply voltage is prevented from being too low, and when the power supply voltage is monitored to be too low and lower than a set value, a standby power supply is adopted emergently;
the motor rotating speed monitoring is assisted to monitor the rotating speed of the motor, and when the rotating speed of the motor is too low or too high, the motion intelligent control system controls the output power of the power supply and adjusts the rotating speed.
5. The marine environment monitoring green energy small waterplane area improved catamaran unmanned ship of claim 1, wherein the navigation planning and decision making system is capable of integrating the self condition of the unmanned ship, collected information of wind direction and wind speed of the sea area condition where the unmanned ship is located, and global climate and ocean current change received from a shore base, performing calculation and analysis, planning the safety and efficient operation speed and operation route of the unmanned ship, and controlling the operation state and navigation speed route of the unmanned ship in real time through the motion intelligent control system.
6. The marine environment monitoring green energy small waterplane area improved twin unmanned ship as claimed in claim 2, wherein the solar sail (7) comprises a solar sail support rod (6), a small sail (701), a solar photovoltaic panel (702), a bottom rotating motor (703), an upper rotating motor (704), a lower rotating motor (705), a decelerating motor (706), an upper auxiliary carbon rod cross rod (707), a lower auxiliary carbon rod cross rod (708), and a string (709), wherein the small sail (701) is fixed on the sail support rod (6), the sail support rod (6) is made of carbon rod material, the solar photovoltaic panel (702) is horizontally and orderly arranged on the small sail (701), the bottom end of the solar sail support rod (6) is vertically connected to the ship body by the bottom rotating motor (703), and the lower auxiliary carbon rod cross rod (708) is hinged to the solar sail support rod (6) by 90 degrees of freedom, the hinged part is driven to rotate by adopting a lower rotating motor (705) so as to adjust the angle of the lower auxiliary carbon rod cross rod (708); the upper side carbon rod long rod (707) is hinged with the solar sail supporting rod (6) by 90 degrees of freedom, and the hinged part is driven to rotate by an upper rotating motor (704) so as to adjust the angle of the upper side carbon rod long rod (707); the speed reducing motor (706) is fixedly connected with the outer end of the upper carbon rod long rod (707) through a wire rope (709), when the sail needs to work, the upper rotating motor (704) and the lower rotating motor (705) rotate simultaneously, and the upper carbon rod long rod (707) and the lower carbon rod long rod (708) are put down; the speed reducing motor (706) rotates to release the wire rope (709), and the wire rope (709) provides an auxiliary fixing effect for the small sail; the bottom rotating electrical machines (703) rotate the sail to suitable angle so as to adapt to the angle of the sun according to the system requirement, and under the sail working condition, the solar photovoltaic panel (702) arranged on one side of the sail stabilizes the collected solar energy through the voltage stabilizer and stores the solar energy in the storage battery, so that the endurance time of the unmanned ship is prolonged.
7. A small waterline improvement twin-hull unmanned ship for marine environmental monitoring green energy according to claim 1, characterized in that, electric transmission device is set in the left side slender sheet (3) and the right side slender sheet (3), a controller and a motor driver are set on the ship, the controller is connected with the motor driver, the motor driver is connected with the electric transmission device, the electric transmission device comprises a motor, a universal coupling, a transmission shaft and a propeller (4) which are connected in turn.
8. The small water plane improved twin-hull unmanned ship for marine environment monitoring as claimed in claim 1, wherein the navigation planning and decision system further comprises a GPS (11), a nine-axis sensor (12) and a gyroscope, wherein the GPS (11) located on the hull of the unmanned ship determines the position coordinates of the unmanned ship and the position coordinates of the target point, and the nine-axis sensor (12) derives the deviation direction angle and is combined with a control program in the single chip microcomputer to realize autonomous cruising and various monitoring modes of the unmanned ship.
9. The small waterplane area improved twin unmanned ship for ocean environment monitoring as claimed in claim 6, further comprising a photosensitive element connected to the control system for controlling the driving angle of the bottom rotating motor by the sunlight detected by the photosensitive element, thereby improving the efficiency of the wind sail using solar energy and wind energy.
CN201811465070.9A 2018-12-03 2018-12-03 Small water plane improvement twin-hull unmanned ship for marine environment monitoring Active CN109606578B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811465070.9A CN109606578B (en) 2018-12-03 2018-12-03 Small water plane improvement twin-hull unmanned ship for marine environment monitoring

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201811465070.9A CN109606578B (en) 2018-12-03 2018-12-03 Small water plane improvement twin-hull unmanned ship for marine environment monitoring

Publications (2)

Publication Number Publication Date
CN109606578A CN109606578A (en) 2019-04-12
CN109606578B true CN109606578B (en) 2020-09-01

Family

ID=66006858

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201811465070.9A Active CN109606578B (en) 2018-12-03 2018-12-03 Small water plane improvement twin-hull unmanned ship for marine environment monitoring

Country Status (1)

Country Link
CN (1) CN109606578B (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110356520A (en) * 2019-07-23 2019-10-22 武汉理工大学 A kind of mobile platform of combination small-waterplane-area and solar power generation
CN111703538A (en) * 2020-06-24 2020-09-25 南昌工程学院 Portable underwater topography measurement twin-hull unmanned ship
CN111930123B (en) * 2020-08-13 2024-06-18 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） Multi-target comprehensive optimization decision method and device and electronic equipment
CN113306691B (en) * 2021-07-14 2022-06-14 哈尔滨工程大学 Multifunctional folding sail for unmanned sailing boat
CN114455009A (en) * 2022-01-01 2022-05-10 青岛海研电子有限公司 Unmanned ship on water

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5650880A (en) * 1980-08-12 1981-05-08 Mitsui Eng & Shipbuild Co Ltd Semi-submerged catamaran
CN101708760A (en) * 2009-12-07 2010-05-19 上海电器科学研究所（集团）有限公司 Small-waterplane two-body type high-performance water area unmanned inspecting device
CN103723239B (en) * 2013-12-17 2016-03-09 哈尔滨工程大学 Part air cushion supports shallow draft high-speed catamaran
CN104369852B (en) * 2014-10-09 2016-09-07 江苏科技大学 Sail auxiliary propulsion binary solar energy ship
CN207889964U (en) * 2017-11-23 2018-09-21 香港中文大学（深圳） A kind of unmanned sailing boat power and transfer
CN108438137A (en) * 2018-05-16 2018-08-24 江苏科技大学 The unmanned Wutai rock group of multifunctional rescue and its working method

Also Published As

Publication number Publication date
CN109606578A (en) 2019-04-12

Similar Documents

Publication Publication Date Title
CN109606578B (en) Small water plane improvement twin-hull unmanned ship for marine environment monitoring
CN109606579B (en) Small waterplane area twin-hull unmanned ship with adjustable attack angle and hydrofoil front small body
CN109606577B (en) Small water plane twin-hull unmanned ship for marine environment monitoring
CN107878670B (en) Solar energy double-body unmanned ship for remote seawater sampling of small-radius box-type connecting bridge
CN108860454B (en) All-weather long-voyage unmanned sailing ship design method
US20170264100A1 (en) System for storing electrical power
CN207889964U (en) A kind of unmanned sailing boat power and transfer
CN108945366A (en) It is a kind of support sail promote navigate by water device
CN109649590B (en) Wave energy and solar energy integrated power generation four-body unmanned boat
CN108910001A (en) A kind of sail assisted ship that scene promotes
CN112960078A (en) Unmanned sailing boat automatic driving system and method thereof
CN110341888A (en) A kind of moveable multifunction floating mark with liftable aware platform
KR102074565B1 (en) auto sailing robot vessel
CN110696979A (en) Clean ship of solar energy intelligence based on binocular vision
CN107215429A (en) A kind of nobody half submarine of new small-waterplane-area monomer
CN108016573B (en) Remote control seawater sampling solar unmanned ship with steerable wing-shaped stable side body
CN114408126B (en) Three-body rescue unmanned ship with flexible T-shaped wings and design method thereof
WO2023029306A1 (en) Novel clean energy-based long-endurance unmanned ship
CN208007234U (en) A kind of wind-force drives remote controlled unmanned ship with solar association
CN214875503U (en) Wind sail
CN116520834B (en) Low-energy-consumption unmanned ship cruising method
CN111486050B (en) Deformable power generation sail and unmanned exploration ship carrying same
CN103057684A (en) Composite energy triple-hulled vessel
CN204124315U (en) A kind of not heavy environment protection ship operated steadily
CN108516071A (en) A kind of electricity pushes away sightseeing ship solar wind sail

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant