CN113911275A

CN113911275A - Hull stabilizing device

Info

Publication number: CN113911275A
Application number: CN202111277879.0A
Authority: CN
Inventors: 吴程军
Original assignee: Hex Xiamen Electronic Co ltd
Current assignee: Hex Xiamen Electronic Co ltd
Priority date: 2021-10-30
Filing date: 2021-10-30
Publication date: 2022-01-11
Anticipated expiration: 2041-10-30
Also published as: CN113911275B

Abstract

The invention discloses a ship body stabilizing device which comprises a main control assembly, wherein a main control controller detects and calculates the current posture of a ship body in real time, outputs corresponding signals to four groups of brushless electric regulators when the ship body swings, and controls a brushless motor to form a certain rotating speed by the brushless electric regulators to drive a propeller to form reverse thrust. Through the wireless data transmission of 4G and be connected to the ground station, can look over ship gesture, direction, speed in real time at ground station end, and when the ship need go at a high speed, four linking arms can be packed up, do not influence the ship and go and control performance.

Description

Hull stabilizing device

Technical Field

The invention relates to the technical field of ship body technology, in particular to a ship body stabilizing device.

Background

During the running process of the ship, the ship body can swing due to a plurality of reasons such as wind waves and the like, and the stability of the ship body is improved by a stabilizing mode which is mainly divided into bilge keels, ship body pressing blocks, elastic mechanism supports, stretching mechanisms, steering engine devices and the like. The former bilge keels are installed on the left side and the right side of the oblique lower portion of the ship body to increase stability, but the bilge keels need to be very accurate in design and installation to play the maximum role, and the handling performance of the ship is correspondingly reduced. The latter is installed through a series of physics, and a series of mechanical parts are not only cumbersome in installation process, but also increase operational difficulty in use and maintenance.

Disclosure of Invention

This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.

The present invention has been made in view of the above-mentioned problems with the conventional hull stabilizing apparatus.

In order to solve the technical problems, the invention provides the following technical scheme: a ship body stabilizing device comprises a main control assembly, a control assembly and a control assembly, wherein the main control assembly comprises a main control controller arranged in a ship body, a ground regulation and control module for receiving signals of the main control controller, and a transmission module arranged on the main control controller; the adjusting assembly comprises a side link connected with the ship body, a propeller arranged at the end part of the side link and a driving piece arranged at the rear end of the propeller; and the storage assembly is arranged on the ship body.

As a preferable aspect of the hull stabilizing apparatus of the present invention, wherein: the main control controller comprises a main control processor, an attitude sensor electrically connected with the main control processor and an auxiliary sensor arranged on the main control processor, wherein the auxiliary sensor comprises a speed sensor and an output signal module.

As a preferable aspect of the hull stabilizing apparatus of the present invention, wherein: the driving piece comprises a control motor arranged at the rear end of the propeller and a brushless electric adjusting module connected with the control motor, the brushless electric adjusting module is electrically connected with the output signal module, and the brushless electric adjusting module is used for receiving starting, stopping and braking signals.

As a preferable aspect of the hull stabilizing apparatus of the present invention, wherein: the attitude sensor comprises a triaxial gyroscope, a triaxial accelerometer arranged on the main control processor, an electronic compass arranged in parallel with the triaxial accelerometer and a barometer, the barometer is arranged outside the ship body and electrically connected with the main control processor,

the output signal module is electrically connected with the main control processor, and the main control processor is provided with a signal comparison module.

As a preferable aspect of the hull stabilizing apparatus of the present invention, wherein: the transmission module comprises a 4G wireless data transmission module and a communication processor electrically connected with the 4G wireless data transmission module, a serial port module is connected to the communication processor and used for converting signals into 4G transmission, and the 4G wireless data transmission module is connected with a ground regulation and control module.

As a preferable aspect of the hull stabilizing apparatus of the present invention, wherein: the containing component comprises a containing groove arranged on the ship body, a locking plate arranged on the containing groove and a locking piece arranged on the locking plate,

the propeller is characterized in that a connecting rod group is arranged in the accommodating groove, a shell is arranged on the propeller, and the shell is arranged on the connecting rod group.

As a preferable aspect of the hull stabilizing apparatus of the present invention, wherein: the linkage includes with accomodate groove articulated first connecting rod, articulate the second connecting rod in first connecting rod middle section, articulate at the third connecting rod of first connecting rod distal end and articulate the fourth connecting rod at accomodate groove opposite side, the third connecting rod is articulated with the locking plate, third connecting rod middle section articulates there is branch, branch is articulated with second connecting rod and fourth connecting rod tip, third connecting rod tip articulates there is the auxiliary rod group, the branch other end is articulated with the locking plate middle section.

As a preferable aspect of the hull stabilizing apparatus of the present invention, wherein: the auxiliary rod group comprises an auxiliary first rod hinged with the hinge joint of the third connecting rod and the first connecting rod and an auxiliary second rod hinged with the end part of the auxiliary first rod, the auxiliary second rod is hinged with the end part of the fourth connecting rod,

the three-axis gyroscope, the electronic compass, the barometer and the propeller are respectively arranged at the hinged positions on the second connecting rod and the supporting rod.

As a preferable aspect of the hull stabilizing apparatus of the present invention, wherein: the supporting rod is provided with a clamping rod at one end far away from the accommodating groove, the clamping rod is hinged to the locking plate, a telescopic rod is arranged at the hinged position of the supporting rod and the clamping rod, and the propeller is arranged on the telescopic rod.

The invention has the beneficial effects that: the main control controller real-time detection resolves the current posture of the ship body, when the ship body swings, the main control controller outputs corresponding signals to four brushless electric controllers, the brushless electric controllers control the brushless motors to form a certain rotating speed, the propellers are driven to form reverse thrust, when the ship swings, the ship can tend to a stable state, and the safety of the ship and personnel is guaranteed. Through the wireless data transmission of 4G and be connected to the ground station, can look over ship gesture, direction, speed in real time at ground station end, and when the ship need go at a high speed, four linking arms can be packed up, do not influence the ship and go and control performance.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced 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 based on these drawings without inventive exercise. Wherein:

fig. 1 is a conceptual view of the overall structure of the hull stabilizing apparatus of the present invention.

Fig. 2 is a conceptual diagram of the structure of the main control assembly of the hull stabilizing device of the invention.

Fig. 3 is a schematic top view of the structure of the receiving assembly of the hull stabilizer of the present invention.

Fig. 4 is a perspective view of the structure of the receiving assembly of the hull stabilizing device of the invention.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.

Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.

Furthermore, the present invention is described in detail with reference to the drawings, and in the detailed description of the embodiments of the present invention, the cross-sectional view illustrating the structure of the device is not enlarged partially according to the general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.

Example 1

Referring to fig. 1 to 4, for the first embodiment of the present invention, a ship hull stabilizing device is provided, which includes a main control assembly including a main control controller 100 disposed in a ship hull, the main control controller 100 serving as a main central control part of the whole device system, in this embodiment, the main control controller 100 includes a main control processor 100a, an attitude sensor 100b electrically connected to the main control processor 100a, and an auxiliary sensor 100c disposed on the main control processor 100a, and after data collected and resolved by the sensors is processed by the main control processor 100a, information such as attitude, speed, etc. is generated.

Furthermore, the main control assembly further comprises a ground control module 101 for receiving signals of the main control controller 100, the ground control module 101 is mainly a ground station arranged on the ground and is connected with the 4G wireless data transmission module 102a to check data such as the attitude, the speed and the direction of the ship body in real time, the data can be received, sent and stored, and the ship body attitude data and the data log can be stored in a display section of the ground station in real time.

Further, in order to adjust the state of the ship body, an adjusting assembly 200 is further provided, in this embodiment, the adjusting assembly 200 includes a plurality of side link 201 connected to the ship body, the side link 201 is provided with a plurality of side link 201, in this embodiment, 4 side link are provided, which are respectively provided at the front left, front right, rear left and rear right positions of the ship body and extend outward, a propeller 202 is further provided at the end of the side link 201, and the position of the side link 201 is set below the waterline of the ship body, so as to maintain the level, the rotation plane of the propeller 202 is a horizontal plane, and further, the stable offset of the ship body is adjusted by turning on the propellers 202 at different positions, if the front end of the ship body inclines forward to the left, at this time, the front left propeller 202 is started to provide upward thrust to the ship body, so that the ship body is kept stable, and a driving member 203 is further provided at the rear end of the propeller 202.

Furthermore, the driving member 203 comprises a control motor 203a arranged at the rear end of the propeller 202 and a brushless electric regulation module 203b connected with the control motor 203a, a signal line of the electric regulation receives a pwm control signal from the flight control for driving the control motor 203a to operate, the control signal is a group of square wave signals, the frequency of the electric regulation for switching in unit time is controlled, three-phase pulsating direct current is output by the electric regulation, and the electric regulation is directly connected with the three-phase input end of the control motor 203a so as to adjust the rotating speed, start, stop and brake of the control motor 203 a.

Further, the auxiliary sensor 100c includes a speed sensor and an output signal module, and the attitude sensor 100b includes a three-axis gyroscope 100b-1, a three-axis accelerometer 100b-2 provided on the main control processor 100a, an electronic compass 100b-3 provided in parallel with the three-axis accelerometer 100b-2, and a barometer 100b-4, the barometer 100b-4 is provided outside the hull and electrically connected to the main control processor 100a, the method comprises the steps of outputting calibrated data such as angular velocity and acceleration through a main processor, measuring a motion attitude through a sensor data algorithm based on quaternion, and outputting zero drift three-dimensional motion attitude data represented by quaternion, Euler angle and the like in real time, wherein the model of a triaxial accelerometer 100b-2 is MPU9250, the model of a barometer 100b-4 is MS5611, and the quaternion of the original attitude is multiplied by the quaternion after rotation to obtain an updated attitude quaternion.

Further, the main control assembly further comprises an output signal module, the output signal module is electrically connected with the main control processor 100a, the main control processor 100a is provided with a signal comparison module 103, the transmission module 102 comprises a 4G wireless data transmission module 102a and a communication processor 102b electrically connected with the 4G wireless data transmission module 102a, the communication processor 102b is connected with a serial port module, the serial port module is used for converting signals into 4G transmission, the 4G wireless data transmission module 102a is connected with the ground control module 101, the 4G data transmission is an internet of things (LOT) wireless data terminal, and a 4G network is used for wireless long-distance data transmission. The method is internally provided with end-to-end data safety protection, adopts a high-performance communication processor 102b and a wireless module, takes a real-time operating system as a software supporting platform, can be directly connected with serial port equipment, realizes wireless long-distance data transmission by converting a serial port into 4G transmission, packs serial port data of the shipborne controller into TCP or UDP data through a DTU and remotely transmits the TCP or UDP data to the ground station.

The operation process is as follows: main control unit 100 real-time detection resolves current hull gesture, and when the hull swayd, main control unit 100 output corresponding signal gave four groups brushless electricity accent, formed certain rotational speed by brushless electricity accent control brushless motor again, drove screw 202 and form reverse thrust, when the ship swayed, can let the ship tend to steady state, guaranteed ship and personnel's safety. Through the wireless data transmission of 4G and be connected to the ground station, can look over ship gesture, direction, speed in real time at ground station end, and when the ship need go at a high speed, four linking arms can be packed up, do not influence the ship and go and control performance.

Example 2

Referring to fig. 1-4, a second embodiment of the present invention, which differs from the first embodiment, is: accomodate subassembly 300 is including offering the groove 301 of accomodating on the hull, accomodate the groove 301 and set up at the hull shell inboard, the shape is the rectangle box form, and the front end opening outwards communicates the hull, it is connected with locking plate 302 to rotate at the notch position of accomodating groove 301, the rotation plane of locking plate 302 is the horizontal plane, and the articulated position is being accomodate the one end that groove 301 is close to the bow, be provided with the locking piece on locking plate 302, the locking piece is used for shutting, prevent that locking plate 302 from opening when the hull is marchd automatically.

Further, in this embodiment, the locking member includes a first magnet disposed on the opening of the accommodating groove 301 and a second magnet disposed on the inner side of the locking plate 302, the rear ends of the first magnet and the second magnet are both connected to a circuit, the circuit is electrically connected to the main control component, and then the mutual attraction of the first magnet and the second magnet can be realized after the circuit is powered on, so that the locking plate 302 and the accommodating groove 301 are closed.

Further, a linkage 304 is disposed in the accommodating slot 301, a housing is disposed on the propeller 202, and the housing is disposed on the linkage 304, in this embodiment, the linkage 304 includes a first link 304a hinged to the accommodating slot 301, a second link 304b hinged to a middle section of the first link 304a, a third link 304c hinged to a distal end of the first link 304a, and a fourth link 304d hinged to the other side of the accommodating slot 301, a rotation plane of all rod bodies in the linkage 304 is a horizontal plane, the third link 304c is hinged to the left side of the locking plate 302, a strut 305 is hinged to a middle section of the third link 304c, the strut 305 is hinged to end sections of the second link 304b and the fourth link 304d, an auxiliary rod group 306 is hinged to an end section of the third link 304c, and the other end section of the strut 305 is hinged to a middle section of the locking plate 302.

Further, the auxiliary rod group 306 comprises an auxiliary first rod 306a hinged to the hinged part of the third connecting rod 304c and the first connecting rod 304a and an auxiliary second rod 306b hinged to the end part of the auxiliary first rod 306a, the auxiliary second rod 306b is hinged to the end part of the fourth connecting rod 304d, the three-axis gyroscope 100b-1, the electronic compass 100b-3, the barometer 100b-4 and the propeller 202 are respectively arranged at the hinged position on the second connecting rod 304b and the supporting rod 305, a stepping motor is arranged at the tail end of the first connecting rod 304a and the fourth connecting rod 304d, the stepping motor drives the first connecting rod 304a and the fourth connecting rod 304d to rotate, a clamping rod 307 is arranged at one end of the supporting rod 305 far away from the accommodating groove 301, the clamping rod 307 is hinged to the locking plate 302, a telescopic rod is arranged at the hinged position of the supporting rod 305 and the clamping rod 307, and the propeller 202 is arranged on the telescopic rod.

The rest of the structure is the same as that of embodiment 1.

The operation process is as follows: when the ship body needs to be stabilized, the stepping motor drives the first connecting rod 304a and the fourth connecting rod 304d to enable the first connecting rod 304a to rotate, the locking plate 302 is pushed outwards under the limitation of a plurality of rods and hinged transmission, when the locking plate 302 is pushed out to the position of the vertical containing groove 301, the second connecting rod 304b and the support rod 305 are located on the same straight line position, the three-axis gyroscope 100b-1, the electronic compass 100b-3, the barometer 100b-4 and the propeller 202 are located on the same straight line, and therefore when data are measured on the same straight line, the situation that data are not inconsistent with the real position data of the ship body due to different positions of the data can be guaranteed, and errors of measurement are reduced.

It is important to note that the construction and arrangement of the present application as shown in the various exemplary embodiments is illustrative only. Although only a few embodiments have been described in detail in this disclosure, those skilled in the art who review this disclosure will readily appreciate that many modifications are possible (e.g., variations in sizes, dimensions, structures, shapes and proportions of the various elements, values of parameters (e.g., temperatures, pressures, etc.), mounting arrangements, use of materials, colors, orientations, etc.) without materially departing from the novel teachings and advantages of the subject matter recited in this application. For example, elements shown as integrally formed may be constructed of multiple parts or elements, the position of elements may be reversed or otherwise varied, and the nature or number of discrete elements or positions may be altered or varied. Accordingly, all such modifications are intended to be included within the scope of this invention. The order or sequence of any process or method steps may be varied or re-sequenced according to alternative embodiments. In the claims, any means-plus-function clause is intended to cover the structures described herein as performing the recited function and not only structural equivalents but also equivalent structures. Other substitutions, modifications, changes and omissions may be made in the design, operating conditions and arrangement of the exemplary embodiments without departing from the scope of the present inventions. Therefore, the present invention is not limited to a particular embodiment, but extends to various modifications that nevertheless fall within the scope of the appended claims.

Moreover, in an effort to provide a concise description of the exemplary embodiments, all features of an actual implementation may not be described (i.e., those unrelated to the presently contemplated best mode of carrying out the invention, or those unrelated to enabling the invention).

It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure, without undue experimentation.

It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.

Claims

1. A hull stabilising arrangement, characterized by: comprises the steps of (a) preparing a mixture of a plurality of raw materials,

the main control assembly comprises a main control controller (100) arranged in the ship body, a ground regulation and control module (101) for receiving signals of the main control controller (100) and a transmission module (102) arranged on the main control controller (100);

the adjusting assembly (200) comprises a side link (201) connected with the ship body, a propeller (202) arranged at the end part of the side link (201) and a driving piece (203) arranged at the rear end of the propeller (202); and the number of the first and second groups,

a storage assembly (300), the storage assembly (300) being disposed on a hull.

2. The hull stabilising arrangement of claim 1, wherein: the master controller (100) comprises a master processor (100a), an attitude sensor (100b) electrically connected with the master processor (100a) and an auxiliary sensor (100c) arranged on the master processor (100a),

the auxiliary sensor (100c) includes a speed sensor and an output signal module.

3. The hull stabilising arrangement of claim 2, wherein: the driving piece (203) comprises a control motor (203a) arranged at the rear end of the propeller (202) and a brushless electric regulation module (203b) connected with the control motor (203a), the brushless electric regulation module (203b) is electrically connected with the output signal module,

the brushless regulator is used for receiving starting, stopping and braking signals.

4. The hull stabilising arrangement of claim 2, wherein: the attitude sensor (100b) comprises a three-axis gyroscope (100b-1), a three-axis accelerometer (100b-2) arranged on the main control processor (100a), an electronic compass (100b-3) arranged in parallel with the three-axis accelerometer (100b-2) and a barometer (100b-4), wherein the barometer (100b-4) is arranged outside the ship body and is electrically connected with the main control processor (100a),

the output signal module is electrically connected with a main control processor (100a), and a signal comparison module (103) is arranged on the main control processor (100 a).

5. The hull stabilising arrangement of claim 1, wherein: the transmission module (102) comprises a 4G wireless data transmission module (102a) and a communication processor (102b) electrically connected with the 4G wireless data transmission module (102a), a serial port module is connected to the communication processor (102b), the serial port module is used for converting signals into 4G transmission, and the 4G wireless data transmission module (102a) is connected with the ground regulation and control module (101).

6. The hull stabilising arrangement of claim 1, wherein: the containing component (300) comprises a containing groove (301) arranged on the ship body, a locking plate (302) arranged on the containing groove (301) and a locking piece arranged on the locking plate (302),

wherein a connecting rod set (304) is arranged in the accommodating groove (301), a shell is arranged on the propeller (202), and the shell is arranged on the connecting rod set (304).

7. The hull stabilising arrangement of claim 6, wherein: the linkage (304) comprises a first connecting rod (304a) hinged with the accommodating groove (301), a second connecting rod (304b) hinged at the middle section of the first connecting rod (304a), a third connecting rod (304c) hinged at the far end of the first connecting rod (304a) and a fourth connecting rod (304d) hinged at the other side of the accommodating groove (301), the third connecting rod (304c) is hinged with the locking plate (302), the middle section of the third connecting rod (304c) is hinged with a supporting rod (305), the supporting rod (305) is hinged with the end sections of the second connecting rod (304b) and the fourth connecting rod (304d), the end section of the third connecting rod (304c) is hinged with an auxiliary rod group (306), and the other end of the supporting rod (305) is hinged with the middle section of the locking plate (302).

8. The hull stabilising arrangement of claim 7, wherein: the auxiliary rod set (306) comprises an auxiliary first rod (306a) hinged with the hinge joint of the third connecting rod (304c) and the first connecting rod (304a) and an auxiliary second rod (306b) hinged with the end part of the auxiliary first rod (306a), the auxiliary second rod (306b) is hinged with the end part of the fourth connecting rod (304d),

wherein the three-axis gyroscope (100b-1), the electronic compass (100b-3), the barometer (100b-4) and the propeller (202) are arranged at the hinged position on the second connecting rod (304b) and the strut (305), respectively.

9. The hull stabilising arrangement of claim 8, wherein: the supporting rod (305) is far away from one end of the accommodating groove (301) and is provided with a clamping rod (307), the clamping rod (307) is hinged to the locking plate (302), a telescopic rod is arranged at the hinged position of the supporting rod (305) and the clamping rod (307), and the propeller (202) is arranged on the telescopic rod.