CN117585099A - Unmanned surface vehicle and active-passive combination wave compensation method thereof - Google Patents
Unmanned surface vehicle and active-passive combination wave compensation method thereof Download PDFInfo
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- CN117585099A CN117585099A CN202311614473.6A CN202311614473A CN117585099A CN 117585099 A CN117585099 A CN 117585099A CN 202311614473 A CN202311614473 A CN 202311614473A CN 117585099 A CN117585099 A CN 117585099A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 52
- 230000008602 contraction Effects 0.000 claims abstract description 6
- 238000004146 energy storage Methods 0.000 claims description 9
- 230000008901 benefit Effects 0.000 abstract description 7
- 230000007246 mechanism Effects 0.000 description 21
- 230000033001 locomotion Effects 0.000 description 7
- 230000008859 change Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000002411 adverse Effects 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 4
- 238000005096 rolling process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000010720 hydraulic oil Substances 0.000 description 3
- 230000004044 response Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000007667 floating Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000010606 normalization Methods 0.000 description 1
- 239000003921 oil Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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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
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/06—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B17/00—Vessels parts, details, or accessories, not otherwise provided for
- B63B2017/0072—Seaway compensators
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/06—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water
- B63B2039/067—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude to decrease vessel movements by using foils acting on ambient water effecting motion dampening by means of fixed or movable resistance bodies, e.g. by bilge keels
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides a water surface unmanned ship and a method for actively and passively combining wave compensation of the water surface unmanned ship, wherein the water surface unmanned ship comprises a water surface unmanned ship body, a plurality of light standard module attachments on two sides, a telescopic device and a control system; the tail end of the water surface unmanned ship body is provided with a propulsion device so that the water surface unmanned ship can navigate on the water surface; the light standard module attachments are respectively arranged at two sides of the unmanned surface vehicle body; one end of the telescopic device is connected with the light standard module attachment body through a universal joint, and the other end of the telescopic device is connected with the unmanned surface vehicle body; the control system is used for adjusting the expansion and contraction of the expansion device according to the sea wave data so as to balance the navigation state of the unmanned surface vehicle. The virtual width of the unmanned ship is adjusted by adjusting the extending length of the light standard module attachment body, so that the technical problem that the prior art lacks of comprehensive advantages of various sea wave compensation is solved.
Description
Technical field:
the invention relates to the field of design of unmanned water surface vessels, in particular to a unmanned water surface vessel and an active-passive combination wave compensation method thereof.
The background technology is as follows:
the unmanned surface vessel is a water surface robot, can carry on various different functional operation modules according to the task demand, independently or semi-autonomously accomplish a series of small-size unmanned surface vessels of offshore operation task, compares with traditional unmanned surface vessels, unmanned surface vessel relies on unmanned, low-cost, sustainable strong working ability, high load ratio etc. advantage characteristics such as the unmanned surface vessel is paid attention to in the army field, but along with continuous promotion of unmanned surface vessel self duration and the actual demand to its diversified operation task of open sea, especially the high sea condition that needs to face in the open sea operation in-process, these all bring huge challenges to unmanned surface vessel's suitability, navigation security etc. all greatly discounted with sustainable at navigation ability etc. to unmanned surface vessel's task execution ability.
Currently, for the above problems, the means that are more commonly used include: the design of the unmanned surface vehicle with high navigability aims at improving the marine navigability of the unmanned surface vehicle by adopting the design of a multi-body vehicle to enlarge the width of the vehicle body, has certain advantages compared with the traditional single vehicle type, and has the defects of limited navigability lifting degree, insufficient adaptability to multiple sea conditions, adverse effects on the total tonnage control of the unmanned surface vehicle, the total arrangement of the load in the vehicle and the like. Secondly, a wave compensation mode is adopted, so that adverse movement of the platform caused by excessive fluctuation of sea waves can be effectively compensated, the main platform can maintain a relatively stable working environment, the working safety and precision of the platform are effectively improved, the wave compensation system is mainly applied to large and medium-sized manned ship objects such as offshore engineering ships and the like, the wave compensation system is mainly directly applied to a specific working device on the ship, the wave compensation system is not specific to the ship platform and is generally complex; specifically, the wave compensation mainly includes three modes, namely passive wave compensation, active wave compensation and mixed wave compensation: the passive wave compensation mode mainly comprises an energy storage device such as a compensation oil cylinder and a control system, and the system is equivalent to a hydraulic spring in working and is used for directly buffering the influence of waves, so that the passive wave compensation mode is mostly used for occasions with low compensation precision requirements, but the normalization treatment efficiency is high; the active wave compensation mode is equivalent to a negative feedback system and mainly comprises a sensor, a control system, an active compensation device and the like, wave parameter information measured by the sensor is transmitted to the control system in real time, the control system reduces the influence of waves on a main platform by controlling the action of the active compensation device, and the compensation precision is higher than that of passive control; the hybrid wave compensation mode is an organic combination of a passive wave compensation mode and an active wave compensation mode, namely an energy storage device comprising passive compensation and a sensor comprising an active compensation system, the energy storage device is firstly adopted to compensate wave motion before the sensor transmits signals back, and when the sensor signals back, the control system controls the compensation device to act to implement high-precision active compensation.
Therefore, there is an urgent need for a surface unmanned ship, which helps to solve the technical problem that the prior art lacks of comprehensive advantages of various sea wave compensation.
The invention comprises the following steps:
in an embodiment, the invention provides a water surface unmanned ship, and the virtual width of the unmanned ship is adjusted by adjusting the extending length of a lightweight standard module attachment, so that the technical problem that the prior art lacks of comprehensive advantages of various sea wave compensation is solved.
The unmanned surface vehicle comprises a unmanned surface vehicle body, a plurality of light standard module attachments on two sides, a telescopic device and a control system;
the tail end of the water surface unmanned ship body is provided with a propulsion device so that the water surface unmanned ship can navigate on the water surface;
the light standard module attachments are respectively arranged at two sides of the unmanned surface vehicle body;
one end of the telescopic device is connected with the light standard module attachment body through a universal joint, and the other end of the telescopic device is connected with the unmanned surface vehicle body;
the control system is used for adjusting the expansion and contraction of the expansion device according to the sea wave data so as to balance the navigation state of the unmanned surface vehicle.
In an embodiment, the surface unmanned boat further comprises at least one sensor;
the sensor is used for measuring sea wave data and is arranged on the unmanned surface vehicle body.
In one embodiment, the telescoping device includes a fixed section and a telescoping section;
one end of the fixing section is fixed at one side of the unmanned surface vehicle body;
one end of the telescopic section is connected with the other end of the fixed section in a telescopic way, and the other end of the telescopic section is connected with the light standard module attachment body through a universal joint.
In an embodiment, the light standard module attachments are symmetrically arranged on two sides of the unmanned surface vehicle body.
In one embodiment, the lightweight modular appendage is below the water surface.
In one embodiment, the lightweight modular attachment is retractable into the surface unmanned boat body.
In an embodiment, the hydraulic cylinder energy storage device driven by the telescopic device can be integrated and shared.
In an embodiment, the invention provides a method for actively and passively combining wave compensation of a water surface unmanned ship, which comprises the following steps of:
and adjusting the expansion and contraction of the expansion device through the control system according to the sea wave data, and adjusting the virtual width of the unmanned surface vehicle.
In an embodiment, the sea wave data includes encounter wave direction, wavelength/period.
In one embodiment, the telescoping device is a two-stage telescoping piston.
Description of the drawings:
FIG. 1 is a schematic view showing a state of a telescopic mechanism of a water unmanned ship before deployment in accordance with an embodiment of the present invention;
FIG. 2 is a schematic view showing an expanded state structure of a telescopic mechanism of the unmanned water surface vehicle according to another embodiment of the present invention;
FIG. 3 is a schematic view showing a fully extended state of the telescopic mechanism of the unmanned water surface vehicle according to another embodiment of the present invention;
FIG. 4 is a schematic diagram of a cross-joint linkage apparatus according to another embodiment of the present invention;
FIG. 5 is a schematic view of a first state of a lateral stress condition according to another embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating a second state of the transverse stress condition according to another embodiment of the present invention;
FIG. 7 is a schematic view illustrating a third state of the transverse stress condition according to another embodiment of the present invention;
reference numerals:
universal joint 1
Unmanned surface vehicle body 2
Propulsion device 21
Lightweight standard module attachment 3
Telescoping device 4
Fixing section 41
Telescoping section 42
Control system 5
Sensor 6
Hydraulic cylinder energy storage device 7
The specific embodiment is as follows:
the invention provides a passive and active combination compensation method, which is mainly used for small ships such as unmanned water surface vessels, effectively avoids large motions of the unmanned water surface vessels under high sea conditions, has strong quick response capability, can ensure that the self safety and various operation functions of the unmanned water vessels are not affected, improves the seaability and high-precision operation capability of the unmanned water vessels, and has good application prospects in the aspects of open sea safe navigation, offshore steady-state operation, offshore resident replenishment and the like of the unmanned water surface vessels.
FIG. 1 is a schematic view showing a state of a telescopic mechanism of a water unmanned ship before deployment in accordance with an embodiment of the present invention; FIG. 2 is a schematic view showing an expanded state structure of a telescopic mechanism of the unmanned water surface vehicle according to another embodiment of the present invention; FIG. 3 is a schematic view showing a fully extended state of the telescopic mechanism of the unmanned water surface vehicle according to another embodiment of the present invention; FIG. 4 is a schematic diagram of a cross-joint linkage apparatus according to another embodiment of the present invention; FIG. 5 is a schematic view of a first state of a lateral stress condition according to another embodiment of the present invention; FIG. 6 is a schematic diagram illustrating a second state of the transverse stress condition according to another embodiment of the present invention; fig. 7 is a schematic diagram illustrating a third state of the transverse stress condition according to another embodiment of the present invention. As shown in fig. 1 to 7, in an embodiment, the present invention further provides a surface unmanned ship, which includes a surface unmanned ship body 2, a plurality of lightweight standard module attachments 3 on two sides, a telescopic device 4, and a control system 5;
the tail end of the water surface unmanned ship body 2 is provided with a propulsion device 21 so that the water surface unmanned ship can navigate on the water surface;
the light standard module attachments 3 are respectively arranged at two sides of the unmanned surface vehicle body 2;
one end of the telescopic device 4 is connected with the light standard module attachment 3 through the universal joint 1, and the other end of the telescopic device 4 is connected with the unmanned surface vehicle body 2;
and the control system 5 is used for adjusting the expansion and contraction of the expansion device 4 according to the sea wave data so as to balance the navigation state of the unmanned surface vehicle.
In this embodiment, a specific structure of a surface unmanned ship is provided. The light standard module attachment 3 is a streamline water surface floating body, and the normal water displacement of the streamline water surface floating body can be designed according to a certain proportion (approximately 1/24-1/16) of the water displacement of the unmanned surface vehicle. The universal joint linking device is a special connector which allows the connected parts to be freely changed according to a certain direction angle and meets the required transmission function requirement; in the scheme, by means of the cross-shaft universal joint linking equipment, the transverse direction and the longitudinal direction of the light module attachment are designed to allow certain rotation (consistent with the specification of the unmanned ship body coordinate system on the water surface), the horizontal direction is consistent with the heading of the unmanned ship (can not rotate freely), only linear wave force can be transmitted, and adverse effects of the attachment wave moment and the like on the unmanned ship body are effectively reduced. The wave compensation control system, namely the control system 5, can receive wave parameter information transmitted by the wave sensor, issue control instructions, drive the broadside telescopic mechanism to adjust the virtual width of the unmanned ship through the hydraulic oil cylinder, actively change the roll inherent period of the unmanned ship, avoid the encountered wave period (avoid the same-frequency resonance), and help solve the technical problem that the prior art lacks of various wave compensation comprehensive advantages.
In an embodiment, the unmanned surface vehicle further comprises at least one sensor 6;
the sensor 6 is used for measuring sea wave data, and the sensor 6 is arranged on the unmanned surface vehicle body 2.
In this embodiment a sensor 6 is provided mounted at the front end of the unmanned surface vehicle body 2. The wave sensor, i.e. the sensor 6, is a wave parameter measuring device, which is an important part of negative feedback design, can measure wave parameter information in real time, mainly including wave encountering direction, wavelength/period, etc., and transmits the wave information to a compensation control system.
In one embodiment, the telescopic device 4 comprises a fixed section 41 and a telescopic section 42;
one end of the fixed section 41 is fixed on one side of the unmanned surface vehicle body 2;
one end of the telescopic section 42 is telescopically connected with the other end of the fixed section 41, and the other end of the telescopic section 42 is connected with the light standard module attachment 3 through the universal joint 5.
In this embodiment a specific implementation of the telescopic device 4 is provided. The telescopic device 4 comprises a fixed section 41 and a telescopic section 42, the overall size design and material selection of the telescopic device are combined with a structural strength design method, wave force conduction under typical sea conditions is met, meanwhile, waterproof design requirements are met, a light module attachment is connected with the side of the unmanned surface vehicle through a telescopic mechanism, the fixed section of the telescopic mechanism is fixedly connected with the unmanned surface vehicle structure in an integrated manner, the telescopic section of the telescopic mechanism is effectively connected with a standardized light module through a universal joint linking device, and the telescopic mechanism can change the telescopic length through hydraulic cylinder driving according to control system instructions. The hydraulic oil cylinder can convert hydraulic energy into mechanical energy, is designed into a two-stage telescopic piston, is arranged on the unmanned surface vehicle body, can stretch a certain length according to a control signal, drives a telescopic section of a telescopic mechanism, actively adjusts the virtual width of the unmanned surface vehicle, and meets the active wave compensation requirement of the unmanned surface vehicle.
In one embodiment, the plurality of lightweight modular attachments 3 are symmetrically disposed on both sides of the surface unmanned ship body 2.
In this embodiment, a specific layout is provided in which a plurality of lightweight standard module attachments 3 are symmetrically disposed on both sides of the surface unmanned ship body 2. The front and rear double boards are symmetrically arranged in the ship respectively, so that the transverse stability and the longitudinal stability of the unmanned ship can be enhanced simultaneously. In addition, there are no vessels on the surface that are adequate for the overall resources within the vessel.
In one embodiment, the lightweight modular attachment 3 is partially below the water surface.
In this embodiment, a position state of the lightweight standard module arrangement 3 during navigation is provided. The residual water displacement above the water plane is close to the normal water displacement on the water surface, and the shape of the underwater part is required to be designed in a correlation manner with the shape of the unmanned ship on the water surface so as to ensure the overall navigation hydrodynamic performance.
In one embodiment, the lightweight modular appendage 3 is capable of collapsing into the surface unmanned boat body 2.
In this embodiment, a specific embodiment is provided in which the lightweight modular attachment 3 is capable of collapsing into the unmanned surface vehicle body 2. Considering that the left and right light standard module attachment 3 can be contracted into the interior of the boat body, the quick requirement of the unmanned boat in the ferrying stage under the low sea condition is effectively ensured.
In an embodiment, the hydraulic cylinder energy storage device 7 driven by the telescopic device 4 can be integrated and shared.
In the present embodiment, a specific embodiment is provided in which the hydraulic cylinder energy storage device 7 driven by the telescopic device 4 can be integrated and shared.
In an embodiment, the invention further provides a method for actively and passively combining wave compensation of a water surface unmanned aerial vehicle, which comprises the following steps of:
and adjusting the expansion and contraction of the expansion device 4 through the control system 5 according to the sea wave data, and adjusting the virtual width of the unmanned surface vehicle.
In this embodiment, a specific implementation manner of a passive and active combination wave compensation method of a surface unmanned ship is provided.
In an embodiment, the sea wave data includes encounter wave direction, wavelength/period.
In this embodiment, a specific implementation manner of the ocean wave data is provided.
In one embodiment, the telescoping device 4 is a two-stage telescoping piston.
In the present embodiment a specific implementation of the telescopic device 4 is provided.
The invention mainly researches the aspects of passive wave compensation scheme, active wave compensation scheme, compensation control technology, flexible linkage technology of a compensation device, telescopic mechanism design and the like of the unmanned surface vehicle, and provides a feasible active and passive combination wave compensation overall scheme of the unmanned surface vehicle, so that the problems of insufficient wave compensation mode, low compensation precision and insufficient quick response capability of the unmanned surface vehicle are effectively solved.
The invention provides a method for actively and passively combining wave compensation for a water surface unmanned ship, in particular to a novel design scheme of an actively and passively combining wave compensation system, wherein the 'passive compensation' scheme refers to that a lightweight standard module appendage positioned on a double-side is similar to that of increasing the transverse virtual width of the unmanned ship, so that the overall stability (comprising the stability and the dynamic stability) of the water surface unmanned ship is effectively enhanced, and the inherent safety of the water surface unmanned ship is improved; the scheme of active compensation refers to actively changing the rolling inherent period of the unmanned ship by changing the effective telescopic length of the telescopic mechanism so as to avoid the encountered wave period (avoiding the same-frequency resonance), and effectively reducing the rolling movement amplitude of the ship. Specifically, the active-passive combined wave compensation system applied to the unmanned surface vehicle mainly comprises a unmanned surface vehicle body, a standardized light module attachment, a telescopic mechanism (comprising a fixed section and a telescopic section), a hydraulic cylinder, universal joint linkage equipment, a wave compensation control system, a wave sensor and the like.
The unmanned surface vehicle body refers to an application object of a wave compensation system, generally refers to a medium-and small-sized unmanned surface vehicle with the total tonnage not higher than hundred tons, and is required to reserve corresponding on-vehicle space, interfaces, guarantee resources and the like according to the overall scheme of the active-passive combination wave compensation system for adaptive design.
Based on the above structure:
the motion response of the unmanned surface vessel in the sea wave is unavoidable, and the key is to avoid the large motion of the vessel in the wave and ensure the safety of the vessel or other functional operations not to be affected. As shown in fig. 1, a set of wave compensation systems (including a telescopic mechanism and a light standard module attachment) are symmetrically arranged on the double sides of the unmanned surface vehicle in the front and back of the vehicle, and are uniformly controlled by the wave compensation control system, so that hydraulic oil cylinder energy storage devices driven by the telescopic mechanism can be integrated and shared.
Specifically, the lightweight standard module attachment based on the cross shaft universal joint link through the broadside telescopic mechanism is similar to increasing the transverse virtual width of the unmanned ship, so that the overall stability (comprising the stability and the dynamic stability) of the unmanned ship on the water surface is effectively enhanced, which is equivalent to the adverse effect of normalizing the resistance to the wind wave and current load in a passive compensation mode, and the inherent safety and the marine navigation performance of the unmanned ship on the water surface are improved; as shown in fig. 5, under the action of the transverse load of the wind wave and the current, the light standard module attachment body on two sides can provide a certain transverse restoring moment for the unmanned surface vehicle, and the same has a certain help on the longitudinal stability of the unmanned surface vehicle.
As shown in fig. 2 and 3, the wave sensor arranged on the unmanned surface vehicle can measure wave parameter information in real time, and transmit the wave parameter information (mainly including the wave encountering direction, wavelength/period and the like) to the compensation control system, the control system issues a control command to drive the side telescopic mechanism to dynamically adjust the virtual width of the unmanned surface vehicle (to drive the telescopic section of the telescopic mechanism to change a certain telescopic length) through the hydraulic cylinder, actively change the rolling inherent period of the unmanned surface vehicle so as to avoid the encountered wave period (to avoid the occurrence of the same-frequency resonance), effectively reduce the rolling movement amplitude of the vehicle, and have dynamic self-adaptive adjustment capability according to the sea condition change.
As shown in fig. 2, the front-back telescopic mechanism in the ship can perform asynchronous telescopic control (inconsistent telescopic length) according to actual requirements, so that on one hand, the wave compensation control precision can be improved, and on the other hand, the overall navigation hydrodynamic performance of the unmanned ship can be effectively improved by changing the spacing parameters between the light standard module attachments, between the attachments and the unmanned ship body on the water surface. Under low sea conditions, the standardized module attachment body of the left and right sides of the unmanned surface vehicle is considered to be contracted into the vehicle body, so that the rapidness requirement of the unmanned surface vehicle in the ferry stage is effectively ensured.
Examples are merely illustrative of embodiments of the present invention, but the invention itself is not limited to examples and the contents of the accompanying drawings.
The foregoing has outlined and described the basic principles, features, and advantages of the present invention. It will be appreciated by persons skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles and processes of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention as defined in the appended claims and their equivalents.
Claims (10)
1. A surface unmanned boat, characterized in that it comprises:
a water surface unmanned ship body (2), the tail end of which is provided with a propulsion device (21) so that the water surface unmanned ship can navigate on the water surface;
a plurality of light standard module attachment bodies (3) at two sides, wherein the light standard module attachment bodies (3) are respectively arranged at two sides of the unmanned surface vehicle body (2);
one end of the telescopic device (4) is connected with the light standard module attachment body (3) through a universal joint (5), and the other end of the telescopic device (4) is connected with the unmanned surface vehicle body (2);
and the control system (5) is used for adjusting the expansion and contraction of the expansion device (4) according to the sea wave data so as to balance the navigation state of the unmanned surface vehicle.
2. The surface unmanned boat of claim 1, wherein the surface unmanned boat further comprises:
at least one sensor (6) for measuring sea wave data, the sensor (6) being mounted on the surface unmanned aerial vehicle body (2).
3. The unmanned surface vessel according to claim 2, wherein the telescopic means (4) comprise:
a fixing section (41) with one end fixed at one side of the unmanned surface vehicle body (2);
and one end of the telescopic section (42) is connected with the other end of the fixed section (41) in a telescopic way, and the other end of the telescopic section (42) is connected with the light standard module attachment body (3) through a universal joint (5).
4. A surface unmanned ship according to claim 3, wherein a plurality of the lightweight modular attachments (3) are symmetrically disposed on both sides of the surface unmanned ship body (2).
5. The unmanned surface vessel according to claim 4, wherein the lightweight modular attachment (3) is partially under the water.
6. The surface unmanned aerial vehicle according to claim 5, wherein the lightweight modular attachment (3) is retractable into the surface unmanned aerial vehicle body (2).
7. The unmanned surface vessel according to claim 6, wherein the hydraulic cylinder energy storage means (7) driven by the telescopic means (4) can be integrated and shared.
8. A method of active-passive wave compensation of a surface unmanned aerial vehicle, characterized in that it comprises, based on the surface unmanned aerial vehicle of any one of claims 1 to 7:
and adjusting the expansion of the expansion device (4) through the control system (5) according to the sea wave data, and adjusting the virtual width of the unmanned surface vehicle.
9. The unmanned surface vessel active and passive combination wave compensation method of claim 8, wherein the wave data comprises encounter wave direction, wavelength/period.
10. The unmanned surface vessel active and passive combination wave compensation method according to claim 9, wherein the telescopic device (4) is a two-stage telescopic piston.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311614473.6A CN117585099A (en) | 2023-11-28 | 2023-11-28 | Unmanned surface vehicle and active-passive combination wave compensation method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202311614473.6A CN117585099A (en) | 2023-11-28 | 2023-11-28 | Unmanned surface vehicle and active-passive combination wave compensation method thereof |
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| CN117585099A true CN117585099A (en) | 2024-02-23 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118124743A (en) * | 2024-05-07 | 2024-06-04 | 江苏锦程船舶制造有限公司 | Unmanned ship with wave energy source supplementing function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN118124743A (en) * | 2024-05-07 | 2024-06-04 | 江苏锦程船舶制造有限公司 | Unmanned ship with wave energy source supplementing function |
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