Seakeeping unmanned boat provided with water-surface self-adaptive stabilizer

Abstract

The invention discloses a seakeeping unmanned boat provided with a water-surface self-adaptive stabilizer. The unmanned boat adopts the catamaran type and comprises an upper deck, two floating bodiesseparated from the upper deck and the self-adaptive stabilizer; the two floating bodies provide buoyancy for the unmanned boat, are provided with propelling devices and are completely bilaterally symmetric; a tilt angle sensor, an accelerometer and a gyroscope are arranged on the upper deck, are used for acquiring the rotating angle of the upper deck, the angular acceleration prediction and the tendency and are used for transmitting the rotating angle of the upper deck, the angular acceleration prediction and the tendency to a control system in real time; the self-adaptive stabilizer comprisesa suspension system and a balance control mechanism; the suspension system is used for connecting the upper deck and the floating bodies; and meanwhile, the connecting structures of shock absorbers,piston rods and first universal hinges can rotate freely, so that the upper deck is stable. The unmanned boat has the beneficial effects as follows: instability of the unmanned boat during navigationand swinging of the unmanned boat when the unmanned boat is stationary can be effectively reduced, and the navigation safety and the operation stability of the unmanned boat under complex sea conditions can be improved.

Description

technical field [0001] The invention relates to a wave-resistant unmanned ship with a surface self-adaptive anti-rolling device, belonging to the technical field of marine unmanned systems. Background technique [0002] As a new type of ocean observation platform, unmanned ships have the advantages of small size, fast speed, and shallow draft. They can enter special waters that traditional marine survey ships cannot reach. Applications. When an unmanned ship navigates in the ocean environment, due to the influence of sea waves, it will inevitably produce swaying motions, including six degrees of freedom of roll, pitch, yaw, sway, surge, and heave (or heave). Among them, roll, pitch, and heave have the greatest impact on ships due to large amplitude changes, affecting the safety and normal operation of unmanned ships. [0003] Traditional ship anti-rolling devices include bilge keels, fin stabilizers, water tanks, etc., but due to the small size of the unmanned ship, small ...

AI Technical Summary

Problems solved by technology

[0005] The technical problem to be solved by the present invention is to overcome the defects of the prior art and provide a wave-resistant unmanned ship with a water surface self-adaptive anti-rolling device. Poor and small application range, the adaptive anti-rolling device is adopted, combined with active and passive anti-rolling means, with active control and multi-degree-of-freedom anti-rolling capabilities, which can effectively reduce the instability of unmanned ships during navigation and static Swing, improve the navigation safety and operation stability of unmanned ships in complex sea conditions

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