Unmanned sailing boat for full-coverage scanning

Abstract

The unmanned sailing boat comprises a boat body, a steering control mechanism, a sail, a shipborne radar, an electronic scanning sonar, an anemograph, a balancing weight and an electric control unit, the boat body is of a spindle-shaped structure which is symmetrical front and back, and an upper cover plate is arranged at the top of the boat body. A solar panel is arranged on the top of the upper cover plate, and the sail is vertically arranged above the boat body and connected with a steering driving device in the boat body. The two steering control mechanisms are symmetrically arranged at the front end and the rear end of the ship body. The balancing weight is fixedly arranged below the ship body, the electronic scanning sonar is arranged at the bottom of the ship body, the shipborne radar is installed on the front upper portion of the ship body, and the anemograph is arranged on the rear upper portion of the ship body. The electric control unit comprises a shipborne computer, a lithium battery pack, a navigation module and a communication module. The unmanned sailboat provided by the utility model uses solar energy and wind energy as power, has bidirectional sailing capability, is suitable for long-term offshore tasks, reduces the operation difficulty, and improves the scanning efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned boats, in particular to an unmanned sailboat for full coverage scanning. Background Art

[0002] A sailboat is a vessel that uses wind as its main power source, usually including one or more sails and related control equipment, such as rudders, rigging, etc. Sailboats control their course and speed by manipulating the sails and rudders, and are widely used in navigation, trade, entertainment, and sports. An unmanned sailboat is a sailboat that is not manned by a person, but is navigated and controlled by a preset sailing route, an autonomous control system, or remote operation. Unmanned sailboats are usually equipped with various sensors, navigation equipment, and communication equipment, which can realize functions such as autonomous navigation, collision avoidance, and data collection. This type of ship is suitable for marine missions that require long time and long distances, such as marine scientific research, marine monitoring, and resource exploration.

[0003] The structure of an unmanned sailboat mainly includes sails, keels, hulls, keels, etc. Full coverage scanning is a way of ocean scanning. Its core concept is to conduct a comprehensive and thorough scanning coverage of the target area to ensure that every subtle area is covered. In the marine field, full coverage scanning usually involves the use of platforms such as ships, aircraft, and satellites, equipped with various sensors and equipment, to conduct continuous and systematic scanning of the marine area to obtain various marine data and information, such as marine topography, water temperature, salinity, water depth, tidal currents, and distribution of marine life. This scanning method can provide comprehensive and detailed marine information, providing important support and reference for marine resource development, environmental protection, and maritime traffic safety.

[0004] Unmanned sailboats use clean energy as power and can perform long-term maritime missions. They are suitable for long-term full-coverage scanning near my country's islands. Since the movement of unmanned sailboats is mainly affected by wind, and the wind force and direction of natural wind are random, the movement law of unmanned sailboats leads to poor turning ability, large turning radius, long turning time, and poorer maneuverability than ordinary ships. In the process of achieving full-coverage scanning, it needs to change direction frequently, which causes ordinary sailboats to spend more time in the turning process when achieving full-coverage scanning, long working time and low scanning efficiency. Therefore, the existing technology urgently needs to be further improved and enhanced. Utility Model Content

[0005] In view of the deficiencies of the above-mentioned prior art, the purpose of the utility model is to propose an unmanned sailboat for full coverage scanning, so as to solve the problems that the existing unmanned sailboats have poor steering ability, large turning radius, long time consumption, frequent changes of direction during scanning, poor maneuverability of the hull, and long time consumption, resulting in low scanning efficiency.

[0006] In order to solve the above technical problems, the technical solution adopted by the utility model is:

[0007] An unmanned sailboat for full-coverage scanning comprises a hull, a steering control mechanism, a sail, a ship-borne radar, an electronic scanning sonar, an anemometer, a counterweight and an electronic control unit. The hull is a spindle-shaped structure that is symmetrical front and back. An upper cover is provided on the top of the hull, and the upper cover seals the interior of the hull.

[0008] A solar panel is arranged on the top of the upper cover plate, and the sail is arranged vertically above the hull, and the lower end of the sail passes through the upper cover plate and is connected with a steering drive device arranged inside the hull.

[0009] There are two steering control mechanisms, which are symmetrically arranged at the front and rear ends of the hull. The steering control mechanism includes a rudder blade, a rudder shaft and a steering gear. The rudder shaft is vertically arranged at the front end or rear end of the hull, the output end of the steering gear is connected to the upper end of the rudder shaft, and the rudder blade is connected to the bottom of the rudder shaft.

[0010] The counterweight is fixedly arranged below the hull, the electronic scanning sonar is arranged at the bottom of the hull, the ship-borne radar is arranged at the front upper part of the hull, and the anemometer is arranged at the rear upper part of the hull.

[0011] The electronic control unit includes a shipboard computer, a lithium battery pack, a navigation module and a communication module. The electronic scanning sonar, shipboard radar, anemometer and navigation module are respectively connected to the shipboard computer for communication. The shipboard computer is connected to the control terminal on shore for communication through the communication module.

[0012] Furthermore, the front and rear ends of the hull are both vertical planar structures, the lower contour line of the cross section of the hull is semi-elliptical, and the bottom of the hull is a gradually curved surface with a downward convex middle portion.

[0013] Furthermore, there are two groups of solar panels, which are symmetrically arranged on the front and rear sides of the top of the hull. Each group of solar panels includes a plurality of regularly arranged solar panels, and the bottoms of all solar panels are fixed above the upper cover plate through mounting plates.

[0014] Furthermore, the rudder blade is a vertically arranged rectangular flat plate structure, and its front side and rear side are both double-edged structures.

[0015] The rudder shaft is rotatably matched with the front end or rear end of the hull through a bearing seat, and the upper end of the rudder blade is fixedly connected to the lower end of the rudder shaft through a connecting piece. The steering gear is installed at the front end or rear end of the hull through a waterproof cover, and its output shaft is connected to the upper end of the rudder shaft. The steering gear drives the rudder blade to rotate through the rudder shaft.

[0016] Furthermore, the counterweight block is a cylindrical structure, and both the front and rear ends thereof are hemispherical. The counterweight block is arranged longitudinally and horizontally below the middle of the hull, and the top is fixedly connected to the bottom of the hull through a keel.

[0017] Furthermore, the sail includes a sailboard and a mast, wherein the sailboard is a rectangular structure with a symmetrical airfoil cross-section, the mast is vertically inserted into the sailboard and fixed thereto as a whole, the lower end of the mast extends to the interior of the hull, and its circumferential surface is rotatably sealed with the upper cover plate.

[0018] Furthermore, the steering drive device is installed inside the hull through a fixing frame, and includes a servo motor and a transmission assembly. The transmission assembly includes a worm wheel and a worm. The worm wheel is installed at the lower part of the mast, and the worm is longitudinally and horizontally arranged on one side of the worm wheel and meshes with the worm wheel.

[0019] The front and rear ends of the worm are both rotatably matched with the fixing frame, and the end of the worm is coaxially fixedly connected to the output shaft of the servo motor installed on the fixing frame. The servo motor is powered by the lithium battery pack, and the signal end of the servo motor is connected to the shipboard computer for communication.

[0020] Furthermore, the shipborne radar is located at the front side of the sail and is installed on the upper front of the hull through a vertically arranged radar pole.

[0021] The shipborne radar is located at the rear side of the sail and is installed on the upper rear of the hull through a steel frame.

[0022] By adopting the above technical solution, the beneficial technical effects of the utility model are:

[0023] 1. Two-way navigation capability: The hull of the unmanned sailboat adopts a front-to-back symmetrical design and is equipped with a rudder blade at both ends, which enables the unmanned sailboat to have the ability of two-way navigation. It can sail in the opposite direction when a large turn is required, thereby reducing the time consumption during the turning process and improving the scanning efficiency.

[0024] 2. Suitable for full coverage scanning: This design makes the unmanned sailboat more suitable for full coverage scanning, and can more effectively cover the target area and obtain detailed ocean data and information.

[0025] 3. Utilize clean energy: Unmanned sailboats use clean energy as power and can perform long-term maritime missions, which complies with environmental protection concepts and also reduces operating costs.

[0026] 4. Reduce the difficulty of operation: The unmanned sailboat adopts a symmetrical hull and front and rear rudder blades, which improves the maneuverability of the unmanned sailboat, reduces the difficulty of operation, and improves the operating efficiency.

[0027] 5. Enhanced scanning efficiency: By reducing the time consumption during the rotation process, the scanning speed is accelerated, the efficiency and coverage of full coverage scanning are improved, and more reliable support is provided for marine scientific research, resource exploration, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The utility model is a three-dimensional structural schematic diagram of an unmanned sailboat for full coverage scanning.

[0029] Figure 2 The utility model is a top view of an unmanned sailboat for full coverage scanning.

[0030] Figure 3 It is a cross-sectional view of an unmanned sailboat for full coverage scanning according to the utility model.

[0031] Figure 4 The utility model is a bottom view of an unmanned sailboat used for full coverage scanning.

[0032] Figure 5 It is a rear view of an unmanned sailboat used for full coverage scanning in the utility model. DETAILED DESCRIPTION

[0033] The utility model is described in detail below with reference to the accompanying drawings:

[0034] Combination Figures 1 to 5 An unmanned sailboat for full coverage scanning includes a hull 1, a steering control mechanism, a sail 2, a ship-borne radar 3, an electronic scanning sonar 4, an anemometer 5, a counterweight 6 and an electronic control unit. The hull 1 is a spindle-shaped structure that is symmetrical front and back. The front and rear ends of the hull 1 are both vertical plane structures. The lower contour line of the cross section of the hull 1 is a semi-elliptical shape. The bottom of the hull 1 is a gradually changing curved surface with a downward convex middle part. The bottom of the hull 1 is a streamlined shape that is symmetrical front and back, which can effectively reduce the resistance during navigation and keep the unmanned sailboat having the same navigation performance and stability during two-way navigation.

[0035] The top of the hull 1 is provided with an upper cover plate 11, which seals the interior of the hull 1 to prevent seawater from entering the hull under the action of waves during navigation and causing damage to the equipment of the hull 1. The top of the upper cover plate 11 is provided with a solar panel 12, and there are two groups of solar panels 12, which are symmetrically arranged on the front and rear sides of the top of the hull 1. Each group of solar panels 12 includes a plurality of regularly arranged solar panels 12, and the bottoms of all solar panels 12 are fixed to the top of the upper cover plate 11 through a mounting plate 121. The solar panels 12 convert the received solar energy into electrical energy, which is stored in a lithium battery pack 72 to power the electrical equipment and electronic components of the unmanned sailboat. The unmanned sailboat uses clean energy as power and can maintain long-term maritime missions.

[0036] The counterweight block 6 is fixedly arranged below the hull 1. Specifically, the counterweight block 6 is a cylindrical structure, and both the front and rear ends thereof are hemispherical. The counterweight block 6 is arranged horizontally below the middle of the hull 1, and the top is fixedly connected to the bottom of the hull 1 through the keel 61. During the travel of the unmanned sailboat, the keel 61 generates lateral pressure by moving in the water to offset the lateral aerodynamic force generated by the sail, thereby maintaining the stability of the sailboat.

[0037] When the unmanned sailboat is sailing, the sail is subjected to the force of wind, and the keel is subjected to the lateral pressure of seawater, which generates a capsizing moment, causing the sailboat to have a lateral capsizing tendency. This capsizing tendency will change the buoyancy center position of the unmanned sailboat, causing the center of gravity and the center of buoyancy of the sailboat to be not on the same plumb line, forming a restoring moment. The counterweight block 6 effectively lowers the center of gravity of the sailboat, increases the restoring moment, and ensures the stability of the unmanned sailboat during driving and turning. In addition, the overall appearance of the keel 61 and the counterweight block 6 is a front-to-back symmetrical structure, so that the unmanned sailboat has the same navigation performance in bidirectional driving.

[0038] The electronic control unit includes a shipboard computer 71, a lithium battery pack 72, a navigation module 73 and a communication module 74. The electronic scanning sonar 4, the shipboard radar 3, the anemometer 5 and the navigation module 73 are respectively connected to the shipboard computer 71 for communication. The shipboard computer 71 is connected to the control terminal on the shore for communication through the communication module 74.

[0039] The electronic scanning sonar 4 is arranged at the bottom of the hull 1, the shipborne radar 3 is installed at the front upper part of the hull 1, and the anemometer 5 is fixedly arranged at the rear upper part of the hull 1 through a bracket. The anemometer 5 is used to collect wind field information in real time and transmit the wind field information to the shipborne computer 17 to provide a basis for manipulating the angle of the sail 2 and control the direction of travel of the unmanned sailboat. The shipborne radar 3 is located at the front side of the sail 2 and is installed at the front upper part of the hull 1 through a vertically arranged radar pole. The shipborne radar 3 is located at the rear side of the sail 2 and is installed at the rear upper part of the hull 1 through a steel frame.

[0040] The unmanned sailboat moves in the ocean in a specified direction according to the preset target area and navigation route by receiving the navigation command issued by the navigation module 73. At the same time, the navigation module 73 is used to determine the real-time position and acceleration and other motion information of the unmanned sailboat. During the navigation of the unmanned sailboat, the ship-borne radar 3 detects the surrounding environmental information through electromagnetic waves to avoid obstacles. At the same time, the collected environmental information is processed by the ship-borne computer 71 and transmitted to the control terminal on the shore through the communication module 74.

[0041] The sonar 15 collects information about the seabed through full coverage scanning, and transmits the environmental information to the control terminal on the shore through the communication module 74 after being processed by the shipboard computer 71. During the execution of the scanning task, the system continuously monitors the navigation environment and task requirements, and adjusts the heading according to the real-time situation to ensure that the unmanned sailboat can efficiently complete the full coverage scanning task. During the scanning process, when the unmanned sailboat approaches an area where it needs to turn or avoid obstacles, the shipboard radar 3 will detect the corresponding heading adjustment requirements, and determine whether a turning operation is required to adapt to the task requirements based on the sensor data and the preset navigation algorithm. If turning is required, the next step is entered. When a large angle turn is required according to the navigation route, the shipboard computer 71 sends a signal to the servo motor 23 and the steering gear 83 to control the sail 2 and the rudder blade 81 to adjust the angle to slow down the unmanned sailboat. When the unmanned sailboat stops moving, the angle of the sail 2 and the rudder blade 81 is adjusted again to make the sailboat move in the opposite direction without the need for complex turning actions, thereby improving the maneuverability and flexibility of the unmanned sailboat.

[0042] The sail 2 is vertically arranged above the hull 1, and the lower end thereof passes through the upper cover plate 11 and is connected to the steering drive device arranged inside the hull 1. The sail 2 comprises a sailboard 21 and a mast 22, wherein the sailboard 21 is a rectangular structure with a symmetrical airfoil cross section, and the mast 22 is vertically arranged inside the sailboard 21 and fixed thereto as a whole, and the lower end of the mast 22 extends to the inside of the hull 1, and the circumferential surface thereof is rotationally sealed with the upper cover plate 11.

[0043] The steering drive device is installed inside the hull 1 through a fixing frame 13, and the lower end of the mast 22 is rotationally matched with the fixing frame 13 through a thrust bearing. The steering drive device includes a servo motor 23 and a transmission assembly, and the transmission assembly includes a worm wheel 24 and a worm 25. The worm wheel 24 is fixedly sleeved on the lower part of the mast 22, and the worm 25 is longitudinally and horizontally arranged on the right side of the worm wheel 24 and meshed with the worm wheel 24. The front and rear ends of the worm 25 are rotationally matched with the fixing frame 13.

[0044] The servo motor 23 is located at the rear side of the worm 25 and is fixedly mounted on the fixing frame 13. The rear end of the worm 25 is coaxially fixedly connected to the output shaft of the servo motor 23. The servo motor 23 is powered by the lithium battery pack 72. The signal end of the servo motor 23 is connected to the shipboard computer 71 for communication. In the working state, the servo motor 23 drives the mast 22 to rotate clockwise or counterclockwise through the worm gear 24 and the worm 25. During the navigation process, the anemometer 5 monitors the direction and wind speed of the sea surface in real time, and transmits the wind speed and wind direction information to the shipboard computer 71. The shipboard computer 71 controls the output shaft angle of the servo motor 23 through instructions. The output shaft of the servo motor 23 drives the worm gear 24 to rotate clockwise or counterclockwise through the worm 25, and adjusts the angle direction of the windsurfing board 21, so that the unmanned sailboat keeps sailing according to the predetermined route.

[0045] There are two steering control mechanisms, which are symmetrically arranged at the front and rear ends of the hull 1. The steering control mechanism includes a rudder blade 81, a rudder shaft 82 and a steering gear 83. The rudder blade 81 is a vertically arranged rectangular flat plate structure, and its front side and rear side are both double-edged structures. When the unmanned sailboat is sailing, the rudder blade 81 has good water-breaking and steering capabilities.

[0046] The rudder shaft 82 is arranged vertically at the front end or rear end of the hull 1, the output end of the steering gear 83 is connected to the upper end of the rudder shaft 82, and the rudder blade 81 is connected to the lower end of the rudder shaft 82. The rudder shaft 82 is rotatably matched with the front end or rear end of the hull 1 through the bearing seat, and the upper end of the rudder blade 81 is fixedly connected with the lower end of the rudder shaft 82 by bolts through the connecting piece 84. The steering gear 83 is installed at the front end or rear end of the hull 1 through the waterproof cover 85, and its output shaft is connected to the upper end of the rudder shaft 82. The steering gear 83 drives the rudder blade 81 to rotate through the rudder shaft 82. During the driving process, the onboard computer 71 controls the output shaft of the steering gear 8 to rotate through instructions, adjusts the angle direction of the rudder blade 81, and controls the heading of the front end of the hull 1. The angle direction of the rudder blade 81 matches the angle direction of the sailboard 21 to ensure that the unmanned sailboat keeps sailing according to the predetermined route.

[0047] The parts not described in the present invention can be realized by adopting or drawing on the existing technology.

[0048] Furthermore, the terms “first” and “second” are used for descriptive purposes only and should not be understood as indicating or implying relative importance.

[0049] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0050] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. An unmanned sailboat for full coverage scanning, comprising a hull, a steering control mechanism, a sail, a ship-borne radar, an electronic scanning sonar, an anemometer, a counterweight and an electronic control unit, characterized in that: The hull is a spindle-shaped structure that is symmetrical front and back, and an upper cover is provided on the top of the hull, and the upper cover seals the interior of the hull; A solar panel is arranged on the top of the upper cover plate, and a sail is arranged vertically above the hull, and a lower end of the sail passes through the upper cover plate and is connected to a steering drive device arranged inside the hull; There are two steering control mechanisms, which are symmetrically arranged at the front and rear ends of the hull. The steering control mechanism includes a rudder blade, a rudder shaft and a steering gear. The rudder shaft is vertically arranged at the front end or the rear end of the hull. The output end of the steering gear is connected to the upper end of the rudder shaft, and the rudder blade is connected to the lower end of the rudder shaft. The counterweight is fixedly arranged below the hull, the electronic scanning sonar is arranged at the bottom of the hull, the shipborne radar is arranged at the front upper part of the hull, and the anemometer is arranged at the rear upper part of the hull; The electronic control unit includes a shipboard computer, a lithium battery pack, a navigation module and a communication module. The electronic scanning sonar, shipboard radar, anemometer and navigation module are respectively connected to the shipboard computer for communication. The shipboard computer is connected to the control terminal on shore for communication through the communication module.

2. The unmanned sailboat for full coverage scanning according to claim 1, characterized in that: The front and rear ends of the hull are both vertical plane structures, the lower contour line of the cross section of the hull is a semi-elliptical shape, and the bottom of the hull is a gradually curved surface with a downward convex middle portion.

3. The unmanned sailboat for full coverage scanning according to claim 1, characterized in that: There are two groups of solar panels, which are symmetrically arranged on the front and rear sides of the top of the hull. Each group of solar panels includes a plurality of regularly arranged solar panels, and the bottoms of all solar panels are fixed above the upper cover plate through mounting plates.

4. The unmanned sailboat for full coverage scanning according to claim 1, characterized in that: The rudder blade is a vertically arranged rectangular flat plate structure, and its front side and rear side are both double-edged structures; The rudder shaft is rotatably matched with the front end or rear end of the hull through a bearing seat, and the upper end of the rudder blade is fixedly connected to the lower end of the rudder shaft through a connecting piece. The steering gear is installed at the front end or rear end of the hull through a waterproof cover, and its output shaft is connected to the upper end of the rudder shaft. The steering gear drives the rudder blade to rotate through the rudder shaft.

5. The unmanned sailboat for full coverage scanning according to claim 1, characterized in that: The counterweight block is a cylindrical structure, and both the front and rear ends thereof are hemispherical. The counterweight block is arranged longitudinally and horizontally below the middle of the hull, and the top is fixedly connected to the bottom of the hull through a keel to form a whole.

6. The unmanned sailboat for full coverage scanning according to claim 1, characterized in that: The sail comprises a sailboard and a mast. The sailboard is a rectangular structure with a symmetrical airfoil cross section. The mast is vertically inserted into the sailboard and fixed thereto as a whole. The lower end of the mast extends to the interior of the hull, and its circumferential surface is rotatably sealed with the upper cover plate.

7. The unmanned sailboat for full coverage scanning according to claim 6, characterized in that: The steering drive device is installed inside the hull through a fixing frame, and comprises a servo motor and a transmission assembly, wherein the transmission assembly comprises a worm wheel and a worm, wherein the worm wheel is installed at the lower part of the mast, and the worm is arranged longitudinally and horizontally on one side of the worm wheel and meshes with the worm wheel; The front and rear ends of the worm are both rotatably matched with the fixing frame, and the end of the worm is coaxially fixedly connected to the output shaft of the servo motor installed on the fixing frame. The servo motor is powered by the lithium battery pack, and the signal end of the servo motor is connected to the shipboard computer for communication.

8. The unmanned sailboat for full coverage scanning according to claim 1, characterized in that: The shipborne radar is located at the front side of the sail and is installed at the front upper part of the hull through a vertically arranged radar pole; The shipborne radar is located at the rear side of the sail and is installed on the upper rear of the hull through a steel frame.

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