A semi-submersible unmanned self-propelled buoy

Abstract

The present invention discloses a semi-submersible unmanned self-propelled powered buoy, comprising a main body and a driving device for providing power, wherein: the main body is composed of a plurality of cavity units connected together, each of the cavity units is a hollow sealed structure, and each of the cavity units includes an upper cavity and a lower cavity connected to each other; the driving device is arranged on the cavity unit. The upper cavity of the present invention floats on the water surface and is used to float the working platform on the water surface; the lower cavity of the cavity unit is sunk below the water surface and is used to stabilize the buoy as a whole. This upper and lower layered structure can make the buoy compact, with a low center of gravity and high stability, which is conducive to ensuring that it can stably perform scientific research work in sea conditions of level 4 and will not capsize when sailing in sea conditions of level 5.

Description

Technical Field

[0001] The present invention relates to the technical field of ocean monitoring equipment, and in particular to a semi-submersible unmanned self-propelled buoy (hereinafter referred to as a buoy). Background Art

[0002] With my country's increasing emphasis on the development of marine resources, research on carriers for marine monitoring and survey equipment is increasing. Among these, ocean buoys are a new ocean monitoring technology developed alongside the advancement of marine science, building upon traditional platforms. Ocean buoys are generally divided into anchored and drifting buoys. The former float on the sea surface and are anchored in place, susceptible to significant displacement deviations caused by wind and waves. The latter are floating bodies deployed in the sea, drifting with the current. Current plates of various types are attached to the buoys, causing them to move along the current, resulting in a highly random and uncontrollable drift path. Summary of the Invention

[0003] In view of this, the object of the present invention is to provide a semi-submersible unmanned self-propelled buoy, which can solve the problem that the buoy is affected by wind and waves and produces large displacement deviations, or cannot maneuver according to the predetermined target route.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A semi-submersible unmanned self-contained powered buoy comprises a main body and a driving device for providing power, wherein: the main body is composed of a plurality of cavity units connected together, each of the cavity units is a hollow sealed structure, and each of the cavity units comprises a connected upper cavity and a lower cavity (the upper cavity and the lower cavity are collectively referred to as cavities); the driving device is arranged on the cavity unit.

[0006] There are two cavity units, which are arranged symmetrically on both sides, and the upper cavities of the two cavity units are connected by a connecting piece.

[0007] The driving device includes a bow thruster and a main thruster;

[0008] There are two bow thrusters, which are symmetrically arranged and respectively set on the front sides of the two upper cavities;

[0009] There are two main thrusters, which are symmetrically arranged and respectively set at the rear ends of the two upper cavities.

[0010] A battery compartment or an oil compartment is provided inside each of the lower cavities.

[0011] Each of the upper cavity and the lower cavity is respectively provided with a stabilizing wing.

[0012] The front and rear ends of each of the upper cavity and the lower cavity are respectively connected with an anti-collision head.

[0013] The anti-collision head is a curved cone with a tangent slope gradually decreasing from one end away from the cavity.

[0014] Each anti-collision head and the cavity connected thereto are connected in a detachable or foldable manner.

[0015] The anti-collision head located at the front end of the cavity is connected to the cavity connected thereto via a foldable connection structure. Through the foldable connection structure, the anti-collision head can be folded from a position coaxial with the cavity to the inside of the cavity, and can also be pulled back from the inside of the cavity to the front end of the cavity and fixedly connected coaxially with the cavity.

[0016] And / or, the anti-collision head located at the rear end of the cavity and the cavity connected thereto are connected via a foldable connecting structure, through which the anti-collision head can be folded from a position coaxial with the cavity to the inner side of the cavity, and can be pulled back from the inner side of the cavity to the rear end of the cavity and coaxially fixed with the cavity.

[0017] A support frame is provided between the two connecting members, and the connecting members and the support frame together form a working platform, and the working platform is used to install a generator, a fuel tank, an instrument box, an antenna and other monitoring equipment installed as needed.

[0018] Each of the cavity units is made of aluminum alloy.

[0019] Each of the connecting parts is a hollow streamlined structure.

[0020] In the above-mentioned semi-submersible unmanned self-propelled buoy, the antenna is installed on the working platform by means of an antenna stabilization device, the antenna stabilization device includes a mounting seat, a cross-universal shaft self-stabilization ring is provided on the mounting seat, a mounting position for installing the antenna is provided on the top of the self-stabilization ring, the self-stabilization ring is connected to the counterweight block, the self-stabilization ring swings freely under the action of the gravity of the counterweight block, a damper is provided between the mounting seat and the counterweight block, the damper plays a damping and real-time balancing role on the free swing of the self-stabilization ring, so that the self-stabilization ring is in a dynamically balanced and relatively stable state.

[0021] In the above antenna stabilization device, the cross-gimbal self-stabilizing ring is composed of a first self-stabilizing ring and a second self-stabilizing ring that cross each other, wherein:

[0022] The two ends of the first self-stabilizing ring are hinged on the second self-stabilizing ring and can rotate around the X-axis. The top of the first self-stabilizing ring is provided with an antenna, and the bottom of the first self-stabilizing ring is connected to the counterweight block;

[0023] Both ends of the second self-stabilizing ring are hinged on the mounting seat and can rotate around the Y axis.

[0024] The first self-stabilizing ring is an annular frame structure, and the second self-stabilizing ring is an annular frame structure.

[0025] The vertical center line of the first stabilizing ring, the vertical center line of the counterweight block and the vertical center line of the antenna coincide with each other.

[0026] In the above antenna stabilization device, the counterweight is provided with several connecting rings, and the mounting seat is provided with several supporting members, the supporting members correspond to the connecting rings one by one, and each supporting member is connected to the connecting ring via the damper.

[0027] In the above antenna stabilization device, the damper is an elastic connecting member.

[0028] In the above-mentioned antenna stabilization device, transverse connecting shafts are respectively provided at both ends of the first self-stabilizing ring, and a first bearing adapted to the transverse connecting shaft is provided on the second self-stabilizing ring, and the central axes of the two transverse connecting shafts are both collinear with the X-axis.

[0029] In the above-mentioned antenna stabilization device, longitudinal connecting shafts are respectively provided at both ends of the second self-stabilizing ring, and a second bearing adapted to the longitudinal connecting shaft is provided on the mounting seat, and the central axes of the two longitudinal connecting shafts are both collinear with the Y-axis.

[0030] In the above antenna stabilization device, a mounting position for mounting a fixing seat is provided on the top of the first self-stabilizing ring, and the antenna is mounted on the fixing seat.

[0031] In the above antenna stabilization device, the bottom of the first self-stabilizing ring is connected to the counterweight through a connecting rod.

[0032] In the above antenna stabilization device, the mounting seat includes a mounting seat body and a thickening member, the thickening member is fixedly connected to the mounting seat body, and the second bearing is provided on the thickening member.

[0033] Beneficial effects of the present invention

[0034] When the buoy provided by the present invention is working, the upper cavity of the cavity unit floats on the water surface, which is used to float the working platform on the water surface; the lower cavity of the cavity unit sinks below the water surface, which is used to stabilize the buoy as a whole. Experiments have shown that this upper and lower layered structure can make the buoy compact, with a low center of gravity and high stability, which is conducive to ensuring that it can stably perform scientific research work in sea conditions of level 4 and will not capsize when sailing in sea conditions of level 5. In addition, the buoy is not only capable of semi-submersible operation and has high stability, but is also provided with a drive device, which can solve the problem that the buoy is greatly affected by wind and waves and cannot patrol according to the predetermined target route. In other words, the buoy can meet the needs of ocean monitoring, patrolling, etc., can achieve self-positioning while maneuvering according to the predetermined target route, and has high stability.

[0035] Furthermore, the buoy provided by the present invention also has the following beneficial effects:

[0036] 1. The buoy of the present invention can realize self-positioning and mobile array formation

[0037] The semi-submersible unmanned self-defending powered buoy provided by the present invention adopts a main thruster and a bow thruster to provide power. The main thruster provides forward and backward power for the powered buoy; the bow thruster provides left and right power for the powered buoy. The combination of the main thruster and the bow thruster makes the running trajectory of the powered buoy more direct and the movement more flexible. In combination with the positioning system and control system of the powered buoy, the powered buoy can realize the positioning and self-defense of the powered buoy, and can maneuver flexibly according to the predetermined target route, which is convenient for subsequent formation and patrol monitoring.

[0038] 2. The center of gravity of the buoy structure of the present invention is lowered, improving stability

[0039] The semi-submersible unmanned self-propelled buoy provided by the present invention adopts a basically symmetrical double-body structure, and is divided into two layers of upper and lower semi-submersible structures. The battery compartment or oil tank is arranged in the lower cavity to lower the center of gravity, thereby achieving counterweight and self-stabilization effects.

[0040] 3. The semi-submersible unmanned self-propelled buoy provided by the present invention can operate on the water surface by arranging stabilizing wings on the upper and lower cavities respectively, and has high stability. It has high survivability, maneuverability and ability to work reliably for a long time in complex sea conditions such as deep sea. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0042] Figure 1 A schematic diagram of the overall structure of a semi-submersible unmanned self-propelled buoy provided in the first and second specific embodiments of the present invention;

[0043] Figure 2 A front view of a semi-submersible unmanned self-propelled buoy provided in the first and second specific embodiments of the present invention;

[0044] Figure 3 A top view of a semi-submersible unmanned self-propelled buoy provided in the first and second specific embodiments of the present invention;

[0045] Figure 4 A side view of a semi-submersible unmanned self-propelled buoy provided in the first and second specific embodiments of the present invention;

[0046] Figure 5 A schematic diagram of the overall structure of an antenna stabilization device provided in a third specific embodiment of the present invention;

[0047] Figure 6 A side view of an antenna stabilization device provided in a third embodiment of the present invention.

[0048] in:

[0049] 1-Cavity unit, 11-Upper cavity, 12-Lower cavity, 13-Connecting part, 14-Anti-collision head, 141-Plane structure, 15-Bow thruster, 151-Protective wing, 16-Main thruster, 161-Protective frame, 17-Stabilizer wing, 18-Charging port,

[0050] 2-connector, 3-support frame, 4-generator, 5-fuel tank, 6-instrument box,

[0051] 7- Antenna,

[0052] 8- Antenna stabilization device,

[0053] 81-mounting seat, 82-first self-stabilizing ring, 83-second self-stabilizing ring, 84-fixing seat,

[0054] 85-connecting rod, 86-counterweight, 87-connecting ring, 88-damper, 89-support member. DETAILED DESCRIPTION

[0055] First specific embodiment

[0056] The first specific embodiment of the present invention discloses a semi-submersible unmanned self-propelled buoy, which has a driving device, can operate semi-submersibly, and has high stability, thereby solving the problem that the buoy is greatly affected by wind and waves and cannot patrol according to the predetermined target route.

[0057] The following will clearly and completely describe the technical solution in the first specific embodiment of the present invention in conjunction with the drawings of the first specific embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. Based on the first specific embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0058] See also Figures 1 to 4 The first specific embodiment of the present invention provides a semi-submersible unmanned self-propelled buoy, including a main body and a driving device. The main body is composed of a plurality of cavity units 1 connected together, and each cavity unit 1 is a hollow sealed structure; a driving device for providing power is provided on the cavity unit 1.

[0059] Each cavity unit 1 includes an upper cavity 11, a lower cavity 12, and a connecting portion 13 connecting the upper cavity 11 and the lower cavity 12. Each upper cavity 11 and the lower cavity 12 are cylindrical hollow sealed structures; the lower cavity 12 is arranged directly below the upper cavity 11.

[0060] There are two cavity units 1 , which are arranged symmetrically on both sides. The upper cavities 11 of the two cavity units 1 are connected by a connecting piece 2 .

[0061] The driving device includes a bow thruster 15 and a main thruster 16 .

[0062] Two bow thrusters 15 are symmetrically positioned on the front and exterior sides of the upper chamber 11, providing left and right driving force. Two main thrusters 16 are symmetrically positioned on the lower rear side of the upper chamber 11, providing forward and backward driving force. The main thrusters 16 and bow thrusters 15 work together to achieve dynamic positioning of the semi-submersible unmanned power buoy, making its trajectory more direct and flexible.

[0063] The front and rear ends of the lower cavity 12 are respectively provided with battery compartments or oil compartments.

[0064] The upper cavity 11 and the lower cavity 12 are collectively referred to as the cavity, and each cavity is provided with a stabilizing wing 17. Furthermore, the front and rear ends of each cavity are connected to an anti-collision head 14. The anti-collision head 14 is a curved cone with a tangent slope gradually decreasing from the end away from the cavity.

[0065] The upper left and upper right chambers are connected by a connector 2 on the work platform. A support frame 3 is provided between the connectors 2. The connectors 2 and the support frame 3 together form a work platform for installing a generator 4, a fuel tank 5, an instrument box 6, an antenna 7, and other monitoring equipment as needed.

[0066] Each cavity unit 1 is made of aluminum alloy.

[0067] As can be seen, the semi-submersible unmanned powered buoy provided in the first embodiment of the present invention is equipped with two cavity units 1 arranged substantially symmetrically on both sides, forming a double-body structure divided into upper and lower layers. In operation, the upper cavity (i.e., upper cavity 11) floats on the water surface, while the lower cavity (i.e., lower cavity 12) is submerged below the water surface. Tests have demonstrated that this semi-submersible unmanned powered buoy has a compact size, a low center of gravity, and high stability, ensuring stable scientific research operations in sea state 4 and no capsizing in sea state 5.

[0068] It can be seen that the semi-submersible unmanned self-propelled buoy provided by the first specific embodiment of the present invention has high survivability, maneuverability and ability to work reliably for a long time in complex sea conditions such as deep sea.

[0069] Specifically, the waterline of the semi-submersible unmanned self-contained powered buoy after launching is the lowest point of the upper cavity (i.e., the upper cavity).

[0070] Specifically, in the aforementioned semi-submersible unmanned powered buoy, the upper chamber 11 and the lower chamber 12 are both cylindrical hollow sealed structures, with their central axes parallel to each other. Furthermore, the length of the upper chamber 11 is greater than that of the lower chamber 12, and the centers of the upper chamber 11 and the lower chamber 12 are substantially aligned downward.

[0071] Specifically, in the above-mentioned semi-submersible unmanned self-propelled buoy, the front and rear ends of the upper cavity 11 and the lower cavity 12 are respectively provided with anti-collision heads 14.

[0072] The anti-collision head 14 at the front end of the upper cavity 11 is detachably connected to the upper cavity 11, and the anti-collision head 14 at the front end and the anti-collision head 14 at the rear end of the lower cavity 12 are respectively detachably connected to the lower cavity 12. The above-mentioned detachable connection structure can be convenient for maintenance and replacement. Moreover, removing the anti-collision head 14 from the cavity can shorten the length of the semi-submersible unmanned self-propelled buoy, facilitate packaging and transportation, and reduce the pressure of operation and maintenance. When using the semi-submersible unmanned self-propelled buoy, the anti-collision head 14 can be installed on the cavity.

[0073] The anti-collision head 14 at the rear end of the upper cavity 11 is foldably connected to the upper cavity 11. The anti-collision head 14 at the rear end of the upper cavity 11 can be folded from a position coaxial with the upper cavity 11 to the inner side of the upper cavity 11, and can be pulled back from the inner side of the upper cavity 11 to the rear end of the upper cavity 11 and coaxially fixed with it; this foldable function can be achieved through a hinge structure or other similar hinge connection structure. This foldable structure can also shorten the length of the semi-submersible unmanned self-propelled buoy according to actual conditions, which is convenient for packaging and transportation and reduces the pressure of operation and maintenance.

[0074] In the above-mentioned semi-submersible unmanned self-propelled buoy, the length of the semi-submersible unmanned self-propelled buoy can be reduced from 3.5m to 2.5m through the foldable and detachable anti-collision head design, reducing the occupied space. It can meet the requirements of transporting two semi-submersible unmanned self-propelled buoys at the same time in a 20-foot standard container, reducing the pressure on operation and maintenance.

[0075] Specifically, a planar structure 141 is provided at the rear end of the upper cavity 11 and the upper side of the anti-collision head 14 , respectively, so that when the anti-collision head 14 is folded and stored toward the inner side of the upper cavity 11 , it makes way for the working platform.

[0076] Moreover, a planar structure 141 is also provided at the rear end of the upper cavity 11 and the inner side of the anti-collision head 14, so that when the anti-collision head 14 is folded and stored toward the inner side of the upper cavity 11, it fits as closely as possible to the upper cavity 11, saving space and ensuring stable storage without rebound.

[0077] Specifically, an elastic rubber layer is provided on the exterior of the anti-collision head 14 .

[0078] Specifically, in the above-mentioned semi-submersible unmanned self-propelled buoy, main thrusters 16 are respectively provided on the lower side of the anti-collision head 14 at the tail of the upper cavity 11, and the main thrusters 16 are used to provide forward and backward power.

[0079] Preferably, a protective frame 161 is provided on the outside of the main thruster 16 to effectively prevent interference of the working environment on the power system.

[0080] Specifically, in the above-mentioned semi-submersible unmanned self-propelled buoy, bow thrusters 15 are respectively provided on the outer side of the front portion of the upper cavity 11. The bow thrusters 15 can provide power to the left and right, making the running trajectory of the power buoy more direct and flexible.

[0081] Preferably, a protective wing 151 is provided in front of the bow thruster 15. The protective wing 151 can be set as a horizontal plate structure, parallel to the central axis of the bow thruster 15, so as to effectively avoid interference of the working environment on the power system.

[0082] Specifically, in the above-mentioned semi-submersible unmanned self-propelled buoy, the working platform includes a connector 2 and a support frame 3. Preferably, there are at least two connectors 2, which are respectively located at the front and rear ends of the support frame 3 and are fixedly connected to the support frame 3.

[0083] Both ends of each connecting member 2 are connected to an upper cavity 11 respectively;

[0084] The support frame 3 is used to install a generator 4 (such as a diesel generator), a fuel tank 5, and an instrument box 6. Preferably, the instruments in the work platform can be quickly disassembled and replaced.

[0085] Specifically, in the above-mentioned semi-submersible unmanned self-propelled buoy, battery compartments or oil tanks are respectively provided at the front and rear ends of the interior of the lower cavity 12. This design effectively lowers the center of gravity and separates the overall center of gravity and center of buoyancy in the vertical plane, allowing the powered buoy to stably and effectively adapt to harsh working environments.

[0086] Specifically, the battery compartment is equipped with a large-capacity rechargeable battery, and the generator 4 can charge the battery. The electricity charged by the generator can provide the working platform with a navigation capability of no less than 40 hours, and can also provide a long-term stable and reliable energy supply for the measurement system carried by the working platform.

[0087] Specifically, the oil tank serves as a backup tank for the oil tank 5 .

[0088] Specifically, in the above-mentioned semi-submersible unmanned self-propelled buoy, a charging port 18 is provided on each upper cavity 11 .

[0089] In order to facilitate maintenance and upkeep, the thrusters, instrument boxes, cavity units, and battery compartments of the above-mentioned semi-submersible unmanned powered buoy all adopt a modular design and can be quickly disassembled and replaced.

[0090] Specifically, in the aforementioned semi-submersible unmanned powered buoy, multiple (e.g., two) connecting portions 13 are provided between the upper cavity 11 and the lower cavity 12, each of which has a hollow, streamlined structure. The streamlined structure of these connecting portions 13 helps reduce navigation resistance; the hollow interior of these connecting portions 13 communicates with each of the connected cavity units, facilitating cable routing.

[0091] Specifically, in the above-mentioned semi-submersible unmanned self-propelled buoy, the upper cavity 11 and the lower cavity 12 are respectively provided with stabilizing fins 17, so that the semi-submersible unmanned self-propelled buoy can operate more stably in adverse sea conditions. For example:

[0092] Stabilizing wings 17 of a horizontal plate structure are symmetrically provided on the inner and outer sides of the center of the upper cavity 11;

[0093] On the lower cavity 12, symmetrically arranged horizontal plate-shaped stabilizing wings 17 are provided on the inner and outer sides near the front end, and symmetrically arranged horizontal plate-shaped stabilizing wings 17 are provided on the inner and outer sides near the rear end.

[0094] Preferably, the cross-sections of the stabilizing wings 17 in the vertical plane in the front-rear direction are all streamlined.

[0095] Specifically, each cavity unit in the aforementioned semi-submersible unmanned self-propelled buoy is made of aluminum alloy. Aluminum alloy has excellent plasticity, is easy to weld and process, and has good thermal conductivity, facilitating heat dissipation from the platform. Its low density and high strength make it more crash-resistant than materials like carbon fiber and fiberglass, and it is also easier to process and modify.

[0096] In summary, the above-mentioned semi-submersible unmanned self-propelled buoy is an open platform design, which is convenient for carrying various marine instruments and also provides more possibilities for future upgrades and modifications.

[0097] Specifically, the antenna 7 in the above-mentioned semi-submersible unmanned self-propelled buoy is arranged on the connector 2 at the tail end of the working platform.

[0098] Furthermore, in order to keep the communication antenna in a vertical upward position for as long as possible, the antenna 7 is provided on each upper cavity 11 via an antenna stabilizing device. For details about the antenna stabilizing device, please refer to the second specific embodiment of the present invention.

[0099] Second specific embodiment

[0100] The second embodiment of the present invention provides a semi-submersible unmanned self-propelled buoy, which differs from the semi-submersible unmanned self-propelled buoy provided in the first embodiment of the present invention in that:

[0101] Each anti-collision head and the cavity to which it is connected are detachably connected to facilitate maintenance and replacement. Moreover, by removing the anti-collision head from the cavity, the length of the semi-submersible unmanned self-defense power buoy can be shortened, making it easier to pack and transport, and reducing the pressure of operation and maintenance. When the semi-submersible unmanned self-defense power buoy is in use, the anti-collision head can be installed on the cavity.

[0102] And / or, the anti-collision head 14 at the front end of each cavity is connected to the cavity connected thereto by a foldable connection structure. Through the foldable connection structure, the anti-collision head 14 can be folded from a position coaxial with the cavity to the inside of the cavity, or can be pulled back from the inside of the cavity to the front end of the cavity and fixedly connected coaxially with the cavity. This function can be achieved by a hinge structure or other similar hinge connection structure. The foldable structure can also shorten the length of the semi-submersible unmanned self-propelled buoy according to actual conditions, making it easier to pack and transport, and reducing the pressure of operation and maintenance.

[0103] And / or, the anti-collision head 14 at the rear end of each cavity is connected to the cavity connected thereto by a foldable connecting structure. Through the foldable connecting structure, the anti-collision head 14 can be folded from a position coaxial with the cavity to the inner side of the cavity, or it can be pulled back from the inner side of the cavity to the rear end of the cavity and fixed coaxially with the cavity. This function can be achieved through a hinge structure or other similar hinge connection structure. The foldable structure can also shorten the length of the semi-submersible unmanned self-propelled buoy according to actual conditions, which is convenient for packaging and transportation and reduces the pressure of operation and maintenance.

[0104] During the specific implementation process, technical personnel can design the connection method between the anti-collision head and the cavity in different positions according to actual needs.

[0105] Third specific embodiment

[0106] A third specific embodiment of the present invention provides an antenna stabilizing device capable of keeping the antenna in a stable state at all times.

[0107] The following will clearly and completely describe the technical solution in the third specific embodiment of the present invention in conjunction with the drawings of the third specific embodiment of the present invention. Obviously, the described embodiment is only a part of the embodiments of the present invention, not all of the embodiments. Based on the third specific embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0108] See also Figure 5 and Figure 6 The third specific embodiment of the present invention provides an antenna stabilization device, including a mounting base 81. A cross-cardanic shaft self-stabilizing ring is provided on the mounting base 81. A mounting position for installing the antenna is provided on the top of the self-stabilizing ring. The self-stabilizing ring is connected to a counterweight block 86. The counterweight block 86 is able to swing freely through the self-stabilizing ring. A damper 88 is provided between the mounting base 81 and the counterweight block 86. The damper 88 has a damping and real-time balancing effect on the swing of the self-stabilizing ring, so that the self-stabilizing ring is in a dynamically balanced and relatively stable state.

[0109] The antenna stabilization device provided by the present invention can be used on a powered buoy to mount an antenna thereon. When the antenna sways due to the swaying of the powered buoy itself, or due to wind or waves, the first stabilization ring can rotate about the X-axis, and the second stabilization ring can rotate about the Y-axis. Thus, under the action of the counterweight, the cross-gimbal stabilization rings enable the antenna to achieve attitude compensation. Simultaneously, the damping effect of the damper allows the antenna to maintain a stable vertical upward position, ensuring the basic stability of the antenna's transmitting and receiving sectors. This improves the reliability of the system's long-distance wireless networking communications in complex sea conditions.

[0110] Specifically, in the above antenna stabilization device, the cross-gimbal self-stabilizing ring is composed of a first self-stabilizing ring 82 and a second self-stabilizing ring 83 that cross each other, wherein:

[0111] The first self-stabilizing ring 82 is hinged at both ends to the second self-stabilizing ring 83 and can rotate around the X-axis. The top of the first self-stabilizing ring 82 is provided with a mounting position for mounting the antenna 7. The bottom of the first self-stabilizing ring 82 is connected to the counterweight 86.

[0112] Both ends of the second stabilizing ring 83 are hinged on the mounting base 81 and can rotate around the Y axis.

[0113] The X-axis and Y-axis are in the same horizontal plane.

[0114] The vertical center line of the first stabilizing ring 82 , the vertical center line of the counterweight 86 and the vertical center line of the antenna 7 coincide with each other.

[0115] The first self-stabilizing ring 82 is a ring-shaped frame structure, and its central plane is a vertical plane in a normal state.

[0116] The second self-stabilizing ring 83 is a ring-shaped frame structure, and its central plane is a horizontal plane in a normal state.

[0117] Specifically, in the above-mentioned antenna stabilization device, a plurality of connecting rings 87 are provided on the counterweight block 86, and a plurality of support members 89 are provided on the mounting seat 81. The support members 89 correspond one-to-one to the connecting rings 87, and each support member 89 is connected to the connecting ring 87 through a damper 88.

[0118] Specifically, in the above antenna stabilizing device, the damper 88 is a spring or a rubber band.

[0119] Specifically, in the above antenna stabilization device, a fixing seat 84 is provided on the installation position, and the fixing seat 84 is connected to the antenna 7 .

[0120] Specifically, in the above antenna stabilization device, the bottom center of the first self-stabilizing ring 82 is connected to the counterweight 86 through a connecting rod 85 .

[0121] Specifically, in the above-mentioned antenna stabilization device, a transverse connecting shaft is respectively provided at both ends of the first self-stabilizing ring 82, and a first bearing adapted to the transverse connecting shaft is provided on the second self-stabilizing ring 83. The central axes of the two transverse connecting shafts are both collinear with the above-mentioned X-axis (or, the rotation center lines of the two first bearings are both collinear with the above-mentioned X-axis), so that the first self-stabilizing ring 82 can rotate freely around the transverse central axis; the two ends of the second self-stabilizing ring 83 are provided with a longitudinal connecting shaft, and a second bearing adapted to the longitudinal connecting shaft is provided on the mounting seat 81. The central axes of the two longitudinal connecting shafts are both collinear with the above-mentioned Y-axis (or, the rotation center lines of the two second bearings are both collinear with the above-mentioned Y-axis), so that the second self-stabilizing ring 83 can rotate freely around the longitudinal central axis.

[0122] Specifically, in the above antenna stabilization device, the mounting seat 81 includes a mounting seat body and a thickening member, the thickening member is fixedly connected to the mounting seat body, and a hinge hole for hinged connection with the second self-stabilizing ring 83 is provided on the thickening member.

[0123] Specifically, if Figure 1 As shown in , in the above antenna stabilization device:

[0124] The mounting seat 81 is an annular plate-shaped frame structure, preferably a rectangular frame structure or a circular frame structure, and the first self-stabilizing ring 82 and the second self-stabilizing ring 83 are both arranged in the central through hole of the mounting seat 81;

[0125] The second self-stabilizing ring 83 is an annular frame structure, preferably a circular ring structure. Under normal conditions, its central plane (specifically, a plane perpendicular to the central axis of the central through hole of the annular frame structure and located between the two side openings of the annular frame structure) is a horizontal plane. The first self-stabilizing ring 82 is disposed in the central through hole of the second self-stabilizing ring 83.

[0126] The first self-stabilizing ring 82 is an annular frame structure, preferably a circular ring structure. Under normal circumstances, its central plane (specifically, a plane perpendicular to the central axis of the central through hole of the annular frame structure and located between the two side openings of the annular frame structure) is a vertical plane. The first self-stabilizing ring 82 adopts an annular frame structure, which not only helps to reduce the weight of the device, but also facilitates the arrangement of the mounting structure on the first self-stabilizing ring 82.

[0127] However, the present invention is not limited thereto. The specific structures of the mounting base 81, the first self-stabilizing ring 82, and the second self-stabilizing ring 83 may have various optional solutions, for example:

[0128] The mounting base 81 may also be a pair of connecting members hinged on both sides of the second self-stabilizing ring 83;

[0129] The second self-stabilizing ring 83 may also be a semi-annular structure, the middle position of which is hinged to the mounting seat 81, and the two ends of which are respectively hinged to the first self-stabilizing ring 82;

[0130] The first self-stabilizing ring 82 may also be a spherical structure.

[0131] Therefore, the present invention does not impose any specific restrictions on the specific structures of the mounting base 81 , the first stabilizing ring 82 , and the second stabilizing ring 83 . It is sufficient as long as the antenna 7 can always maintain a vertically upward stable state under the action of the counterweight 86 .

[0132] Specifically, in the above-described antenna stabilization device, a fixing base 84 is provided at the top mounting position of the first self-stabilizing ring 82, and the fixing base 84 is threadedly connected to the antenna 7. However, this is not limiting. The connection between the first self-stabilizing ring 82 and the antenna 7, or the connection between the fixing base 84 and the antenna 7, can be implemented in a variety of ways, such as by plugging, snapping, or by connecting members such as screws, and the present invention is not specifically limited thereto.

[0133] Specifically, in the above antenna stabilization device, the bottom center of the first self-stabilizing ring 82 is connected to the counterweight 86 through a connecting rod 85 .

[0134] To further optimize the above solution, the antenna stabilization device further includes connecting rings 87, supports 89, and dampers 88. The counterweight 86 is provided with several (preferably four) connecting rings 87, and the mounting base 81 is provided with several (preferably four) supports 89. The supports 89 correspond one to one with the connecting rings 87, and each support 89 is connected to the connecting ring 87 via a damper 88.

[0135] Preferably, the plurality of connecting rings 87 are evenly distributed on the counterweight 86 with the connecting rod 85 as the center; the plurality of dampers 88 are springs or rubber bands of the same size, which are horizontally arranged and on the same horizontal plane under normal conditions.

[0136] It can be seen that in the above-mentioned antenna stabilization device, the self-stabilization function can be achieved through the connecting ring 87, the support member 89 and the damper 88, which can prevent the antenna stabilization device from undergoing drastic changes in harsh working environments, and can eliminate irregular shaking of the antenna caused by factors such as bad weather to the greatest extent, thereby achieving the optimal working state of the antenna and ensuring stable communications.

[0137] Specifically, in the above antenna stabilization device, the mounting base 81, the first stabilizing ring 82, the second stabilizing ring 83, the connecting rod 85, the connecting ring 87 and the support member 89 are all made of aluminum; the counterweight block 86 is a lead ball, which has a density greater than that of aluminum.

[0138] It can be seen that in the above-mentioned antenna stabilization device, the self-stabilization function can be achieved through the connecting ring 87, the support member 89 and the damper 88, which can prevent the antenna stabilization device from undergoing drastic changes in harsh working environments, and can eliminate irregular shaking of the antenna caused by factors such as bad weather to the greatest extent, thereby achieving the optimal working state of the antenna and ensuring stable communications.

[0139] When the antenna shakes due to the shaking of the powered buoy itself, or due to the influence of wind and waves, the first self-stabilizing ring in the antenna stabilization device can rotate around the horizontal center axis, and the second self-stabilizing ring can rotate around the longitudinal center axis. Therefore, under the action of the counterweight, the antenna can have the function of attitude compensation, so that the antenna can always maintain a stable vertical upward state, ensuring the basic stability of the antenna transmitting and receiving sectors, and improving the reliability of the system's long-distance wireless networking communications under complex sea conditions for a long time.

[0140] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0141] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0142] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A semi-submersible unmanned self-propelled buoy, characterized in that: It comprises a main body and a driving device for providing power, wherein: The main body is composed of a plurality of cavity units (1) connected together, each of the cavity units (1) is a hollow sealed structure, and each of the cavity units (1) includes an upper cavity (11) and a lower cavity (12) connected to each other; a battery compartment or an oil compartment is provided inside the lower cavity (12); in each cavity unit (1), the upper cavity (11) and the lower cavity (12) are both cylindrical hollow sealed structures, and their central axes are parallel to each other; the length of the upper cavity is greater than the length of the lower cavity, and the center positions of the upper cavity (11) and the lower cavity (12) are aligned vertically; the waterline of the semi-submersible unmanned self-defense power buoy is the lowest point of the upper cavity (11); The driving device is arranged on the cavity unit (1); Stabilizing wings (17) of a horizontal plate-like structure are symmetrically provided on the inner and outer sides of the center position of each upper cavity (11); A working platform is provided on the cavity unit (1), and the working platform is used to install an antenna (7); the antenna (7) is provided on the upper cavity (11) through an antenna stabilizing device; the antenna stabilizing device includes a mounting seat (81), a cross-cross universal shaft self-stabilizing ring is provided on the mounting seat (81), a mounting position for installing the antenna is provided on the top of the cross-cross universal shaft self-stabilizing ring, the cross-cross universal shaft self-stabilizing ring is connected to a counterweight (86), and the counterweight (86) is able to swing freely through the cross-cross universal shaft self-stabilizing ring, and a damper (88) is provided between the mounting seat (81) and the counterweight (86); The front and rear ends of each of the upper cavity (11) and the lower cavity (12) are respectively connected to an anti-collision head (14); the upper cavity (11) and the lower cavity (12) are collectively referred to as cavities, wherein: The anti-collision head (14) located at the front end of the cavity is connected to the cavity via a foldable connection structure. Through the foldable connection structure, the anti-collision head (14) can be folded from a position coaxial with the cavity to the inside of the cavity, and can also be pulled back from the inside of the cavity to the front end of the cavity and fixedly connected coaxially with the cavity. And / or, the anti-collision head (14) located at the rear end of the cavity is connected to the cavity connected thereto via a foldable connection structure, and through the foldable connection structure, the anti-collision head (14) can be folded from a position coaxial with the cavity to the inner side of the cavity, and can also be pulled back from the inner side of the cavity to the rear end of the cavity and fixed coaxially with the cavity.

2. The semi-submersible unmanned self-propelled buoy according to claim 1, characterized in that: The number of the cavity units (1) is two, and the two cavity units (1) are connected.

3. The semi-submersible unmanned self-propelled buoy according to claim 2, characterized in that: The driving device includes a bow thruster (15) and a main thruster (16); There are two bow thrusters (15), which are respectively arranged at the front of the two upper cavities (11); There are two main thrusters (16), which are respectively arranged at the rear ends of the two upper cavities (11).

4. The semi-submersible unmanned self-propelled buoy according to claim 1, characterized in that: Each of the lower cavities (12) is provided with a stabilizing wing (17).

5. The semi-submersible unmanned self-propelled buoy according to claim 1, characterized in that: The upper cavity (11) and the lower cavity (12) are collectively referred to as cavities, and each anti-collision head (14) is detachably connected to the cavity to which it is connected.

6. The semi-submersible unmanned self-propelled buoy according to claim 2, characterized in that: The working platform is used for installing a generator (4), an oil tank (5), and an instrument box (6).

7. The semi-submersible unmanned power buoy according to claim 1, characterized in that: Each of the cavity units (1) is made of aluminum alloy.

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