A dual-mode variable structure surface navigation device and a variable structure method thereof

Abstract

The present invention provides a dual-mode variable structure water surface navigation device and a variable structure method thereof, wherein the device comprises a main hull and auxiliary hulls arranged on both sides of the main hull, wherein a navigation controller and an electric push rod drive module and a propulsion drive module electrically connected to the navigation controller are installed on the main hull, wherein the water surface navigation device drives the water surface navigation device to sail on the water surface through the propulsion drive module, wherein the electric push rod drive module is used to drive an electric push rod, wherein the connection between the main hull and the auxiliary hull is realized through the electric push rod, and the structure of the water surface navigation device is changed through the electric push rod. The water surface navigation device provided by the present invention can be changed into a monohull to increase the speed when high-speed navigation is required, and can be changed into a trimaran to improve the stability and seakeeping when stable cruising is required.

Description

Technical Field

[0001] The present invention relates to the technical field of surface vehicles, and in particular to a dual-mode variable-structure surface navigation device and a variable-structure method thereof. Background Art

[0002] Traditional surface craft are mostly slender monohulls to achieve higher speeds, but such monohulls have poor stability and seakeeping. Compared with monohulls, trimarans have better seakeeping stability and seakeeping, and lower fuel consumption, but trimarans are less maneuverable than monohulls.

[0003] If the advantages of both are combined, the hull can be flexibly adjusted according to the required performance of the vehicle to cope with complex water environments, making us more competitive in the exploration of marine resources. Therefore, how to design a variable structure surface vehicle with both high speed and wave resistance has become an urgent problem to be solved. Summary of the invention

[0004] In view of the defects in the prior art, the purpose of the present invention is to provide a dual-mode variable structure surface navigation device and a variable structure method thereof, which can be transformed into a monohull to increase the speed when high-speed navigation is required, and can be transformed into a trimaran to improve stability and wave resistance when stable cruising is required.

[0005] To solve the above problems, the technical solution of the present invention is:

[0006] A dual-mode variable-structure surface navigation device, the device comprising a main hull and auxiliary hulls arranged on both sides of the main hull, the main hull being equipped with a navigation controller and an electric push rod drive module and a propulsion drive module electrically connected to the navigation controller, the surface navigation device is pushed on the water surface by the propulsion drive module, the electric push rod drive module is used to drive the electric push rod, the connection between the main hull and the auxiliary hull is achieved through the electric push rod, and the structure of the surface navigation device is changed through the electric push rod.

[0007] Optionally, the electric push rod includes four bidirectional electric push rods, which are respectively located on both sides of the main hull, with two bidirectional electric push rods installed on each side, and the two bidirectional electric push rods on the same side are parallel to each other and connected to the auxiliary hull.

[0008] Optionally, a posture sensor is installed on the main hull, and real-time posture information of the surface navigation device is collected by the posture sensor to drive the electric push rod, so as to realize the change of the hull structure by controlling the contraction and extension of the electric push rod.

[0009] Optionally, the surface navigation device is provided with a paddle servo module electrically connected to the propulsion drive module, and a propeller is provided at each end of the auxiliary hull on both sides of the main hull. The paddle servo module is driven by the propulsion drive module, and the paddle servo module drives the propeller installed at one end of the auxiliary hull to realize navigation propulsion or steering of the surface navigation device.

[0010] Optionally, the surface navigation device is provided with a rudder drive module electrically connected to the navigation controller, and a rudder is installed at one end of the main hull, and the rudder is driven by the rudder drive module to achieve direction control or roll reduction.

[0011] Optionally, the rudder is connected to the main hull via a ship shaft, and the navigation controller drives the ship shaft to rotate 90° to drive the rudder to complete the conversion from a horizontal state to a vertical state, so as to control the heading of the surface navigation device.

[0012] Optionally, the surface navigation device is provided with a wireless communication module electrically connected to the navigation controller, and the instructions sent by the host computer terminal to the navigation controller are received through the wireless communication module.

[0013] Furthermore, the present invention also provides a variable structure method for a dual-mode variable structure surface navigation device, the method comprising the following steps:

[0014] The dual-mode variable structure surface navigation device receives the host computer control terminal command through the navigation controller and sends the adjustment signal according to the command;

[0015] Determining whether the adjustment signal is in high-speed mode or anti-wave mode;

[0016] If the adjustment signal is in high-speed mode, the electric push rod drive module controls the electric push rod to retract;

[0017] If the adjustment signal is the anti-wave mode, the electric linear actuator driving module controls the electric linear actuator to extend.

[0018] Optionally, if the adjustment signal is in high-speed mode, the step of the electric push rod driving module controlling the electric push rod to retract specifically includes:

[0019] The rudder drive module sends a control signal to the ship shaft according to the command of the host computer control terminal, and adjusts the ship shaft to turn the rudder to a vertical position;

[0020] Whether the surface navigation device enters the high-speed mode is determined based on the real-time attitude data collected by the attitude sensor.

[0021] Optionally, if the adjustment signal is in the anti-wave mode, the step of the electric push rod driving module controlling the electric push rod to extend specifically includes:

[0022] The rudder drive module sends a control signal to the ship shaft according to the command of the host computer control terminal, and adjusts the ship shaft to turn the rudder to a horizontal position;

[0023] Whether the surface navigation device enters the anti-wave mode is determined based on the real-time attitude data collected by the attitude sensor.

[0024] Compared with the prior art, the present invention provides a dual-mode variable structure surface navigation device and a variable structure method thereof, which solves the problem that the surface navigation device faces two different requirements of high speed and high stability during navigation. When high-speed navigation is required, the variable structure can be changed to a monohull to increase the speed, and when stable cruising is required, the variable structure can be changed to a trimaran to improve stability and wave resistance. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0026] Figure 1 A three-dimensional diagram of a dual-mode variable-structure surface navigation device in a wave-resistant mode provided by an embodiment of the present invention;

[0027] Figure 2 A three-dimensional diagram of a dual-mode variable-structure surface navigation device in high-speed mode provided by an embodiment of the present invention;

[0028] Figure 3 A schematic diagram of electrical connections of a dual-mode variable structure surface navigation device provided by an embodiment of the present invention;

[0029] Figure 4 A flowchart of a variable structure method for a dual-mode variable structure surface navigation device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0030] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0031] Specifically, Figure 1 A three-dimensional diagram of a dual-mode variable structure water surface navigation device in an anti-wave mode provided by an embodiment of the present invention, such as Figure 1As shown, the dual-mode variable structure surface navigation device includes a main hull 8, an auxiliary hull 9 arranged on both sides of the main hull 8, a rudder 3 is installed at the tail of the main hull 8, and the rudder 3 is connected to the main hull 8 through a ship shaft 12. At the same time, a posture sensor 11, a navigation controller 13 and an antenna 14 are also installed on the main hull 8. In this embodiment, the main hull 8 and the auxiliary hull 9 are connected by an electric push rod 4 to form a complete trimaran. The electric push rod 4 includes four bidirectional electric push rods, which are respectively located on both sides of the main hull 8. Two bidirectional electric push rods are installed on each side. The two bidirectional electric push rods on the same side are parallel to each other and connected to the auxiliary hull 9. In addition, a propeller 1 is installed at the stern of each auxiliary hull 9 to provide power for the forward movement of the surface navigation device. In this embodiment, the rudder 3 is used to assist the surface navigation device in reducing the swaying state of the navigation device during the constant speed cruising in the anti-wave mode, that is, to reduce the roll. At this time, the function of the rudder 3 becomes a roll stabilizer fin.

[0032] In another embodiment, Figure 2 A three-dimensional diagram of a dual-mode variable structure water surface navigation device in high-speed mode provided by an embodiment of the present invention, such as Figure 2 As shown, the surface vehicle can also change its structure by Figure 1 The trimaran shown becomes Figure 2 In the monohull shown, the main hull 8 is still connected to the auxiliary hull 9 via the bidirectional electric push rod 4, but the bidirectional electric push rod 4 is now in a retracted state. Figure 3 The electrical connection diagram of the dual-mode variable structure surface navigation device provided by the embodiment of the present invention is as follows: Figure 3 As shown, after receiving the change structure instruction sent by the host computer terminal to the navigation controller 13 through the wireless communication module 10, the bidirectional electric push rod 4 executes the retraction command to complete the change structure from the trimaran to the monohull. In this embodiment, the rudder 3 is changed from the horizontal state to the vertical state, specifically, the host computer terminal sends an instruction to the navigation controller 13, driving the ship shaft 12 to rotate 90° to drive the rudder 3 to complete the position change from the horizontal state to the vertical state, so as to control the heading of the surface navigation device.

[0033] The electric push rod drive module 5, the propulsion drive module 6, the rudder drive module 7, the wireless communication module 10 and the attitude sensor 11 are all electrically connected to the navigation controller 13. The electric push rod drive module 5 is used to drive the extension and contraction of the four bidirectional electric push rods 4. The rudder drive module drive 7 is used to drive the rudder 3 to achieve the direction control or roll reduction of the surface navigation device. The surface navigation device is provided with a propeller servo module 2 connected to the propulsion drive module 6. The propulsion drive module 6 drives the propeller servo module 2, and the propeller servo module 2 drives the propeller 1 installed at one end of the auxiliary hull 9 to achieve navigation propulsion or steering.

[0034] Figure 4 A flow chart of a variable structure method for a dual-mode variable structure surface navigation device provided by an embodiment of the present invention, such as Figure 4 As shown, the variable structure method comprises the following steps:

[0035] Step S1: The dual-mode variable structure surface navigation device receives a command from a host computer control terminal through a navigation controller, and sends an adjustment signal according to the command;

[0036] Step S2: determining whether the adjustment signal is a high-speed mode or an anti-wave mode;

[0037] Step S3: If the adjustment signal is in high-speed mode, the electric push rod driving module controls the electric push rod to retract;

[0038] Specifically, step S3 includes the following steps:

[0039] The rudder drive module sends a control signal to the ship shaft according to the command of the host computer control terminal, and adjusts the ship shaft to turn the rudder to a vertical position;

[0040] Whether the surface navigation device enters the high-speed mode is determined based on the real-time attitude data collected by the attitude sensor.

[0041] Step S4: If the adjustment signal is the anti-wave mode, the electric push rod driving module controls the electric push rod to extend;

[0042] Specifically, step S4 includes the following steps:

[0043] The rudder drive module sends a control signal to the ship shaft according to the command of the host computer control terminal, and adjusts the ship shaft to turn the rudder to a horizontal position;

[0044] Whether the surface navigation device enters the anti-wave mode is determined based on the real-time attitude data collected by the attitude sensor.

[0045] Compared with the prior art, the present invention provides a dual-mode variable structure surface navigation device and a variable structure method thereof, which solves the problem that the surface navigation device faces two different requirements of high speed and high stability during navigation. When high-speed navigation is required, the variable structure can be changed to a monohull to increase the speed, and when stable cruising is required, the variable structure can be changed to a trimaran to improve stability and wave resistance.

[0046] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A variable structure method for a dual-mode variable structure surface navigation device, characterized in that: The dual-mode variable structure surface navigation device includes a main hull and auxiliary hulls arranged on both sides of the main hull. A navigation controller and an electric push rod drive module and a propulsion drive module electrically connected to the navigation controller are installed on the main hull. The surface navigation device drives the surface navigation device to sail on the water surface through the propulsion drive module. The electric push rod drive module is used to drive the electric push rod, and the connection between the main hull and the auxiliary hull is achieved through the electric push rod, and the structure of the surface navigation device is changed through the electric push rod. The surface navigation device is provided with a rudder drive module electrically connected to the navigation controller. A rudder is installed at one end of the main hull, and the rudder is driven by the rudder drive module to achieve Direction control or roll reduction, the rudder is connected to the main hull through the ship shaft, and the navigation controller drives the ship shaft to rotate 90° to drive the rudder to complete the conversion from a horizontal state to a vertical state, so as to control the heading of the surface navigation device; the electric push rod includes four bidirectional electric push rods, which are respectively located on both sides of the main hull, and two bidirectional electric push rods are installed on each side. The two bidirectional electric push rods on the same side are parallel to each other and connected to the auxiliary hull; an attitude sensor is installed on the main hull, and the real-time attitude information of the surface navigation device is collected by the attitude sensor, and the electric push rod is driven, and the change of the hull structure is realized by controlling the contraction and extension of the electric push rod; The variable structure method of the dual-mode variable structure water surface navigation device comprises the following steps: The dual-mode variable structure surface navigation device receives the host computer control terminal command through the navigation controller and sends the adjustment signal according to the command; Determining whether the adjustment signal is in high-speed mode or anti-wave mode; If the adjustment signal is in high-speed mode, the electric push rod drive module controls the electric push rod to retract, including: The rudder drive module sends a control signal to the ship shaft according to the command of the host computer control terminal, and adjusts the ship shaft to turn the rudder to a vertical position; Determine whether the surface navigation device has entered the high-speed mode according to the real-time attitude data collected by the attitude sensor; If the adjustment signal is in anti-wave mode, the electric push rod drive module controls the electric push rod to extend, including: The rudder drive module sends a control signal to the ship shaft according to the command of the host computer control terminal, and adjusts the ship shaft to turn the rudder to a horizontal position; Whether the surface navigation device enters the anti-wave mode is determined based on the real-time attitude data collected by the attitude sensor.

2. The variable structure method of the dual-mode variable structure surface navigation device according to claim 1, characterized in that: The surface navigation device is provided with a paddle servo module electrically connected to the propulsion drive module. A propeller is respectively provided at one end of the auxiliary hull on both sides of the main hull. The paddle servo module is driven by the propulsion drive module, and the paddle servo module drives the propeller installed at one end of the auxiliary hull to realize navigation propulsion or steering of the surface navigation device.

3. The variable structure method of the dual-mode variable structure surface navigation device according to claim 1, characterized in that: The surface navigation device is provided with a wireless communication module electrically connected to the navigation controller, and receives instructions sent by the host computer terminal to the navigation controller through the wireless communication module.

Images