Integrated anti-rolling system for small-scale unmanned surface vehicle in high sea state

Abstract

The application discloses a comprehensive roll reduction system of a small-scale unmanned ship under high sea conditions, which comprises a comprehensive control system, a passive roll reduction device, an active roll reduction device and an inertial navigation device; the passive roll reduction device is used for realizing passive ship roll reduction; the active roll reduction device is used for realizing active ship roll reduction; the inertial navigation device is used for acquiring motion posture data of the unmanned ship; and the comprehensive control system is used for intelligently controlling the active roll reduction device and the passive roll reduction device to perform roll reduction actions according to the ship motion posture data transmitted by the inertial navigation device. The comprehensive roll reduction system is intelligent and combines the active roll reduction and the passive roll reduction, has the advantages of the active roll reduction and the passive roll reduction, and can make up for the related deficiencies; through comprehensive intelligent control, the passive roll reduction device and the active roll reduction device can simultaneously perform roll reduction actions, motion damping of the ship body can be provided, the motion amplitude is reduced, and therefore the unmanned ship has a better roll reduction effect under various speeds and sea conditions.

Description

Technical Field

[0001] This invention belongs to the field of ship roll reduction technology, and in particular, it is a comprehensive roll reduction system for small-scale unmanned surface vessels in high sea states. Background Technology

[0002] Small-scale unmanned surface vessels (USVs) are easily affected by external factors such as wind, waves, and currents when navigating in rough seas. This can easily lead to motion responses in all six degrees of freedom, including pitch, roll, and heave, disrupting the vessel's equilibrium. Severe motion responses can damage the hull structure or cause onboard equipment to malfunction, and in severe cases, render the USV unable to complete its mission. To reduce the vessel's motion response in waves and maintain normal navigation and operation, current common roll reduction methods typically rely on single, passive roll reduction devices such as bilge keels, anti-roll tanks, and anti-roll rudders to reduce roll within a certain range of sea conditions. These methods are rarely designed specifically for rough sea conditions and thus have limitations and are largely passive.

[0003] Traditional roll reduction methods have the following shortcomings:

[0004] 1) Roll reduction devices are prone to generating additional drag and are not suitable for controlling the course and speed of small-scale unmanned surface vessels.

[0005] 2) The roll reduction method is passive, which is not suitable for roll reduction of ships in high sea states.

[0006] 3) The anti-sway method is relatively simple, and the overall anti-sway effect is poor. Summary of the Invention

[0007] The purpose of this invention is to address the problems existing in the prior art by providing a comprehensive roll reduction system for small-scale unmanned surface vessels in high sea states.

[0008] The technical solution to achieve the purpose of this invention is: a comprehensive roll reduction system for small-scale unmanned surface vessels in high sea states, the system including a comprehensive control system, and a passive roll reduction device, an active roll reduction device and an inertial navigation device connected to the comprehensive control system;

[0009] The passive roll reduction device is fixedly connected to the hull structure and is used to achieve passive roll reduction of the ship.

[0010] The active roll reduction device is installed as a roll reduction attachment on the hull structure or in the cabin space to achieve active roll reduction of the ship.

[0011] The inertial navigation device is used to acquire motion attitude data of the unmanned surface vessel, provide parameter input for the integrated control system, and generate reverse damping on the hull through the motion response and motion attitude of the hull, thereby reducing the motion amplitude.

[0012] The integrated control system is used to intelligently control the active roll reduction device and the passive roll reduction device to perform roll reduction actions based on the ship motion attitude data transmitted from the inertial navigation device.

[0013] When small unmanned surface vessels (USVs) operate and navigate in high sea states, passive and active roll damping devices can simultaneously reduce hull roll, providing motion damping to the hull and reducing the amplitude of motion. This method is characterized by high reliability and good roll reduction effect.

[0014] Furthermore, the passive roll stabilization device includes a T-shaped roll stabilization hydrofoil and a retractable vertical fin rudder.

[0015] The T-shaped anti-roll hydrofoil is used to cut through the water with the hydrofoil panel during the hull's navigation, generating vertical damping motion through vortex discharge;

[0016] The retractable vertical fin rudder is deployed via an integrated control system when the small unmanned surface vessel (USV) is navigating in high sea states. The fin rudder cross-section generates lateral damping to reduce the hull's roll amplitude. When the vertical fin rudder is not involved in reducing the USV's roll, it is retrieved via the integrated control system. After retrieval, the retractable vertical fin rudder conforms to the hull shape.

[0017] Furthermore, the T-shaped anti-roll hydrofoil is installed at the bow of the hull, and the retractable vertical fin rudder is installed amidships.

[0018] Furthermore, the active anti-roll device includes a cutoff plate and an anti-roll gyroscope;

[0019] The cut-off plate is used to adjust the pitch during the unmanned surface vessel's navigation, and it itself generates damping during longitudinal movement, reducing the pitch amplitude of the hull.

[0020] The anti-roll gyroscope reduces the amplitude of the unmanned surface vessel's roll motion through the restoring force generated by the rotor's rotation.

[0021] Furthermore, the cut-off plate includes a port side cut-off plate and a starboard side cut-off plate, which are symmetrically installed on the left and right sides. The differential motion of the port side cut-off plate and the starboard side cut-off plate can generate a lateral torsional moment. By adjusting the phase difference between the torsional moment and the motion response, the amplitude of the unmanned surface vessel's roll motion can be reduced.

[0022] Furthermore, the port side cutoff plate and the starboard side cutoff plate are respectively installed on the port side and starboard side of the stern sealing plate of the hull, and protrude beyond the stern sealing plate.

[0023] Furthermore, the height of the port and starboard stern cutoff plates extending beyond the stern seal plate is adjustable, and the lateral torsional moment is generated by adjusting the height of both.

[0024] Furthermore, the anti-roll gyroscope is installed within a set range near the center of the hull's roll.

[0025] Furthermore, the inertial navigation device is installed within a set range near the hull's sway center or the anti-roll gyroscope.

[0026] Furthermore, the integrated control system is located in the control cabin of the unmanned surface vessel (USV). Based on the pitch and roll angles, acceleration, and wave count on the bow deck parameters collected by the inertial navigation equipment, the system intelligently controls and activates the active roll damping device to increase the pitch and roll damping of the USV and reduce the pitch and roll amplitude.

[0027] Compared with the prior art, the significant advantages of this invention are:

[0028] 1) An active and comprehensive anti-sway method is adopted, and the passive anti-sway device and the active anti-sway device can work simultaneously, which improves the anti-sway effect.

[0029] 2) The anti-roll device can be intelligently controlled to reduce roll based on the motion and swaying posture of the unmanned surface vessel.

[0030] 3) Because the roll damping device is released and operates through the integrated control system, when it is not involved in roll damping, the roll damping device is retracted into the hull compartment, so it does not generate additional appendage drag.

[0031] 4) The system features high reliability and low error rate, making it suitable for use by small-scale unmanned surface vessels navigating in high sea states, and thus possesses high economic and application value.

[0032] The present invention will now be described in further detail with reference to the accompanying drawings. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the integrated anti-roll system.

[0034] Figure 2 This is a diagram of the integrated anti-roll system.

[0035] Figure 3 This is a schematic diagram of a T-shaped anti-roll hydrofoil.

[0036] Figure 4 This is a schematic diagram of a retractable vertical fin rudder. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0038] In one embodiment, combined Figure 1 and Figure 2A comprehensive roll reduction system for small-scale unmanned surface vessels in high sea states is provided. The system includes a comprehensive control system, as well as a passive roll reduction device, an active roll reduction device, and an inertial navigation device connected to the comprehensive control system.

[0039] The passive roll reduction device is fixedly connected to the hull structure and is used to achieve passive roll reduction of the ship.

[0040] The active roll reduction device is installed as a roll reduction attachment on the hull structure or in the cabin space to achieve active roll reduction of the ship.

[0041] The inertial navigation device is used to acquire motion attitude data of the unmanned surface vessel, provide parameter input for the integrated control system, and generate reverse damping on the hull through the motion response and motion attitude of the hull, thereby reducing the motion amplitude.

[0042] The integrated control system is used to intelligently control the active roll reduction device and the passive roll reduction device to perform roll reduction actions based on the ship motion attitude data transmitted from the inertial navigation device.

[0043] When small unmanned surface vessels (USVs) operate and navigate in high sea states, passive and active roll damping devices can simultaneously reduce hull roll, providing motion damping to the hull and reducing the amplitude of motion. This method is characterized by high reliability and good roll reduction effect.

[0044] Furthermore, in one embodiment, the passive roll stabilization device mainly includes a T-shaped roll stabilization hydrofoil (such as...). Figure 3 (as shown) and retractable vertical fin rudders (such as) Figure 4 (As shown).

[0045] T-type anti-roll hydrofoils are passive anti-roll devices, typically fixedly mounted on the bow of the hull. During longitudinal movement of the bow, the hydrofoil panels cut through the water, generating vertical damping motion through vortex discharge, reducing the amplitude of pitching and heaving, and thus reducing the number of deck layers and vertical acceleration on the bow.

[0046] The retractable vertical fin rudder is located in the middle of the hull. When the sea state is calm and the hull's attitude is relatively stable, it is in a retracted state and fits into the hull surface. When the sea state is high and the hull's attitude is unstable, the integrated control system activates its electric device to release the vertical fin rudder. When the hull tilts due to wind, it generates a reverse restoring torque to alleviate rolling and reduce the hull's roll amplitude.

[0047] Furthermore, in one embodiment, the active roll stabilization device mainly includes a port side cutoff plate, a starboard side cutoff plate, and a roll stabilization gyroscope.

[0048] The left and right cutoff plates are generally installed at the stern, protruding beyond the bottom plate, and are used to adjust the pitch during the hull's navigation. They themselves can generate a certain amount of damping during longitudinal movement, which has a significant effect on reducing pitching in waves.

[0049] The left and right cutoff plates are installed symmetrically on both sides. The differential motion of the left and right cutoff plates can generate a lateral torsional moment. By adjusting and controlling the phase of the torsional moment and motion response of the left and right cutoff plates, damping to resist the rolling of the hull is generated, thereby reducing the rolling amplitude.

[0050] The electric control devices for the left and right cutoff plates are connected to the integrated anti-sway system and receive control information from the integrated control system.

[0051] Anti-roll gyroscopes are typically installed inside the cabin, near the center of the hull's roll, with no exposed structure, thus avoiding additional drag and reducing energy consumption. During the hull's movement, the anti-roll gyroscope primarily relies on the restoring force generated by the rotor's rotation to reduce the hull's rolling amplitude.

[0052] Furthermore, in one embodiment, the inertial navigation device is installed near the hull's sway center or anti-roll gyroscope, primarily for acquiring motion attitude data of the unmanned surface vessel and providing parameter input for the integrated control system.

[0053] Furthermore, in one embodiment, the integrated control system is arranged in the control cabin and is mainly used to intelligently control the activation of the retractable vertical fin rudder, port side cutoff plate, and starboard side cutoff plate based on parameters such as the pitch and roll angles, acceleration, and wave count on the bow deck of the unmanned surface vessel to actively reduce the hull roll, reduce the hull roll amplitude, and improve the hull's seakeeping.

[0054] This invention is an intelligent, combined active and passive roll reduction system that combines the advantages of both active and passive roll reduction while compensating for their shortcomings. Through integrated intelligent control, the active and passive roll reduction devices can perform roll reduction actions simultaneously, providing motion damping to the hull and reducing the motion amplitude. This results in good roll reduction performance for the unmanned surface vessel under various speeds and sea conditions, and has certain application value.

[0055] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention without departing from its spirit and scope should be included within the protection scope of the present invention.

Claims

1. A comprehensive roll reduction system for small-scale unmanned surface vessels operating in high sea states, characterized in that, The system includes an integrated control system, as well as a passive roll stabilization device, an active roll stabilization device, and an inertial navigation device connected to the integrated control system. The passive roll reduction device is fixedly connected to the hull structure and is used to achieve passive roll reduction of the ship. The active roll reduction device is installed as a roll reduction attachment on the hull structure or in the cabin space to achieve active roll reduction of the ship. The inertial navigation device is used to acquire motion attitude data of the unmanned surface vessel and provide parameter input for the integrated control system; The integrated control system is used to intelligently control the active roll reduction device and the passive roll reduction device to perform roll reduction actions based on the ship motion attitude data transmitted from the inertial navigation device. When small unmanned surface vessels are operating and navigating in high sea states, passive and active roll stabilization devices can simultaneously reduce the hull roll. The passive roll reduction device includes a T-shaped roll reduction hydrofoil and a retractable vertical fin rudder. The T-shaped anti-roll hydrofoil is used to cut through the water with the hydrofoil panel during the hull's navigation, generating vertical damping motion through vortex discharge; The retractable vertical fin rudder is deployed through an integrated control system when the small unmanned surface vessel is navigating in high sea states. The fin rudder cross section generates lateral damping to reduce the hull's roll amplitude. When the vertical fin rudder is not involved in the unmanned surface vessel's roll reduction, the retractable vertical fin rudder is retrieved through the integrated control system. After retrieval, the retractable vertical fin rudder conforms to the hull shape. The active anti-roll device includes a flow cut-off plate and an anti-roll gyroscope; The cut-off plate is used to adjust the pitch during the unmanned surface vessel's navigation, and it itself generates damping during longitudinal movement, reducing the pitch amplitude of the hull. The anti-roll gyroscope reduces the amplitude of the unmanned surface vessel's roll motion through the restoring force generated by the rotor's rotation; The cutoff plate includes a port cutoff plate and a starboard cutoff plate, which are symmetrically installed on the left and right sides. The differential motion of the port and starboard cutoff plates can generate a lateral torsional moment. By adjusting the phase difference between the torsional moment and the motion response, the amplitude of the unmanned surface vessel's roll motion can be reduced.

2. The integrated roll reduction system for small-scale unmanned surface vessels in high sea states according to claim 1, characterized in that, The T-shaped anti-roll hydrofoil is installed at the bow of the hull, and the retractable vertical fin rudder is installed midships.

3. The integrated roll reduction system for small-scale unmanned surface vessels in high sea states according to claim 1, characterized in that, The port and starboard cutoff plates are respectively installed on the port and starboard sides of the stern cap and protrude beyond the stern cap.

4. The integrated roll reduction system for small-scale unmanned surface vessels in high sea states according to claim 3, characterized in that, The height of the port and starboard cutoff plates extending beyond the stern seal is adjustable, and the lateral torsional moment is generated by adjusting their heights.

5. The integrated roll reduction system for small-scale unmanned surface vessels in high sea states according to claim 1, characterized in that, The anti-roll gyroscope is installed within a set range near the center of the hull's roll.

6. The integrated roll reduction system for small-scale unmanned surface vessels in high sea states according to claim 1, characterized in that, The inertial navigation device is installed within a set range near the hull's sway center or anti-roll gyroscope.

7. The integrated roll reduction system for small-scale unmanned surface vessels in high sea states according to claim 1, characterized in that, The integrated control system is located in the control cabin of the unmanned surface vessel (USV). Based on the parameters of pitch and roll angles, acceleration, and wave count on the bow deck collected by the inertial navigation equipment, the system intelligently controls and activates the active roll damping device to increase the pitch and roll damping of the USV and reduce the pitch and roll amplitude.

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