An Adaptive Stable Mounting Device for Unmanned Boats

Abstract

The present application discloses an adaptive stable loading device for an unmanned boat. The device includes an adaptive mast (3), and the adaptive mast (3) includes: a payload (301), a payload fixing frame (302), a vertical rod (303), a spindle housing (304), a momentum wheel (305), a rotating motor (306), a universal joint (307), an adjusting oil cylinder (308), a base (309), and a momentum wheel rotating shaft (311). The present application can skillfully separate the motion during the navigation of the unmanned boat from the payloads such as communication navigation, optoelectronics, and radar carried thereon through the combination of the momentum wheel, the adjusting oil cylinder, and the universal joint, so as to improve the operating performance of these payload devices, greatly reduce the influence of the boat body motion on the payloads, and thus solve the problems such as poor communication signals and decreased sensing accuracy caused by the unstable loading of the unmanned boat. The present application can avoid an attitude stabilization control device with a complex installation structure for the entire boat body, and has a simple structure, is easy to implement, and has a low maintenance cost.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned boat deck equipment, and particularly relates to an adaptive stable carrying device for an unmanned boat. Background Art

[0002] An unmanned boat is an unmanned surface ship, mainly used for performing tasks that are dangerous and unsuitable for manned ships. Once equipped with advanced control systems, sensor systems, communication systems, and weapon systems, it can perform a variety of war and non-war military tasks, such as reconnaissance, search, detection, and mine clearance; search and rescue, navigation, and hydrographic survey; anti-submarine warfare, anti-special operations, as well as patrol, anti-piracy, and anti-terrorism attacks. When moored at sea, due to the influence of uncertain sea conditions such as sea wind, waves, and ocean currents, there will inevitably be a six-degree-of-freedom rocking motion with a coupled effect. Due to the operation requirements and characteristics of the unmanned boat, various communication devices and sensing devices such as radars and antennas are usually mounted on its mast. The stable transmission of the information of these devices is directly related to the realization of the functions of the unmanned boat. Therefore, how to ensure the stability of these devices during the transmission process has become a key point in the development of unmanned boats.

[0003] At present, the measures to improve the stability of communication devices on unmanned boats mainly start from the boat itself and perform attitude control of the unmanned boat. Commonly used marine attitude monitoring devices include triaxial acceleration sensors and triaxial gyroscopes.

[0004] However, if only triaxial acceleration sensors are used to collect attitude data in the attitude control method, it has the disadvantages of single data and poor short-term attitude monitoring effect. Although the triaxial gyroscope has high short-term accuracy when measuring attitude angles, error accumulation will occur due to drift. Moreover, the currently common marine attitude measurement devices have problems such as complex structure, high cost, large volume and mass, and inconvenient loading and unloading. In addition, the relevant sensors in the marine attitude monitoring devices are all installed inside the ship's hull, and the magnetometer is easily affected by the metal hull of the ship, resulting in a decrease in the measurement accuracy of the magnetometer, thereby affecting the accuracy of marine attitude monitoring.

[0005] Therefore, if attitude stability control can be performed on the device carrying communication devices, it can not only avoid the disadvantages of installing marine attitude control devices, but also solve the problems of poor communication signals and reduced sensing accuracy caused by the instability of communication, sensing and other devices on unmanned boats, greatly improving the performance of unmanned boats. Summary of the Invention

[0006] The invention object of the present application is: during the process of the unmanned boat performing tasks, through the technical solution of the present application, it is possible to greatly improve the stability of carriers such as communication, optoelectronics, and sensing during navigation, so as to achieve functions such as accurate positioning and stable communication of the unmanned boat, and finally achieve the task goal.

[0007] The specific technical solution of the present invention is an adaptive stable mounting device for an unmanned boat, which is characterized in that the device includes an adaptive mast.

[0008] The adaptive mast includes: a load, a load fixing frame, a vertical rod, a momentum wheel, a rotating motor, a universal joint, an adjusting oil cylinder, a base, and a momentum wheel rotating shaft. The momentum wheel, the rotating motor, and the momentum wheel rotating shaft together form a momentum wheel device. One end of the momentum wheel rotating shaft is connected to the vertical rod, and the other end is connected to the rotating motor. The rotating motor is connected to the momentum wheel through its rotating shaft. The universal joint is divided into two parts, the upper part is spherical and rigidly fixed to the vertical rod, and the lower part is a hollow spherical shape without a top, which can form a sliding or rolling fit with the spherical part. The other end of the hollow spherical shape without a top is fixedly connected to the piston rod of the vertically arranged adjusting oil cylinder, and the adjusting oil cylinder is fixed on the base.

[0009] There are at least three sets of the momentum wheel devices, which are evenly distributed on the circumference of the cross-section of the vertical rod and located at the lower part of the vertical rod.

[0010] The base of the adaptive mast is fixed on the unmanned boat.

[0011] Furthermore, the angle between the momentum wheel rotating shaft of the momentum wheel device and the vertical rod is controlled between 30° and 150°.

[0012] Furthermore, the adaptive mast further includes a spindle housing. A spindle housing is arranged outside the momentum wheel device, and the shape of the spindle housing is a streamlined spindle.

[0013] Furthermore, the opening in the top plate of the superstructure of the unmanned boat through which the adaptive mast passes at the universal joint is sealed with an external flexible watertight material for the opening, the universal joint, and the parts below the universal joint.

[0014] Furthermore, the load is fixed on the vertical rod and the load fixing frame, and the load fixing frame is connected to a high position of the vertical rod.

[0015] Furthermore, the load is a radar device, an optoelectronic device, a navigation light, an antenna, or a camera.

[0016] The beneficial effects of this application are as follows: 1) This application proposes an adaptive stable loading device for unmanned boats, which can skillfully separate the movement during the navigation of the unmanned boat from the loads such as communication navigation, optoelectronics, and radar carried by combining a momentum wheel, an adjusting oil cylinder, and a universal joint, so as to improve the operating performance of these load devices and greatly reduce the impact of the boat body movement on the loads. Compared with other methods of directly controlling the attitude of the unmanned boat, this invention can solve problems such as poor communication signals and decreased perception accuracy caused by unstable loading equipment on the unmanned boat; 2) The influence of the unmanned boat on the communication antenna will cause signal interruption, the influence on the navigation antenna is position deviation, and the influence on the optoelectronic radar is detection stability, making it easy to lose the target and unable to track stably. Adopting the technical solution of this application can greatly improve or even avoid these situations; 3) This application can avoid the attitude stability control device for the entire boat body with a complex installation structure, and has a simple structure, is easy to implement, has a relatively low price, and also has a low maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The above and / or additional advantages of this application will become apparent and be easily understood in the description of the embodiments in conjunction with the following drawings, where:

[0018] Figure 1 is the overall schematic diagram of the adaptive stable loading device for the unmanned boat of this application;

[0019] Figure 2 is the structural schematic diagram of the adaptive stable loading device for the unmanned boat of this application;

[0020] Figure 3 is the schematic diagram of the decomposed initial velocity after correction according to an embodiment of the adaptive stable loading device for the unmanned boat of this application;

[0021] In the drawings: 1. Unmanned boat; 2. Flexible watertight material; 3. Adaptive mast; 301. Load; 302. Load fixing frame; 303. Vertical rod; 304. Spindle housing; 305. Momentum wheel; 306. Rotating motor; 307. Universal joint; 308. Adjusting oil cylinder; 309. Base; 310. Central control center; 311. Momentum wheel rotating shaft. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] In order to more clearly understand the above objects, features, and advantages of this application, the following further detailed description of this application will be made in conjunction with the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of this application and the features in the embodiments can be combined with each other.

[0023] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. However, the present application may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present application is not limited by the specific embodiments disclosed below.

[0024] As Figure 1 with Figure 2 shown, the present application provides a general-purpose adaptive stabilization and mounting device for an unmanned boat, and its solution can be applied to platforms such as ships and unmanned boats that require relative stability of the carrier. The device includes an adaptive mast 3.

[0025] The adaptive mast 3 includes: a load 301, a load fixing frame 302, a vertical rod 303, a spindle housing 304, a momentum wheel 305, a rotating motor 306, a universal joint 307, an adjusting oil cylinder 308, a base 309, a central control center 310, and a momentum wheel rotating shaft 311.

[0026] The load 301 can be a radar device, an optoelectronic device, a navigation light, an antenna, a camera, etc.

[0027] The adaptive mast 3 is fixed on the unmanned boat 1 through the base 309.

[0028] The load 301 is fixed on the vertical rod 303 and the load fixing frame 302. The load fixing frame 302 is connected to the upper part of the vertical rod 303 to meet the usage requirements of the load 301.

[0029] The momentum wheel 305, the rotating motor 306, and the momentum wheel rotating shaft 311 together constitute a momentum wheel device.

[0030] Among them, the momentum wheel rotating shafts 311 are evenly distributed on the circumference of the vertical rod 303, and one end of each is connected to the vertical rod 303, and the other end is connected to the rotating motor 306. The rotating motor 306 is connected to the momentum wheel 305 through its rotating shaft.

[0031] There are at least three sets of the momentum wheel devices, which are evenly distributed on the circumference of the cross-section of the vertical rod 303 and located at the lower part of the vertical rod 303. The angle between the momentum wheel rotating shaft 311 and the vertical rod 303 is controlled between 30° and 150°.

[0032] A spindle housing 304 is arranged outside the momentum wheel 305, and the shape of the spindle housing 304 is a streamlined spindle.

[0033] The universal joint 307 is divided into upper and lower parts. The upper part is spherical and is rigidly fixed to the vertical rod 303. The lower part is a truncated hollow sphere, which can form a sliding fit or a rolling fit with the spherical part. The other end of the truncated hollow sphere is fixedly connected to the piston rod of the adjusting oil cylinder 308, and the adjusting oil cylinder 308 is fixed on the base.

[0034] The setting principle of the adjusting oil cylinder 308 is to be set as vertically as possible during the normal navigation of the unmanned boat 1.

[0035] The adaptive mast 3 passes through the opening in the top plate of the superstructure of the unmanned boat 1 at the universal joint 307, and the opening, the universal joint 307 and the parts below the universal joint 307 are sealed with an external flexible watertight material. When the adaptive mast 3 adjusts its attitude, it can ensure that the water splashed on the hull does not enter the interior space of the boat, and has a streamlined shape, which will not bring too much additional resistance to the navigation of the hull.

[0036] As Figure 3 shown, 310 can control 308, 306, 302, 311. The centralized control center 310 is the control core of this application. It can not only adjust the rotation speed of the rotation motor 306 to control the rotation speed of the momentum wheel 305, but also adjust the angle between the disk surface of the momentum wheel 305 and the straight line where the vertical rod 303 is located according to needs. 302 can extend and retract in the direction perpendicular to 303 and is controlled by 310; the load fixing frame 302 can also extend and retract in the direction perpendicular to 303 and is also controlled by the centralized control center 310, so as to adjust the center of gravity of the mast to make it on the straight line where the vertical rod 303 is located.

[0037] When the device of this application is used, first, through the centralized control center 310, control the load fixing frame 32 to adjust its length so that the center of gravity of the entire mast is on the central axis of the mast. Subsequently, control the motor to rotate at a certain speed to ensure that the vertical rod always remains vertical during the navigation of the boat. The vertical rod 303 and the adjusting oil cylinder 308 are directly connected through the universal joint 307. On the premise of ensuring that the two do not separate, avoid the vertical state of the vertical rod 303 from changing with the movement of the hull. The centralized control center 310 controls the pressure of the hydraulic oil in the adjusting oil cylinder 308, and further controls the height of the load 301 to remain basically unchanged, so as to improve the working performance of the load 301.

[0038] The structures in the device of this application can be combined, divided and deleted according to actual needs.

[0039] Although this application is disclosed in detail with reference to the accompanying drawings, it should be understood that these descriptions are merely exemplary and are not used to limit the application of this application. The protection scope of this application is defined by the appended claims and may include various modifications, improvements and equivalent solutions made to the invention without departing from the protection scope and spirit of this application.

Claims

1. An adaptive stable loading device for an unmanned boat, characterized in that, The device includes an adaptive mast (3). The adaptive mast (3) includes: a payload (301), a payload fixing bracket (302), a vertical rod (303), a momentum wheel (305), a rotating motor (306), a universal joint (307), an adjusting oil cylinder (308), a base (309), and a momentum wheel rotating shaft (311). The momentum wheel (305), the rotating motor (306), and the momentum wheel rotating shaft (311) together constitute a momentum wheel device. One end of the momentum wheel rotating shaft (311) is connected to the vertical rod (303), and the other end is connected to the rotating motor (306). The rotating motor (306) is connected to the momentum wheel (305) through its rotating shaft. The universal joint (307) is divided into upper and lower parts. The upper part is spherical and is rigidly fixed to the vertical rod (303). The lower part is a truncated hollow sphere, which can form a sliding or rolling fit with the spherical part. The other end of the truncated hollow sphere is fixedly connected to the piston rod of the vertically arranged adjusting oil cylinder (308). The adjusting oil cylinder (308) is fixed on the base (309). There are at least three sets of the momentum wheel devices, which are evenly distributed on the circumference of the cross-section of the vertical rod (303) and are located at the lower part of the vertical rod (303). The base (309) of the adaptive mast (3) is fixed on the unmanned boat (1).

2. The adaptive stable mounting device for an unmanned boat according to claim 1, characterized in that, The angle between the momentum wheel rotating shaft (311) of the momentum wheel device and the vertical rod (303) is controlled between 30° and 150°.

3. The adaptive stable mounting device for an unmanned boat according to claim 1, characterized in that, The adaptive mast (3) further includes a spindle housing (304). The spindle housing (304) is arranged outside the momentum wheel device, and the shape of the spindle housing (304) is a streamlined spindle body.

4. The adaptive stable loading device for an unmanned boat according to claim 1, characterized in that, The adaptive mast (3) passes through an opening in the top plate of the superstructure of the unmanned boat (1) at the universal joint (307), and the opening, the universal joint (307), and the parts below the universal joint (307) are sealed with an external flexible watertight material.

5. The adaptive stable mounting device for an unmanned boat according to claim 1, wherein The payload (301) is fixed on the vertical rod (303) and the payload fixing bracket (302), and the payload fixing bracket (302) is connected to a high position of the vertical rod (303).

6. The adaptive stable mounting device for an unmanned boat according to claim 5, wherein, The payload (301) is a radar device, an optoelectronic device, a navigation light, an antenna, or a camera.

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