An ocean observing unmanned surface vehicle with a tuned mass damper

Abstract

The application provides a marine observation unmanned vehicle with a tuned mass damper, which comprises a stabilizing mechanism, a detection mechanism, a control box, a deck, a cabin body and a sonar mechanism, the deck is connected with the cabin body, the stabilizing mechanism, the detection mechanism and the control box are arranged on the deck, a connecting groove is arranged at the bottom end of the cabin body, and the sonar mechanism is arranged in the connecting groove; the stabilizing mechanism comprises a mounting frame, first lateral springs, second lateral springs, third lateral springs, fourth lateral springs, a lateral moving frame, first longitudinal springs, second longitudinal springs, third longitudinal springs, fourth longitudinal springs and a longitudinal moving mass, the two ends of the first lateral springs, the second lateral springs, the third lateral springs and the fourth lateral springs are respectively connected with the mounting frame and the lateral moving frame, and the two ends of the first longitudinal springs, the second longitudinal springs, the third longitudinal springs and the fourth longitudinal springs are respectively connected with the lateral moving frame and the longitudinal moving mass. The application effectively reduces the shaking and guarantees the accurate data collection.

Description

Technical Field

[0001] This invention belongs to the field of unmanned surface vessels and their roll reduction technology, specifically relating to an unmanned surface vessel for marine observation with a tuned mass damper. Background Technology

[0002] As marine development shifts from coastal waters to the deep sea, marine equipment is rapidly evolving towards unmanned, intelligent, and information-based operations. Compared to traditional ships, unmanned surface vessels (USVs) offer advantages such as shallow draft, small size, applicability to various sea areas, and remote operation to avoid human injury. However, when performing various marine scientific research, resource exploration, and environmental monitoring tasks, USVs frequently encounter rocking and rolling caused by waves, posing a significant challenge to their stability and measurement accuracy. The introduction of anti-roll technology aims to improve the operational performance and safety of USVs in complex sea conditions, ensuring the reliable operation of onboard observation equipment. Accurate data acquisition is crucial, and current main anti-roll devices include anti-roll fins, bilge keels, water tanks, airbags or hydrofoils, and tuned mass dampers. Among these, tuned mass dampers are a simple and effective passive vibration reduction method, widely used in civil engineering and marine structural platforms. Because marine observation vessels require a stable environment for data acquisition, excessive rolling amplitude can affect the accuracy of monitoring data. Using tuned mass dampers can effectively reduce the rolling of unmanned surface vessels (USVs), ensuring smooth navigation during measurements, without requiring changes to the USV's structure, making them highly practical and durable. However, due to the size and payload limitations of small USVs, the direct application of tuned mass damper technology and devices is subject to space and weight constraints. Furthermore, because USVs undergo multi-directional free motion during navigation at sea, unidirectional tuned mass dampers cannot meet the motion control requirements of USVs.

[0003] Patent application number 201921730889.3 discloses a high-efficiency vibration-damping mineral processing shaking table, which uses a distributed design method and a sliding rail method to achieve multi-degree-of-freedom roll reduction. However, its disadvantage is that when the ship rolls significantly, the required mass is large and the travel distance of the mass block is long, making the entire roll reduction device too heavy and increasing the weight of the ship. Summary of the Invention

[0004] Purpose of the invention: In order to overcome the shortcomings of the existing technology, the purpose of this invention is to provide a marine observation unmanned surface vessel with a tuned mass damper that has high safety and strong environmental adaptability.

[0005] Technical Solution: The present invention discloses an unmanned marine observation vessel with a tuned mass damper, comprising a roll damping mechanism, a detection mechanism, a control box, a deck, a hull body, and a sonar mechanism. The deck is connected to the hull body, and the roll damping mechanism, detection mechanism, and control box are installed on the deck. A connecting groove is provided at the bottom of the hull body, and the sonar mechanism is installed in the connecting groove. The roll damping mechanism includes a mounting frame, a first transverse spring, a second transverse spring, a third transverse spring, a fourth transverse spring, a transverse frame, a first longitudinal spring, a second longitudinal spring, a third longitudinal spring, a fourth longitudinal spring, and a longitudinal mass block. The two ends of the first transverse spring, the second transverse spring, the third transverse spring, and the fourth transverse spring are respectively connected to the mounting frame and the transverse frame; the two ends of the first longitudinal spring, the second longitudinal spring, the third longitudinal spring, and the fourth longitudinal spring are respectively connected to the transverse frame and the longitudinal mass block.

[0006] Furthermore, the anti-sway mechanism also includes a transverse slide rail, a transverse gear, a first longitudinal slide rail, a first flywheel, a second flywheel, a second longitudinal slide rail, a longitudinal gear, a third flywheel, a longitudinal connecting sleeve, a transverse connecting sleeve, a transverse worm, and a longitudinal worm. The transverse slide rail is fixedly connected to the mounting frame, the transverse connecting sleeve is fixedly connected to the bottom end of the transverse frame, the transverse connecting sleeve is movably sleeved on the surface of the transverse slide rail, the transverse worm is disposed within the mounting frame, and the transverse gear is movably connected to the inner side of the transverse connecting sleeve. The transverse gear and the transverse worm... The system is characterized by a meshing connection: a first flywheel is fixedly connected to one side of the transverse worm, a second flywheel is fixedly connected to the other side of the transverse worm, a first longitudinal slide rail and a second longitudinal slide rail are fixedly connected to the transverse frame, a longitudinal connecting sleeve is fixedly connected to the longitudinal mass block, a longitudinal gear is movably connected to the inner side of the longitudinal connecting sleeve, the longitudinal worm is set within the transverse frame, the longitudinal gear meshes with the longitudinal worm, a third flywheel is fixedly connected to the outer side of the longitudinal worm, and the longitudinal connecting sleeve is movably sleeved on the surfaces of the first and second longitudinal slide rails.

[0007] Furthermore, the transverse worm gear is parallel to the central axis of the transverse frame. The mounting frame is fixedly installed at the center of the top of the deck.

[0008] Furthermore, the longitudinal mass block is fixedly connected to the inside of the first longitudinal spring, the second longitudinal spring, the third longitudinal spring, and the fourth longitudinal spring.

[0009] Furthermore, the transverse frame is fixedly connected to the inside of the first transverse spring, the second transverse spring, the third transverse spring, and the fourth transverse spring.

[0010] Furthermore, the hull body is made of rigid PVC material, which has an elasticity of 1500-3000 MPa, an elongation at break of 5%-10%, a tensile strength of 40-80 MPa, and a tensile yield strength of 30-70 MPa.

[0011] Furthermore, the first transverse spring, the second transverse spring, the third transverse spring, the fourth transverse spring, the fifth longitudinal spring, the sixth longitudinal spring, the seventh longitudinal spring, and the eighth longitudinal spring are all made of the same material and are all Φ21260*15N springs.

[0012] Furthermore, the detection mechanism includes a drop-out thermo-depth meter, a mounting bracket, a wireless transmission device, and a high-definition camera. The mounting bracket is fixedly connected to the deck, and the drop-out thermo-depth meter is connected to the mounting bracket. The drop-out thermo-depth meter is equipped with a high-definition camera and a wireless transmission device.

[0013] Furthermore, the sonar mechanism includes a connecting bracket, a multibeam mapping sonar, and a signal transmission device. The multibeam mapping sonar is fixedly connected to the connecting slot via the connecting bracket, and the signal transmission device is fixedly mounted on the surface of the multibeam mapping sonar.

[0014] Working principle: This marine observation unmanned surface vessel is equipped with a multibeam mapping sonar and a drop-out CTD (conductivity, temperature, and depth) instrument, used for comprehensive observation, research and data collection of the marine environment. The multibeam mapping sonar device maps the seabed topography by emitting and retrieving sound waves, while the drop-out CTD instrument projects the detection instrument into the sea to measure the temperature, salinity and other chemical parameters of the seawater. It is equipped with a GPS navigation system to ensure the precise position and course of the unmanned surface vessel, and makes real-time adjustments to cope with the current sea conditions. The data is transmitted to the ground control platform in real time through a satellite communication system.

[0015] According to the formula for calculating the natural frequency f of vibration: Where K is the stiffness coefficient (elastic coefficient) of the stiffness system, and M is the mass of the mass block. When the motion frequency of the unmanned surface vessel (USV) and the natural frequency of the anti-roll mechanism satisfy the tuning relationship, the motion energy of the USV will be transferred to the anti-roll mechanism. When the USV rolls, the center of gravity of the transverse frame shifts and moves. The movement of the transverse frame drives the transverse connecting sleeve to move along the transverse slide rail, which limits the movement trajectory of the transverse frame. At the same time, the movement of the transverse frame drives the spring to extend and retract, and the spring movement generates an opposite force, which slows down the force of the transverse frame's continued movement and ultimately consumes the movement energy of the transverse frame. Simultaneously, the movement of the transverse frame drives the transverse gear to move, thereby rotating the transverse worm. The rotation of the transverse worm drives the first flywheel and the second flywheel to move, thereby increasing the movement resistance of the transverse frame and making it more resistant to large rolls. The moving frame has a small travel distance. When the unmanned surface vessel (USV) pitches, it moves by shifting the center of gravity of the longitudinally moving mass block. This movement drives the longitudinal connecting rod to move along the first and second longitudinal slide rails, which limit the movement trajectory of the mass block. Simultaneously, the movement of the mass block causes the spring to extend and retract, generating a counterforce that slows down the mass block's continued movement and ultimately dissipates its energy. The movement of the mass block also drives the longitudinal gear to rotate, which in turn drives the third flywheel, increasing the resistance to the mass block's movement. This results in a smaller travel distance for the mass block when the hull experiences significant pitching, thus minimizing the center of gravity shift of the hull and reducing the USV's swaying.

[0016] Beneficial effects: Compared with the prior art, the present invention has the following significant features:

[0017] 1. By setting up the anti-roll mechanism, the swaying of the unmanned surface vessel (USV) is effectively reduced, improving the USV's operational performance and safety in complex sea areas, ensuring that the onboard observation equipment can accurately collect data, and enhancing its environmental adaptability and wide operating range.

[0018] 2. The distributed design scheme can achieve lateral and longitudinal roll reduction, which makes up for the shortcomings of traditional tuned mass dampers that can only provide damping force in one direction.

[0019] 3. The design scheme of gears, worm gears and flywheels can overcome the problems of large mass and long stroke of traditional mass dampers. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall side view structure of the present invention;

[0021] Figure 2This is a schematic diagram of the overall bottom structure of the present invention from below;

[0022] Figure 3 This is a schematic diagram of the internal structure of the mounting frame of the present invention;

[0023] Figure 4 This is a schematic diagram of the internal structure of the transverse frame of the present invention;

[0024] Figure 5 This is a schematic diagram of the detection mechanism structure of the present invention;

[0025] Figure 6 This is a schematic diagram of the sonar mechanism structure of the present invention.

[0026] In the diagram, 1. Anti-sway mechanism; 101. Mounting frame; 102. First transverse spring; 103. Second transverse spring; 104. Third transverse spring; 105. Fourth transverse spring; 106. Transverse frame; 107. First longitudinal spring; 108. Second longitudinal spring; 109. Third longitudinal spring; 110. Fourth longitudinal spring; 111. Longitudinal mass block; 112. Transverse slide rail; 113. Transverse gear; 114. First longitudinal slide rail; 115. First flywheel; 116. Second flywheel; 117. 1. Second longitudinal slide rail; 118. Longitudinal shift gear; 119. Third flywheel; 120. Longitudinal connecting sleeve; 121. Lateral connecting sleeve; 122. Lateral worm gear; 123. Longitudinal worm gear; 2. Detection mechanism; 201. Drop-out temperature depth gauge; 202. Mounting bracket; 203. Wireless transmission device; 204. High-definition camera; 3. Control box; 4. Deck; 5. Submarine body; 6. Sonar mechanism; 601. Connecting bracket; 602. Multibeam mapping sonar; 603. Signal transmission device; 7. Connecting slot. Detailed Implementation

[0027] like Figures 1-2 The unmanned surface vessel (USV) for marine observation equipped with a tuned mass damper includes a roll damping mechanism 1, a detection mechanism 2, a control box 3, a deck 4, a hull body 5, and a sonar mechanism 6. The deck 4 is fixedly connected to the top of the hull body 5. The roll damping mechanism 1 is fixedly installed at the center of gravity of the top of the deck 4. The control box 3 is fixedly installed on the rear side of the top of the deck 4, and the detection mechanism 2 is fixedly installed on the front side of the top of the deck 4. A connecting groove 7 is provided at the bottom of the hull body 5, and the sonar mechanism 6 is fixedly installed in the inner cavity of the connecting groove 7. The control box 3 includes a GPS navigation system, radar, and satellite communication system. The hull body 5 is made of rigid PVC. Rigid PVC has an elasticity of 1500–3000 MPa, an elongation at break of 5%–10%, a tensile strength of 40 MPa–80 MPa, and a tensile yield strength of 30 MPa–70 MPa. It has good corrosion resistance and high strength, making it better suited for navigation in different sea states.

[0028] like Figures 3-4The anti-sway mechanism 1 includes a mounting frame 101, a first transverse spring 102, a second transverse spring 103, a third transverse spring 104, a fourth transverse spring 105, a transverse frame 106, a first longitudinal spring 107, a second longitudinal spring 108, a third longitudinal spring 109, a fourth longitudinal spring 110, a longitudinal mass block 111, a transverse slide rail 112, a transverse gear 113, a first longitudinal slide rail 114, a first flywheel 115, a second flywheel 116, a second longitudinal slide rail 117, a longitudinal gear 118, a third flywheel 119, a longitudinal connecting sleeve 120, a transverse connecting sleeve 121, a transverse worm gear 122, and a longitudinal worm gear 123. Mounting frame 101 is fixedly installed at the center of the top of deck 4. A cover plate is hinged to the top of mounting frame 101, allowing replacement of the longitudinal mass block 111. The first and second transverse springs 102 and 103 are both transversely fixedly connected to one side of the inner cavity of mounting frame 101, while the third and fourth transverse springs 104 and 105 are transversely fixedly connected to the other side of the inner cavity. Transverse frame 106 is fixedly connected to the inside of the first, second, third, and fourth transverse springs 102 and 103, and 104 and 105, respectively. Transverse slide rail 112 is transversely fixedly connected to the bottom of the inner cavity of mounting frame 101. The top of transverse connecting sleeve 121 is fixedly connected to the bottom of transverse frame 106, and the bottom of transverse connecting sleeve 121 is movably fitted onto the surface of transverse slide rail 112. Transverse worm gear 122 is transversely installed at the bottom of the inner cavity of mounting frame 101, and is parallel to the central axis of transverse frame 106. A transverse gear 113 is movably connected to the inner side of the transverse connecting sleeve 121, and the transverse gear 113 meshes with the transverse worm 122. A first flywheel 115 is fixedly connected to one side of the transverse worm 122, and a second flywheel 116 is fixedly connected to the other side of the transverse worm 122; the above structure constitutes transverse damping. A first longitudinal spring 107 and a second longitudinal spring 108 are both longitudinally fixedly connected to one side of the inner cavity of the transverse frame 106, and a third longitudinal spring 109 and a fourth longitudinal spring 110 are both longitudinally fixedly connected to the other side of the inner cavity of the transverse frame 106. A longitudinal mass block 111 is fixedly connected to the inner side of the first longitudinal spring 107, the second longitudinal spring 108, the third longitudinal spring 109, and the fourth longitudinal spring 110. A first longitudinal slide rail 114 and a second longitudinal slide rail 117 are respectively longitudinally fixedly connected to both sides of the bottom of the inner cavity of the transverse frame 106. The top of the longitudinal connecting sleeve 120 is fixedly connected to the bottom end of the longitudinal moving mass block 111. The bottom of the longitudinal connecting sleeve 120 is movably sleeved on the surfaces of the first longitudinal slide rail 114 and the second longitudinal slide rail 117, respectively. The longitudinal moving gear 118 is movably connected to the inner side of the longitudinal connecting sleeve 120. The longitudinal worm gear 123 is longitudinally installed at the bottom of the inner cavity of the transverse moving frame 106. The longitudinal moving gear 118 is meshed with the longitudinal worm gear 123. The third flywheel 119 is fixedly connected to the outer side of the longitudinal worm gear 123. The above structure constitutes longitudinal damping.The first transverse spring 102, the second transverse spring 103, the third transverse spring 104, the fourth transverse spring 105, the fifth longitudinal spring 107, the sixth longitudinal spring 108, the seventh longitudinal spring 109, and the eighth longitudinal spring 110 all use Φ21260*15N springs, which have better damping effect. There are four mounting slots for the slide rail, arranged linearly around the wall, and the mounting slots are circular in shape.

[0029] like Figure 5 The detection mechanism 2 includes a disposable thermal depth meter 201, a mounting bracket 202, a wireless transmission device 203, and a high-definition camera 204. The mounting bracket 202 is fixedly connected to the front side of the top of the deck 4, the disposable thermal depth meter 201 is fixedly connected to the top of the mounting bracket 202, the high-definition camera 204 is fixedly installed in the inner cavity of the disposable thermal depth meter 201, and the wireless transmission device 203 is fixedly installed at the rear end of the disposable thermal depth meter 201. The wireless transmission device 203 is connected to the control box 3 via a wire.

[0030] like Figure 6 The sonar mechanism 6 includes a connecting bracket 601, a multibeam mapping sonar 602, and a signal transmission device 603. The connecting bracket 601 is fixedly installed within the cavity of the connecting groove 7, and the multibeam mapping sonar 602 is fixedly installed on the lower side of the connecting bracket 601. The multibeam mapping sonar 602 includes a transmitter array, a receiver array, an information processor, an electronic control unit, and a positioning and attitude sensor. The transmitter array and receiver array are used to receive and transmit acoustic signals, while the electronic control unit and positioning and attitude sensor are used to process the provided information. The signal transmission device 603 is fixedly installed at the bottom of the multibeam mapping sonar 602 and is connected to the control box 3 via wiring.

Claims

1. A marine observation unmanned surface vessel with a tuned mass damper, characterized in that: The system includes a roll damping mechanism (1), a detection mechanism (2), a control box (3), a deck (4), a cabin body (5), and a sonar mechanism (6). The deck (4) is connected to the cabin body (5). The roll damping mechanism (1), the detection mechanism (2), and the control box (3) are installed on the deck (4). A connecting groove (7) is provided at the bottom of the cabin body (5), and the sonar mechanism (6) is installed in the connecting groove (7). The roll damping mechanism (1) includes a mounting frame (101), a first transverse spring (102), a second transverse spring (103), a third transverse spring (104), a fourth transverse spring (105), and a transverse moving frame (106). 6) The first longitudinal spring (107), the second longitudinal spring (108), the third longitudinal spring (109), the fourth longitudinal spring (110), and the longitudinal mass block (111) are connected at both ends to the mounting frame (101) and the transverse frame (106), respectively; the first longitudinal spring (107), the second longitudinal spring (108), the third longitudinal spring (109), and the fourth longitudinal spring (110) are connected at both ends to the transverse frame (106) and the longitudinal mass block (111), respectively. The anti-sway mechanism (1) further includes a transverse slide rail (112), a transverse gear (113), a first longitudinal slide rail (114), a first flywheel (115), a second flywheel (116), a second longitudinal slide rail (117), a longitudinal gear (118), a third flywheel (119), a longitudinal connecting sleeve (120), a transverse connecting sleeve (121), a transverse worm gear (122), and a longitudinal worm gear (123). The transverse slide rail (112) is fixedly connected to the mounting frame (101), the transverse connecting sleeve (121) is fixedly connected to the bottom end of the transverse frame (106), the transverse connecting sleeve (121) is movably sleeved on the surface of the transverse slide rail (112), the transverse worm gear (122) is set in the mounting frame (101), the transverse gear (113) is movably connected to the inner side of the transverse connecting sleeve (121), and the transverse gear (113) is connected to the transverse connecting sleeve (121). The first flywheel (115) is fixedly connected to one side of the transverse worm (122), and the second flywheel (116) is fixedly connected to the other side of the transverse worm (122). The first longitudinal slide rail (114) and the second longitudinal slide rail (117) are respectively fixedly connected to the transverse frame (106). The longitudinal connecting sleeve (120) is fixedly connected to the longitudinal mass block (111). The longitudinal gear (118) is movably connected to the inner side of the longitudinal connecting sleeve (120). The longitudinal worm (123) is set in the transverse frame (106). The longitudinal gear (118) is meshed with the longitudinal worm (123). The third flywheel (119) is fixedly connected to the outer side of the longitudinal worm (123). The longitudinal connecting sleeve (120) is movably sleeved on the surface of the first longitudinal slide rail (114) and the second longitudinal slide rail (117).

2. The marine observation unmanned surface vessel with a tuned mass damper according to claim 1, characterized in that: The transverse worm (122) is parallel to the central axis of the transverse frame (106).

3. The marine observation unmanned surface vessel with a tuned mass damper according to claim 1, characterized in that: The mounting frame (101) is fixedly installed at the center of the top of the deck (4).

4. The marine observation unmanned surface vessel with a tuned mass damper according to claim 1, characterized in that: The longitudinal mass block (111) is fixedly connected to the inside of the first longitudinal spring (107), the second longitudinal spring (108), the third longitudinal spring (109) and the fourth longitudinal spring (110).

5. The marine observation unmanned surface vessel with a tuned mass damper according to claim 1, characterized in that: The transverse frame (106) is fixedly connected to the inside of the first transverse spring (102), the second transverse spring (103), the third transverse spring (104), and the fourth transverse spring (105).

6. The marine observation unmanned surface vessel with a tuned mass damper according to claim 1, characterized in that: The main body of the hull (5) is made of rigid PVC material.

7. The marine observation unmanned surface vessel with a tuned mass damper according to claim 1, characterized in that: The first transverse spring (102), the second transverse spring (103), the third transverse spring (104), the fourth transverse spring (105), the first longitudinal spring (107), the second longitudinal spring (108), the third longitudinal spring (109), and the fourth longitudinal spring (110) are all made of the same material and are the same size.

8. The marine observation unmanned surface vessel with a tuned mass damper according to claim 1, characterized in that: The detection mechanism (2) includes a disposable thermal depth meter (201), a mounting bracket (202), a wireless transmission device (203), and a high-definition camera (204). The mounting bracket (202) is fixedly connected to the deck (4), and the disposable thermal depth meter (201) is connected to the mounting bracket (202). The disposable thermal depth meter (201) is equipped with a high-definition camera (204) and a wireless transmission device (203).

9. A marine observation unmanned surface vessel with a tuned mass damper according to claim 1, characterized in that: The sonar mechanism (6) includes a connecting bracket (601), a multibeam mapping sonar (602), and a signal transmission device (603). The multibeam mapping sonar (602) is fixedly connected to the connecting groove (7) through the connecting bracket (601), and the signal transmission device (603) is fixedly installed on the surface of the multibeam mapping sonar (602).

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