Hovering method and structure of rescue boat
By setting up multiple directional propellers at the bottom of the speedboat and combining real-time data for thrust allocation and adjustment, the problem of low hover control accuracy in the rescue ship in the existing technology is solved, and high-precision hover control and low power consumption are achieved .
Patent Information
- Application Number
- CN202411453813.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Priority Date
- 2024-10-10
- Filing Date
- 2024-10-17
- Publication Date
- 2025-01-17
AI Technical Summary
The existing rescue ship hovering method has low control accuracy and cannot be kept in a fixed position with high accuracy under continuous disturbances such as wind and waves.
By setting up multiple thrusters that can change directions at the bottom of the speedboat, modeling force analysis combined with real-time position data, water flow and wind speed data, the thrust magnitude and direction of the thruster are allocated to achieve hover control.
Improves the control accuracy of the rescue ship hover, can maintain hover in a fixed position, reduces the power consumption of the speedboat, and adjusts to maintain a stable hover in real-time environmental changes.
Smart Images
Figure CN119319903A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of ships, and in particular to a rescue ship hovering method and a structure for implementing the method. Background Art
[0002] Surface hovering means that under continuous disturbances such as wind, waves and currents, the ship is kept at a certain target position on the sea surface in a certain posture by using its own propulsion device without the help of an anchoring system. The hovering technology has the advantages of high control accuracy and good flexibility. Therefore, it is widely used in offshore oil drilling platforms and various ships such as salvage and rescue ships, engineering supply ships, fireboats, speedboats, etc. It is the key to maintaining the normal operation of offshore floating work platforms and ships.
[0003] The existing rescue ship hovering mode can only be controlled by the propeller at the tail, and the control accuracy is low. Summary of the invention
[0004] In order to overcome the deficiencies of the prior art, one of the purposes of the present invention is to provide a rescue boat hovering method that controls a speedboat to hover at a fixed position by using multiple thrusters capable of changing directions at the bottom of the speedboat, and the hovering control has high accuracy.
[0005] In order to overcome the deficiencies of the prior art, a second object of the present invention is to provide a rescue boat hovering structure that controls a speedboat to hover at a fixed position through multiple thrusters capable of changing directions at the bottom of the speedboat, and the hovering control has high accuracy.
[0006] One of the purposes of the present invention is achieved by the following technical solution:
[0007] A rescue boat hovering method comprises the following steps:
[0008] Structural setting: a plurality of propellers are arranged on the bottom of the ship, each of the propellers is rotatably mounted on the bottom of the ship, and a driving member drives the propeller to rotate relative to the bottom of the ship to change the propulsion direction of the propeller;
[0009] Position data collection: collect the real-time position of the speedboat, obtain the hovering position of the speedboat, and calculate the required movement trajectory based on the real-time position and hovering position;
[0010] Environmental data collection: bottom sensors and top sensors are respectively arranged at the bottom and bow of the ship, the bottom sensors collect real-time water flow direction and real-time water flow speed data, and the top sensors collect real-time wind direction and real-time wind speed data;
[0011] Modeling and force analysis: Model the speedboat and perform force analysis on the speedboat model based on real-time water flow direction, real-time water flow speed, real-time wind direction, and real-time wind speed data;
[0012] Thrust distribution: Distribute the thrust magnitudes and thrust directions of the plurality of thrusters according to the force analysis results and the required moving trajectory, wherein the distribution of the thrust magnitudes and thrust directions aims at minimizing the power consumption of the speedboat;
[0013] Thrust adjustment: according to the distribution result of the thrust magnitude and the thrust direction, the driving member drives the propeller to rotate relative to the bottom of the ship to achieve the change of the thrust direction, and the propeller propels according to the distributed thrust magnitude;
[0014] Hovering point control: When the real-time position of the speedboat overlaps with the hovering position, continue to collect environmental data and model force analysis, and distribute the thrust size and thrust direction of the multiple propellers according to the force analysis results to keep the speedboat hovering.
[0015] Furthermore, in the environmental data collection step, the collection direction of the bottom sensor is parallel to the water flow direction, and the collection direction of the top sensor is parallel to the wind direction.
[0016] Furthermore, in the position data collection step, the required moving trajectory is in a straight line.
[0017] Furthermore, in the thrust adjustment step, the required moving trajectory is divided into a plurality of reference points, and the thrust magnitude and the thrust direction distribution are adjusted in real time by collecting the real-time position of the speedboat and the environmental data in real time.
[0018] Furthermore, in the modeling force analysis step, the real-time water flow direction, real-time water flow velocity, real-time wind direction and real-time wind speed data and the speedboat modeling data are synthesized into final values of the required force and the required torque, and the position data of the plurality of propellers and the depth data of the propellers are obtained, and the thrust magnitudes and thrust directions of the plurality of propellers are allocated according to the final values of the required force and the required torque, the position data of the propellers, the depth data of the propellers and the required moving trajectory.
[0019] Furthermore, the thrust magnitude and thrust direction distribution of the plurality of thrusters comprises the following steps:
[0020] Obtaining at least one of the maximum thrust change per unit time, the maximum available thrust, the minimum available thrust, and the maximum steering angle change per unit time of each thruster as a limiting value;
[0021] Randomly select a virtual value within the range of the defined values;
[0022] A plurality of calculated forces and calculated moments are calculated by combining a plurality of virtual values of each selected thruster, the calculated forces, the calculated moments, the required forces and the required moments are substituted into a power function, and a virtual value corresponding to the minimum value of the power function is selected as the allocated thrust magnitude and thrust direction.
[0023] Furthermore, in the structure setting step, the number of thrusters on the bottom of the ship is four.
[0024] The second object of the present invention is achieved by adopting the following technical solution:
[0025] A rescue ship hovering structure, used for implementing any one of the above rescue ship hovering methods, the rescue ship hovering structure comprises a hull and a propeller, the number of the propellers is multiple, each of the propellers is rotatably installed at the bottom of the hull, the rescue ship hovering structure also comprises a driving member, a GPS module, at least two sensors and a processor, the driving member is fixed to the hull and is transmission-connected to the propeller, the driving member drives the propeller to rotate relative to the hull to change the thrust direction, the GPS module obtains the real-time position information of the hull, one of the sensors is installed at the bottom of the hull to obtain real-time water flow direction and real-time water flow speed data, and one of the sensors is installed at the top of the hull to obtain real-time wind direction and real-time wind speed data, the processor allocates the thrust size and thrust direction of the multiple propellers according to the hovering position information, real-time position information, real-time water flow direction, real-time water flow speed data, real-time wind direction and real-time wind speed data, and sends instructions to the propeller and the driving member, the driving member drives the propeller to rotate relative to the hull to execute the thrust direction instruction, and the propeller executes the thrust size instruction.
[0026] Furthermore, the propeller is a propeller.
[0027] Compared with the prior art, the rescue boat hovering method of the present invention arranges multiple propellers on the bottom of the boat, each propeller is rotatably installed on the bottom of the boat, and the driving member drives the propeller to rotate relative to the bottom of the boat to change the propulsion direction of the propeller; collects the real-time position of the speedboat, obtains the hovering position of the speedboat, and calculates the required movement trajectory according to the real-time position and the hovering position; the bottom sensor collects real-time water flow direction and real-time water flow speed data, and the top sensor collects real-time wind direction and real-time wind speed data; models the speedboat, and performs force analysis on the speedboat model according to the real-time water flow direction, real-time water flow speed, real-time wind direction and real-time wind speed data; and calculates the required movement trajectory according to the force analysis results and the required movement trajectory. The trajectory distributes the thrust magnitudes and thrust directions of multiple thrusters, and the distribution of the thrust magnitudes and thrust directions aims at minimizing the power consumption of the speedboat; according to the distribution results of the thrust magnitudes and thrust directions, the driving member drives the thruster to rotate relative to the bottom of the ship to achieve the change of the thrust direction, and the thruster propels according to the distributed thrust magnitudes; when the real-time position of the speedboat overlaps with the hovering position, the environmental data is continuously collected and the force analysis model is modeled, and the thrust magnitudes and thrust directions of multiple thrusters are distributed according to the force analysis results to keep the speedboat hovering. Through the above steps, the multiple thrusters capable of changing directions at the bottom of the speedboat control the speedboat to hover at a fixed position, and the hovering control has high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] Figure 1 It is a flow chart of the rescue boat hovering method of the present invention;
[0029] Figure 2 It is a schematic diagram of the hovering structure of the rescue boat of the present invention.
[0030] In the figure: 10, hull; 11, bottom; 20, propeller; 30, driving part. DETAILED DESCRIPTION
[0031] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.
[0032] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may be another intermediate component through which it is fixed. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may be another intermediate component at the same time. When a component is considered to be "set on" another component, it may be directly set on the other component or there may be another intermediate component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.
[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.
[0034] See also Figure 1 as well as Figure 2 The present application provides a rescue boat hovering method, comprising the following steps:
[0035] Structural setting: A plurality of propellers 20 are arranged on the bottom 11 of the ship, each propeller 20 is rotatably mounted on the bottom 11 of the ship, and a driving member 30 drives the propeller 20 to rotate relative to the bottom 11 of the ship to change the propulsion direction of the propeller 20;
[0036] Position data collection: collect the real-time position of the speedboat, obtain the hovering position of the speedboat, and calculate the required movement trajectory based on the real-time position and hovering position;
[0037] Environmental data collection: bottom sensors and top sensors are respectively set at the bottom 11 and the bow of the ship. The bottom sensor collects real-time water flow direction and real-time water flow speed data, and the top sensor collects real-time wind direction and real-time wind speed data;
[0038] Modeling and force analysis: Model the speedboat and perform force analysis on the speedboat model based on real-time water flow direction, real-time water flow speed, real-time wind direction, and real-time wind speed data;
[0039] Thrust distribution: Distribute the thrust magnitude and thrust direction of the plurality of thrusters 20 according to the force analysis results and the required moving trajectory, wherein the thrust magnitude and thrust direction are distributed with the goal of minimizing the power consumption of the speedboat;
[0040] Thrust adjustment: According to the distribution result of thrust magnitude and thrust direction, the driving member 30 drives the propeller 20 to rotate relative to the bottom 11 to achieve the change of the thrust direction, and the propeller 20 propels according to the distributed thrust magnitude;
[0041] Hovering point control: When the real-time position of the speedboat overlaps with the hovering position, environmental data is continuously collected and force analysis is modeled. According to the force analysis results, the thrust magnitude and thrust direction of the multiple thrusters 20 are allocated to keep the speedboat hovering.
[0042] Specifically, in the structural setting step, the number of propellers 20 on the bottom 11 of the ship is four, and the four propellers 20 are symmetrically distributed. The propellers 20 are propellers. The driving member 30 is a worm gear, which realizes self-locking after being rotated into place, so that the propellers 20 can be fixed at the current angle after the angle is adjusted into place.
[0043] Specifically, in the position data collection step, a GPS module is installed on the hull 10, and the GPS module obtains the real-time position (X1, Y1) of the hull 10. The hovering position of the speedboat is a preset fixed position with coordinates (X2, Y2). Since the multiple thrusters 20 on the bottom of the ship 11 in the present application can change the propulsion direction, the shortest moving trajectory between the real-time position (X1, Y1) and the hovering position (X2, Y2) is a straight line. The hull 10 can reach the hovering position at any position by moving in a straight line without turning around or considering the angle as in the prior art. Therefore, the hovering control accuracy is high when the rescue boat hovering method of the present application is implemented.
[0044] In the environmental data collection step, the bottom sensor and the top sensor are both movably mounted on the hull 10, so that the collection direction of the sensor can be parallel to the flow direction to be collected. Specifically, the collection direction of the bottom sensor is parallel to the water flow direction, and the collection direction of the top sensor is parallel to the wind direction.
[0045] In the modeling force analysis step, a three-dimensional modeling of the speedboat is performed, including the size data and weight data of the speedboat, so as to facilitate the subsequent finite element analysis of the force. The real-time water flow direction, real-time water flow speed, real-time wind direction and real-time wind speed data and the speedboat modeling data are synthesized into the final values of the required force and the required torque, and the position data of the multiple propellers 20 and the depth data of the propellers 20 are obtained. The thrust magnitude and thrust direction of the multiple propellers 20 are allocated according to the final values of the required force and the required torque, the position data of the propellers 20 and the depth data of the propellers 20 and the required moving trajectory.
[0046] The thrust magnitude and thrust direction distribution of the plurality of thrusters 20 includes the following steps:
[0047] Obtain at least one of the maximum thrust change per unit time, the maximum available thrust, the minimum available thrust, and the maximum steering angle change per unit time of each thruster 20 as a limiting value;
[0048] Randomly select a dummy value within a limited range of values;
[0049] Multiple calculated forces and calculated torques are calculated by combining multiple virtual values of each selected thruster 20, the calculated forces, calculated torques, required forces and required torques are substituted into the power function, and the virtual value corresponding to the minimum value of the power function is selected as the allocated thrust magnitude and thrust direction.
[0050] In the thrust adjustment step, the required moving trajectory is divided into multiple reference points, and the thrust size and thrust direction distribution are adjusted in real time by collecting the real-time position of the speedboat and real-time environmental data.
[0051] When the speedboat moves on the moving track, the real-time position and environmental data of the hull 10 are collected in real time, so that the thrust size and thrust direction can be adjusted in real time and negative feedback can be formed, so that the movement of the hull 10 is more accurate.
[0052] When the real-time position overlaps with the hovering position, the real-time position continues to be collected to monitor the real-time position of the hull 10 to prevent the hull 10 from deviating from the hovering position due to strong winds or waves. When a deviation occurs, that is, the real-time position and the hovering position do not overlap, the steps of environmental data collection, modeling force analysis, thrust distribution, thrust adjustment, etc. are continued to be cycled to move the hull 10, and the real-time position and the hovering position overlap again to achieve hovering.
[0053] Please continue reading Figure 2 The present application also discloses a rescue ship hovering structure for implementing the above rescue ship hovering method. The rescue ship hovering structure includes a hull 10 and a propeller 20. There are multiple propellers 20. Each propeller 20 is rotatably installed at the bottom of the hull 10. The rescue ship hovering structure also includes a driving member 30, a GPS module, at least two sensors and a processor. The driving member 30 is fixed to the hull 10 and is transmission-connected to the propeller 20. The driving member 30 drives the propeller 20 to rotate relative to the hull 10 to change the thrust direction. The GPS module obtains the real-time position information of the hull 10. A sensor is installed at the bottom of the hull 10 to obtain real-time water flow direction and real-time water flow speed data, and a sensor is installed on the top of the hull 10 to obtain real-time wind direction and real-time wind speed data. The processor allocates thrust size and thrust direction of multiple propellers 20 according to the hovering position information, real-time position information, real-time water flow direction, real-time water flow speed data, real-time wind direction and real-time wind speed data, and sends instructions to the propeller 20 and the driving member 30. The driving member 30 drives the propeller 20 to rotate relative to the hull 10 to execute the thrust direction instruction, and the propeller 20 executes the thrust size instruction.
[0054] Compared with the prior art, the rescue boat hovering method of the present invention sets a plurality of propellers 20 through the bottom 11 of the boat, each propeller 20 is rotatably installed on the bottom 11 of the boat, and the driving member 30 drives the propeller 20 to rotate relative to the bottom 11 of the boat to change the propulsion direction of the propeller 20; collects the real-time position of the speedboat, obtains the hovering position of the speedboat, and calculates the required moving trajectory according to the real-time position and the hovering position; the bottom sensor collects the real-time water flow direction and real-time water flow speed data, and the top sensor collects the real-time wind direction and real-time wind speed data; models the speedboat, and performs force analysis on the speedboat model according to the real-time water flow direction, real-time water flow speed, real-time wind direction and real-time wind speed data; and calculates the required moving trajectory according to the force analysis results and the required moving trajectory. The thrust magnitude and thrust direction of multiple propellers 20 are distributed according to the moving trajectory, and the distribution of the thrust magnitude and thrust direction aims at minimizing the power consumption of the speedboat; according to the distribution results of the thrust magnitude and thrust direction, the driving member 30 drives the propeller 20 to rotate relative to the bottom 11 of the ship to achieve the change of the propulsion direction, and the propeller 20 is propelled according to the distributed thrust magnitude; when the real-time position of the speedboat overlaps with the hovering position, the environmental data is continuously collected and the force analysis model is modeled, and the thrust magnitude and thrust direction of multiple propellers 20 are distributed according to the force analysis results to keep the speedboat hovering. Through the above steps, the multiple thrusters 20 that can change direction at the bottom of the speedboat control the speedboat to hover at a fixed position, and the hovering control accuracy is high.
[0055] The above embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which are equivalent modifications and improvements made to the above embodiments based on the essential technology of the present invention, and all of them belong to the protection scope of the present invention.
Claims
1. A method for hovering a rescue ship, characterized in that: The following steps are involved: Structural setting: a plurality of propellers are arranged on the bottom of the ship, each of the propellers is rotatably mounted on the bottom of the ship, and a driving member drives the propeller to rotate relative to the bottom of the ship to change the propulsion direction of the propeller; Position data collection: collect the real-time position of the speedboat, obtain the hovering position of the speedboat, and calculate the required movement trajectory based on the real-time position and hovering position; Environmental data collection: bottom sensors and top sensors are respectively arranged at the bottom and bow of the ship, the bottom sensors collect real-time water flow direction and real-time water flow speed data, and the top sensors collect real-time wind direction and real-time wind speed data; Modeling and force analysis: Model the speedboat and perform force analysis on the speedboat model based on real-time water flow direction, real-time water flow speed, real-time wind direction, and real-time wind speed data; Thrust distribution: Distribute the thrust magnitudes and thrust directions of the plurality of thrusters according to the force analysis results and the required moving trajectory, wherein the distribution of the thrust magnitudes and thrust directions aims at minimizing the power consumption of the speedboat; Thrust adjustment: according to the distribution result of the thrust magnitude and the thrust direction, the driving member drives the propeller to rotate relative to the bottom of the ship to achieve the change of the thrust direction, and the propeller propels according to the distributed thrust magnitude; Hovering point control: When the real-time position of the speedboat overlaps with the hovering position, continue to collect environmental data and model force analysis, and distribute the thrust size and thrust direction of the multiple propellers according to the force analysis results to keep the speedboat hovering.
2. The rescue boat hovering method according to claim 1, characterized in that: In the environmental data collection step, the collection direction of the bottom sensor is parallel to the water flow direction, and the collection direction of the top sensor is parallel to the wind direction.
3. The rescue boat hovering method according to claim 1, characterized in that: In the position data collection step, the required moving trajectory is in a straight line shape.
4. The rescue boat hovering method according to claim 3, characterized in that: In the thrust adjustment step, the required moving trajectory is divided into a plurality of reference points, and the thrust magnitude and the thrust direction distribution are adjusted in real time by collecting the real-time position of the speedboat and the environmental data in real time.
5. The rescue boat hovering method according to claim 1, characterized in that: In the modeling force analysis step, the real-time water flow direction, real-time water flow speed, real-time wind direction and real-time wind speed data and the speedboat modeling data are synthesized into the final values of the required force and the required torque, the position data of the multiple propellers and the depth data of the propellers are obtained, and the thrust magnitudes and thrust directions of the multiple propellers are allocated according to the final values of the required force and the required torque, the position data of the propellers, the depth data of the propellers and the required moving trajectory.
6. The rescue boat hovering method according to claim 5, characterized in that: The thrust magnitude and thrust direction distribution of the plurality of thrusters comprises the following steps: Obtaining at least one of the maximum thrust change per unit time, the maximum available thrust, the minimum available thrust, and the maximum steering angle change per unit time of each thruster as a limiting value; Randomly select a virtual value within the range of the defined values; A plurality of calculated forces and calculated moments are calculated by combining a plurality of virtual values of each selected thruster, the calculated forces, the calculated moments, the required forces and the required moments are substituted into a power function, and a virtual value corresponding to the minimum value of the power function is selected as the allocated thrust magnitude and thrust direction.
7. The rescue boat hovering method according to claim 1, characterized in that: In the structure setting step, the number of thrusters on the bottom of the ship is four.
8. A rescue ship hovering structure, used for implementing the rescue ship hovering method according to any one of claims 1 to 7, the rescue ship hovering structure comprising a hull and a propeller, characterized in that: There are multiple propellers, each of which is rotatably installed at the bottom of the hull. The rescue boat hovering structure also includes a driving member, a GPS module, at least two sensors and a processor. The driving member is fixed to the hull and is transmission-connected to the propeller. The driving member drives the propeller to rotate relative to the hull to change the thrust direction. The GPS module obtains real-time position information of the hull. One sensor is installed at the bottom of the hull to obtain real-time water flow direction and real-time water flow speed data. One sensor is installed at the top of the hull to obtain real-time wind direction and real-time wind speed data. The processor allocates thrust size and thrust direction of multiple propellers according to the hovering position information, real-time position information, real-time water flow direction, real-time water flow speed data, real-time wind direction and real-time wind speed data, and sends instructions to the propeller and the driving member. The driving member drives the propeller to rotate relative to the hull to execute the thrust direction instruction, and the propeller executes the thrust size instruction.
9. The rescue boat hovering structure according to claim 8, characterized in that: The propeller is a propeller.