Ocean survey and survey unmanned ship with anti-overturning function

Abstract

The invention discloses an ocean survey and measurement unmanned ship with an anti-overturning function, and relates to the technical field of unmanned ships, the ocean survey and measurement unmanned ship comprises an upper ship body, a lower ship body, a vertical support, a radar antenna, a propeller and a power supply, the vertical support is arranged on the upper ship body, the radar antenna is arranged on the vertical support, the propeller is arranged at the tail of the lower ship body, and the power supply is arranged on the lower ship body. The power source is arranged in the upper ship body, anti-roll fins are arranged at the bottom of the lower ship body, ballast blocks are arranged at the bottoms of the anti-roll fins, a pair of anti-roll fins are symmetrically arranged on the two sides of the front end of the lower ship body, ship side connecting blocks are symmetrically arranged on the two sides of the middle of the lower ship body, and each ship side connecting block is connected with an appendage through a quick release mechanism. Through rapid installation of the appendages, the effect of further reducing the shaking amplitude of the boat body can be achieved, the anti-overturning effect is achieved, it is ensured that the unmanned boat runs more stably, and the accuracy of survey and measurement data is improved.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned boats, in particular to an unmanned ocean survey and measurement boat with an anti-capsize function. Background Art

[0002] The unmanned boat for ocean measurement is an advanced unmanned operating platform at sea, mainly used for monitoring the marine environment. They are usually equipped with a variety of sensors and can be operated independently without personnel, or perform detection under remote control. The hull of the unmanned boat for ocean measurement is long and narrow. Usually, designers will set anti-side fins at the bottom of the hull and ballast blocks at the bottom of the anti-side fins to transfer the center of gravity of the entire unmanned boat to below the water surface, thereby ensuring that the unmanned boat will not capsize during navigation. However, it is precisely because of the setting of anti-side fins and ballast blocks that the depth of the bottom of the hull is deepened, so that it cannot sail in shallow waters and there is a certain possibility of running aground. Therefore, the detection ship is required to take the unmanned boat to the deep water area and then put it into the sea. The effect of automatic sailing and docking cannot be achieved, which causes certain inconveniences in use. During the process of ocean detection, due to changeable weather conditions, the unmanned boat will intensify its tilt and swaying when the wind and waves are strong, which affects the real-time measurement of the unmanned boat and causes inaccurate detection data. Summary of the invention

[0003] The purpose of the present invention is to provide an unmanned marine survey and measurement boat with an anti-capsize function to solve the problems raised in the prior art.

[0004] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an unmanned marine survey and measurement boat with an anti-capsize function, comprising an upper hull, a lower hull, a vertical bracket, a radar antenna, a propeller and a power supply, wherein the vertical bracket is arranged on the upper hull, the radar antenna is arranged on the vertical bracket, the propeller is arranged at the tail of the lower hull, the power supply is arranged in the upper hull, an anti-side fin is arranged at the bottom of the lower hull, a ballast block is arranged at the bottom of the anti-side fin, a pair of anti-roll fins are symmetrically arranged on both sides of the front end of the lower hull, and ship side connecting blocks are symmetrically arranged on both sides of the middle part of the lower hull, and each ship side connecting block is connected to an appendage through a quick release mechanism.

[0005] Furthermore, a short transfer block and a long transfer block are provided at the bottom of the lower hull, a cavity is provided in the middle of the short transfer block, the cavity is communicated with the interior of the lower hull, a pin is provided in the middle of the anti-side fin, the pin passes through the short transfer block, the pin is rotatably connected to the short transfer block, the ballast block is rotatably installed at the bottom of the anti-side fin, a connecting rod is rotatably connected to the long transfer block, and one end of the connecting rod away from the long transfer block is rotatably connected to the ballast block, the control system drives the active sprocket to rotate by controlling the first servo motor, and the active sprocket drives the driven sprocket to rotate through the chain The driven sprocket drives the anti-side fin to rotate at the bottom of the lower hull through the pin, and the anti-side fin can eventually rotate to be parallel to the hull. The ballast block is not only rotatably connected to the anti-side fin, but its other side is also rotatably connected to the connecting rod. The length of the connecting rod is equal to the distance between the upper and lower transfer positions of the anti-side fin. Therefore, constrained by the parallel four-bar mechanism, the ballast block maintains the same posture movement during the rotation of the anti-side fin to prevent the ballast block from colliding with the bottom of the cabin, so that the ballast block and the anti-side fin can be folded more compactly. The compact folding and deploying method can make the unmanned boat adapt to operations in different sea areas.

[0006] Furthermore, a driven sprocket is coaxially arranged at the position where the pin is located in the cavity, a first servo motor is arranged inside the lower hull, a driving sprocket is mounted on the first servo motor, the first servo motor is connected to the control system through a circuit, a chain is connected between the driving sprocket and the driven sprocket, when the anti-side fins and the ballast blocks are attached to the bottom of the boat, the unmanned boat can travel normally in shallow waters, without having to sail to deep waters by operating ships for deployment, and after it autonomously travels to deep waters, the anti-side fins and the ballast blocks are completely lowered, the center of gravity of the boat body is lowered, thereby preventing capsizing and maintaining stability.

[0007] Furthermore, storage cavities are symmetrically opened on both sides of the front end of the lower hull, and each of the anti-roll fins comprises a main spindle, a fixed arm, a deployment arm and a fan-shaped folding plate. The main spindle passes through the lower hull, and the main spindle is rotatably and sealedly connected to the lower hull. The fixed arm is arranged at one end of the main spindle, and the fixed arm is located in the storage cavity, and the deployment arm is rotatably connected to the main spindle, and the fan-shaped folding plate is arranged between the fixed arm and the deployment arm. When the sea waves are relatively fierce, in addition to relying on the anti-side fins and ballast blocks to maintain the stability of the hull, the control system can also control the second servo motor to drive the motor shaft to rotate, and the motor shaft drives the inner shaft to rotate through the transmission between the active bevel gear and the driven bevel gear, and the inner shaft drives the deployment arm to rotate, and the deployment arm opens the fan-shaped folding plate to form two fan-shaped fin plates on both sides of the front of the hull. When the wind and waves are small, the anti-roll fins are folded in the storage cavity to reduce the water resistance of navigation.

[0008] Furthermore, each of the anti-roll fins also includes an inner shaft, a driven bevel gear, a motor shaft, a driving bevel gear and a second servo motor, the second servo motor is located inside the lower hull, the second servo motor is arranged at one end of the main shaft away from the fixed arm, the main shaft is provided with a transmission cavity near the position where the deployment arm is transferred, the motor shaft on the second servo motor extends into the transmission cavity, the inner shaft is rotatably arranged in the transmission cavity, the inner shaft passes through the main shaft and is connected to the deployment arm, the driven bevel gear is coaxially connected to the inner shaft, the driving bevel gear is arranged on the motor shaft, the driving bevel gear is meshed with the driven bevel gear, a crank is arranged on the main shaft of each of the anti-roll fins, one end of the two cranks is rotatably connected to the same A step pull rod, a tension spring is connected between the middle part of the synchronous pull rod and the lower hull. When the fan-shaped folding plate is opened, the resistance of the hull to swaying in the water is increased, thereby playing a role in further maintaining the stability of the hull in the case of strong winds and waves. The roll-stabilizing fins on both sides have a certain angle of free rotation space relative to the lower hull. The synchronous pull rod is connected to the cranks on the two main spindles, so that the two roll-stabilizing fins can keep swinging synchronously, that is, when the hull tilts to one side, the roll-stabilizing fin on the inclined inner side is deflected upward relative to the lower hull, and the roll-stabilizing fin on the other side is restricted from deflecting downward, thereby improving the working effect of the roll-stabilizing fin. The synchronous pull rod moves its position, and the tension spring pulls the synchronous pull rod back to the middle position through elastic tension, so that the deflected roll-stabilizing fin is reset.

[0009] Furthermore, each of the ship side connection blocks is provided with a sealing groove at one end facing the outer side of the hull, a sealing ring is provided on the outer ring of the sealing groove, two right-angle deep grooves are symmetrically provided in the sealing groove, an arc groove is provided at one end of each right-angle deep groove away from the sealing groove, a piston hole is provided on the side of the two right-angle deep grooves away from each other, and the side of each piston hole away from the right-angle deep groove is connected to the outside of the ship side connection block through an air hole, a sealing piston is slidably provided in each piston hole, a sliding hook lock is provided on the side of the sealing piston facing the right-angle deep groove, a spring is connected between the sealing piston and the piston hole, and when the operator installs the attachment, the connection block is separated The rotating hook lock on is aligned with the right-angle deep groove and inserted. As the rotating hook lock is inserted, the beveled edge of the rotating hook lock pushes the sliding hook lock into the piston hole, and the sealing piston moves accordingly, and the spring is compressed until the rotating hook lock passes over the sliding hook lock. At this time, the separation connection block is in close contact with the sealing ring on the outer ring of the sealing groove, and the sliding hook lock and the sealing piston are reset under the action of the spring. The sliding hook lock blocks the rotating hook lock, making it impossible for the rotating hook lock to disengage. The movement of the piston increases the air pressure inside the sealing groove, pushing the separation connection block outward, thereby increasing the force between the sliding hook lock and the rotating hook lock, and pressing each other more tightly. The attachment is installed and is not easy to loosen.

[0010] Furthermore, each of the quick-release mechanisms includes a separation and connection block, one side of the separation and connection block is in contact with the sealing ring, and the other side of the separation and connection block is connected to the attachment through a bracket. A worm is rotatably arranged inside the separation and connection block, and worm wheels are symmetrically installed on both sides of the worm. Two of the worm wheels are rotatably installed inside the separation and connection block, and the two worm wheels are meshed and connected with the worm. When the installation attachment needs to be removed, the operator only needs to turn the crank to drive the worm to rotate, and the worm drives the worm wheels on both sides to rotate. Since the worm wheels on both sides have the same rotation direction, the two worm wheels rotate in opposite directions. The worm wheel drives the rotating hook lock to rotate, so that the rotating hook lock rotates out of the position blocked by the sliding hook lock. When the air pressure inside the sealing groove is slightly higher, the separation and connection block is separated from the ship side connection block, and the rotating hook lock is pulled out of the right-angle deep groove. Then the operator turns the crank in the opposite direction to drive the rotating hook lock to reset, so as to facilitate subsequent quick installation.

[0011] Furthermore, a crank is coaxially connected to the top of the worm gear, and the crank is located on the outside of the separation connection block. Rotating hook locks are coaxially arranged on the two worm wheels, and the rotating hook locks are in contact with the sliding hook locks. Through the installation of the appendage, the amplitude of the hull shaking can be further reduced, thereby achieving an anti-capsize effect, ensuring that the unmanned boat travels more stably, and improving the accuracy of the survey and measurement data.

[0012] Compared with the prior art, the present invention has the following beneficial effects: 1. The operator only needs to directly plug and turn the crank to quickly install and disassemble the appendage, which improves the convenience of installation and disassembly of the appendage. By setting the appendage that can be quickly disassembled, it can further reduce the shaking amplitude of the hull, achieve the effect of anti-capsulation, ensure that the unmanned boat is more stable, and improve the accuracy of the measurement data of the unmanned boat. While the appendage is being installed, the sliding hook lock makes the rotating hook lock unable to disengage, and the piston moves and resets under the action of the spring, so that the air pressure inside the sealing groove increases, and the separation connection block is pushed outward, so that the force between the sliding hook lock and the rotating hook lock increases, and they are more tightly pressed against each other, and the appendage is less likely to loosen, which improves the stability of the appendage installation and the sealing of the connection between the appendage and the hull.

[0013] 2. Through the constraint of the parallel four-bar mechanism, the ballast block maintains the same posture during the rotation of the anti-side fin, so that the ballast block and the anti-side fin can be folded more compactly to adapt to operations in different sea areas. When the anti-side fin and the ballast block are attached to the bottom of the ship, the unmanned boat can travel normally in shallow waters without having to sail to deep waters through operating ships. After it autonomously travels to deep waters, the anti-side fin and the ballast block are completely lowered, and the center of gravity of the boat is lowered, which prevents capsizing and maintains stability.

[0014] 3. When the sea is rough, the inner shaft drives the unfolding arm to rotate and open the fan-shaped folding plate, forming two water retaining plates on both sides of the front of the hull to increase the resistance of the hull to sway in the water, thereby further maintaining the stability of the hull in rough seas. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 The overall appearance structure of the present invention is shown in FIG. Figure 1 ; Figure 2 The overall appearance structure of the present invention is shown in FIG. Figure 2 ; Figure 3 It is a schematic diagram of the internal structure of the present invention; Figure 4 It is a schematic diagram of the installation structure of the fin stabilizer of the present invention; Figure 5 This is a schematic diagram of the installation structure of the side-protection fin of the present invention; Figure 6 This is a schematic diagram of the internal structure of the fin stabilizer of the present invention; Figure 7 For the present invention Figure 6 A partial enlarged schematic diagram of the middle A area; Figure 8 It is a schematic diagram of the internal structure of the ship side connecting block of the present invention.

[0016] Fig. 9 It is a schematic diagram of the internal structure of the separation connection block of the present invention.

[0017] Fig.10 It is a schematic structural diagram of the ship side connecting block of the present invention.

[0018] In the figure: 1. upper hull; 2. lower hull; 3. vertical bracket; 4. radar antenna; 5. thruster; 6. anti-side fin; 7. ballast block; 8. short adapter block; 9. long adapter block; 10. connecting rod; 11. driven sprocket; 12. driving sprocket; 13. first servo motor; 14. chain; 15. anti-roll fin; 16. main shaft; 17. fixed arm; 18. unfolding arm; 19. fan-shaped folding plate; 20. inner shaft; 21. driven bevel gear; 22. motor shaft; 23. driving bevel gear; 24. second servo motor; 25. crank; 26. synchronous pull rod; 27. appendage; 28. separation connection block; 29. ​​ship side connection block; 30. crank; 31. worm; 32. worm wheel; 33. rotating hook lock; 34. sliding hook lock; 35. sealing groove; 36. air hole. DETAILED DESCRIPTION

[0019] 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.

[0020] Example: Figure 1-Figure 10 As shown, the present invention provides a technical solution, an unmanned marine survey and measurement boat with an anti-capsize function, comprising an upper hull 1, a lower hull 2, a vertical bracket 3, a radar antenna 4, a propeller 5 and a power supply, wherein the vertical bracket 3 is arranged on the upper hull 1, the radar antenna 4 is arranged on the vertical bracket 3, the propeller 5 is arranged at the tail of the lower hull 2, the power supply is arranged in the upper hull 1, an anti-side fin 6 is arranged at the bottom of the lower hull 2, a ballast block 7 is arranged at the bottom of the anti-side fin 6, a pair of anti-roll fins 15 are symmetrically arranged on both sides of the front end of the lower hull 2, and ship side connecting blocks 29 are symmetrically arranged on both sides of the middle part of the lower hull 2, and each ship side connecting block 29 is connected to an appendage 27 through a quick release mechanism.

[0021] A short adapter block 8 and a long adapter block 9 are provided at the bottom of the lower hull 2, a cavity is provided in the middle of the short adapter block 8, and the cavity is communicated with the interior of the lower hull 2, a pin is provided in the middle of the anti-side fin 6, the pin passes through the short adapter block 8, the pin is rotatably connected to the short adapter block 8, the ballast block 7 is rotatably installed at the bottom of the anti-side fin 6, a connecting rod 10 is rotatably connected to the long adapter block 9, and the end of the connecting rod 10 away from the long adapter block 9 is rotatably connected to the ballast block 7, a driven sprocket 11 is coaxially provided at the position where the pin is located in the cavity, a first servo motor 13 is provided inside the lower hull 2, a driving sprocket 12 is installed on the first servo motor 13, the first servo motor 13 is connected to the control system through a circuit, a chain 14 is connected between the driving sprocket 12 and the driven sprocket 11, the control system drives the driving sprocket 12 to rotate by controlling the first servo motor 13, and the driving sprocket 12 drives the driven sprocket 11 to rotate through the chain 14 The driven sprocket 11 drives the anti-side fin 6 to rotate at the bottom of the lower hull 2 ​​through the pin, and the anti-side fin 6 can eventually rotate to be parallel to the hull. The ballast block 7 is not only rotatably connected to the anti-side fin 6, but its other side is also rotatably connected to the connecting rod 10. The length of the connecting rod 10 is equal to the distance between the upper and lower transfer positions of the anti-side fin 6. Therefore, constrained by the parallel four-bar mechanism, the ballast block 7 maintains the same posture movement during the rotation of the anti-side fin 6 to prevent the ballast block 7 from colliding with the bottom of the cabin, so that the ballast block 7 and the anti-side fin 6 can be folded more compactly. The compact folding and releasing method can make the unmanned boat adapt to operations in different sea areas. When the anti-side fin 6 and the ballast block 7 are attached to the bottom of the ship, the unmanned boat can travel normally in shallow waters without having to sail to deep waters through operating ships. After it autonomously travels to the deep waters, the anti-side fin 6 and the ballast block 7 are completely lowered, and the center of gravity of the boat body is lowered, which plays a role in preventing capsizing and maintaining stability.

[0022] The front end of the lower hull 2 ​​is symmetrically provided with storage cavities on both sides. Each anti-roll fin 15 includes a main spindle 16, a fixed arm 17, an unfolding arm 18 and a fan-shaped folding plate 19. The main spindle 16 passes through the lower hull 2. The main spindle 16 is rotatably sealed and connected to the lower hull 2. The fixed arm 17 is arranged at one end of the main spindle 16. The fixed arm 17 is located in the storage cavity. The unfolding arm 18 is rotatably connected to the main spindle 16. The fan-shaped folding plate 19 is arranged between the fixed arm 17 and the unfolding arm 18. Each anti-roll fin 15 also includes an inner shaft 20, a driven bevel gear 21, a motor shaft 22, a driving bevel gear 23 and a second servo motor 24. The second servo motor 24 is located inside the lower hull 2. The second servo motor 24 is arranged on the main spindle 16. A transmission cavity is provided at one end of the spindle 16 away from the fixed arm 17, and the main spindle 16 is close to the position where the unfolding arm 18 is transferred. The motor shaft 22 on the second servo motor 24 extends into the transmission cavity, and the inner shaft 20 is rotatably arranged in the transmission cavity. The inner shaft 20 passes through the main spindle 16 and is connected to the unfolding arm 18. The driven bevel gear 21 is coaxially connected to the inner shaft 20. The driving bevel gear 23 is arranged on the motor shaft 22, and the driving bevel gear 23 is meshed and connected with the driven bevel gear 21. A crank 25 is provided on the main spindle 16 of each anti-roll fin 15, and one end of the two cranks 25 is rotatably connected to the same synchronous pull rod 26, and a tension spring (not shown in the figure) is connected between the middle part of the synchronous pull rod 26 and the lower hull 2.

[0023] When the sea waves are relatively fierce, in addition to relying on the anti-side fins 6 and the ballast blocks 7 to maintain the stability of the hull, the control system can also control the second servo motor 24 to drive the motor shaft 22 to rotate. The motor shaft 22 drives the inner shaft 20 to rotate through the transmission between the active bevel gear 23 and the driven bevel gear 21. The inner shaft 20 drives the deployment arm 18 to rotate. The deployment arm 18 opens the fan-shaped folding plate 19 to form two fan-shaped fin plates on both sides of the front of the hull. When the wind and waves are small, the anti-roll fin 15 is folded in the storage cavity to reduce the water resistance of navigation. After the fan-shaped folding plate 19 is opened, the resistance of the hull to sway in the water is increased, thereby playing a role In order to further maintain the stability of the hull in the case of strong winds and waves, the roll-stabilizing fins 15 on both sides have a certain angle of free rotation space relative to the lower hull 2, and are connected to the cranks 25 on the two main spindles 16 through a synchronous pull rod 26, so that the two roll-stabilizing fins 15 can keep synchronous swinging, that is, when the hull tilts to one side, the roll-stabilizing fin 15 on the tilted inner side deflects upward relative to the lower hull 2, and the roll-stabilizing fin 15 on the other side is restricted from deflecting downward, thereby improving the working effect of the roll-stabilizing fin 15, and the synchronous pull rod 26 moves its position, and the tension spring pulls the synchronous pull rod 26 back to the middle position through elastic tension, so that the deflected roll-stabilizing fin 15 is reset.

[0024] Each ship side connection block 29 is provided with a sealing groove 35 at one end facing the outside of the hull, a sealing ring is provided on the outer ring of the sealing groove 35, two right-angle deep grooves are symmetrically provided in the sealing groove 35, and an arc groove is provided at one end of each right-angle deep groove away from the sealing groove 35, and a piston hole is provided on the side away from each other of the two right-angle deep grooves, and the side of each piston hole away from the right-angle deep groove is connected to the outside of the ship side connection block 29 through an air hole 36, and a sealing piston is slidably provided in each piston hole, and a sliding hook lock 34 is provided on the side of the sealing piston facing the right-angle deep groove, and a spring (not shown in the figure) is connected between the sealing piston and the piston hole. When the operator installs the attachment 27, align the rotating hook lock 33 on the separation connection block 28 with the The right-angle deep groove is inserted. As the rotating hook lock 33 is inserted, the oblique side of the rotating hook lock 33 pushes the sliding hook lock 34 into the piston hole, and the sealing piston moves accordingly, and the spring is compressed until the rotating hook lock 33 passes over the sliding hook lock 34. At this time, the separation connection block 28 is in close contact with the sealing ring on the outer ring of the sealing groove 35, and the sliding hook lock 34 and the sealing piston are reset under the action of the spring. The sliding hook lock 34 blocks the rotating hook lock 33, making it impossible for the rotating hook lock 33 to disengage, and the movement of the piston increases the air pressure inside the sealing groove 35, pushing the separation connection block 28 outward, thereby increasing the force between the sliding hook lock 34 and the rotating hook lock 33, and pressing each other more tightly. The installation of the attachment 27 is completed and it is not easy to loosen.

[0025] Each quick-release mechanism includes a separation connection block 28, one side of the separation connection block 28 is in contact with the sealing ring, and the other side of the separation connection block 28 is connected to the attachment 27 through a bracket. A worm 31 is rotatably arranged inside the separation connection block 28, and worm wheels 32 are symmetrically installed on both sides of the worm 31. Two worm wheels 32 are rotatably installed inside the separation connection block 28, and the two worm wheels 32 are meshed and connected with the worm 31. A crank 30 is coaxially connected to the top of the worm 31, and the crank 30 is located on the outside of the separation connection block 28. Rotating hook locks 33 are coaxially arranged on the two worm wheels 32, and the rotating hook locks 33 are in contact with the sliding hook locks 34. When the attachment 27 needs to be removed, the operator only needs to rotate the crank 30 to drive the worm 31 to rotate The worm gear 31 rotates, and the worm gears 32 on both sides rotate. Since the worm gears 32 on both sides have the same rotation direction, the two worm gears 32 rotate in opposite directions. The worm gears 32 drive the rotating hook lock 33 to rotate, so that the rotating hook lock 33 rotates out of the position blocked by the sliding hook lock 34. When the air pressure inside the sealing groove 35 is slightly higher, the separation connection block 28 is separated from the ship side connection block 29, and the rotating hook lock 33 is pulled out of the right-angle deep groove. Then the operator rotates the crank 30 in the opposite direction to drive the rotating hook lock 33 to reset, so as to facilitate subsequent rapid installation. Through the installation of the appendage 27, the shaking amplitude of the hull can be further reduced, and the anti-capsulation effect is achieved, ensuring that the unmanned boat is more stable and improving the accuracy of the survey and measurement data.

[0026] The working principle of the present invention is as follows: the control system drives the driving sprocket 12 to rotate by controlling the first servo motor 13, the driving sprocket 12 drives the driven sprocket 11 to rotate through the chain 14, the driven sprocket 11 drives the anti-side fin 6 to rotate at the bottom of the lower hull 2 ​​through the pin, the anti-side fin 6 can eventually rotate to be parallel to the hull, the ballast block 7 is not only rotatably connected to the anti-side fin 6, but also rotatably connected to the connecting rod 10 on the other side, the length of the connecting rod 10 is equal to the distance between the upper and lower transfer positions of the anti-side fin 6, and therefore is constrained by the parallel four-bar mechanism. The ballast block 7 maintains the same posture movement during the rotation of the anti-side fin 6 to prevent the ballast block 7 from colliding with the bottom of the cabin, so that the ballast block 7 and the anti-side fin 6 can be folded more compactly. The compact folding and deploying method can make the unmanned boat adapt to operations in different sea areas. When the anti-side fin 6 and the ballast block 7 are attached to the bottom of the ship, the unmanned boat can travel normally in shallow waters without having to sail to deep waters through operating ships. After it autonomously travels to the deep waters, the anti-side fin 6 and the ballast block 7 are completely lowered, and the center of gravity of the boat body is lowered, which plays a role in preventing capsizing and maintaining stability.

[0027] When the sea waves are relatively fierce, in addition to relying on the anti-side fins 6 and the ballast blocks 7 to maintain the stability of the hull, the control system can also control the second servo motor 24 to drive the motor shaft 22 to rotate. The motor shaft 22 drives the inner shaft 20 to rotate through the transmission between the active bevel gear 23 and the driven bevel gear 21. The inner shaft 20 drives the deployment arm 18 to rotate. The deployment arm 18 opens the fan-shaped folding plate 19 to form two fan-shaped fin plates on both sides of the front of the hull. When the wind and waves are small, the anti-roll fin 15 is folded in the storage cavity to reduce the water resistance of navigation. After the fan-shaped folding plate 19 is opened, the resistance of the hull to sway in the water is increased, thereby playing a role In order to further maintain the stability of the hull in the case of strong winds and waves, the roll-stabilizing fins 15 on both sides have a certain angle of free rotation space relative to the lower hull 2, and are connected to the cranks 25 on the two main spindles 16 through a synchronous pull rod 26, so that the two roll-stabilizing fins 15 can keep synchronous swinging, that is, when the hull tilts to one side, the roll-stabilizing fin 15 on the tilted inner side deflects upward relative to the lower hull 2, and the roll-stabilizing fin 15 on the other side is restricted from deflecting downward, thereby improving the working effect of the roll-stabilizing fin 15, and the synchronous pull rod 26 moves its position, and the tension spring pulls the synchronous pull rod 26 back to the middle position through elastic tension, so that the deflected roll-stabilizing fin 15 is reset.

[0028] When the operator installs the attachment 27, the operator aligns the rotating hook lock 33 on the separation connection block 28 with the right-angle deep groove and inserts it. As the rotating hook lock 33 is inserted, the oblique side of the rotating hook lock 33 pushes the sliding hook lock 34 into the piston hole, and the sealing piston moves accordingly. The spring is compressed until the rotating hook lock 33 passes over the sliding hook lock 34. At this time, the separation connection block 28 is in close contact with the sealing ring on the outer ring of the sealing groove 35. The sliding hook lock 34 and the sealing piston are reset under the action of the spring. The sliding hook lock 34 blocks the rotating hook lock 33, making it impossible for the rotating hook lock 33 to disengage. The movement of the piston increases the air pressure inside the sealing groove 35, pushing the separation connection block 28 outward, increasing the force between the sliding hook lock 34 and the rotating hook lock 33, and pressing against each other more tightly. The attachment 27 is installed and is not easy to loosen.

[0029] When it is necessary to remove the installation attachment 27, the operator only needs to turn the crank handle 30 to drive the worm 31 to rotate, and the worm 31 drives the worm wheels 32 on both sides to rotate. Since the worm wheels 32 on both sides have the same rotation direction, the two worm wheels 32 turn in opposite directions, and the worm wheel 32 drives the rotating hook lock 33 to rotate, so that the rotating hook lock 33 rotates out of the position blocked by the sliding hook lock 34. When the air pressure inside the sealing groove 35 is slightly higher, the separation connection block 28 is separated from the ship side connection block 29, and the rotating hook lock 33 is pulled out of the right-angle deep groove. Then the operator turns the crank handle 30 in the opposite direction to drive the rotating hook lock 33 to reset, so as to facilitate subsequent rapid installation. Through the installation of the attachment 27, it can further reduce the shaking amplitude of the hull, achieve the effect of anti-capsulation, ensure that the unmanned boat is more stable, and improve the accuracy of the survey and measurement data.

[0030] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. An unmanned marine survey and measurement boat with an anti-capsize function, comprising an upper hull (1), a lower hull (2), a vertical support (3), a radar antenna (4), a propeller (5) and a power supply, wherein the vertical support (3) is arranged on the upper hull (1), the radar antenna (4) is arranged on the vertical support (3), the propeller (5) is arranged at the rear of the lower hull (2), and the power supply is arranged in the upper hull (1), characterized in that: The bottom of the lower hull (2) is provided with an anti-side fin (6), the bottom of the anti-side fin (6) is provided with a ballast block (7), a pair of anti-roll fins (15) are symmetrically provided on both sides of the front end of the lower hull (2), and side connection blocks (29) are symmetrically provided on both sides of the middle part of the lower hull (2), and each side connection block (29) is connected to an appendage (27) via a quick-release mechanism.

2. The unmanned marine survey and measurement boat with anti-capsize function according to claim 1, characterized in that: A short adapter block (8) and a long adapter block (9) are provided at the bottom of the lower hull (2); a cavity is provided in the middle of the short adapter block (8), and the cavity is communicated with the interior of the lower hull (2); a pin is provided in the middle of the anti-side fin (6), and the pin passes through the short adapter block (8), and the pin is rotatably connected to the short adapter block (8); the ballast block (7) is rotatably mounted on the bottom of the anti-side fin (6); a connecting rod (10) is rotatably connected to the long adapter block (9), and one end of the connecting rod (10) away from the long adapter block (9) is rotatably connected to the ballast block (7).

3. The unmanned marine survey and measurement boat with anti-capsize function according to claim 2, characterized in that: A driven sprocket (11) is coaxially arranged at the position of the pin in the cavity, a first servo motor (13) is arranged inside the lower hull (2), a driving sprocket (12) is mounted on the first servo motor (13), the first servo motor (13) is connected to a control system via an electric circuit, and a chain (14) is connected between the driving sprocket (12) and the driven sprocket (11).

4. The unmanned marine survey and measurement boat with anti-capsize function according to claim 1, characterized in that: The front end of the lower hull (2) is symmetrically provided with storage cavities on both sides. Each of the anti-roll fins (15) comprises a main spindle (16), a fixed arm (17), a deployment arm (18) and a fan-shaped folding plate (19). The main spindle (16) passes through the lower hull (2). The main spindle (16) is rotationally sealedly connected to the lower hull (2). The fixed arm (17) is arranged at one end of the main spindle (16). The fixed arm (17) is located in the storage cavity. The deployment arm (18) is rotationally connected to the main spindle (16). The fan-shaped folding plate (19) is arranged between the fixed arm (17) and the deployment arm (18).

5. The unmanned marine survey and measurement boat with anti-capsize function according to claim 4, characterized in that: Each of the fin stabilizers (15) further comprises an inner shaft (20), a driven bevel gear (21), a motor shaft (22), a driving bevel gear (23) and a second servo motor (24), wherein the second servo motor (24) is located inside the lower hull (2), and the second servo motor (24) is arranged at an end of the main spindle (16) away from the fixed arm (17). A transmission cavity is provided at a position of the main spindle (16) close to the connecting position of the deployment arm (18), and the motor shaft (22) on the second servo motor (24) extends into the transmission cavity. The inner shaft (20) is rotatably arranged at the transmission cavity. In the dynamic cavity, an inner shaft (20) passes through the main spindle (16) and is connected to the deployment arm (18); the driven bevel gear (21) is coaxially connected to the inner shaft (20); the driving bevel gear (23) is arranged on the motor shaft (22); the driving bevel gear (23) is meshingly connected to the driven bevel gear (21); a crank (25) is arranged on the main spindle (16) of each anti-roll fin (15); one end of the two cranks (25) is rotatably connected to the same synchronous pull rod (26); a tension spring is connected between the middle part of the synchronous pull rod (26) and the lower hull (2).

6. The unmanned marine survey and measurement boat with anti-capsize function according to claim 1, characterized in that: A sealing groove (35) is provided at one end of each of the ship side connection blocks (29) facing the outer side of the ship hull, a sealing ring is provided on the outer ring of the sealing groove (35), two right-angle deep grooves are symmetrically provided in the sealing groove (35), an arc groove is provided at one end of each right-angle deep groove away from the sealing groove (35), a piston hole is provided on the side of the two right-angle deep grooves away from each other, and the side of each of the piston holes away from the right-angle deep groove is connected to the outside of the ship side connection block (29) through an air hole (36), a sealing piston is slidably provided in each of the piston holes, a sliding hook lock (34) is provided on the side of the sealing piston facing the right-angle deep groove, and a spring is connected between the sealing piston and the piston hole.

7. The unmanned marine survey and measurement boat with anti-capsize function according to claim 6, characterized in that: Each of the quick-release mechanisms comprises a separation connection block (28), one side of the separation connection block (28) is in contact with a sealing ring, the other side of the separation connection block (28) is connected to the appendage (27) via a bracket, a worm (31) is rotatably arranged inside the separation connection block (28), worm wheels (32) are symmetrically mounted on both sides of the worm (31), two worm wheels (32) are rotatably mounted inside the separation connection block (28), and the two worm wheels (32) are meshingly connected to the worm (31).

8. The unmanned marine survey and measurement boat with anti-capsize function according to claim 7, characterized in that: A crank (30) is coaxially connected to the top of the worm (31), and the crank (30) is located outside the separation connection block (28). Rotating hook locks (33) are coaxially arranged on the two worm wheels (32), and the rotating hook locks (33) are in contact with the sliding hook locks (34).

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