Submersible high-speed hydrofoil unmanned ship

Abstract

The submersible high-speed hydrofoil unmanned ship comprises a ship body, a plurality of hydrofoil bodies are distributed on the two sides of the lower portion of the ship body, the hydrofoil bodies are connected with the ship body through supporting structures, and combined pump propellers are arranged at the bottoms of the hydrofoil bodies. According to the invention, higher speed is realized, and the unmanned ship is kept in a stable posture.

Description

Technical Field

[0001] The present invention specifically relates to a submersible high-speed hydrofoil unmanned boat. Background Art

[0002] The submersible high-speed hydrofoil unmanned boat is an advanced unmanned boat technology that combines high-speed surface navigation and underwater stealth functions. This unmanned boat uses hydrofoil technology to achieve high-speed navigation on the water surface. When it needs to dive underwater to perform a mission, it switches mode to dive. However, existing unmanned boats have insufficient environmental adaptability and poor maneuverability and stability during use, resulting in the unmanned boats being unable to operate effectively in complex or changeable marine environments. This limits their application in diverse tasks, such as rescue operations, scientific exploration or military reconnaissance. At the same time, the lack of maneuverability and stability makes it difficult for the unmanned boat to maintain its course and stable posture under severe weather conditions such as strong winds and waves, complex water currents, etc., increasing the risk of mission failure and may even cause damage or loss of equipment. Summary of the invention

[0003] The purpose of the present invention is to provide a submersible high-speed hydrofoil unmanned boat, which can achieve a faster speed and keep the unmanned boat in a stable posture.

[0004] The technical solution adopted by the present invention is: A submersible high-speed hydrofoil unmanned boat comprises a hull, and is characterized in that a plurality of hydrofoil bodies are distributed on both sides below the hull, the hydrofoil bodies are connected to the hull via a supporting structure, and a combined pump propeller is arranged at the bottom of the hydrofoil bodies.

[0005] Preferably, a front control cabin is provided at the front end of the hull, and a rear equipment cabin is provided at the rear end of the hull.

[0006] Preferably, an energy module and a ballast water tank are sequentially arranged at the bottom of the hull.

[0007] Preferably, the energy module is arranged at the front end of the bottom of the hull, and the ballast water tank is arranged at the rear end of the bottom of the hull.

[0008] Preferably, the interior of the ballast water tank includes a ballast water pump, a ballast water pipeline and each ballast water tank, and the ballast water pump is connected to each ballast water tank through the ballast water pipeline.

[0009] Preferably, a controller and a speed sensor, an acceleration sensor and a gyroscope connected to the controller are provided inside the hydrofoil body, the controller is connected to the speed sensor, the acceleration sensor and the gyroscope, and the controller is connected to the combined pump propeller.

[0010] Preferably, the interior of the hydrofoil body also includes a communication sensor antenna and a control navigation module. The communication sensor antenna is connected to the control navigation module, and the control navigation module is connected to the controller. The control navigation module is used for positioning, track planning, speed, and attitude control of the unmanned boat.

[0011] Preferably, the interior of the combined pump propeller includes an annular conduit, a stator and a rotor, the stator and the rotor are sequentially arranged in the annular conduit, and the rotor is connected to the stator through a bearing.

[0012] Preferably, the hydrofoil body is T-shaped.

[0013] Preferably, a plurality of support structures are sequentially arranged at intervals along the length direction of the hull, and a hydrofoil body is arranged at both ends of each support structure; The supporting structure is M-shaped or gate-shaped and is arranged transversely on the bottom of the hull; The dihedral angle between the wing plate of the hydrofoil body and the supporting structure is 90°.

[0014] The beneficial effects of the present invention are: 1. The present invention greatly improves the speed and maneuverability of the unmanned boat in the water by arranging a combined pump propeller at the bottom of the hydrofoil body and arranging the hydrofoil body at the bottom of the hull. The use of the combined pump propeller at the bottom of the hydrofoil allows the hull to reduce contact with the water surface when traveling at high speed, thereby reducing resistance and achieving a faster speed, so that the lift is mainly distributed upward, which helps to maintain the longitudinal stability of the ship during navigation, reduce pitch and heave caused by external factors such as waves, and keep the unmanned boat in a stable posture, providing greater stability.

[0015] 2. The hydrofoil body adopts a T-shaped design, which can generate greater lift when sailing at high speed, greatly reducing the contact area between the hull and the water surface, and the dihedral angle with the supporting structure is 90°, so that the lift is mainly distributed upward, which helps to maintain the longitudinal stability of the ship during navigation, reduce the pitch and heave caused by external factors such as waves, and keep the unmanned boat in a stable posture, providing greater stability and durability, and whether on the water or underwater, it can ensure that the unmanned boat maintains good balance and strength, so as to maintain good performance in various climatic conditions. The unmanned boat has a built-in controller, speed sensor, acceleration sensor and gyroscope, and is equipped with a communication sensor antenna and a control and navigation module, so that the device can perform highly autonomous operations and can cope with complex environments and tasks, such as automatic obstacle avoidance, path planning and positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a submersible high-speed hydrofoil unmanned boat in an embodiment of the present invention.

[0017] Figure 2It is a bottom view of the submersible high-speed hydrofoil unmanned boat in an embodiment of the present invention.

[0018] Figure 3 yes Figure 2 Partial A view of .

[0019] Figure 4 yes Figure 2 Partial B view of .

[0020] In the figure: 1-hull; 2-support structure; 3-hydrofoil body; 4-combined pump propeller; 5-front control cabin; 6-rear equipment cabin; 7-energy module; 8-ballast water tank. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0022] In the description of the present invention, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like are involved, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0023] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Example 1 A submersible high-speed hydrofoil unmanned boat, such as Figures 1 to 4 As shown, it includes a hull 1, and a plurality of hydrofoil bodies 3 are symmetrically distributed on both sides below the hull 1. The hydrofoil bodies 3 are connected to the hull 1 through a supporting structure 2, and a combined pump propeller 4 is arranged at the bottom of the hydrofoil body 3.

[0025] Furthermore, a front control cabin 5 is provided at the front end of the hull 1, and a rear equipment cabin 6 is provided at the rear end of the hull 1; the space of the hull 1 can be utilized more reasonably, and this partition can effectively isolate the driving and equipment management functions of the ship, ensuring the independence of each function and the convenience of operation.

[0026] Furthermore, an energy module 7 and a ballast water tank 8 are sequentially provided at the bottom of the hull 1 .

[0027] Furthermore, the energy module 7 is arranged at the front end of the bottom of the hull 1, and the ballast water tank 8 is arranged at the rear end of the bottom of the hull 1; placing the important energy module 7 at the bottom of the hull 1 is conducive to lowering the overall center of gravity of the hull 1, thereby improving the stability of the ship, and by properly distributing the weight front and rear and setting the ballast water tank 8 at the rear end, the balance of the ship can be further optimized, making it more stable in sailing under different sea conditions, and placing the energy module 7 (generator, battery pack or other power source) at the bottom of the hull 1 can effectively protect these key components from direct erosion by seawater or collision damage, especially in harsh marine environments.

[0028] Furthermore, the interior of the ballast water tank 8 includes a ballast water pump, a ballast water pipeline and each ballast water tank. The ballast water pump is connected to each ballast water tank through the ballast water pipeline. Using the ballast water pump to fill or drain water into the ballast water tank can effectively adjust the draft of the ship to adapt to the navigation requirements of different waters. Through proper ballast water distribution, the structural stress caused by cargo overload or uneven distribution can be reduced, the hull 1 can be protected from damage, and the service life of the ship can be extended.

[0029] Furthermore, a controller and a speed sensor, an acceleration sensor and a six-axis gyroscope connected to the controller are provided inside the hydrofoil body 3 , and the controller is connected to the speed sensor, the acceleration sensor and the six-axis gyroscope, and the controller is connected to the combined pump propeller 4 .

[0030] Furthermore, the controller includes a single chip microcomputer.

[0031] Furthermore, the model of the single-chip microcomputer is STM32. The STM32 single-chip microcomputer has powerful computing power and fast processing speed. It can process data from velocity sensors, acceleration sensors and six-axis gyroscopes in real time, ensuring fast and accurate adjustments to the attitude and speed of the hydrofoil, thereby improving the mobility and stability of the hydrofoil.

[0032] Furthermore, the interior of the hydrofoil body 3 also includes a communication sensor antenna and a control navigation module. The communication sensor antenna is connected to the control navigation module, and the control navigation module is connected to the controller. The control navigation module is used for positioning, track planning, speed, and attitude control of the unmanned boat. The communication sensor antenna ensures effective data transmission and reception in a wider area. Whether it is receiving instructions from the ground station or sending real-time data to the ground station, the reliability and stability of communication are significantly improved.

[0033] The combined pump propeller 4 includes an annular conduit, a stator and a rotor. The stator and the rotor are sequentially arranged in the annular conduit, and the rotor is connected to the stator through a bearing.

[0034] Furthermore, the annular duct forms a closed fluid dynamic channel, optimizes the path of water flow through the propeller, reduces eddies and turbulence, and thus improves propulsion efficiency. By finely controlling the interaction between the water flow in the annular duct and the stator and rotor, optimal energy utilization and propulsion can be achieved, energy waste can be reduced, and operating costs can be lowered.

[0035] Example 2 The hydrofoil body is further limited on the basis of Example 1, and the performance of Example 2 after the limitation is even better.

[0036] The hydrofoil body 3 is T-shaped, and the small end of the vertical section of the T-shaped hydrofoil body 3 is facing the front end of the unmanned boat.

[0037] Furthermore, the hydrofoil body 3 includes a wing plate, and the combined pump propeller 4 is perpendicular to the wing plate to form a T shape.

[0038] Furthermore, the combined pump propeller 4 is in the shape of a water drop.

[0039] Furthermore, a plurality of support structures 2 are arranged in sequence and at even intervals along the length direction of the hull 1, and a hydrofoil body 3 is arranged at both ends of each support structure 2; The support structure 2 is M-shaped or door-shaped and is arranged transversely at the bottom of the hull 1; The dihedral angle between the wing plate of the hydrofoil body 3 and the supporting structure 2 is 90°.

[0040] Furthermore, the T-shaped hydrofoil, through its wing panels arranged perpendicular to the supporting structure, can better guide the water flow, optimize the fluid dynamic path, and reduce the generation of eddies and turbulence when the ship is moving. It can generate a larger lift when the ship is moving. This lift helps to lift part or all of the hull 1 above the water surface, reduce water surface resistance, provide higher speed and lower energy consumption. In addition, the 90° dihedral angle ensures the upward distribution of lift, helps to provide better longitudinal stability, and the design of the T-shaped hydrofoil can reduce the impact of water surface changes (such as surges) on the ship when sailing at high speed, thereby reducing vibrations on the ship, which is extremely important for improving the safety and comfort of people and cargo on board.

[0041] Working principle of the present invention: When in use, before the boat sets off, the operator needs to check the key parts of the unmanned boat, including the hull 1, the support structure 2, the hydrofoil body 3, the combined pump propeller 4, the control cabin, the equipment cabin, the energy module 7 and the ballast water tank 8, to confirm that all systems are in good condition, especially whether the STM32 single-chip microcomputer, the sensor, the gyroscope and the communication system are operating normally, and upload the task instructions to the STM32 single-chip microcomputer by wireless or wired means, such as the route, speed, diving depth and other parameters, start the combined pump propeller 4, and generate power through its internal annular duct, stator and rotor to push the unmanned boat forward, and use the control navigation module to continuously correct the path of the ship. The systems in the front control cabin 5 and the rear equipment cabin 6 will work together to ensure The hull 1 sails along a preset path, and the position and angle of the hydrofoil body 3 are adjusted in real time by the STM32 single-chip microcomputer according to the acceleration sensor and the six-axis gyroscope to optimize the stability and speed of the hull 1. The ballast water pump in the ballast water tank 8 is operated to adjust the buoyancy of the hull 1 to achieve diving or floating. The amount of water in the ballast water tank 8 is adjusted through the ballast water pipeline and accessories. Underwater, the unmanned boat will continue to perform the mission according to the underwater terrain and preset mission requirements, while maintaining communication with the host computer through the underwater communication sensor antenna. The speed sensor and acceleration sensor continue to monitor the movement status of the unmanned boat, and transmit the data back to the control center in real time through the internal communication system. After the mission is completed, the unmanned boat will adjust its course according to the preset instructions or remote instructions, and start to return to the starting point or designated location.

[0042] Automatic obstacle avoidance: Data collection and fusion: Utilize various sensors installed on the unmanned boat, such as sonar, radar, and lidar, to collect information about the surrounding environment in real time, and fuse the data collected by different sensors to improve the accuracy and reliability of environmental perception; Data processing: Process the collected sensor data to identify the location, size, shape and motion state of obstacles; Obstacle classification: Identified obstacles are classified into static obstacles (reefs, buoys) and dynamic obstacles (other ships, floating objects). Different obstacle avoidance strategies are adopted for different obstacle types. Safety distance assessment: Calculate the safe distance from obstacles based on the current speed and motion state of the unmanned boat. If the distance between the unmanned boat and the obstacle is less than the safe distance, the obstacle avoidance mechanism is triggered; Obstacle avoidance strategy selection: select the appropriate obstacle avoidance strategy, such as turning, decelerating, or stopping; Obstacle avoidance execution: Generate corresponding control instructions based on the selected obstacle avoidance strategy, and send the control instructions to the actuator of the unmanned boat to execute obstacle avoidance actions.

[0043] Path planning: Map data acquisition: obtain geographic information and chart data of the mission area, including water depth, seabed topography, distribution of navigation obstacles, etc.; Mission instruction reception: Receive the ground control station or preset mission instructions through the communication sensor antenna, including target location, mission area, mission type (such as search, reconnaissance, measurement, etc.); Mission parameter analysis: Analyze the specific parameters in the mission instructions, such as starting point, end point, passing points, speed requirements, time limit, etc.; Path generation: Generate the initial path based on the mission objectives and map data. Common path planning algorithms can be used, such as A algorithm, Dijkstra algorithm, RRT algorithm, etc. Path optimization: Optimize the generated initial path, taking into account the performance parameters of the unmanned boat and sea conditions, such as speed, turning radius, wind and wave impact, etc., to ensure the feasibility and safety of the path.

[0044] In summary, by adopting a combined pump propeller 4 and arranging a hydrofoil body 3 at the bottom of the hull 1, this design greatly improves the speed and maneuverability of the unmanned boat in the water. The use of the hydrofoil allows the hull 1 to reduce contact with the water surface when traveling at high speed, thereby reducing resistance and achieving a faster speed. The hydrofoil body 3 adopts a T-shaped design and has a dihedral angle of 90° with the support structure 2, which provides greater stability and durability, and can ensure that the unmanned boat maintains good balance and strength whether on the water surface or underwater, thereby maintaining good performance under various climatic conditions. The unmanned boat has a built-in STM32 microcontroller, a speed sensor, an acceleration sensor and a six-axis gyroscope, and is equipped with a communication sensor antenna and a control navigation module, so that the device can perform highly autonomous operations and can cope with complex environments and tasks, such as automatic obstacle avoidance, path planning and positioning.

[0045] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0046] It should be understood that those skilled in the art can make improvements or changes based on the above description, and all these improvements and changes should fall within the scope of protection of the appended claims of the present invention.

Claims

1. A submersible high-speed hydrofoil unmanned boat, comprising a hull (1), characterized in that: A plurality of hydrofoil bodies (3) are distributed on both sides below the hull (1); the hydrofoil bodies (3) are connected to the hull (1) via a supporting structure (2); and a combined pump propeller (4) is provided at the bottom of the hydrofoil bodies (3).

2. The submersible high-speed hydrofoil unmanned boat according to claim 1, characterized in that: A front control cabin (5) is arranged at the front end of the hull (1), and a rear equipment cabin (6) is arranged at the rear end of the hull (1).

3. The submersible high-speed hydrofoil unmanned boat according to claim 1, characterized in that: An energy module (7) and a ballast water tank (8) are sequentially arranged at the bottom of the hull (1).

4. The submersible high-speed hydrofoil unmanned boat according to claim 3, characterized in that: The energy module (7) is arranged at the front end of the bottom of the hull (1), and the ballast water tank (8) is arranged at the rear end of the bottom of the hull (1).

5. The submersible high-speed hydrofoil unmanned boat according to claim 3, characterized in that: The interior of the ballast water tank (8) includes a ballast water pump, a ballast water pipeline and each ballast water tank, and the ballast water pump is connected to each ballast water tank through the ballast water pipeline.

6. The submersible high-speed hydrofoil unmanned boat according to claim 1, characterized in that: A controller and a speed sensor, an acceleration sensor and a gyroscope connected to the controller are arranged inside the hydrofoil body (3); the controller is connected to the speed sensor, the acceleration sensor and the gyroscope; and the controller is connected to the combined pump propeller (4).

7. The submersible high-speed hydrofoil unmanned boat according to claim 6, characterized in that: The interior of the hydrofoil body (3) also includes a communication sensor antenna and a control navigation module, the communication sensor antenna is connected to the control navigation module, and the control navigation module is connected to the controller.

8. The submersible high-speed hydrofoil unmanned boat according to claim 1, characterized in that: The interior of the combined pump propeller (4) comprises an annular conduit, a stator and a rotor, the stator and the rotor are arranged in sequence in the annular conduit, and the rotor is connected to the stator via a bearing.

9. The submersible high-speed hydrofoil unmanned boat according to claim 1, characterized in that: The hydrofoil body (3) is T-shaped.

10. The submersible high-speed hydrofoil unmanned boat according to claim 9, characterized in that: A plurality of support structures (2) are arranged in sequence and at intervals along the length direction of the hull (1), and a hydrofoil body (3) is arranged at both ends of each support structure (2); The supporting structure (2) is M-shaped or door-shaped and is arranged transversely at the bottom of the hull (1); The dihedral angle between the wing plate of the hydrofoil body (3) and the supporting structure (2) is 90°.

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