A new multifunctional unmanned operation and maintenance ship based on wave-light complementary power generation

Abstract

The application relates to the technical field of unmanned ships and discloses a novel multifunctional unmanned operation ship based on wave-light complementary power generation, which comprises a ship body, an environment monitoring mechanism, an energy recovery mechanism, a full-revolution electric power propulsion device, an unmanned aerial vehicle taking-off and landing platform, an ROV automatic laying and recovery mechanism and an AUV automatic laying and recovery mechanism. The energy recovery mechanism comprises two clean energy power generation devices, namely a wave energy power generation device and a solar energy power generation device. The wave energy power generation device is installed on the two sides of the ship body, and the solar energy power generation device is installed on the deck of the ship body. The clean energy is stored and redistributed through the storage battery in the cabin. The energy recovery mechanism of the device comprises the wave energy power generation device installed on the two sides of the ship body and the solar energy power generation device installed on the deck, so that the wave energy and the solar energy can be comprehensively utilized, the clean energy utilization rate is improved, and the requirement of long-distance navigation of the unmanned operation ship is met.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned ships, in particular to a new type of multifunctional unmanned operation ship based on wave-light complementary power generation. BACKGROUND

[0002] With the deepening of ocean development, the demand for the use and protection of marine resources is increasing. Unmanned operation ships as an important tool can autonomously perform tasks in complex environments, and have significant advantages in ensuring personnel safety. The existing problems are: most of the current unmanned operation ships use single clean energy power supply, such as solar or wind power generation, but the solar power generation conversion efficiency is low and the power generation capacity is greatly affected by factors such as rain and cloudy weather, and the wake of high-power wind power generation increases the difficulty of unmanned operation ship navigation control, and it is difficult to rely solely on solar or wind power generation to maintain the long-distance operation of unmanned operation ships. Task; secondly, the existing unmanned operation ships have single operation capacity, and the types of unmanned operation equipment carried are limited and cannot meet the needs of various operation scenes such as air-water.

[0003] The patent application with publication number CN109649590B discloses a wave energy and solar energy comprehensive power generation four-body unmanned ship, which includes an upper ship body and four floating bodies located below it, a wave energy power generation system connecting the two; wherein the deck is provided with a superstructure, the superstructure is provided with a solar power generation device, the upper ship body is provided with two sets of symmetrically distributed nacelle propulsion devices, and the rear of the superstructure is provided with an environmental perception device and an autonomous or semi-autonomous navigation system connected with the main control device.

[0004] The prior art does not have multiple functions and cannot meet the requirements of performing complex offshore operation tasks in areas far from the shore.

[0005] Therefore, a new technical solution is needed to solve the above technical problems. SUMMARY

[0006] The purpose of the present application is to provide a new type of multifunctional unmanned operation ship based on wave-light complementary power generation, which has the characteristics of long endurance and multifunction, to meet the requirements of performing complex offshore operation tasks in areas far from the shore.

[0007] The technical solution adopted by the present application is:

[0008] The utility model provides a new type multifunctional unmanned operation and maintenance ship based on wave-light complementary power generation, including ship body, environmental monitoring mechanism, energy recovery mechanism, full slewing electric propulsion device, unmanned plane take-off and landing platform, ROV automatic laying and recovery mechanism, AUV automatic laying and recovery mechanism, environmental monitoring mechanism, energy recovery mechanism, full slewing electric propulsion device, unmanned plane take-off and landing platform, ROV automatic laying and recovery mechanism, AUV automatic laying and recovery mechanism are distributed and are placed on the ship body, the energy recovery mechanism includes two kinds of clean energy power generation device of wave power generation device, solar power generation device, and wave power generation device is installed on both sides of the ship body, and solar power generation device is installed on the deck of the ship body, and clean energy is stored and redistributed through the battery in the cabin.

[0009] By adopting the above structure, the device has the characteristics of long endurance and multi-function, so as to meet the complex offshore operation task in the area far away from the shore, the energy recovery mechanism includes the wave power generation device installed on both sides of the ship body and the solar power generation device installed on the deck, the comprehensive utilization of wave energy and solar energy can be realized, the clean energy utilization rate is improved, and the long endurance requirement of the unmanned operation and maintenance ship is met.

[0010] Preferably, the wave power generation device includes a T-shaped floating plate, a gunwale fixing frame, a cross shaft, a hydraulic push rod and a hydraulic power generation device in an energy distribution cabin, the cross shaft is connected with the gunwale fixing frame, the T-shaped floating plate and the hydraulic push rod to form a four-bar linkage mechanism, the hydraulic push rod reciprocates to drive the T-shaped floating plate to rotate 0-90°, so as to adjust the power generation state to the best.

[0011] By adopting the above structure, the wave power generation device has the folding and recovery functions, can be in the recovery state when the unmanned operation and maintenance ship sails to reduce the resistance when sailing and shorten the operation and maintenance time, and when the unmanned ship is parked, the wave power generation device is opened by the overturning mechanism to a certain angle to be in the power generation state, so that the two kinds of clean energy power generation devices can continuously and alternately work.

[0012] Preferably, the environmental monitoring mechanism is arranged on the top of the deck control room of the ship body, and the environmental monitoring mechanism includes a millimeter wave obstacle avoidance radar, a high-definition panoramic camera, a positioning communication device and other wave and current monitoring equipment.

[0013] By adopting the above structure, the environmental monitoring mechanism is arranged to provide intelligent navigation sensing and remote communication support for the unmanned operation and maintenance ship.

[0014] Preferably, the unmanned plane take-off and landing platform is arranged on the rear deck of the ship body, and includes a box body and a controllable sliding cover plate, the unmanned plane is arranged in the box body, linear guides are arranged on the upper edges of the two sides of the box body, the controllable sliding cover plate is arranged on the linear guides, a rack is arranged on the inner side of the box body and is engaged with a geared motor arranged on the controllable sliding cover plate, and the controllable sliding cover plate slides on the linear guides.

[0015] By adopting the above structure, when the unmanned aerial vehicle is in a non-working state, the body is accommodated in the box body, and the controllable sliding cover plate is in a closed state, so that the unmanned aerial vehicle can be parked alone, and collision and friction between mechanisms on the deck are avoided.

[0016] Preferably, the ROV automatic launching and recovering mechanism is located at the launching platform of the deck of the ship body, and the ROV automatic launching and recovering mechanism comprises an ROV device, an A-frame, an electric winch and an ROV limiting device.

[0017] Preferably, the ROV limiting device is installed on the launching platform of the deck of the ship body, and an end anti-collision strip is arranged on the baffle of the ROV limiting device.

[0018] By adopting the above structure, the ROV device is prevented from colliding with other devices on the deck due to jolting during navigation.

[0019] Preferably, the AUV automatic launching and recovering mechanism comprises an AUV device, a launching frame and an electric traction winch, the launching frame comprises a bottom fixed frame and an upper overturning frame, a linear guide rail is installed on the bottom fixed frame, the upper overturning frame is installed on the linear guide rail and is pulled by the electric traction winch on the upper deck, a launching hydraulic push rod is arranged in the upper overturning frame, the AUV device is arranged at the upper part, a hooking device is arranged at the front end of the AUV device and is connected with a blocking rope on the upper overturning frame, and the AUV device is arranged on a roller group on the upper overturning frame.

[0020] By adopting the above structure, the AUV automatic launching and recovering mechanism is installed on the lower deck at the tail of the ship body, the angle of launching and recovering can be adjusted by the hydraulic push rod, the head hooking device is buckled to the blocking rope by relying on the self-thrust force of the AUV after the AUV is aligned, and finally the AUV is pulled to the lower deck at the tail of the ship body by the winch on the upper deck, so that the efficiency of AUV launching and recovering is improved, and complicated hoists and other devices are not needed.

[0021] Compared with the prior art, the present application has the following beneficial effects:

[0022] 1. The energy recovery mechanism of the device comprises wave power generation devices installed on both sides of the ship body and solar power generation devices installed on the deck, so that the comprehensive utilization of wave energy and solar energy is realized, the utilization rate of clean energy is improved, and the requirement of long endurance of the unmanned operation ship is met.

[0023] 2. The device is provided with an unmanned aerial vehicle landing platform, an ROV automatic launching and recovering mechanism and an AUV automatic launching and recovering mechanism on the deck of the ship body, so that the requirement of using the unmanned operation ship to reach a specified area to perform multi-scene operation tasks in the air and underwater is met, and the autonomous operation capability of the unmanned operation ship is improved.

[0024] 3、The wave energy power generation device of the device can be folded and recycled, and can be in the recycling state when the unmanned operation ship sails to reduce the resistance when sailing and shorten the operation time, and when the unmanned ship is parked, the wave energy power generation device is opened to a certain angle by the overturning mechanism to be in the power generation state, so that the two clean energy power generation devices realize continuous and alternating work.

[0025] 4、The AUV automatic laying and recovering mechanism of the device is installed on the lower deck at the tail of the ship body, the fixed frame with an inclination is installed, and the upper gravity is combined to make the upper overturning frame reach the position below the water surface along the track to lay the AUV equipment, the angle of laying and recovering can be adjusted through the hydraulic push rod, after the AUV is aligned, the head unhooking device is buckled to the blocking rope by the self-thrust, and finally the winch on the upper deck is pulled to the lower deck at the tail of the ship body, the design improves the efficiency of AUV laying and recovering, and complicated cranes and other equipment are not needed. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a structural schematic view of the present application;

[0027] Figure 2 It is a structural schematic view of the energy recovery mechanism of the present application;

[0028] Figure 3 It is a structural schematic view of the unmanned aerial vehicle take-off platform of the present application;

[0029] Figure 4 It is a structural schematic view of the laying frame of the present application;

[0030] Figure 5 It is a schematic view of the ROV limiting device of the present application.

[0031] The components include: 1. Hull; 2. Environmental monitoring system; 2-1. Millimeter-wave obstacle avoidance radar; 2-2. High-definition panoramic camera; 2-3. Positioning and communication device; 3. Energy recovery system; 3-1. Wave power generation device; 3-1-1. T-shaped float; 3-1-2. Ship side fixing frame; 3-1-3. Cross shaft; 3-1-4. Hydraulic push rod; 3-2. Solar power generation device; 4. Full-rotation electric propulsion device; 5. UAV landing platform; 5-1. Box body; 5-1-1. Linear guide rail; 5-1-2. Rack; 5-2. Controllable sliding cover; 5-3. UAV; 5-4. Geared motor; 6. ROV automatic deployment and recovery system; 6-1. ROV equipment; 6-2. A-frame; 6-3, Electric winch; 6-4, ROV limit device; 6-4-1, Baffle; 6-4-2, End anti-collision strip; 7, AUV automatic deployment and recovery mechanism; 7-1, AUV equipment; 7-2, Deployment frame; 7-2-1, Bottom fixed frame; 7-2-2, Upper tilting frame; 7-2-3, Linear guide rail; 7-2-4, Barrier rope; 7-2-5, Roller assembly; 7-2-6, Deployment hydraulic push rod; 7-3, Electric traction winch. Detailed Implementation

[0032] like Figures 1-5 As shown, a novel multi-functional unmanned maintenance vessel based on wave-solar complementary power generation includes a hull 1, an environmental monitoring unit 2, an energy recovery unit 3, a full-rotation electric propulsion system 4, a UAV landing platform 5, an ROV automatic deployment and recovery system 6, and an AUV automatic deployment and recovery system 7. The environmental monitoring unit 2, energy recovery unit 3, full-rotation electric propulsion system 4, UAV landing platform 5, ROV automatic deployment and recovery system 6, and AUV automatic deployment and recovery system 7 are distributed and installed on the hull 1. The hull 1 mainly contains three functional rooms: a deck control room, an energy distribution compartment, and an electric propulsion compartment. The deck control room is... The central control room of the entire unmanned maintenance vessel is responsible for remote communication and autonomous decision-making. The energy distribution compartment is responsible for the reasonable storage and redistribution of clean energy generated by the energy recovery mechanism 3. The electric propulsion compartment is equipped with a fully azimuth electric propulsion device 4 at the bottom to ensure the normal operation and fixed-point operation of the unmanned maintenance vessel. The energy recovery mechanism 3 includes two types of clean energy power generation devices: wave energy power generation device 3-1 and solar energy power generation device 3-2. The wave energy power generation device 3-1 is installed on both sides of the hull 1, and the solar energy power generation device 3-2 is installed on the deck of the hull 1. Clean energy is stored and redistributed through batteries inside the hull. The device has the characteristics of long endurance and multi-functionality to meet the requirements of performing complex maritime operations in areas far from the shore. The energy recovery mechanism 3, including the wave energy power generation device 3-1 installed on both sides of the hull and the solar energy power generation device 3-2 installed on the deck, can realize the comprehensive utilization of wave energy and solar energy, improve the utilization rate of clean energy, and meet the long endurance requirements of the unmanned maintenance vessel.

[0033] The wave energy power generation device 3-1 includes a T-shaped float 3-1-1, a hull-mounted bracket 3-1-2, a cross-shaped pivot 3-1-3, a hydraulic push rod 3-1-4, and a hydraulic power generation device inside the energy distribution compartment. The cross-shaped pivot 3-1-3, together with the hull-mounted bracket 3-1-2, the T-shaped float 3-1-1, and the hydraulic push rod 3-1-4, forms a four-bar linkage mechanism. The reciprocating motion of the hydraulic push rod 3-1-4 drives the T-shaped float 3-1-1 to rotate 0-90°, facilitating the adjustment of the power generation state to the optimal level. The wave energy power generation device has a folding and retraction function, allowing it to be in a retracted state while the unmanned maintenance vessel is underway to reduce drag and shorten maintenance time. When the unmanned vessel is docked, the wave energy power generation device opens to a certain angle through a flipping mechanism to enter power generation mode, enabling continuous alternating operation of the two clean energy power generation devices.

[0034] The environmental monitoring agency 2 is located on top of the deck control room of the ship 1. The environmental monitoring agency 2 includes millimeter-wave obstacle avoidance radar 2-1, high-definition panoramic camera 2-2, positioning and communication device 2-3 and other monitoring equipment such as wind, waves and currents. It mainly provides intelligent navigation perception and remote communication support for the unmanned maintenance ship.

[0035] The UAV landing platform 5 is located on the aft deck of the hull 1 and includes a housing 5-1 and a controllable sliding cover 5-2. The UAV 5-3 is housed inside the housing 5-1. Linear guide rails 5-1-1 are installed on the upper edges of both sides of the housing 5-1. The controllable sliding cover 5-2 is mounted on the linear guide rails 5-1-1. A rack 5-1-2 is installed inside the housing 5-1, meshing with a geared motor 5-4 mounted on the controllable sliding cover 5-2. The controllable sliding cover 5-2 slides on the linear guide rails 5-1-1. When the UAV 5-3 is not in operation, its body is retracted inside the housing 5-1, and the controllable sliding cover 5-2 is closed. When the UAV 5-3 is in operation, the controllable sliding cover 5-2 is opened, and the UAV 5-3 performs its corresponding tasks. Upon return, it returns to the UAV landing platform 5 via a positioning device and a visual guidance device.

[0036] The ROV automatic launching and recovering mechanism 6 is located at the launching platform of the deck of the ship body 1, and comprises an ROV device 6-1, an A-frame 6-2, an electric winch 6-3 and an ROV limiting device 6-4. The ROV device 6-1 is connected with the electric winch 6-3 on the A-frame 6-2 through an armored cable. The ROV limiting device 6-4 is installed on the launching platform of the deck of the ship body 1, and an end anti-collision strip 6-4-2 is arranged on the baffle 6-4-1 of the ROV limiting device 6-4 to prevent the ROV device 6-1 from colliding with other devices on the deck due to the rolling of the ship during navigation. The ROV automatic launching and recovering mechanism 6 is used for automatically launching and recovering the ROV device 6-1 after the unmanned operation and maintenance ship reaches the specified water area. The ROV device is prevented from colliding with other devices on the deck due to the rolling of the ship during navigation.

[0037] The AUV automatic launching and recovering mechanism 7 comprises an AUV device 7-1, a launching frame 7-2 and an electric traction winch 7-3. The launching frame 7-2 comprises a bottom fixed frame 7-2-1 and an upper layer turnover frame 7-2-2. The bottom fixed frame 7-2-1 is provided with a linear guide rail 7-2-3, and the upper layer turnover frame 7-2-2 is installed on the linear guide rail 7-2-3 and is pulled by the electric traction winch 7-3 on the upper deck. The upper layer turnover frame 7-2-2 is provided with a launching hydraulic push rod 7-2-6. The AUV device 7-1 is arranged on the upper layer turnover frame 7-2-2 and is provided with an unhooking device at the front end and connected with a blocking rope 7-2-4 on the upper layer turnover frame 7-2-2. The AUV device 7-1 is located on a roller set 7-2-5 on the upper layer turnover frame 7-2-2. The upper layer turnover frame 7-2-2 is connected with a hinge structure through the launching hydraulic push rod 7-2-6 to realize a 0-45° turnover function. The AUV automatic launching and recovering mechanism 7 is used for automatically launching and recovering the AUV device 7-1 after the unmanned operation and maintenance ship reaches the specified water area.

[0038] After the device is put into use, during the operation of the unmanned ship, only the solar power generation device 3-2 of the energy recovery mechanism 3 works to generate electricity, and the wave power generation device 3-1 is folded and recovered through the turnover mechanism composed of the T-shaped floating plate 3-1-1, the ship side fixed frame 3-1-2, the cross shaft 3-1-3 and the hydraulic push rod 3-1-4, so as to reduce the resistance of the unmanned operation and maintenance ship during navigation and shorten the operation and maintenance time. When the unmanned ship is parked during operation, the wave power generation device 3-1 is opened at a certain angle through the turnover mechanism to be in the power generation state, so that the two clean energy power generation devices continuously and alternately work.

[0039] When the unmanned operation ship reaches the designated work area, unmanned aerial vehicles or underwater unmanned equipment can be selected for operation according to specific tasks. When the unmanned aerial vehicle 5-3 is in a non-working state, the body is stored in the box 5-1, and the controllable sliding cover plate 5-2 is in a closed state; when the unmanned aerial vehicle 5-3 is in a working state, the controllable sliding cover plate 5-2 is opened along the linear guide rail 5-1-1 by controlling the gear motor 5-4 and the rack 5-1-2 structure, the unmanned aerial vehicle 5-3 flies out of the box 5-1 to perform the corresponding work task, and returns to the unmanned aerial vehicle landing platform 5 through the positioning device and the visual guidance device. The underwater unmanned equipment mainly includes two types, ROV equipment 6-5 and AUV equipment 7-1. When the ROV equipment 6-5 is deployed, it is deployed to the appropriate position through the A-frame (6-2), and the cable 6-3 is controlled to make the equipment work in a safe range. When it is recovered, the cable is collected by controlling the electric winch 6-3, and the equipment is lifted and placed into the ROV limiting device 6-4 through the A-frame; when the AUV equipment 7-1 is deployed, first, the upper overturning frame 7-2-2 adjusts the AUV equipment 7-1 to the appropriate angle, and at the same time, the electric traction winch 7-3 on the deck releases the rope. The upper overturning frame 7-2-2 will slide along the linear guide rail 7-2-3 of the fixed frame 7-2-1 with an inclination angle at the bottom to the corresponding position under the action of the gravity component of the AUV. After the AUV equipment 7-1 enters the water along the roller set 7-2-5, the unhooking device is started to separate the equipment from the blocking rope 7-2-4; when the AUV equipment 7-1 is recovered, first, it is made to enter the upper overturning frame 7-2-2 along the roller set 7-2-5 through autonomous docking, and then the unhooking device at the head of the AUV equipment 7-1 buckles the blocking rope 7-2-4. The electric traction winch 7-3 is started to recover the rope and pull the equipment to the lower deck, and finally the upper overturning frame 7-2-2 is used to adjust the equipment to the horizontal position. The AUV automatic deployment and recovery mechanism is installed at the tail of the ship body. The angle of deployment and recovery can be adjusted by a hydraulic push rod. After the AUV is aligned, the head unhooking device buckles the blocking rope relying on its own thrust, and finally it is pulled to the lower deck at the tail of the ship body by the winch on the upper deck, which improves the efficiency of AUV deployment and recovery, and eliminates the need for complicated cranes and other equipment.

[0040] The device can realize the comprehensive utilization of wave energy and solar energy, improve the utilization rate of clean energy, and meet the requirements of long endurance of the unmanned operation ship. Various automatic deployment and recovery devices of unmanned equipment are designed on the deck of the ship body, which meets the requirements of performing multi-scene operation tasks in the air and underwater, and effectively solves the problem of single scene of autonomous operation of the unmanned operation ship. This scheme meets but is not limited to the application scenarios of offshore wind power detection, offshore photovoltaic inspection and submarine cable inspection.

[0041] The above-described embodiments are merely intended to describe the preferred embodiments of the present application, and are not intended to limit the scope of the present application. Various modifications and improvements to the present application made by those skilled in the art are intended to fall within the scope of the present application defined by the claims.

Claims

1. A novel multi-functional unmanned maintenance vessel based on wave-solar complementary power generation, comprising a hull, an environmental monitoring unit, an energy recovery unit, a full-rotation electric propulsion device, an unmanned aerial vehicle (UAV) landing platform, an ROV automatic deployment and recovery unit, and an AUV automatic deployment and recovery unit, characterized in that: The environmental monitoring system, energy recovery system, azimuth-rotor electric propulsion system, UAV landing platform, ROV automated deployment and recovery system, and AUV automated deployment and recovery system are distributed and installed on the hull. The energy recovery system includes two clean energy power generation devices: a wave energy power generation device and a solar energy power generation device. The wave energy power generation device is installed on both sides of the hull, and the solar energy power generation device is installed on the deck of the hull. Clean energy is stored and redistributed through batteries inside the hull. The wave energy power generation device includes a T... The system comprises a T-shaped float, a hull-mounted bracket, a cross-shaped pivot, and a hydraulic push rod. The cross-shaped pivot, together with the hull-mounted bracket, the T-shaped float, and the hydraulic push rod, forms a four-bar linkage. The reciprocating motion of the hydraulic push rod drives the T-shaped float to rotate from 0 to 90 degrees. The ROV automatic deployment and recovery mechanism is located on the deployment platform on the hull deck. The ROV automatic deployment and recovery mechanism includes ROV equipment, an A-frame, an electric winch, and an ROV limiting device. The ROV equipment is connected to the electric winch on the A-frame via an armored cable. The ROV limiting device is installed on the deployment platform on the hull deck, and the baffle of the ROV limiting device is equipped with an end anti-collision strip.

2. The novel multi-functional unmanned maintenance vessel based on wave-solar complementary power generation according to claim 1, characterized in that: The environmental monitoring system is located on top of the deck control room of the ship and includes millimeter-wave obstacle avoidance radar, high-definition panoramic camera, and positioning and communication device.

3. A novel multi-functional unmanned maintenance vessel based on wave-solar complementary power generation as described in claim 1, characterized in that: The UAV landing platform is located on the aft deck of the ship and includes a housing and a controllable sliding cover. The UAV is housed inside the housing. Linear guide rails are installed on the upper edges of both sides of the housing. The controllable sliding cover is installed on the linear guide rails. A rack is installed inside the housing and meshes with a geared motor installed on the controllable sliding cover. The controllable sliding cover slides on the linear guide rails.

4. A novel multi-functional unmanned maintenance vessel based on wave-solar complementary power generation as described in claim 1, characterized in that: The AUV automatic deployment and recovery mechanism includes an AUV device, a deployment frame, and an electric traction winch. The deployment frame includes a bottom fixed frame and an upper tilting frame. A linear guide rail is installed on the bottom fixed frame, and the upper tilting frame is installed on the linear guide rail and is pulled by an electric traction winch on the upper deck. The upper tilting frame is equipped with a deployment hydraulic push rod, and the AUV device is located on top. A release device is installed at the front end of the AUV device and is connected to the barrier rope on the upper tilting frame. The AUV device is located on a roller assembly on the upper tilting frame.

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