Unmanned ship for ocean monitoring
By symmetrically arranging the camera hanger and paddle blade design, the problem of insufficient stability of unmanned boats in different states is solved, efficient anti-interference control is achieved, and navigation accuracy and equipment safety are improved.
Patent Information
- Application Number
- CN202510775245.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-06-11
- Publication Date
- 2025-08-05
AI Technical Summary
It is difficult for traditional unmanned boats to comprehensively consider a variety of interference factors when they are traveling and stationary, resulting in insufficient navigation stability and anti-interference capabilities, which affects the completion effect of the mission.
The camera hanger and paddle blade design is adopted with a symmetrical arrangement. The camera hanger adjusts the viewing angle through the ring track. The paddle blade eliminates fluid interference through the ladder design, and adjusts the hull posture in combination with the cylinder and cylinder system to achieve stable control.
It improves the stability and anti-interference ability of unmanned boats in different states, ensures navigation trajectory accuracy and equipment safety, and enhances the effectiveness of monitoring tasks.
Smart Images
Figure CN120423006A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of ships and marine engineering, and specifically discloses an unmanned boat for marine monitoring. Background Art
[0002] With the rapid development of fields such as ocean exploration, environmental monitoring, maritime rescue and military reconnaissance, unmanned boats have been widely used in marine operations due to their advantages such as low cost, high flexibility and ability to perform dangerous tasks.
[0003] Cameras on traditional unmanned aerial vehicles (UAVs) are often fixed in specific locations. Once installed, they are difficult to flexibly adjust based on mission requirements. This fixed mounting structure limits the sensor's viewing angle and sensing range, making it difficult for the UAV to fully and accurately obtain information about its surroundings in complex environments.
[0004] To prevent moisture from corroding, cameras on unmanned boats are typically mounted high above the deck. This, combined with the mounting and protective equipment surrounding the cameras, raises the boat's center of gravity, reducing its stability. During actual operation, stability and interference resistance are crucial to ensuring the successful completion of missions. While the boat is underway, plankton or debris can entangle the propellers. Complex sea conditions, such as waves, currents, and wind, can cause the boat to experience attitude changes such as roll, pitch, and bow pitch. These attitude changes not only affect the accuracy of the boat's trajectory, causing it to deviate from its intended route and reduce navigation efficiency, but also, if the attitude changes are too large, they can cause the boat to capsize, resulting in equipment damage or even mission failure.
[0005] When an unmanned vehicle is stationary, performing tasks such as fixed-point monitoring and standby, it also faces numerous interference factors. The rise and fall of waves can cause the unmanned vehicle to sway on the water, affecting the measurement accuracy and stability of its onboard detection equipment. The blowing of sea breezes can also cause the unmanned vehicle to drift, deviating from its intended mooring position. Furthermore, dynamic interference such as the wake of passing ships can disrupt the unmanned vehicle's static equilibrium, posing a significant challenge to its stable control.
[0006] Currently, existing unmanned vehicle balance control technologies mostly focus on adjusting the vehicle's posture during travel, or only design balance adjustment solutions for a single interference factor. There remains a significant technological gap in how to comprehensively consider multiple interference factors, achieve efficient and stable balance control, and quickly eliminate interference when the unmanned vehicle is in both moving and stationary states. A technical solution is urgently needed to comprehensively improve the balance performance and anti-interference capabilities of unmanned vehicles in various operating states. Summary of the Invention
[0007] To solve the technical problems listed in the background technology, the present invention provides an unmanned boat for ocean monitoring. The specific technical solution is as follows: An unmanned boat for ocean monitoring includes a hull with a propeller just below the stern, a motor-screw transmission pair arranged on the center line of the hull deck, the center axis of the screw coincides with the center line of the deck, the output shaft end of the motor is connected to the end of the screw near the stern, a mushroom-shaped frame is fixed at the center of a moving block engaged with the screw in the screw transmission pair, an annular guide rail for hanging a camera hanger is provided along the edge of the mushroom umbrella on the mushroom-shaped frame, and a camera hanger with a walking mechanism along the annular guide rail is also included on the top, and the surface of the stern deck is fixed with a mushroom-shaped frame. A gantry lifting top cover is provided across the screw transmission pair, wherein the top cover is circular and is used to snap onto the mushroom-shaped frame when the mushroom-shaped frame runs along the screw to the bottom of the top cover, and the cover tube covers the camera; with the deck centerline as the axis of symmetry, multiple pairs of wind sensors and searchlights are symmetrically installed on the surface of the hull deck, and multiple pairs of paddle blades extending outboard are symmetrically installed on the outside of the hull, and the paddle blades include a cylindrical blade root and a flaky blade surface that are connected as one. The blade root is embedded in the side of the ship, and part of the blade surface is located below the waterline.
[0008] Preferably, the cross section of the circular guide rail is an I-shape, and the friction wheel of the walking mechanism is embedded in the guide rail. The friction wheel is driven to rotate by a motor to realize that the walking mechanism drives the camera hanger to move along the edge of the mushroom cap to adjust the viewing angle of the camera.
[0009] Preferably, the blade surface of the paddle blade is made of wood material, and the size becomes larger as it gets closer to the stern.
[0010] Preferably, an inward horizontal groove is provided at the waterline position on the outside of the hull, and the parts of all blade roots outside the hull are interference fit with the gear rings fitted thereon. The blade roots on one side are engaged with the same horizontal rack through the gear rings, and the rack is limited by the buckles fixed outside the ship and can only move horizontally in the front and rear directions. The gears / racks are all located in the horizontal grooves.
[0011] Preferably, one end of the rack abuts against the inclined surface that can move up and down, and the other end abuts against the compression spring.
[0012] Preferably, it also includes a first cylinder for pushing the gantry lifting top cover to move and a second cylinder for pushing the inclined plane to move.
[0013] Preferably, the blade surface is a cylindrical surface whose generatrix is perpendicular to the blade root axis, and the blade root is located on the outer side of the gear and is covered with a reset torsion spring.
[0014] Compared with the prior art, the present invention has the following advantages: The present invention provides an unmanned boat for ocean monitoring, in which most of the components are designed with a symmetrical arrangement, and the camera is also located near the central axis. The hull has good stability and is not easy to capsize. The center of gravity is positioned rearward, which makes it easier for the bow to rise slightly and reduces forward resistance. The design of multiple upright paddle blades extending outward from both sides of the hull and gradually increasing in size from front to back more effectively eliminates the interference of fluid or solid accumulated during the movement of the hull, making the propeller propulsion more efficient. When arriving at the destination to perform the monitoring task, the inclined plane movement causes the rack to drive the gear to rotate 90 degrees, flattening the paddle blades, thereby increasing the contact area between the unmanned boat and the water surface, so that the unmanned boat can be more stably parked on the water surface, and the camera moves stably on the circular track, so that clear 360-degree video without blind spots can be obtained when the unmanned boat is stationary. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 Schematic diagram of the overall structure of an embodiment of the present invention; Figure 2 A cross-sectional view of the overall structure of an embodiment of the present invention; Figure 3 For the present invention Figure 2 Schematic diagram of point A; Figure 4 This is a schematic diagram of the monitoring component structure in an embodiment of the present invention; Figure 5 A cross-sectional view of a shielding plate in an embodiment of the present invention; Figure 6 This is a front view of the overall structure of an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of a protective component according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of a stabilizing component according to an embodiment of the present invention; In the figure, 100. Hull; 101. Propeller; 102. Wind sensor; 103. Searchlight; 200. Stand; 201. First cylinder; 202. Shield (i.e., shield cylinder in the invention); 300. Monitoring assembly; 301. Waterproof motor; 302. Screw; 303. Moving block; 304. Dome (mushroom umbrella in the invention); 305. Guide rail (annular guide rail in the invention); 306. Moving frame; 307. Stepper motor; 308. Friction wheel; 309. Extension base; 310. Camera (camera in the invention); 400. Protective assembly; 401. Rotating rod (blade root in the invention); 402. Paddle (blade surface in the invention); 403. Torsion spring; 404. Gear; 500. Stabilizing assembly; 501. Rack plate; 502. Compression spring; 503. Second cylinder; 504. Ramp plate (inclined surface in the invention). DETAILED DESCRIPTION
[0016] To make the objectives, technical solutions, and advantages of the present invention more clearly apparent, the present invention is described below with reference to the accompanying drawings and specific embodiments. It is apparent that the described embodiments are only a portion of the embodiments of the present invention, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on these embodiments without inventive effort are also within the scope of protection of the present invention.
[0017] like Figures 1 to 8 As shown, this embodiment proposes a modular installation structure of sensors on unmanned boats, including Figures 1-8 As shown, it includes a hull 100, a propeller 101 is provided at the stern seat of the hull 100, a wind sensor 102 is provided on the surface of the hull 100, and the wind sensor 102 is used to obtain the ocean wind strength. A stand 200 is provided on the surface of the hull 100 close to the propeller 101. The stand 200 is symmetrical, and a first cylinder 201 is provided on the top of the stand 200. The piston rod at the end of the first cylinder 201 is provided with a baffle 202. A monitoring component 300 is provided between the stands 200, and the monitoring component 300 includes a waterproof motor 301 provided at the end of the hull 100, and a screw rod 302 is provided at the output end of the waterproof motor 301. A moving block 303 is provided on the surface of the screw rod 302. When the screw rod 302 rotates, it drives the moving block 303 to move horizontally along its surface. Grooves are provided on both sides of the hull 100, and bearing rods are provided in the grooves. A protective component 400 is provided at the end of the bearing rod. When the hull 100 moves, the protective component 400 automatically moves the surrounding garbage away from the propeller 101.
[0018] During the ocean survey, it is necessary to identify the surrounding environment of the ocean. At night, the camera 310 cannot clearly obtain the environmental image. Therefore, a searchlight 103 is provided on the surface of the hull 100. The searchlight 103 is symmetrical. At night, the searchlight 103 is used to illuminate the survey area. When conducting survey activities at night, the searchlight 103 is used to illuminate the front of the moving direction, so that the front of the hull 100 is in a bright state during the movement. The camera 310 is used to identify and investigate the environment, thereby obtaining a clear night environment image to prevent criminals from stealing marine life.
[0019] In order to improve the efficiency of the survey during the ocean survey, a dome 304 is provided on the top of the moving block 303, a guide rail 305 is provided at the bottom of the dome 304, a moving frame 306 is provided on the surface of the guide rail 305, a stepper motor 307 is provided on the side wall of the moving frame 306, the output end of the stepper motor 307 passes through the moving frame 306 and a friction wheel 308 is provided at the end. When the friction wheel 308 rotates, the friction force drives the moving frame 306 to move on the surface of the guide rail 305, and an extension seat 309 is provided at the bottom of the moving frame 306 (together constituting the invention The camera hanger in the content is provided on the surface of the extension seat 309, and the camera 310 is used to shoot the marine environment. During the movement of the hull 100, the output shaft of the stepping motor 307 is controlled to drive the friction wheel 308 to rotate, and the friction wheel 308 drives the movable frame 306 to move on the surface of the guide rail 305. During the movement, the movable frame 306 drives the extension seat 309 to move in a circular manner. During the movement, the extension seat 309 drives the camera 310 to shoot a circular image of the surrounding area of the ocean, thereby improving the efficiency of the survey. When there is a storm in the ocean, in order to prevent the camera 310 from being damaged by moisture, the output end of the waterproof motor 301 is controlled to drive the screw rod 302 to rotate. When the screw rod 302 rotates, it drives the moving block 303 to move on its surface. When the moving block 303 moves, it drives the dome 304 to move, so that the camera 310 moves with the moving block 303. When the dome 304 moves below the baffle plate 202, it stops moving. The first cylinder 201 is controlled to drive the baffle plate 202 to move downward, so that the baffle plate 202 wraps the guide rail 305 as a whole, so as to prevent the camera 310 from being immersed in water and causing damage to the circuit, thereby improving the service life of the camera 310.
[0020] During the movement of the hull 100, there will be a small amount of floating garbage in the ocean. In order to prevent the garbage from being entangled in the propeller 101 and causing damage to the hull 100, the protective component 400 includes a rotating rod 401 provided on the surface of the bearing rod, and a paddle 402 is provided at the end of the rotating rod 401. The paddle 402 is used to block the garbage that the bow contacts during the driving process. A gear 404 is provided at the end of the rotating rod 401 away from the paddle 402, and a stabilizing component 500 is provided under the gear 404. During the driving of the hull 100, since the bow of the hull 100 is conical in shape, the accumulated garbage is separated during the movement of the hull 100, and the garbage moves to the paddle 402 along the bow of the hull 100, and the garbage is blocked by the paddle 402 to prevent the garbage from flowing to the propeller 101, thereby improving the service life of the hull 100.
[0021] When the hull 100 is moving, the paddle plate 402 is used to block the garbage and keep it away from the propeller 101. Since the garbage accumulates at the end of the paddle plate 402 and causes greater resistance, the speed of the hull 100 is limited during travel. Therefore, the end of the paddle plate 402 is arc-shaped. The paddle plate 402 changes the direction of the water flow when moving, so that the marine garbage close to the hull 100 is moved away when passing the surface of the paddle plate 402. The end of the paddle plate 402 is set to be arc-shaped. When the garbage moves to the end of the paddle plate 402, the paddle plate 402 moves with the hull 100, so that the sea water passing through the paddle plate 402 is paddled in a direction away from the hull 100, so that the garbage accumulated at the end of the paddle plate 402 is pushed away from the surface of the paddle plate 402 by the thrust of the sea water, thereby reducing the impact of the garbage on the travel speed of the hull 100.
[0022] Since the hull 100 is small in size, in order to prevent garbage away from the bow from quickly accumulating at the stern, the paddles 402 are arranged in an array, and the width of the paddles 402 increases successively from the bow to the stern. A torsion spring 403 is provided on the surface of the rotating rod 401, and the two ends of the torsion spring 403 are respectively fixed to the gear 404 and the end of the bearing rod. In the natural state, the paddle 402 is perpendicular to the sea level due to the force of the torsion spring 403. When the hull 100 drives the paddle 402 to move, the water around the searchlight 102 flows along the arc of the paddle 402 surface. The paddle 402 is always perpendicular to the sea level. The paddle 402 is divided into two parts with the sea level as the center, that is, the upper half of the paddle 402 is above the sea level, and the lower half of the paddle 402 is below the sea level. As a result, garbage close to the bow is always moved away from the hull 100 during the movement of the hull 100, thereby preventing garbage from being entangled in the propeller 101, thereby ensuring the safety of the hull 100 during the movement.
[0023] When stormy weather comes, in order to ensure the stability of the hull 100, the stabilizing assembly 500 includes a rack plate 501 provided below the torsion spring 403. The rack plate 501 slides inside the groove. A compression spring 502 is provided between the end of the rack plate 501 and the groove. By pushing the rack plate 501, the gear 404 is driven to engage and rotate, so that the paddle plate 402 is converted from perpendicular to the sea level to be flush with the sea level. The overall density of the paddle plate 402 is less than that of water and is not limited to wooden materials. A second cylinder 503 is provided above the rack plate 501. The piston rod at the end of the second cylinder 503 passes through the groove and is provided with a ramp plate 504 at the end. The ramp plate 504 moves in the vertical direction to push the end of the rack plate 501. The external wind force level is obtained by the wind sensor 103. When the wind force reaches When the set threshold is reached, the piston rod at the end of the second cylinder 503 is controlled to drive the ramp plate 504 to move in the vertical direction. During the movement, the ramp plate 504 pushes the end of the rack plate 501, and the rack plate 501 drives the gear 404 to engage and rotate during the movement. When the paddle plate 402 provided at the end of the rotating rod 401 rotates to be flush with the sea level, the piston rod at the end of the second cylinder 503 is controlled to stop moving. At this time, the bottom of the paddle plate 402 is flush with the sea level. When the wind blows the sea water to form waves that impact the hull 100, since the paddle plate 402 has increased the contact area with the sea water and the overall density of the paddle plate 402 is less than that of water, the stability of the hull 100 can be improved. At the same time, the end of the paddle plate 402 is arc-shaped, which can reduce the impact of the waves.
[0024] During specific use, the hull 100 is moved by controlling the output shaft of the stepper motor 307 to rotate the friction wheel 308, which in turn drives the movable frame 306 to move on the surface of the guide rail 305. The movable frame 306 drives the extension base 309 to move in a circular manner during the movement. The extension base 309 drives the camera 310 to take circular photos of the surrounding area of the ocean during the movement to obtain a panoramic image, thereby improving the efficiency of the survey. When a storm occurs on the ocean, the output end of the waterproof motor 301 is controlled to drive the screw rod 302 to rotate. When the screw rod 302 rotates, it drives the moving block 303 to move on its surface. When the moving block 303 moves, it drives the dome 304 to move, so that the camera 310 moves along with the moving block 303. When the dome 304 moves below the shielding plate 202, it stops moving. The first cylinder 201 is controlled to drive the shielding plate 202 to move downward, so that the shielding plate 202 completely wraps the guide rail 305, preventing the camera 310 from being immersed in water and causing damage to the circuit, thereby increasing the service life of the camera 310. When conducting investigation activities at night, the searchlight 103 is used to illuminate the front of the moving direction, so that the front of the hull 100 is in a bright state during the movement, and the camera 310 is used to identify and investigate the environment to prevent criminals from stealing marine life; During the movement of the hull 100, the accumulated garbage is separated. The garbage moves along the bow of the hull 100 to the paddle plate 402, where it is blocked by the paddle plate 402. The end of the paddle plate 402 is arranged in an arc shape. When the garbage moves to the end of the paddle plate 402, the paddle plate 402 moves with the hull 100, so that the seawater passing through the paddle plate 402 is pushed away from the hull 100. As a result, the garbage accumulated at the end of the paddle plate 402 is pushed away from the surface of the paddle plate 402 by the thrust of the seawater, and the garbage is prevented from flowing toward the position of the propeller 101, thereby improving the service life of the hull 100. The external wind force level is obtained through the wind sensor 102. When the wind force reaches the set threshold, the piston rod at the end of the second cylinder 503 is controlled to drive the ramp plate 504 to move in the vertical direction. The ramp plate 504 pushes the end of the rack plate 501 during the movement. The rack plate 501 drives the gear 404 to engage and rotate during the movement. When the paddle 402 provided at the end of the rotating rod 401 rotates to be flush with the sea level, the piston rod at the end of the second cylinder 503 is controlled to stop moving. At this time, the bottom of the paddle plate 402 is flush with the sea level. When the wind blows the sea water to form waves that impact the hull 100, the paddle plate 402 increases the contact area with the sea water, which can improve the stability of the hull 100.
[0025] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.
Claims
1. An unmanned boat for ocean monitoring, characterized in that: The invention comprises a hull with a propeller provided directly below the stern, a motor-screw transmission pair arranged on the centerline of the hull deck, the centerline of the screw coincident with the centerline of the deck, the output shaft end of the motor connected to the stern end of the screw, a mushroom-shaped frame fixed at the center of a movable block in the screw transmission pair that engages with the screw, a circular guide rail for suspending a camera hanger provided along the edge of the mushroom umbrella on the mushroom-shaped frame, and a camera hanger provided on the top with a mechanism that travels along the circular guide rail, a gantry lifting cover provided across the screw transmission pair on the stern deck surface, the cover being circular and configured to engage with the mushroom-shaped frame when the mushroom-shaped frame moves along the screw to directly below the cover, and the cover tube covering the camera; multiple pairs of wind sensors and searchlights are symmetrically mounted on the hull deck surface with the deck centerline as the axis of symmetry, and multiple pairs of outboard-extending paddle blades are symmetrically mounted on the outside of the hull, the paddle blades comprising an integral cylindrical blade root and a flaky blade surface, the blade root being embedded in the ship's side, and a portion of the blade surface being located below the waterline.
2. The unmanned boat for ocean monitoring according to claim 1, characterized in that: The cross section of the circular guide rail is I-shaped, and the friction wheel of the walking mechanism is embedded in the guide rail. The friction wheel is driven by the motor to rotate to realize the walking mechanism driving the camera hanger to move along the edge of the mushroom cap to adjust the viewing angle of the camera.
3. The unmanned boat for ocean monitoring according to claim 2, characterized in that: The blades of the paddles are made of wood and become larger as they get closer to the stern.
4. The unmanned boat for ocean monitoring according to claim 3, characterized in that: An inward horizontal groove is provided at the waterline position on the outside of the hull. The parts of all blade roots outside the hull are interference fit with the gear rings fitted on them. The blade roots on one side are engaged with the same horizontal rack through the gear rings. The rack is limited by the clips fixed outside the ship and can only move horizontally in the front and rear directions. The gears / racks are all located in the horizontal grooves.
5. The unmanned boat for ocean monitoring according to claim 4, characterized in that: One end of the rack abuts against an inclined surface that can move up and down, and the other end abuts against a compression spring.
6. The unmanned boat for ocean monitoring according to claim 5, characterized in that: It also includes a first cylinder for pushing the gantry lifting top cover to move and a second cylinder for pushing the inclined plane to move.
7. The unmanned boat for ocean monitoring according to claim 6, characterized in that: The blade surface is a cylindrical surface with a generatrix perpendicular to the blade root axis, and the blade root is located on the outer side of the gear and is covered with a reset torsion spring.