Attitude self-adaptive semi-submersible water surface vehicle and self-adaptive adjustment method thereof

Abstract

The invention belongs to the technical field of water surface carriers, and particularly relates to a posture-adaptive semi-submersible water surface carrier which comprises a ship body and fins symmetrically arranged on the two sides of the ship body, and the fins can swing on the two sides of the ship body. A main control cabin and a load cabin are arranged in the ship body, a power system and related sensor equipment are carried in the main control cabin, double-beam equipment is carried in the load cabin, an anti-inclination box is further arranged in the ship body, a movable balancing weight is carried in the anti-inclination box, and the gravity center position of the ship body is changed and adjusted through movement of the balancing weight; the water surface carrier adjusts the center-of-gravity position of the ship body through the anti-tilting box and adjusts the buoyancy center through the fins, and the ship body posture is kept stable through the synergistic effect of the anti-tilting box and the fins. A semi-submersible structure perpendicular to the water surface is adopted, vertical mass distribution of'heavy on the bottom and light on the top 'is formed, and passive stability improvement is achieved by means of the physical characteristic that restoring moment is naturally generated when the gravity center is lower than the buoyancy center'.

Description

Technical Field

[0001] The present invention belongs to the technical field of surface vehicles, and in particular relates to a posture-adaptive semi-submersible surface vehicle and a posture-adaptive adjustment method for the semi-submersible surface vehicle. Background Art

[0002] Surface vehicles, such as unmanned surface vehicles (USVs), as an intelligent water platform, have been widely used in ocean exploration in recent years.

[0003] Existing unmanned vessels typically feature a hull designed to lie horizontally above the water, often with a streamlined or catamaran-like shape to reduce water resistance and improve navigation stability. Hull materials are often made of lightweight, high-strength composite materials such as carbon fiber, fiberglass, or aluminum alloy to reduce weight and improve durability. Most unmanned vessels use propellers or waterjets as their power source, with some high-end unmanned vessels equipped with electric or hybrid systems. The propulsion system is typically mounted at the stern of the vessel and adjusts the propeller speed or direction to enable forward movement, steering, and stopping. For navigation, unmanned vessels are equipped with GPS, an inertial navigation system (INS), and an electronic compass for real-time positioning and heading control. The control system, typically based on an embedded computer or microcontroller, enables autonomous navigation, path planning, and obstacle avoidance.

[0004] Despite significant progress in existing unmanned vessel technology, practical challenges remain. Insufficient maneuverability results in poor steering and obstacle avoidance capabilities in confined waters or complex environments, making it difficult to adapt to high-maneuverability missions. In choppy waters, unmanned vessels suffer from poor stability and are easily affected by wind and waves, reducing operational efficiency. For missions requiring hovering or vertical movement, existing unmanned vessels struggle to maintain stability, consume high energy, and have limited endurance, making them insufficient for sustained operations on the water. Summary of the Invention

[0005] In response to the problems in the prior art, the present invention proposes an attitude-adaptive semi-submersible surface vehicle and an attitude-adaptive adjustment method for a semi-submersible surface vehicle. By adjusting the center of buoyancy and the center of gravity, a restoring torque is generated, which reduces the swaying of the hull when resisting external forces such as waves, and also provides better stability during underwater surveys.

[0006] The technical solutions of the present invention are as follows:

[0007] An attitude-adaptive semi-submersible surface vehicle comprises a hull and fins symmetrically arranged on both sides of the hull, wherein the fins are swingable on both sides of the hull; a main control cabin and a payload cabin are arranged inside the hull, wherein the main control cabin is equipped with a power system and related sensor equipment, and the payload cabin is equipped with a dual-beam device; an anti-roll box is also arranged inside the hull, wherein a movable counterweight is carried inside the anti-roll box, and the center of gravity of the hull is adjusted by moving the counterweight; the surface vehicle adjusts the center of gravity of the hull through the anti-roll box and adjusts the center of buoyancy through the fins, and the two work together to keep the hull attitude stable.

[0008] As a preferred embodiment of the above technical solution, the hull serves as the basic supporting structure of the vehicle, provides buoyancy and internal space layout, and adopts a semi-submersible structure, with the underwater part providing stable buoyancy and the above-water part reducing wave impact.

[0009] As a preferred embodiment of the above technical solution, a power system and sensor equipment are provided inside the main control cabin, and the power system is equipped with a propeller and an energy device.

[0010] As a preferred embodiment of the above technical solution, the center of gravity of the load compartment is adjusted in conjunction with the anti-roll box counterweight to maintain the overall center of gravity balance of the hull.

[0011] As a preferred embodiment of the above technical solution, the fins are symmetrically arranged on both sides of the hull, connected to the hull through a hydraulic drive device, and can swing around the hinge axis; the fin cross-section is airfoil-shaped, and hydrodynamics is generated by changing the angle of attack; the adjustment range of the fins is: the swing angle range is ±45°, and the response time is ≤0.5 seconds.

[0012] As a preferred embodiment of the above technical solution, a movable counterweight is provided inside the anti-roll box, which is driven by a servo motor to drive a screw / guide rail mechanism to achieve horizontal movement or lifting; the movement range of the counterweight covers 80% of the full transverse width of the hull and 60% of the vertical height, and the maximum adjustment torque can reach 104N·m.

[0013] A method for self-adapting the attitude of a semi-submersible surface vehicle is as follows:

[0014] Step 1: Center of gravity adjustment dominated by anti-roll box

[0015] Trigger conditions: When the initial tilt is caused by the load distribution deviation of the cargo loading in the load compartment, the set tilt angle is greater than 3° or the hull rolling period is greater than 10 seconds under low speed conditions, and the sway is long-period;

[0016] Adjustment process: The sensor detects the center of gravity offset, the central control system calculates the target position of the counterweight, and the servo motor drives the counterweight to move to the high side to reduce the heel moment. In combination with the weight of the payload compartment equipment, the vertical center of gravity height is adjusted synchronously to optimize the stability arm;

[0017] Step 2: Adjusting the center of buoyancy using the pivoting fin

[0018] Trigger conditions: When the navigation speed is greater than 5 knots, encountering short-period waves with a period of less than 5 seconds or sudden wind with a wind speed greater than 15m / s;

[0019] Adjustment process: The gyroscope detects a roll angular velocity greater than 0.1° / s, and the hydraulic system drives the fins on both sides to swing in opposite directions, with the right fin swinging downward and the left fin swinging upward. This generates upward hydrodynamic force on the right side and downward hydrodynamic force on the left side, forming an anti-rolling moment. The wave frequency is calculated in real time, and the fin swing amplitude and phase are adjusted through the PID algorithm to achieve resonance suppression.

[0020] The beneficial effects of the present invention are:

[0021] 1. The semi-submersible surface vehicle described in the present invention adopts a vertical semi-submersible design, breaking through the stereotype of traditional unmanned boats that are "horizontal to the water surface and streamlined hull". It adopts a semi-submersible structure perpendicular to the water surface, with the underwater part occupying the main body (weight concentrated in the lower part), so that the center of gravity (G) is significantly lower than the center of buoyancy (B). By utilizing the physical property of "restoring torque naturally generated when the center of gravity is lower than the center of buoyancy", passive stability is improved, and some wind and wave interference can be resisted without additional energy consumption, which is impossible with existing designs. The semi-submersible surface vehicle described in the present invention has an optimized hull proportion. The hull height and diameter ratio is designed to be 3:1. The center of gravity is further lowered through geometric structure optimization to enhance anti-tilting ability.

[0022] 2. The semi-submersible surface vehicle described in this invention utilizes a layered system layout. Its center of gravity is lowered, with the propulsion system, control system, and ballast system (including the anti-roll tank) concentrated at the bottom of the vessel, and the sensor module placed at the top, creating a vertical mass distribution with "heavy at the bottom and light at the top." Compared to the traditional "transverse layering" layout, vertical layering further lowers the center of gravity. Combined with the semi-submersible structure, this significantly improves static stability (increases the GM value of the stability arm).

[0023] 3. The semi-submersible surface vehicle described in this invention utilizes an integrated intelligent control algorithm, known as "feedforward + feedback" compound control. First, multi-sensor fusion is employed to connect real-time data from gyroscopes, inclinometers, anemometers, and other sensors to a central control system. The counterweight position and fin angle are dynamically calculated using a PID algorithm or fuzzy control. Pre-programmed trajectories are then used to adjust the center of gravity and buoyancy in response to known load changes (such as cargo loading and unloading) or environmental warnings (such as typhoons), achieving "active interference rejection" rather than "passive response." BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Shown is a schematic diagram of the structure of an attitude-adaptive semi-submersible surface vehicle. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0026] like Figure 1 The semi-submersible surface vehicle of the present invention comprises a hull 1 and fins 4 symmetrically arranged on either side of the hull, which can swing as needed. A main control cabin 2 and a payload cabin 3 are located within the hull 1. The main control cabin 2 houses the power system and related sensor equipment, while the payload cabin 3 houses the dual-beam equipment. An anti-roll box 5 is also located within the hull 1. A movable counterweight (not shown) is mounted within the anti-roll box 5. The center of gravity of the hull 1 is adjusted by moving the counterweight.

[0027] The semi-submersible surface vehicle described in this invention has a hull 1 as its basic support structure, providing buoyancy and internal space layout. It adopts a semi-submersible design, with the underwater portion providing stable buoyancy and the surface portion reducing wave impact. Hull 1 has symmetrically positioned swinging fins 4 on either side, and a central portion integrating a main control cabin 2, a payload compartment 3, and an anti-roll tank 5.

[0028] The semi-submersible surface vehicle described in the present invention has a power system and sensor equipment installed within the main control cabin 2. The power system is equipped with a propulsion system (such as a propeller or water jet) and an energy device (battery or fuel unit). The sensor equipment includes: a gyroscope (to monitor roll and pitch angles), an inclinometer (real-time hull attitude), an anemometer (to monitor environmental interference), etc. The sensor equipment data is connected to the central control system.

[0029] The semi-submersible surface vehicle described in this invention has a payload compartment 3 equipped with dual-beam equipment (such as a depth sounder and sonar system) for specialized operations such as ocean mapping and target detection. The center of gravity of the payload compartment 3 must be adjusted in conjunction with the counterweight of the anti-roll box 5 to ensure overall center of gravity balance.

[0030] The semi-submersible surface vehicle described herein features swingable fins 4 symmetrically positioned on either side of the hull. Connected to the hull via a hydraulic drive (not shown), the fins are capable of swinging about a hinged axis. The fins have an airfoil-shaped cross-section, generating hydrodynamic forces by varying the angle of attack (swing angle). The fins 4 have an adjustable swing angle range of ±45° and a response time of ≤0.5 seconds, adapting to high-frequency wave disturbances.

[0031] The semi-submersible surface vehicle described herein has a movable counterweight (made of a high-density metal, such as lead or steel) installed within the anti-roll tank 5. This counterweight is driven by a servo motor, via a screw / guide rail mechanism, to achieve horizontal movement (lateral adjustment) or vertical adjustment (elevation). The counterweight's range of motion covers 80% of the hull's full width and 60% of its vertical height, with a maximum adjustment torque of 104 N·m. The counterweight's movement speed is proportional to the hull's inclination angular velocity and can be controlled using either a pre-programmed trajectory or real-time closed-loop control.

[0032] The stability adjustment process of the semi-submersible surface vehicle of the present invention is as follows:

[0033] Step 1: Center of gravity adjustment dominated by anti-roll box

[0034] Trigger conditions: When the initial tilt is caused by the deviation of the load distribution of cargo in load compartment 3, the set tilt angle is greater than 3°, or the hull roll period is greater than 10 seconds under low-speed conditions, and the sway is long-period;

[0035] Adjustment process: The sensor detects the center of gravity offset → the central control system calculates the target position of the counterweight block, and the servo motor drives the counterweight block to move to the high side (for example, when the hull tilts to the right, the counterweight block moves to the left) to reduce the heeling moment. Combined with the weight of the equipment in the load compartment, the vertical center of gravity height is adjusted synchronously to optimize the stability arm (GM value).

[0036] Step 2: Adjusting the center of buoyancy using the pivoting fin

[0037] Trigger conditions: When the navigation speed is greater than 5 knots, encountering short-period waves with a period of less than 5 seconds or sudden wind with a wind speed greater than 15m / s,

[0038] Adjustment process:

[0039] The gyroscope detects a roll angular velocity greater than 0.1° / s. The hydraulic system drives the fins on both sides to swing in opposite directions: the right fin swings downward (angle of attack +α) and the left fin swings upward (angle of attack -α). This generates upward hydrodynamic force on the right side and downward hydrodynamic force on the left side, forming an anti-roll moment. The wave frequency is calculated in real time, and the fin swing amplitude and phase are adjusted through the PID algorithm to achieve resonance suppression.

[0040] The semi-submersible surface vehicle of the present invention can realize multi-mode switching, as shown in the following table:

[0041]

[0042]

[0043] The semi-submersible surface vehicle described in this invention breaks through the traditional horizontal hull design model and adopts a semi-submersible structure perpendicular to the water surface. This design adjusts the center of buoyancy and center of gravity. When the center of gravity is below the center of buoyancy, it can generate a restoring torque when subjected to external forces (such as waves), allowing the unmanned vessel to automatically restore balance. In addition, most of the hull is located underwater, and the weight is concentrated in the lower part, which lowers the overall center of gravity, reduces the impact of wind and waves on the hull, and greatly improves stability in complex waters, which is not available in traditional unmanned vessel designs.

[0044] The semi-submersible surface vehicle described in this invention utilizes a system layout: the propulsion system, control system, and ballast system are layered and longitudinally distributed. These systems are concentrated at the bottom of the vessel, with the sensor module located at the top. This layout optimizes the unmanned vessel's spatial structure and, combined with the vertical semi-submersible hull, further lowers the center of gravity and improves stability. Furthermore, the hull's height-to-diameter ratio of 3:1 is carefully considered, contributing to improved overall performance.

[0045] The semi-submersible surface vehicle described in the present invention adopts an efficient propulsion system. It is equipped with four independently adjustable angle water jet propulsion units, which are symmetrically distributed around the bottom of the hull. Each propeller can be independently controlled, supports multiple motion modes, and can achieve thrust output in horizontal, vertical or inclined directions. By dynamically adjusting the thrust and angle, it can effectively offset external interference such as water flow and waves, solving the problem that traditional water jet propulsion units are difficult to stabilize when hovering, and realizing all-round motion control of the hull. At the same time, the propeller adopts a unique design, such as an adjustable nozzle angle, a hexagonal nested structure, titanium alloy active adjustment fins, a bell-mouthed tapered water intake design, etc., which can not only adjust the direction of propulsion to enhance hull stability, but also has the function of reducing turbulence and optimizing water flow efficiency, thereby improving propulsion efficiency.

[0046] The semi-submersible surface vehicle described in this invention utilizes an intelligent ballast system. It consists of four independent ballast tanks arranged in a cross pattern and equipped with bidirectional pumps. Lead ballast weights are embedded in the tank bottom and coated with a rust-resistant coating. This system dynamically adjusts buoyancy and attitude by injecting or discharging ballast water, further optimizing the center of gravity and center of buoyancy of the unmanned vessel and enhancing its stability and adaptability in complex waters.

[0047] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An attitude-adaptive semi-submersible surface vehicle, characterized in that: The invention comprises a hull (1) and fins (4) symmetrically arranged on both sides of the hull, wherein the fins are swingable on both sides of the hull (1); a main control cabin (2) and a payload cabin (3) are arranged inside the hull (1); a power system and related sensor equipment are mounted inside the main control cabin (2); a dual-beam device is mounted inside the payload cabin (3); an anti-roll box (5) is further arranged inside the hull (1); a movable counterweight is mounted inside the anti-roll box (5); the center of gravity of the hull (1) is adjusted by moving the counterweight; the surface vehicle adjusts the center of gravity of the hull through the anti-roll box (5) and adjusts the center of buoyancy through the fins (4); the two cooperate to keep the posture of the hull (1) stable.

2. The attitude-adaptive semi-submersible surface vehicle according to claim 1, characterized in that: The hull (1) serves as the basic supporting structure of the vehicle, provides buoyancy and internal space layout, and adopts a semi-submersible structure, wherein the underwater part provides stable buoyancy and the above-water part reduces wave impact.

3. The attitude-adaptive semi-submersible surface vehicle according to claim 1, characterized in that: The main control cabin (2) is provided with a power system and sensor equipment, and the power system is equipped with a propeller and an energy device.

4. The attitude-adaptive semi-submersible surface vehicle according to claim 1, characterized in that: The center of gravity of the load compartment (3) is adjusted in conjunction with the counterweight of the anti-tilt box (5) to maintain the overall center of gravity balance of the hull (1).

5. The attitude-adaptive semi-submersible surface vehicle according to claim 1, characterized in that: The fins (4) are symmetrically arranged on both sides of the hull, connected to the hull through a hydraulic drive device, and can swing around a hinge axis; the fin cross section is airfoil-shaped, and hydrodynamic force is generated by changing the angle of attack; the adjustment range of the fins (4) is: the swing angle range is ±45°, and the response time is ≤0.5 seconds.

6. The attitude-adaptive semi-submersible surface vehicle according to claim 1, characterized in that: A movable counterweight is provided inside the anti-roll box (5), which is driven by a servo motor to drive a lead screw / guide rail mechanism to achieve horizontal movement or lifting; the moving range of the counterweight covers 80% of the full width of the hull (1) and 60% of the vertical height, and the maximum adjustment torque can reach 104 N·m.

7. The method for self-adapting the attitude of a semi-submersible surface vehicle according to any one of claims 1 to 6, characterized in that: The method is as follows: Step 1: Center of gravity adjustment dominated by anti-roll box Triggering conditions: when the initial tilt is caused by the deviation of the cargo load distribution in the load compartment (3), the tilt angle is set to be greater than 3° or the hull rolling period is greater than 10 seconds under low speed conditions, and the sway is long-period; Adjustment process: The sensor detects the center of gravity offset, the central control system calculates the target position of the counterweight, and the servo motor drives the counterweight to move to the high side to reduce the heel moment. In combination with the weight of the payload compartment equipment, the vertical center of gravity height is adjusted synchronously to optimize the stability arm; Step 2: Adjusting the center of buoyancy using the pivoting fin Trigger conditions: When the navigation speed is greater than 5 knots, encountering short-period waves with a period of less than 5 seconds or sudden wind with a wind speed greater than 15m / s; Adjustment process: The gyroscope detects a roll angular velocity greater than 0.1° / s, and the hydraulic system drives the fins on both sides to swing in opposite directions, with the right fin swinging downward and the left fin swinging upward. This generates upward hydrodynamic force on the right side and downward hydrodynamic force on the left side, forming an anti-rolling moment. The wave frequency is calculated in real time, and the fin swing amplitude and phase are adjusted through the PID algorithm to achieve resonance suppression.

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