Modularized multi-hull ship

Abstract

The invention discloses a modular multi-hull ship, which realizes self-adaptive reconstruction and energy self-supply of an offshore operation platform through a collaborative design of a topology variable structure and efficient wave energy capture. The multi-body ship comprises a central main ship body and storable sub ship bodies, the main ship body is of a hexagonal structure with two sharp ends, and the two sides of the main ship body are in non-uniform design. Through the telescopic truss mechanism, the sub-hulls can be rapidly unfolded into a multi-hull ship structure, and after the sub-hulls are unfolded, the original storage grooves are converted into sensor cabins. The core design further comprises the following steps: 1, heterogeneous cluster connection: a lock catch at the bottom of a ship body supports underwater rigid splicing, and rapid establishment and dynamic recombination of a cellular network are realized; 2, wave energy grading capture: a conical resonance floater array is deployed at the bottom of the main ship body and is matched with hemispherical damping floaters of the sub ship bodies to form a high-low frequency complementary acquisition network; and 3, intelligent cooperative control: optimizing floater draft depth and sub-hull spacing based on machine learning, and dynamically adjusting a ship group topological structure in combination with wave energy power generation data.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of offshore engineering equipment, and particularly relates to a modular multi-hull ship and a cluster system capable of being composed based on the ship, and in particular to an unmanned ship cluster capable of being cooperatively designed with a variable topology structure and efficient wave energy capture. The system has adaptive reconfiguration, energy self-supply and dynamic wave resistance stability optimization capabilities, and is suitable for offshore monitoring, energy collection, military deployment and the like. BACKGROUND

[0002] There are many bottlenecks in the prior art, which are listed as follows.

[0003] (1) Structural rigidity limitation: The conventional unmanned ship mostly adopts a single body or a fixed multi-body structure, and cannot dynamically adjust the configuration according to the sea conditions. When encountering large waves, it is easy to overturn, and the functional units (such as sensors, energy modules) and the ship body structure have poor coupling, and it is difficult to realize spatial reuse.

[0004] (2) Insufficient cluster connection reliability: The existing unmanned ship cluster mostly relies on water surface flexible connection or wireless communication networking, and has low tensile strength (usually <10kN), and is easy to break under extreme sea conditions. The electromagnetic lock has the risk of losing lock due to power failure, and the attachment of marine organisms leads to connection failure, and cannot support the construction of a square kilometer rigid platform.

[0005] (3) Low wave energy utilization efficiency: The conventional wave energy device is mostly fixed, and cannot dynamically adjust the draft depth of the floater and the array configuration. The single floater design only matches narrow frequency waves, and lacks a full-wave high range frequency spectrum complementary capture mechanism.

[0006] (4) Lack of cooperative control: The ship group lacks autonomous cooperative ability based on environmental perception. The wave energy collection, ship stability optimization and topology reconfiguration are independently operated, and the technical closed loop of "sea condition perception → structure deformation → energy gain" is not formed, resulting in limited overall energy efficiency.

[0007] Core problems solved by the application In view of the above defects, the application provides: 1. Gradient impact-resistant variable-configuration ship body: through the combination of a hexagonal main ship body (titanium alloy sharp corner + carbon fiber cabin section) and a storable sub-ship body, the "single body → multi-body" configuration switching is realized, the sensor cabin is automatically generated after unfolding, and the dynamic adaptation of function and space is solved.

[0008] 2. High-reliability cluster connection technology: a ring-shaped electromagnetic-permanent magnet hybrid lock (maintaining 5kN suction force in power failure) combined with ultrasonic self-cleaning ensures the rigid connection of the square kilometer cellular network under 6m wave height, breaking through the strength limit of the traditional flexible networking.

[0009] 3. Wave energy hierarchical capture network: the main hull conical resonant floater (spiral profile) and the sub-hull hemispherical damping floater form a high-low frequency complementary system, and the wave height adaptive range is expanded to 0.2-5m, and the overall efficiency is improved.

[0010] 4. Intelligent collaborative control closed loop: based on machine learning, the draft of the floater, the distance between the sub-hulls (1-3 times the wavelength) and the length of the truss are dynamically optimized to form a gain cycle of "wave data → configuration adjustment → energy output feedback", which first realizes the synergistic effect of structural deformation and energy collection. SUMMARY

[0011] The technical solution adopted by the application to solve the technical problems is as follows: through the cooperative design of topological variable structure and efficient wave energy capture, the self-adaptive reconstruction and energy self-supply of the offshore operation platform are realized.

[0012] The modular ship includes a central main hull and a storable sub-hull, the main hull adopts a hexagonal structure with sharp ends, and the two sides are designed non-uniformly. See Figure 1 The non-uniform wall thickness structure design is adopted to solve the stress concentration problem of the hexagonal sharp corner, including but not limited to, titanium alloy reinforcement at the sharp corner of both ends, and lightweight composite material for the middle cabin. At least one sub-hull can be stored in the main hull (including but not limited to the hidden groove on the side). Through the telescopic truss mechanism, the sub-hull can be quickly expanded to a multi-hull configuration, and the original storage groove becomes a sensor cabin after expansion. Connection structures (including but not limited to annular electromagnetic locks) are arranged between the main hulls, which can rigidly connect each hexagonal ship monomer to form a honeycomb-like large cluster or artificial island when the sub-hull is in the storage state. The core design further includes: 1. Heterogeneous cluster connection, the bottom lock of the ship supports underwater rigid splicing to realize the rapid formation and dynamic recombination of the honeycomb network; see Figure 2 2. Wave energy hierarchical capture, conical resonant floater array is arranged at the bottom of the main hull, and hemispherical damping floater is arranged in the sub-hull to form a high-low frequency complementary collection network; 3. Intelligent collaborative control: based on machine learning, the draft of the floater and the distance between the sub-hulls are optimized, and the wave energy generation data is dynamically adjusted to form a gain cycle of "wave data → configuration adjustment → energy output feedback".

[0013] The main hull carries a wave energy collection unit, and after the sub-hull is expanded, the bottom sinks to form a second level wave energy collection unit, and the main hull floater forms a high-low frequency complementary collection network (specific ways include but are not limited to, the main hull floater captures long-period waves, and the sub-hull floater captures short-period waves), which realizes frequency division collection on the variable structure ship.

[0014] The wave energy conversion module includes an oscillating floater type power generation device arranged in the passage between the multi-hull in the expanded state of the side hull. The wave energy conversion module further includes a wave-piercing type power generation device arranged in the inclined slide at the bow of the ship to guide the wave to drive the turbine through the weir plate.

[0015] Wave capture optimization design as follows, Low-frequency wave: expand the submerged plate of hydraulic support, increase the stress area; High-frequency wave: retract the float to the water surface, adopt pitch mode resonance capture.

[0016] Wave energy collection data of main hull and sub-hull are shared in real time, dynamically optimized through machine learning (including but not limited to sub-hull spacing, float draft depth combination, truss rigidity / flexibility switching mode), and array parameters are adjusted in real time through ship fleet deformation.

[0017] Designed with cooperative positioning system, including anchor node equipped with satellite positioning module, and ordinary node equipped with ultra-wideband and Bluetooth dual-mode communication module, distance from anchor node is calculated by measuring time of flight of radio pulse. Autonomous cooperative control design, Ship fleet networking: multiple unmanned ships share sea condition data through network, and automatically form an optimized array; Dynamic positioning: when the capture efficiency is lower than the threshold, navigate to an area with higher wave height.

[0018] 1. Modular ship structure, see attached Figure 3 .

[0019] (1) Central main hull: adopt non-uniform hexagonal structure with sharp ends, including: (a) Sharp corner area: titanium alloy reinforcement layer (thickness 8-12mm), solve stress concentration problem under wave impact; (b) Middle cabin section: lightweight carbon fiber composite material (thickness 5-8mm), realize strength-weight ratio optimization; (2) Storable sub-hull: multiple sub-hulls are hidden in the side groove of the main hull, the outer surface is flush with the contour of the main hull in storable state; (3) Expansion mechanism: (a) Driven by shape memory alloy hinge, response time ≤10 seconds; (b) Telescopic truss connects sub-hull and main hull, truss length dynamically adjustable range 1-5m, adapt to different wave direction; (c) Function reconstruction: after the sub-hull is expanded, the original groove becomes a sensor cabin, integrating sonar or water quality monitoring probe.

[0020] 2. Heterogeneous cluster connection system, see attached Figure 4 .

[0021] (1) Ring-shaped electromagnetic-permanent magnetic hybrid lock: (A) Set on the bottom of the ship underwater, including: electromagnetic coil: generates adsorption force when energized; Permanent magnet redundancy layer: maintains standby suction when power is off; (B) Self-cleaning mechanism: the locking contact surface integrates an ultrasonic transducer to inhibit marine organism attachment; (2) Cluster networking method: (A) Coarse alignment is achieved through an underwater camera and an LED beacon; (B) After the locking contact, electromagnetic enhancement is started to complete rigid locking with a tolerance of ≤2mm; (C) Support for kilometer-level cellular network dynamic reorganization (such as AUV-assisted splitting obstacle avoidance).

[0022] 3. Wave energy hierarchical capture network, see Figure 5 .

[0023] (1) Primary collection of main hull: (A) Conical resonant float array: helical line gradually changing profile (top diameter: bottom diameter = 1:3), exciting double vortex effect; Hysteresis type energy converter (neodymium magnet cutting closed coil); (B) Adjustable draft depth: float telescopic rod dynamically adjusts the range of 0.5-5m, matching 0.2-5m wave height; (2) Secondary collection of sub-hull: (A) After deployment, the sub-hull sinks and the hemispherical damping float is deployed at the bottom; (B) High and low frequency complementary mechanism: (a) the conical float of the main hull can capture low frequency long wave, adapting to >5s wave period; (b) the hemispherical float of the sub-hull can capture high frequency short wave, adapting to 2-5s wave period; (C) Synergistic gain: the overall wave energy conversion efficiency reaches 34%-41% (60% higher than single ship measured).

[0024] 4. System-level technical synergistic effect (1) Structure-energy coupling: sub-hull deployment sinking triggers secondary wave energy collection, and structural deformation directly improves energy gain; (2) Fault-safety chain: permanent magnet redundancy lock → cluster connection stability → wave energy array continuous operation; (3) Dynamic optimization loop: wave data → machine learning parameter adjustment → configuration / energy output feedback → real-time re-optimization. See Figure 6 .

[0025] Advantages The modular multi-hull ship provided by the application realizes the following significant progress through the deep integration of structural innovation and intelligent synergistic control: 1. The essence of wave resistance stability is improved (1) Adaptive configuration switching: The sub-hull dynamically expands to form configurations such as trimarans and pentamarans, and cooperates with the wave-responsive adjustment of the telescopic truss to significantly enhance the lateral restoring moment, enabling the system to maintain stable operation capability in severe sea conditions.

[0026] (2) Gradient impact resistance design: The non-uniform material distribution of titanium alloy sharp corners and carbon fiber cabin sections effectively disperses wave impact stress, avoiding the local failure risk of traditional hexagonal structures.

[0027] 2. Energy self-supply closed-loop breakthrough (1) Wave energy full-spectrum capture: The main hull cone-shaped resonant float and the sub-hull hemispherical damping float form a high-low frequency complementary network, breaking the dependence of single float on narrow frequency waves and achieving coordinated collection of wide wave energy.

[0028] (2) Structural-energy dynamic coupling: The sub-hull expansion automatically triggers secondary wave energy collection, making hull deformation directly translate into energy gain, forming a positive cycle of "structural action → power generation increase".

[0029] 3. Cluster reliability upgrade (1) Fault safety connection: Redundant design of electromagnetic-permanent magnetic hybrid lock ensures that the basic adsorption force is maintained even in the event of power failure; integrated ultrasonic self-cleaning function completely solves the problem of connection failure caused by marine organism attachment.

[0030] (2) Dynamic topology damage resistance: The cluster has the ability to split and recombine assisted by AUV, which can automatically adjust the network topology in extreme sea conditions or local failure, ensuring the continuous operation integrity of the square kilometer level platform.

[0031] 4. Intelligent coordination efficiency multiplication (1) Multi-parameter joint optimization: Based on machine learning, the coordinated adjustment of float draft depth, sub-hull spacing and truss rigidity mode synchronously improves wave energy collection efficiency and ship stability, overcoming the resource consumption of traditional independent control.

[0032] (2) Functional space reuse innovation: The sub-hull storage slot automatically converts into a sensor cabin after expansion, realizing dynamic reconstruction of limited hull space functions and improving the deployment flexibility of monitoring equipment.

[0033] 5. Application scenario expandability (1) Platform-level expansion capability: The honeycomb cluster network supports the rapid construction of square kilometer level offshore operation platforms, providing infrastructure for large-scale offshore facilities such as military bases and energy farms.

[0034] (2) Low maintenance cost advantage: Self-cleaning lock and energy self-supply design significantly reduce the frequency of manual maintenance, especially suitable for long-term deployment scenarios in the open sea.

[0035] The present application cooperatively designs the topological variable structure (scalable truss + underwater lock) and the wave energy hierarchical capture (cone-shaped resonance + hemispherical damping float), and solves the contradiction between the structural reconstruction and the energy self-sufficiency of the traditional unmanned ship. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 : The overall structure of the modular multi-body unmanned ship. The sharp hexagonal structure at both ends of the central main ship body and the unfolded state of the sub-ship body can be seen.

[0037] Figure 2 : Honeycomb cluster connection schematic.

[0038] Figure 3 : Multi-body ship detailed design schematic.

[0039] Figure 4 : Connection cluster design schematic.

[0040] Figure 5 : Wave energy hierarchical capture system schematic.

[0041] Figure 6 : Intelligent cooperative control flowchart. DETAILED DESCRIPTION

[0042] The embodiment is an offshore monitoring and energy collection task of a modular multi-body unmanned ship (Zhejiang coastal area).

[0043] 1. Initial deployment phase An unmanned ship carrying a central main ship body and two sub-ship bodies. The main ship body adopts a sharp non-uniform hexagonal structure at both ends, with a 10mm titanium alloy reinforcement layer at the sharp corner area and a 6mm carbon fiber composite material in the middle cabin section. The sub-ship bodies are stored in the hidden grooves on the sides of the main ship body, with the outer surface flush with the contour of the main ship body, and the whole ship body configuration navigates to the target sea area.

[0044] 2. Configuration conversion phase After arriving at the operation area, the central control system receives satellite weather data and predicts that a mixed wave with a wave height of 1.5m will be encountered (low-frequency main wave period 8s, superimposed high-frequency broken wave period 3s). The multi-body ship configuration conversion is completed through the following steps: Sub-ship body unfolding: shape memory alloy hinges simultaneously unfold 4 sub-ship bodies in 8 seconds, and the scalable truss automatically extends to 3.2m (based on the current wavelength λ=3.5m, taking k=0.9 times the wavelength). The original storage slot becomes a sensor cabin, deploying a multi-beam sonar and a water quality monitor.

[0045] - Wave energy unit activation: The six conical resonant floats at the bottom of the main hull are lowered to a depth of 2.8m (to adapt to low-frequency waves), and the hemispherical damping floats at the bottom of the sub-hull are deployed to maintain a shallow draft of 0.6m (to capture high-frequency breaking waves).

[0046] 3. Cluster networking Three similar unmanned ships form a cellular network through the following process: Underwater alignment: LED beacons guide the ships to a distance of 5m, and the bottom annular electromagnetic-permanent magnetic hybrid lock activates 40kHz ultrasonic self-cleaning.

[0047] Rigid connection: The electromagnetic coil generates a 55kN adsorption force to complete the locking, with a tolerance controlled within 1.8mm, forming an equilateral triangle honeycomb unit with a side length of 6m.

[0048] 4. Withdrawal phase After the mission is completed, the subhull is reset by retracting the truss, the float is retracted and the water in the cabin is drained.

[0049] This embodiment fully demonstrates the entire process from single-body navigation to multi-body operation.

[0050] Specific design details of the embodiment 1: Unmanned ship monohull structure and deformation control Hull construction (corresponding to Figure 1 ) The central main hull (1a) is formed by laser sintering: The sharp corner area (1b) is embedded with a TC4 titanium alloy plate (thickness 10 mm) conforming to the hull surface; The middle compartment is laminated with T700 carbon fiber / epoxy resin composite material (thickness 6mm), density ≤1.6g / cm³; The sub-hull (1c) is accommodated in a groove (1d) on the side of the main hull, and a waterproof sealing ring is pre-installed in the groove.

[0051] Expand organization operations.

[0052] When receiving a wave height signal greater than 2.5m, the shape memory alloy hinge (NiTiNol alloy, phase transition temperature 40°C) is energized and contracts, releasing the sub-hull within 10 seconds; The telescopic truss (2c) is deployed synchronously: Transverse wave conditions: truss extended to 5m (carbon fiber tubes locked step by step); Longitudinal wave condition: truss shrinks to 2m; After the subhull is fully deployed, the groove (1d) is automatically activated as a sensor cabin (2d), and the sonar probe extends out of the cabin.

[0053] Specific design details of the embodiment 2: cluster networking and connection.

[0054] Lock docking process: When the distance between two ships is 5m, the underwater camera recognizes the opponent's LED beacon (6a), and the thruster adjusts the pose to an angle deviation of <3°. After the lock (3b) is contacted: The electromagnetic coil is energized, and the adsorption force rises to 50kN; Permanent magnet (6c) as a redundant backup; Ultrasonic transducer (3c) is started once every 24 hours (40kHz, 200W), removing barnacle attachments.

[0055] Dynamic reorganization operation: When encountering 8-level wind waves, the cluster central ship sends a splitting instruction; AUV (3d) guides the edge ship to separate and reorganize into multiple sub-clusters to avoid waves.

[0056] Example specific design details 3: wave energy cooperative collection.

[0057] Primary collection of main ship body: Conical resonant float (4a) is lowered to the set draft depth: Small waves (wave height <1m): float depth 0.5m, vortex effect is excited; Large waves (wave height >3m): float depth 4m, increase the capture width; Float swing drives neodymium magnet (N52 level) to cut closed copper coil (4b), output three-phase alternating current.

[0058] Secondary collection of sub-ship body: After unfolding, the sub-ship body (2b) sinks 1.2m, and the hemispherical damping float (4c) contacts the water surface; Complementary to the main ship body float: Long-period wave (>5s) → conical float absorption; Short-period wave (2-5s) → hemispherical float capture.

[0059] Example specific design details 4: intelligent cooperative control.

[0060] Optimization engine operation: Input real-time wave data (wavelength λ, period T); Machine learning model (LSTM network) output: Sub-ship body spacing = 2.2λ (k takes 2.2); Main ship body float depth 3m + sub-ship body float depth 0.8m; When the transverse wave, the truss switches to rigid mode; Energy data feedback to model retraining.

Claims

1. A modular multihull ship, characterized in that: include: The central main hull is an uneven hexagonal structure with sharp ends; At least one sub-hull, retractable into the main hull (including but not limited to a hidden recess on the side); a deployment structure for releasing the subhulls from the main hull and forming a multihull configuration; A connecting structure (including but not limited to annular electromagnetic locks) is provided between the main hulls. When the sub-hulls are in the stowed state, the hexagonal hulls can be rigidly connected to form a large honeycomb cluster or artificial island.

2. A system according to any one of the preceding claims, characterized in that: The main hull is equipped with a wave energy collection unit. After the sub-hull is deployed, its bottom sinks to form a second-stage wave energy collection unit, which forms a high- and low-frequency complementary collection network with the main hull float (specific methods include but are not limited to the main hull float capturing long-period waves and the sub-hull float capturing short-period waves), realizing frequency division collection on the variable-configuration ship.

3. A system according to any one of the preceding claims, characterized in that: The hull adopts a non-uniform wall thickness structure design to solve the stress concentration problem of hexagonal sharp corners, including but not limited to the use of titanium alloy to strengthen the sharp corners at both ends and lightweight composite materials for the middle compartment.

4. A system according to any one of the preceding claims, characterized in that: The system dynamic optimization loop is as follows: wave data → machine learning parameter adjustment → configuration / energy output feedback → real-time re-optimization.

5. A system according to any one of the preceding claims, characterized in that: The wave energy collection data of the main hull and sub-hulls are shared in real time, dynamically optimized through machine learning (including but not limited to the sub-hull spacing, float draft combination, truss rigid / flexible switching mode), and the array parameters are adjusted in real time through the deformation of the ship group.

6. A system according to any one of the preceding claims, characterized in that: A collaborative positioning system is designed, including anchor nodes equipped with satellite positioning modules and ordinary nodes equipped with ultra-wideband and Bluetooth dual-mode communication modules. The distance to the anchor node is calculated by measuring the flight time of radio pulses.

7. A system according to any one of the preceding claims, characterized in that: The wave energy conversion module includes an oscillating float type power generation device, which is arranged in the multi-hull inter-ship passage when the side hulls are deployed.

8. A system according to any one of the preceding claims, characterized in that: The wave energy conversion module includes a wave-riding power generation device, which is installed on the inclined slide of the bow to guide waves over the weir plate to drive the turbine.

9. A system according to any one of the preceding claims, characterized in that: The following wave capture optimization design, To cope with low-frequency waves: deploy the hydraulically supported submerged plate to increase the load-bearing area; To deal with high-frequency waves: retract the float to the water surface and use pitch mode resonance to capture.

10. A system according to any one of the preceding claims, characterized in that: Autonomous collaborative control design, i.e. Ship group networking: Multiple unmanned ships share sea condition data through the network and automatically form an optimized array; Dynamic positioning: When the capture efficiency falls below a threshold, it autonomously navigates to an area with higher wave heights.

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