Novel anti-overturning unmanned ship
By setting up a self-reset balanced counterweight unit and integrated hull control microprocessor in the immersion tank section of the unmanned ship, the problem of unmanned ship being unable to recover itself under extreme flips is solved, and higher stability and working reliability are achieved.
Patent Information
- Application Number
- CN202421256803.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-04
- Publication Date
- 2025-03-11
- Estimated Expiration
- 2034-06-04
AI Technical Summary
The existing self-reliance unmanned ship cannot effectively restore to its normal navigation posture when it encounters extreme flips, resulting in low reliability in working in unknown water quality basins.
A new type of anti-capsulse unmanned ship is designed, and a self-reset balanced counterweight unit is set up in the immersion tank section, so that the center of gravity of the hull is concentrated in the middle and rear of the bottom of the ship, and real-time navigation attitude adjustment and self-recovery are achieved through the hull control microprocessor, communication network components and water environment monitoring equipment.
It effectively improves the stability and rollover resistance of unmanned ships in complex hydrological environments, and can recover themselves in extreme situations such as 180° flip, significantly improving the reliability and adaptability of work in unknown water quality basins.
Smart Images
Figure CN222591749U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of unmanned boats, in particular to a novel anti-capsize unmanned boat. Background Art
[0002] At present, an intelligent and efficient monitoring tool, unmanned boats, is widely used in water quality research. It can automatically and remotely complete the collection and analysis of water quality parameters in various water bodies such as rivers, lakes and seas. However, in complex hydrological environments, especially when facing strong wind and wave impacts, traditional unmanned boats often have a high risk of capsizing due to the limitations of their design structure, which not only seriously affects the effective completion of data collection tasks, but also threatens the safe operation of the equipment itself.
[0003] In order to overcome this problem, existing technologies have developed unmanned boat products with self-righting functions. Such unmanned boats usually adopt a widened hull design and add airbag systems on both sides of the hull to provide additional buoyancy. By increasing the cross-sectional area of the hull and optimizing the buoyancy distribution, the anti-capsulation performance of the hull is indeed enhanced. In normal wind and wave conditions, it can maintain a stable sailing posture within a certain tilt angle range to avoid capsizing.
[0004] However, the current self-righting unmanned boats still have obvious shortcomings in practical applications. First, although the wide-body design helps to improve the stability of the hull, the resulting increase in sailing resistance cannot be ignored, which may weaken the maneuverability and energy efficiency of the unmanned boat, especially when rapid response or long-distance navigation missions are required. Secondly, the existing self-righting mechanism that relies on airbags cannot ensure that the unmanned boat can fully return to its normal sailing posture when faced with extreme or sudden situations, such as large-scale flips (such as 180° flips) caused by strong storms or turbulent waters. Once such a serious flip occurs, the unmanned boat will not be able to restore its normal working state by itself, which may lead to equipment damage, data loss, or even complete sinking, which greatly limits the working reliability and environmental adaptability of such unmanned boats in unknown water quality areas or extremely severe weather.
[0005] Therefore, it is imperative to design a new type of anti-capsize unmanned boat. Utility Model Content
[0006] In view of the defects of the above-mentioned prior art, the utility model provides a new anti-capsize unmanned boat, which aims to solve the problem that the self-righting unmanned boat in the prior art cannot effectively return to the normal sailing posture when encountering extreme capsizing situations, resulting in low working reliability in river basins with unknown water quality.
[0007] To achieve the above-mentioned purpose, the technical solution adopted by the utility model is: a new type of anti-capsize unmanned boat, including a hull, a protective shell and a flooded compartment, the protective shell is installed on the upper end surface of the hull, the flooded compartment is installed on the lower end surface of the hull, the flooded compartment is provided with a self-righting balancing counterweight unit, a first power thruster and a second power thruster, the self-righting balancing counterweight unit is arranged at the middle and rear position inside the flooded compartment, the first power thruster is arranged on one side of the rear end of the flooded compartment, and the second power thruster is arranged on the other side of the rear end of the flooded compartment, and the self-righting balancing counterweight unit is used to concentrate the center of gravity of the hull at the middle and rear part of the bottom of the ship.
[0008] Based on the above, the beneficial effects of a new type of anti-capsize unmanned boat are to solve the disadvantage that the unmanned boat needs to be flipped and righted after it completely capsizes, which is mainly reflected in:
[0009] 1. The utility model arranges a self-resetting balancing counterweight unit in the flooded compartment, so that the center of gravity of the hull can be concentrated at the middle and rear part of the bottom of the ship. This center of gravity layout greatly improves the stability of the unmanned ship in complex hydrological environments, especially when encountering wind and waves, it can effectively reduce the risk of capsizing;
[0010] 2. The utility model integrates a hull control microprocessor, communication network components and water environment monitoring equipment at the front end of the hull, and realizes precise electrical signal control connection with the power propeller. It can adjust the navigation attitude in real time and respond to sudden changes in extreme hydrological conditions in a timely manner. Even in extreme situations such as 180° flipping, the unmanned boat can achieve self-recovery through the center of gravity of the self-resetting balancing counterweight unit, which significantly improves the working reliability and adaptability in river basins with unknown water quality.
[0011] Furthermore, a hull control microprocessor, a communication network component and a water environment monitoring device are arranged in the hull; the hull control microprocessor is electrically connected to the water environment monitoring device by signals, the communication network component is electrically connected to the hull control microprocessor by signals, and the hull control microprocessor is electrically connected to the first power propeller and the second power propeller by signals respectively.
[0012] Based on the above, the beneficial effect of the hull control microprocessor is to use a predetermined program to control the working timing of the water environment monitoring equipment, and to control the propulsion operation of the first power propeller and the second power propeller after planning the route according to the predetermined program. The beneficial effect of the communication network component is to monitor the data on the hull control microprocessor in real time and transmit it to the user to facilitate the grasp of the situation of the unmanned ship.
[0013] Furthermore, the upper end surface of the hull is provided with a first manual remote control antenna, a second manual remote control antenna and a ground station radar antenna, the first manual remote control antenna and the second manual remote control antenna are respectively arranged on both sides of the front end of the upper end surface of the hull, and the ground station radar antenna is arranged at the rear end of the upper end surface of the hull, and the first manual remote control antenna, the second manual remote control antenna and the ground station radar antenna are all detachably connected to the hull.
[0014] Based on the above, the beneficial effect of the first manual remote control antenna and the second manual remote control antenna is that they are connected to the user's remote control signal, making it convenient for the user to personally operate the unmanned boat to return when there is an operating error in the program. The beneficial effect of the ground station radar antenna is that when the unmanned boat accidentally drives to an unknown area and has exceeded the control range of the remote control, a signal is sent through the ground radar to retrieve it.
[0015] Furthermore, a buoyancy ring is provided at the interface area between the flooded compartment section and the hull.
[0016] Based on the above, the beneficial effect of the buoyancy ring is to increase the buoyancy of the hull to increase stability.
[0017] Furthermore, the self-resetting balancing weight unit is a long-life battery.
[0018] Based on the above, the setting of the long-endurance power supply is to ensure that the unmanned boat has enough water quality detection time and return time to avoid being stranded halfway and requiring staff to retrieve it. The long-endurance power supply is reasonably distributed with the hull control microprocessor, communication network components, water environment monitoring equipment and other ship control modules and lines, and the overall weight is biased to the lower rear of the ship, so that it has self-reset capability.
[0019] Furthermore, grip handles are provided on both sides of the hull.
[0020] Based on the above, the beneficial effect of holding the handle is that it is convenient for users to carry.
[0021] In order to more clearly illustrate the above features of the present invention and the objectives to be achieved, the present invention is further described below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 : is a three-dimensional diagram of the utility model;
[0023] Figure 2 : It is a cross-sectional schematic diagram of the utility model;
[0024] Figure 3 : It is a simplified force diagram of the utility model in a normal state on the water surface;
[0025] Figure 4 : It is a simplified force diagram of the utility model in a normal state on the water surface with a slight inclination;
[0026] Figure 5 : It is a simplified force diagram of the utility model in a slightly inclined state in an overturned state on the water surface;
[0027] Figure 6 : It is a simplified force diagram of the utility model in a 180° flipped state on the water surface W.
[0028] Explanation of the accompanying drawings: 1-hull, 11-hull control microprocessor, 12-communication network component, 13-water environment monitoring equipment, 14-buoyancy ring, 15-first manual remote control antenna, 16-second manual remote control antenna, 17-ground station radar antenna, 2-protective shell, 3-flooded compartment, 31-self-resetting balancing counterweight unit, 32-first power thruster, 33-second power thruster, 4-gripping handle. DETAILED DESCRIPTION
[0029] like Figure 1-Figure 6 As shown, a new type of anti-capsize unmanned boat includes a hull 1, a protective shell 2 and a flooded compartment 3, wherein the protective shell 2 is installed on the upper end surface of the hull 1, and the flooded compartment 3 is installed on the lower end surface of the hull 1, and the flooded compartment 3 is provided with a self-resetting balancing counterweight unit 31, a first power propeller 32 and a second power propeller 33, wherein the self-resetting balancing counterweight unit 31 is arranged at the middle rear position inside the flooded compartment 3, the first power propeller 32 is arranged on one side of the rear end of the flooded compartment 3, and the second power propeller 33 is arranged on the other side of the rear end of the flooded compartment 3, and the self-resetting balancing counterweight unit 31 is used to concentrate the center of gravity of the hull at the middle and rear part of the bottom of the ship.
[0030] A hull control microprocessor 11, a communication network component 12 and a water environment monitoring device 13 are provided in the hull 1. The hull control microprocessor 11 is electrically connected to the water environment monitoring device 13, the communication network component 12 is electrically connected to the hull control microprocessor 11, and the hull control microprocessor 11 is electrically connected to the first power propeller 32 and the second power propeller 33 respectively.
[0031] The upper end surface of the hull 1 is provided with a first manual remote control antenna 15, a second manual remote control antenna 16 and a ground station radar antenna 17. The first manual remote control antenna 15 and the second manual remote control antenna 16 are respectively arranged on both sides of the front end of the upper end surface of the hull 1, and the ground station radar antenna 17 is arranged at the rear end of the upper end surface of the hull 1. The first manual remote control antenna 15, the second manual remote control antenna 16 and the ground station radar antenna 17 are all detachably connected to the hull 1.
[0032] A buoyancy ring 14 is provided at the interface between the flooded compartment section 3 and the hull 1. It should be understood that the buoyancy ring increases the buoyancy of the hull to increase stability.
[0033] The self-resetting balancing weight unit 31 is a long-life power source.
[0034] The hull 1 is also provided with gripping handles 4 on both sides.
[0035] In summary, the specific implementation of the utility model is as follows: the user sends a command through the communication network component 12 to start the unmanned boat, and the hull control microprocessor 11 starts to operate and regulates each component to enter a working state; the water environment monitoring device 13 starts to monitor the water quality according to a preset program. At the same time, the hull control microprocessor 11 controls the first power propeller 32 and the second power propeller 33 through electrical signals based on the collected data and the preset route to achieve stable navigation of the unmanned boat; if the hull posture deviates from the normal state due to extreme hydrological conditions, the overall weight of the self-resetting balancing counterweight unit 31 is biased to the lower rear position of the ship, so its center of gravity will naturally produce a tendency to resist flipping, and cooperate with the physical structure of the hull to start assisting the hull to restore balance. The hull control microprocessor 11 obtains flipping information in real time, and quickly adjusts the thrust distribution of the first power propeller 32 and the second power propeller 33 through calculation and analysis to guide the unmanned boat to move in the direction of reset. The following four situations are discussed in detail:
[0036] 1. The unmanned boat is in a normal state on the water surface W, with the center of gravity G and the center of buoyancy B located on the same vertical line, with the center of gravity at the bottom and the center of buoyancy at the top:
[0037] Force analysis: The gravity Gf and the buoyancy Bf of the water acting on the unmanned boat are equal in magnitude and opposite in direction in the vertical direction, forming a balance. The unmanned boat will not move significantly due to the lateral force, and it will remain upright and sail steadily.
[0038] 2. The unmanned boat is in a normal state with a slight inclination on the water surface W. The center of gravity G is slightly offset and located below the inclination, and the center of buoyancy B is slightly offset and located above the inclination:
[0039] Force analysis: When the unmanned boat is slightly tilted by external disturbance, the position of the center of gravity G and the center of buoyancy B will shift slightly accordingly. Since the center of gravity G remains at a relatively low position and is lower than the position of the center of buoyancy B after the tilt, the gravity Gf will generate a restoring torque F, causing the hull to automatically return to the right position. During this process, the unmanned boat may have a brief lateral sway, but its low center of gravity G design will naturally produce a self-righting effect, allowing the hull to gradually return to its initial stable state.
[0040] 3. The unmanned boat is artificially placed in a state of flipping with a slight inclination on the water surface W, the center of gravity G is slightly offset and upwards following the inclination, and the center of buoyancy B is slightly offset and downwards following the inclination; recovery after loss of human control:
[0041] Force analysis: Under human intervention, the unmanned boat is placed in a slightly tilted state, with the center of gravity G located above the center of buoyancy B. Once human control is lost, the hull will begin to try to restore its stable state. Since the hull design relies on a low center of gravity G to achieve self-righting, when the hull begins to tilt, because the center of gravity G is higher than the water surface, the restoring torque F generated by gravity Gf increases, pulling the hull back to an upright state.
[0042] 4. The unmanned boat is artificially turned 180° on the water surface W, with the center of gravity G and the center of buoyancy B located on the same vertical line, with the center of gravity G at the top and the center of buoyancy B at the bottom; recovery after loss of human control:
[0043] Force analysis: Under human intervention, the unmanned boat is placed in a 180° flip state. At this time, the center of gravity G and the center of buoyancy B are swapped, and the center of gravity G is located above the center of buoyancy B. This is an extremely unstable state. Once human control is lost, as long as there is a slight disturbance on the water surface, the hull will immediately lose the balance that it should have for flipping. The restoring torque F generated by the gravity Gf will immediately pull the hull back to an upright state as in the third point.
[0044] After completing the mission, the unmanned boat automatically returns according to the command. If it is beyond the remote control range, the ground station radar antenna will play a role to assist in finding the unmanned boat. During the whole process, the buoyancy ring 14 at the junction of the submerged compartment 3 and the hull continues to provide additional buoyancy to enhance the stability of the hull. Finally, the user can lift the unmanned boat from the water surface by holding the handle for maintenance or storage.
[0045] The above description is only the optimal solution embodiment of the present invention and is not intended to limit the present invention. Various modifications or substitutions made to the present invention by those skilled in the art without departing from the essence and protection scope of the present invention should also be within the protection scope of the present invention.
Claims
1. A novel anti-capsize unmanned boat, comprising a hull (1), a protective shell (2) and a flooded compartment (3), wherein the protective shell (2) is arranged on the top surface of the hull (1), and the flooded compartment (3) is arranged on the bottom of the hull (1), characterized in that: The flooded compartment (3) is provided with a self-resetting balancing weight unit (31), a first power propeller (32) and a second power propeller (33); the self-resetting balancing weight unit (31) is arranged at a middle rear position inside the flooded compartment (3); the first power propeller (32) is arranged at one side of the rear end of the flooded compartment (3); the second power propeller (33) is arranged at the other side of the rear end of the flooded compartment (3); the self-resetting balancing weight unit (31) is used to concentrate the center of gravity of the hull at the middle and rear part of the bottom of the ship to enhance stability.
2. The novel anti-capsize unmanned boat according to claim 1 is characterized in that: The front end of the hull (1) is provided with a hull control microprocessor (11), a communication network component (12) and a water environment monitoring device (13); the hull control microprocessor (11) is connected to the water environment monitoring device (13) via an electrical signal; the communication network component (12) is connected to the hull control microprocessor (11) via an electrical signal; and the hull control microprocessor (11) establishes electrical signal connections with the first power propeller (32) and the second power propeller (33), respectively.
3. The novel anti-capsize unmanned boat according to claim 1 is characterized in that: The upper end surface of the hull (1) is provided with a first manual remote control antenna (15), a second manual remote control antenna (16) and a ground station radar antenna (17); the first manual remote control antenna (15) and the second manual remote control antenna (16) are symmetrically arranged at both sides of the front end of the upper end surface of the hull (1); the ground station radar antenna (17) is arranged at the rear end of the upper end surface of the hull (1); the first manual remote control antenna (15), the second manual remote control antenna (16) and the ground station radar antenna (17) are all detachably connected to the hull (1).
4. The novel anti-capsize unmanned boat according to claim 1 is characterized in that: A buoyancy ring (14) is provided at the interface area between the flooded compartment section (3) and the hull (1).
5. The novel anti-capsize unmanned boat according to claim 1 is characterized by: The self-resetting balancing weight unit (31) is a long-life battery.
6. The novel anti-capsize unmanned boat according to claim 1 is characterized by: Grip handles (4) are also provided on both sides of the hull (1).