Bimodal semi-submersible unmanned ship

Abstract

The utility model relates to the technical field of unmanned ships, in particular to a bimodal semi-submersible unmanned ship which comprises an unmanned ship body, the unmanned ship body is sequentially provided with a fore peak, an instrument and equipment cabin, a moon pool cabin, a rear battery cabin, a cabin and a stern cabin from the bow to the stern, a front battery cabin is arranged below the instrument and equipment cabin, and fuel tank cabins are arranged on the two sides of the front battery cabin. Front ballast tanks are arranged on the two sides of the moon pool tank, and the unmanned ship further comprises a control element used for controlling the water amount in the two front ballast tanks and enabling the unmanned ship body to conduct water surface and semi-submersible dual-mode switching. A water surface high-speed sailing state and a semi-submersible low-speed sailing state can be realized, and excellent sailing stability is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of unmanned ships, in particular to a dual-mode semi-submersible unmanned ship. Background Art

[0002] An unmanned ship is a fully automatic surface robot that can sail on the water according to a preset task without remote control, relying on precise satellite positioning and its own sensors, and its English abbreviation is USV.

[0003] Currently, with the progress of technology, there are no technical obstacles to using unmanned ships for ocean observation and investigation. Moreover, it has low costs and strong flexibility, and can achieve twice the result with half the effort. It will surely become a new trend in ocean surveys.

[0004] CN111674516A discloses a small photovoltaic hybrid unmanned scientific research ship, which includes a hull head, a ship deck, a main cabin, and a hull tail. The hull head is similar to a shuttle shape that can reduce the cross-sectional area. The main cabin is located below the ship deck, and the interior is a hollow structure for placing the circuit boards and circuit connection wires required for the hull. Equipment units are placed above the ship deck, including a water quality monitoring buoy, a lighting lamp, a high beam lamp, an unmanned engine room, a cable compartment, a main controller template, and a GPS satellite positioning module. A partition layer is provided in the main cabin to place an underwater robot device. A baffle is provided at the hull tail, and the baffle is attracted to the ship side wall by means of an electromagnet and is connected to the ship side wall by means of a hinge connection. Solar panels are respectively installed on the tops of the five cabins of the unmanned scientific research ship hull, using photovoltaic power generation as a supplementary energy source to save energy and reduce emissions, and improve the endurance time and service life; ultrasonic sensors and infrared sensors are carried. However, due to the shallow draft of unmanned ships, their ability to resist high sea conditions is relatively poor, and they cannot ensure their navigation stability under water conditions with large waves and winds, and the efficiency of their execution of operation tasks will also be greatly reduced. Summary of the Invention

[0005] In view of the deficiencies of the above-mentioned prior art, a dual-mode semi-submersible unmanned ship is provided, which can realize a high-speed navigation state on the water surface and a semi-submerged low-speed navigation state, and has excellent navigation stability.

[0006] To solve the above technical problems, the technical solution adopted by the utility model is that the dual-mode semi-submersible unmanned ship includes an unmanned ship body. The unmanned ship body is successively provided with a bow peak tank, an instrument equipment cabin, a moon pool cabin, a rear battery cabin, an engine room, and a stern cabin from the bow to the stern. A front battery cabin is provided below the instrument equipment cabin, fuel tank cabins are provided on both sides of the front battery cabin, front ballast tanks are provided on both sides of the moon pool cabin, and a control element is further included for controlling the water volume in the two front ballast tanks to enable the unmanned ship body to perform dual-mode switching between the water surface and semi-submerged states.

[0007] The above-mentioned dual-mode semi-submersible unmanned vessel, wherein the control components include a ballast water pump with forward and reverse functions respectively arranged in two front ballast tanks and used to fill or empty the two front ballast tanks with seawater, a liquid level sensor used to detect the liquid levels in the two front ballast tanks, and a controller.

[0008] The above-mentioned dual-mode semi-submersible unmanned vessel is provided with rear ballast tanks extending rearward on both sides of the engine room for assisting the self-righting of the vessel, and also includes two regulating water pumps for adjusting the water volume in the rear ballast tanks.

[0009] The above-mentioned dual-mode semi-submersible unmanned vessel is provided with 2 marine diesel engines and 2 marine gearboxes in the engine room, and two jet pumps with dynamic positioning functions are arranged behind the 2 marine diesel engines.

[0010] The above-mentioned dual-mode semi-submersible unmanned vessel is provided with a convex deck in the middle of the unmanned vessel body. A weathertight hatch cover is arranged on the convex deck. A lifting mast is arranged inside the convex deck, and a navigation radar, a lidar and an AIS are integrated on the lifting mast.

[0011] The above-mentioned dual-mode semi-submersible unmanned vessel is also provided with a camera on the unmanned vessel body.

[0012] The above-mentioned dual-mode semi-submersible unmanned vessel has the following dimensions of length, width and height: 8.5×2.5×2.6 meters, and the weight is not more than 8t.

[0013] The above-mentioned dual-mode semi-submersible unmanned vessel is provided with a passage opening at the bottom of the moonpool cabin to allow the passage of a turbulence observator, and an automatic opening and closing cover plate for opening and closing the passage opening.

[0014] The above-mentioned dual-mode semi-submersible unmanned vessel also includes a lifting mechanism for lifting the turbulence observator.

[0015] The above-mentioned lifting mechanism of the dual-mode semi-submersible unmanned vessel includes a winch seat arranged above the engine room, a winch body arranged on the winch seat, a cable, and two correspondingly arranged guide rollers. It also includes a first seat plate arranged outside the moonpool cabin, a first pulley and a first pulley bracket arranged below the first seat plate, a guide rod rotatably connected to the first pulley bracket on the first pulley bracket, a guide wheel arranged on the guide rod, a second seat plate arranged on the inner wall of the moonpool cabin, a second pulley and a second pulley bracket arranged on the second seat plate, and a conduit allowing the cable to pass through arranged on the cabin wall of the moonpool cabin.

[0016] The beneficial effects of the dual-mode semi-submersible unmanned ship of the present utility model are as follows: By setting a front ballast tank, a ballast water pump, a liquid level sensor, a controller, and arranging 2 marine diesel engines and 2 marine gearboxes in the engine room, and arranging two jet pumps with dynamic positioning functions behind the 2 marine diesel engines, it realizes the high-speed navigation state on the water surface and the low-speed semi-submersible navigation state. After carrying observation instruments, it is convenient for rapid tracking, multi-point, and high-frequency measurement of the detection object, achieving synchronous detection equivalent to multiple ships with one ship.

[0017] During semi-submersible navigation, the hull is below the water surface, and only part of the appendages of the hull are above the water surface. It can greatly reduce the interference of wind and waves on the water surface, and greatly improve safety and stability. Rear ballast tanks extending backward are arranged on both sides of the engine room for assisting the ship's self-righting, and it also includes two regulating water pumps for adjusting the water volume in the rear ballast tanks, increasing the contact area of the hull bottom with water, playing the role of anti-rolling fins. It improves the constant stability in the semi-submersible state, thereby providing a stable environment for the precise measurement of observation instruments. It has the ability of self-righting in both dual modes, becoming an "upside-down tumbler" on the sea, meeting the requirements of normal operation in sea state 3 and safe navigation in sea state 4. According to the dual-mode operation requirements, taking into account the hull weight, speed, and endurance performance, the dual-mode conversion is smooth and time-consuming.

[0018] By setting a passage opening allowing the turbulence observation instrument to pass through at the bottom of the moon pool cabin, and an automatic opening and closing cover plate for opening and closing the passage opening, the turbulence observation instrument is conformal with the hull and is installed in an embedded manner, ensuring the integrity and watertightness of the hull structure. Description of the Drawings

[0019] Figure 1 It is the side view of the present utility model;

[0020] Figure 2 It is the bottom view of the present utility model;

[0021] Figure 3 It is the schematic diagram of the layout positions of each cabin of the present utility model;

[0022] Figure 4 It is the side view of the lifting mechanism;

[0023] Figure 5 It is the schematic diagram of the working state of the turbulence observation instrument;

[0024] Figure 6 It is the structural schematic diagram of the automatic opening and closing cover plate. Detailed Embodiment

[0025] The following will describe the present utility model in detail with reference to the drawings and specific embodiments.

[0026] As Figure 1-6As shown in the figure, the dual-mode semi-submersible unmanned ship includes an unmanned ship body 1. From the bow to the stern of the unmanned ship body 1, there are a bow peak tank 2, an instrument and equipment compartment 3, a moonpool compartment 4, a rear battery compartment 5, an engine room 6, and a stern compartment 7 in sequence. There is a front battery compartment below the instrument and equipment compartment 3, fuel tank compartments 8 are arranged on both sides of the front battery compartment, and front ballast tanks 9 are arranged on both sides of the moonpool compartment 4. It also includes a control element for controlling the water volume in the two front ballast tanks 9 to enable the unmanned ship body to switch between the water surface and semi-submersible dual modes.

[0027] The control element includes a ballast water pump with a forward and reverse function and used to fill or empty the two front ballast tanks with seawater, which is respectively arranged in the two front ballast tanks 9, a liquid level sensor for detecting the liquid level in the two front ballast tanks, and a controller. The controller is a PLC.

[0028] There is a convex deck 14 in the middle of the unmanned ship body 1. There is a weathertight hatch cover on the convex deck 14. An elevating mast 15 is arranged inside the convex deck 14. A navigation radar, a lidar, and an AIS are integrated on the elevating mast 15. After the elevating mast 15 descends, the equipment above the elevating mast is embedded into the convex deck. With technologies such as the semi-submersible mode and the elevating mast, the windward area is reduced and the stability is enhanced. The maximum detection range of the navigation radar is ≥12 nm; the minimum operating distance is ≤50 m; the detection distance of the lidar is ≥80 m; the frame rate is ≥5 Hz; the number of lines is ≥16 lines; the detection blind area is ≤0.4 m; the detection error is ≤2 cm; the horizontal field of view angle is 360°, and the resolution is 0.1°; the vertical field of view angle is 30°, and the resolution is 2°; the protection level is IP67; the Ethernet output rate is ≥100 Mbps. The frequency range of the AIS is: 156.025 - 162.025 MHz; the receiving sensitivity is < -107 dBm (20% PER); the bit rate is 9600 bps ± 50 ppm (GMSK); 1200 bps ± 30 ppm (FSK); the channel bandwidth is 25 KHz.

[0029] In each of the two fore ballast tanks 9, there is respectively provided a ballast water pump with forward and reverse functions for filling the two fore ballast tanks with seawater or emptying them, as well as a liquid level sensor. Through the above system, rapid switching between the high-speed and semi-submerged navigation modes can be achieved. The two ballast water pumps are respectively arranged at the bottom of the two fore ballast tanks, with a pump flow rate ≥ 100 L / min, and the tanks can be rapidly filled / emptied within 20 minutes, realizing dual-mode switching. There are 2 marine diesel engines 12, 2 marine gearboxes, and 2 sets of jet pumps 13 in the engine room. The marine diesel engine 12 is a YANMAR marine diesel engine made in Japan, and the gearboxes are two ZF68 marine gearboxes produced by ZF Company in Germany, with a speed ratio of 1.514. The jet pumps are KAMEWA FF240 water jet propulsion devices, which can provide dynamic positioning control. The dual-mode semi-submersible unmanned ship has structural features such as a single hull, single deck, and mid "V" type sharp bilge to ensure the water surface high-speed navigation ability. When in semi-submerged navigation, it is in the low-profile vessel (LPV) state. Due to its very low profile, the low-profile vessel has the function of reducing the characteristic signal in the infrared, radar, visual, acoustic, and electronic warfare spectra, thus having good stealth performance. The mid "V" hull design reduces the high-speed navigation resistance in waves and improves the seakeeping performance. When in semi-submerged navigation, the hull is below the water surface, and only part of the appendages of the hull are above the water surface, which can significantly weaken the interference of surface wind and waves and greatly improve safety and stability. There are rear ballast tanks 10 extending backward on both sides of the engine room 6 for assisting the ship's self-righting, and there are also two regulating water pumps 11 for adjusting the water volume in the rear ballast tanks 10, increasing the water contact area at the bottom of the hull and playing the role of a stabilizer fin, improving the constant stability in the semi-submerged state, and thus providing a stable environment for the precise measurement of the turbulence observation instrument. It has the self-righting ability in both dual modes, becoming an "unstable tumbler" at sea, meeting the requirements of normal operation in sea state 3 and safe navigation in sea state 4. According to the dual-mode operation requirements, taking into account the hull weight, speed, and endurance performance, the dual-mode conversion is smooth and time-consuming. The dimensions of the dual-mode semi-submersible unmanned ship in length, width, and height are: 8.5 × 2.5 × 2.6 meters. It is made of high-performance composite materials mainly composed of aramid and carbon fiber, with the core material selected as Balsa and PVC, etc., and the weight is not more than 8 t, making it light in weight and high in strength. It can be single-point hoisted and lowered by the mother ship, propelled by dual diesel engines and dual jet pumps, and the dual mode is controlled by the ballast water tank, with the conversion time ≮ 10 min. The full-load displacement in the high-speed water surface state is 7.45 t, and the speed is 25 kn. The full-load displacement in the semi-submerged state is 11.69 t, and the speed is 5 kn. It is equipped with 2300 L of fuel oil and 80 kW·h of lithium batteries, meeting the requirements of a water surface high-speed endurance ≮ 450 m or a semi-submerged working endurance ≮ 360 h.

[0030] A passage opening allowing the turbulence detector 31 to pass through is provided at the bottom of the moon pool cabin, and an automatic opening and closing cover plate for opening and closing the passage opening. The automatic opening and closing cover plate includes two rod bodies whose tops are rotatably connected to the inner wall of the moon pool cabin 4. At the bottoms of the two rod bodies, a cover plate body 16 rotatably connected to the two rod bodies is respectively provided, and a hydraulic cylinder 17 for driving the cover plate body 16 to operate and hinged to the inner wall of the moon pool cabin 4. They are symmetric left and right. By providing a passage opening allowing the turbulence detector to pass through at the bottom of the moon pool cabin and an automatic opening and closing cover plate for opening and closing the passage opening, the turbulence detector is conformal with the hull and is installed in an embedded manner, ensuring the integrity and watertightness of the hull structure.

[0031] It also includes a lifting mechanism for lifting the turbulence detector. The lifting mechanism includes a winch seat 18 provided above the engine room 6, a winch body 19 provided on the winch seat 18, a cable 20 and two correspondingly arranged guide rollers 21. It also includes a first seat plate 22 provided outside the moon pool cabin 4. A first pulley 23 and a first pulley bracket 24 are provided below the first seat plate 22. A guide rod 25 rotatably connected to the first pulley bracket 24 is provided on the first pulley bracket 24. A guide wheel 26 is provided on the guide rod 25. A second seat plate 27 is provided on the inner wall of the moon pool cabin 4. A second pulley and a second pulley bracket 28 are provided on the second seat plate 27. A conduit 29 allowing the cable to pass through is provided on the cabin wall of the moon pool cabin 4.

[0032] A camera 30 is also provided on the unmanned ship body 1. Frame rate of the camera: 50Hz: 25fps (1920×1080, 1280×960, 1280×720), 50fps (1280×960, 1280×720); Optical zoom: 23x zoom; Digital zoom: 16x zoom; Infrared irradiation distance ≥100m; Focal length: 4.8 - 115mm; Horizontal viewing angle: 64.5 - 3.2° (wide angle - telephoto); Adjustment range: horizontal 360°, vertical - 15° to 90°; Storage function supports MicroSD / SDHC / SDXC card (256G); Video compression standard: H.265 / H.264 / MJPEG.

[0033] Certainly, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those of ordinary skill in the art within the essence of the present invention should also fall within the protection scope of the present invention.

Claims

1. Bimodal semi-submersible unmanned vessel, characterized in that: It includes an unmanned ship body. From the bow to the stern of the unmanned ship body, there are a bow peak tank, an instrument equipment cabin, a moon pool cabin, a rear battery cabin, an engine room, and a stern cabin in sequence. There is a front battery cabin below the instrument equipment cabin, fuel tank cabins on both sides of the front battery cabin, and front ballast tanks on both sides of the moon pool cabin. It also includes a control element for controlling the water volume in the two front ballast tanks to enable the unmanned ship body to switch between the water surface and semi-submerged dual modes.

2. The dual-modal semi-submersible unmanned vessel according to claim 1, characterized in that, The control element includes a ballast water pump with a forward and reverse function and used to fill or empty the two front ballast tanks with seawater, which is respectively arranged in the two front ballast tanks, and a liquid level sensor for detecting the liquid level in the two front ballast tanks. It also includes a controller.

3. The dual-mode semi-submersible unmanned ship according to claim 2, characterized in that, There are rear ballast tanks extending rearward on both sides of the engine room for assisting the ship to self-right. It also includes two regulating water pumps for adjusting the water volume in the rear ballast tanks.

4. The dual-mode semi-submersible unmanned vessel according to claim 3, characterized in that There are 2 marine diesel engines and 2 marine gearboxes in the engine room. There are two jet pumps with dynamic positioning functions behind the 2 marine diesel engines.

5. The dual-mode semi-submersible unmanned ship according to claim 4, characterized in that, There is a convex deck in the middle of the unmanned ship body. There is a weathertight hatch cover on the convex deck. There is a lifting mast in the convex deck, and a navigation radar, a lidar, and an AIS are integrated on the lifting mast.

6. The dual-mode semi-submersible unmanned ship according to claim 5, characterized in that, There is also a camera on the unmanned ship body.

7. The dual-modal semi-submersible unmanned ship according to claim 6, wherein, Its length, width, and height dimensions are: 8.5×2.5×2.6 meters, and the weight is not more than 8t.

8. The dual-mode semi-submersible unmanned ship according to claim 7, wherein, There is a passage opening at the bottom of the moon pool cabin to allow the passage of a turbulence observator, and an automatic opening and closing cover plate for opening and closing the passage opening.

9. The dual-mode semi-submersible unmanned ship according to claim 8, characterized in that, It also includes a lifting mechanism for lifting the turbulence observator.

10. The dual-modal semi-submersible unmanned ship according to claim 9, characterized in that, The lifting mechanism includes a winch seat arranged above the engine room, a winch body arranged on the winch seat, a cable, and two corresponding guide rollers. It also includes a first seat plate arranged outside the moon pool cabin. There is a first pulley and a first pulley frame below the first seat plate. There is a guide rod rotatably connected to the first pulley frame on the first pulley frame, and a guide wheel is arranged on the guide rod. There is a second seat plate on the inner wall of the moon pool cabin, a second pulley and a second pulley frame are arranged on the second seat plate, and a conduit allowing the cable to pass through is arranged on the cabin wall of the moon pool cabin.

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