Hydrological environment perception and wave self-adaption unmanned ship

Abstract

The utility model belongs to the technical field of unmanned ship equipment, and particularly relates to a hydrological environment perception and wave self-adaption unmanned ship which comprises a ship body, a camera device arranged at the front end of the ship body, a water flow monitoring sensor arranged at the bottom of the ship body and a triaxial accelerometer ship body arranged in the ship body. The ship body is connected to the two buoyancy tanks through a front-end supporting rod and a rear-end supporting rod, the rear-end supporting rod is connected with the buoyancy tanks through rotating shafts, a damping device, a camera device, a water flow monitoring sensor and a triaxial accelerometer are arranged at the connecting positions of the front-end supporting rod and the buoyancy tanks, and the triaxial accelerometer is connected with a main control module in the ship body. The main control module transmits data to a ground control station through the communication module and is connected with the damping device; the wave amplitude and the water flow speed of the front water surface can be monitored autonomously, and when amplitude vibration of the ship body is caused by waves, ship body bumping caused by the waves on the water surface can be dealt with through the self-adaptive damping device, so that the ship body is kept stable.

Description

Technical Field

[0001] This utility model belongs to the field of unmanned vessel equipment technology, specifically relating to an unmanned vessel with hydrological environment perception and wave adaptive capability. Background Technology

[0002] With the development of science and technology, unmanned surface vessel (USV) technology is becoming increasingly mature. Compared with manned vessels, USVs are characterized by their small size, ease of operation, and reduced risks associated with manual labor, making them highly valuable in both civilian and military fields. Currently, the hydrological environment is a crucial reference for ships navigating at sea. When a vessel is sailing on water, timely understanding of the wave amplitude and current speed along the route ahead provides significant safety assurance for navigation and mission execution, especially in field reconnaissance, exploration, and line patrol operations. With the increasing demands of maritime transportation, mastering hydrological environment and wave adaptive technology is a key issue that needs to be addressed in maritime missions.

[0003] Therefore, there is an urgent need for a hydrological environment perception and wave-adaptive unmanned surface vessel (USV) that can transmit hydrological environment information to navigation vessels in real time and perform wave-adaptive processing to enable the USV to operate autonomously and solve the navigation problems of civilian and military vessels. Utility Model Content

[0004] To address the shortcomings of existing technologies, this patent provides a hydrological environment sensing and wave-adaptive unmanned surface vessel (USV) that solves the problems of not understanding the hydrological environment and dealing with the hull pitching caused by waves. It can autonomously monitor the wave amplitude and water flow speed on the water surface ahead, and when waves cause amplitude vibrations to the hull, it can use an adaptive damping device to deal with the hull pitching caused by the water surface waves, so as to keep the hull stable.

[0005] A hydrological environment perception and wave-adaptive unmanned surface vessel (USV) includes a hull, a camera at the front of the hull for capturing hydrological and wave conditions, a water flow monitoring sensor at the bottom of the hull for monitoring water velocity and flow rate, a three-axis accelerometer inside the hull for detecting vibration deviations, and a communication antenna at the top of the hull. The hull is connected to two pontoons via a front and rear support rod, with the rear support rod connected to the pontoons via a pivot. The front support rod consists of two curved support rods hinged together to form an arc structure, and a shock-absorbing device is installed at the connection between the front support rod and the pontoons. Propellers are located at the stern of the two pontoons and are connected to drive motors inside the pontoons. The camera, water flow monitoring sensor, and three-axis accelerometer are connected to a main control module inside the hull. The main control module transmits data to a computer at a ground control station via a communication antenna connected to a communication module. The main control module is also connected to the shock-absorbing device and the drive motor.

[0006] The top of the hull is equipped with a solar panel, which is connected to a battery inside the hull. The battery powers the camera device, water flow monitoring sensor, three-axis accelerometer, main control module, shock absorption device, and drive motor.

[0007] The hull has a hexagonal structure, and the camera device includes three visual cameras, which are respectively installed on the three end faces at the front of the hull. The field of view of the three visual cameras covers 270 degrees.

[0008] The water flow monitoring sensor is fixed to the bottom of the hull via a connecting rod.

[0009] The shock absorption device includes a damping telescopic rod and a steel frame. One end of the damping telescopic rod is fixedly connected to the pontoon, and the other end of the damping telescopic rod is fixedly connected to the center of the steel frame. The top of the steel frame is fixedly connected to the arc-shaped support rod of the front support rod. The bottom of the steel frame is connected to the pontoon through a rotating shaft. The damping telescopic rod is driven by a telescopic motor, which is connected to the main control module.

[0010] The steel frame is composed of two trapezoidal steel frames connected by a fixed shaft. The trapezoidal steel frame is composed of multiple triangular steel frames connected by connecting rods. The telescopic rod is fixedly connected to the middle of the fixed shaft, the top of the fixed shaft is fixedly connected to the front support rod, and the bottom of the fixed rod is connected to the pontoon through a rotating shaft.

[0011] The beneficial effects of the utility model are:

[0012] 1. This application is equipped with 3 cameras, which can monitor waves with a 270-degree field of view. It can not only observe the wave trend in front, but also observe the wave trend to the left and right. By judging the wave amplitude and the water flow speed by the water flow monitoring sensor, the hull can plan the route and speed in advance, which provides an effective guarantee for the efficient operation of unmanned ships.

[0013] 2. This application has a shock-absorbing device at the connection between the front support rod and the pontoon. The front support rod is a hinged structure and is connected to the rear support rod and the pontoon via a rotating shaft. This allows the main control module to control the shock-absorbing device to change the damping in real time when the three-axis accelerometer detects the vibration deviation of the unmanned vessel. Combined with the hinged connection between the arc-shaped support rods of the front support rods, it complements the vibration direction of the unmanned vessel, thereby reducing the hull's swaying amplitude and achieving hull balance. Furthermore, when the pontoon tilts, the rotating shaft structure between the rear support rod and the pontoon allows the hull to rotate accordingly by a certain angle, thus ensuring the stability of the entire unmanned vessel.

[0014] 3. This utility model uses solar power and energy storage, which can be used in situations where there is no power source at sea, making it energy-saving and environmentally friendly. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of the unmanned vessel of this utility model;

[0016] Figure 2 This is a schematic diagram of the hull structure of the unmanned vessel of this utility model;

[0017] Figure 3 This is a front view of the unmanned boat of this utility model;

[0018] Figure 4 This is a rear view of the unmanned vessel of this utility model;

[0019] Figure 5 This is a top view of the unmanned vessel of this utility model;

[0020] Figure 6 This is a schematic diagram of the shock absorption device for the unmanned vessel of this utility model;

[0021] In the attached diagram: 1. Hull; 2. Main control module; 3. Communication module; 4. Battery; 5. Triaxial accelerometer; 6. Visual camera; 7. Communication antenna; 8. Front support rod; 801. Arc-shaped support rod; 9. Rear support rod; 10. Shock absorption device; 1001. Steel frame; 1002. Fixed shaft; 1003. Damping telescopic rod; 11. Float; 12. Water flow monitoring sensor; 13. Connecting rod; 14. Propeller; 15. Solar panel. Detailed Implementation

[0022] To better explain and facilitate understanding of this utility model, the technical solution and effects of this utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] like Figure 1-6 As shown, a hydrological environment perception and wave adaptive unmanned surface vessel (USV) includes a hull 1 with a hexagonal structure. A camera device is located at the front of the hull 1, comprising three visual cameras 6, respectively mounted on three end faces at the front of the hull 1. The field of view of the three visual cameras 6 covers 270 degrees. The image information acquired by the visual cameras 6 uses Radon transform to extract the straight line parameters of the water surface line. The wave conditions are determined by analyzing the changes in the slope K and intercept B of the water surface line. In this embodiment, the visual camera 6 is model MV-CS050-10UM.

[0024] The bottom of the hull 1 is connected to a water flow monitoring sensor 12 that extends into the water via a connecting rod 13. In this embodiment, the water flow monitoring sensor 12 is a turbine monitoring sensor, which monitors the water speed and flow rate based on the rotational speed and water volume of the turbine driven by the water flow. A triaxial accelerometer 5 is installed inside the hull 1 to detect the vibration deviation of the hull. In this embodiment, the triaxial accelerometer 5 is model WT-VB01-485. A communication antenna 7 is installed on the top of the hull 1 to transmit and receive signals. The hull 1 is connected to two pontoons 11 via a front support rod 8 and a rear support rod 9. The rear support rod 9 is connected to the pontoon 11 via a pivot. The front support rod 8 consists of two arc-shaped support rods 801 hinged together to form an arc structure. A shock absorption device 10 is installed at the connection between the front support rod 8 and the pontoon 11. The shock absorption device 10 includes a damping telescopic rod 1003 and a steel frame 1001. The steel frame 1001 consists of two trapezoidal steel frames connected by a fixed shaft. The trapezoidal steel frame is composed of multiple triangular steel frames connected by connecting rods. One end of the damping telescopic rod 1003 is fixedly connected to the pontoon 11, and the other end of the damping telescopic rod 1003 is fixedly connected to the middle of the fixed shaft 1002. The top of the fixed shaft 1002 is fixedly connected to the arc-shaped support rod 801 of the front support rod 8. The bottom of the fixed shaft 1002 is connected to the pontoon through a rotating shaft. The damping telescopic rod 1003 is driven by a telescopic motor, which is connected to the main control module 2. When a large wave vibration occurs on one side of the pontoon 11, the damping telescopic rod 1003 connected to that side of the pontoon 11 extends and retracts. The rotating shaft at the connection between the fixed shaft and the pontoon can drive the steel frame 1001 to rotate at a certain angle, thereby achieving the effect of shock absorption on the hull. At the same time, combined with the hinged setting of the two arc-shaped support rods 801 of the front support rod 8, the stability of the hull is ensured, adapting to the wave environment and preventing the hull from capsizing.

[0025] Two pontoons 11 are equipped with propellers 14 at their sterns, and the propellers 14 are connected to the drive motors inside the pontoons 11; three vision cameras 6, a water flow monitoring sensor 12, and a triaxial accelerometer 5 are connected to the main control module 2 inside the hull 1. The main control module 2 transmits data to the computer at the ground control station through a communication antenna 7 connected to the communication module 3. The main control module 2 is connected to the telescopic motor and drive motor of the shock absorption device 10.

[0026] The top of the hull 1 is equipped with a solar panel 15, which is connected to a battery 4 inside the hull. The battery 4 supplies power to three vision cameras 6, a water flow monitoring sensor 12, a triaxial accelerometer 5, a main control module 2, and the telescopic motor and drive motor of the shock absorption device 10. Using the solar panel 15 can achieve the purpose of energy saving and environmental protection, while ensuring the power storage problem for ocean operations.

[0027] The following describes a single use of this utility model with reference to the accompanying drawings:

[0028] When the unmanned surface vessel (USV) receives hydrological environment perception commands from the ground control station's computer, the main control module 2 powers the propeller 14 via a drive motor to control the USV's forward navigation. Three visual cameras 6 begin real-time environmental observation, using Radon transform to extract the straight-line parameters of the horizon line, and then obtaining changes in the horizon line's slope and intercept to determine the wave amplitude ahead. Simultaneously, a water flow monitoring sensor 12, connected to the bottom of the hull 1 via a connecting rod 13, is submerged in water. As water flows through the sensor 12, it drives the internal turbine fan to rotate, thus determining the current water flow velocity and flow rate. Finally, the collected wave amplitude, water flow velocity, and flow rate information are transmitted to the main control module 2. The data is transmitted to the computer at the ground control station via the communication module 3 and the communication antenna 7, thus achieving the purpose of hydrological environment perception. When the wave amplitude of the approaching waves is too large, the unmanned vessel will select a low wave amplitude area that allows the vessel to travel safely based on the global wave situation observed by the visual camera 6 and adjust its course. If the wave amplitude is too large and it is not suitable to pass, the main control module 2 will drive the propeller 14 to move, so that the unmanned vessel can adjust its direction according to the wave situation. At the same time, the detection vessel will adjust its speed according to the water flow speed monitored by the water flow monitoring sensor 12, so as to achieve the requirement of saving effort and reaching the destination within the planned time.

[0029] When the triaxial accelerometer 5 detects the vibration deviation of the unmanned vessel, the main control module 2 drives the telescopic motor to move. For example, if the vibration amplitude on the left side of the unmanned vessel is detected, the main control module 2 drives the telescopic motor on the left side to move, which in turn drives the damping telescopic rod 1003 on the left side to extend and retract. At this time, the steel frame 1001 rotates around the pontoon through the pivot, and combined with the hinged connection between the arc support rods 8 at the front end, it complements the vibration direction of the unmanned vessel, thereby achieving the balance of the hull. Moreover, when the pontoon 11 tilts, the pivot structure between the rear support rod 9 and the pontoon 11 can make the hull rotate accordingly at a certain angle, thereby ensuring the stability of the entire unmanned vessel.

Claims

1. A hydrological environment perception and wave-adaptive unmanned surface vessel, characterized in that, The vessel includes a hull with a camera system at its bow. This system collects hydrographic and wave data and consists of three visual cameras mounted on three end faces at the bow, covering a 270-degree field of view. The images captured by the visual cameras are processed using Radon transform to extract the straight-line parameters of the waterline. Changes in the slope K and intercept B of the waterline are analyzed to determine the wave conditions. A submerged water flow monitoring sensor is located at the bottom of the hull to monitor water velocity and flow rate. A three-axis accelerometer is installed inside the hull to detect vibration deviations. The top of the hull... The vessel is equipped with a communication antenna. The hull is connected to two pontoons via a front and rear support rod. The rear support rod is connected to the pontoons via a pivot. The front support rod consists of two curved support rods hinged together to form an arc structure. A shock-absorbing device is installed at the connection between the front support rod and the pontoons. Propellers are installed at the stern of the two pontoons and are connected to drive motors inside the pontoons. A camera device, a water flow monitoring sensor, and a three-axis accelerometer are connected to the main control module inside the vessel. The main control module transmits data to the computer at the ground control station via a communication antenna connected to the communication module. The main control module is also connected to the shock-absorbing device and the drive motor.

2. The hydrological environment perception and wave adaptive unmanned surface vessel according to claim 1, characterized in that, The top of the hull is equipped with a solar panel, which is connected to a battery inside the hull. The battery powers the camera device, water flow monitoring sensor, three-axis accelerometer, main control module, shock absorption device, and drive motor.

3. The hydrological environment perception and wave adaptive unmanned surface vessel according to claim 1, characterized in that, The hull has a hexagonal structure.

4. The hydrological environment perception and wave adaptive unmanned surface vessel according to claim 1, characterized in that, The water flow monitoring sensor is fixed to the bottom of the hull via a connecting rod.

5. The hydrological environment perception and wave adaptive unmanned surface vessel according to claim 1, characterized in that, The shock absorption device includes a damping telescopic rod and a steel frame. One end of the damping telescopic rod is fixedly connected to the pontoon, and the other end of the damping telescopic rod is fixedly connected to the center of the steel frame. The top of the steel frame is fixedly connected to the arc-shaped support rod of the front support rod. The bottom of the steel frame is connected to the pontoon through a rotating shaft. The damping telescopic rod is driven by a telescopic motor, which is connected to the main control module.

6. The hydrological environment perception and wave adaptive unmanned surface vessel according to claim 5, characterized in that, The steel frame is composed of two trapezoidal steel frames connected by a fixed shaft. The trapezoidal steel frame is composed of multiple triangular steel frames connected by connecting rods. The telescopic rod is fixedly connected to the middle of the fixed shaft, the top of the fixed shaft is fixedly connected to the front support rod, and the bottom of the fixed rod is connected to the pontoon through a rotating shaft.

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