Symmetrical turnover unmanned ship capable of rollover, adjustable in gravity center and stable in running

Abstract

The utility model provides a symmetrical turnover unmanned ship capable of rollover, adjustable in gravity center and stable in running, which belongs to the technical field of unmanned ships and comprises an unmanned ship main body, the unmanned ship main body is of a closed ship-shaped structure which is axially symmetrical up and down, and a gravity center adjusting system is arranged in the unmanned ship main body. The gravity center adjusting system comprises a set of pipelines arranged in the middle of the unmanned ship body, the pipelines are communicated with an upper liquid cavity and a lower liquid cavity which are located on the upper portion and the lower portion of the unmanned ship body respectively, and the upper liquid cavity and the lower liquid cavity are filled with liquid. A power propulsion system is mounted at the rear part of the unmanned ship main body; and an attitude sensor, a gravity center sensor and a controller are also mounted on the unmanned ship main body. When the unmanned ship rolls over, liquid in the upper liquid cavity of the gravity center adjusting system flows to the lower liquid cavity under the action of gravity, and the gravity center of the unmanned ship is automatically adjusted; monitoring the state of the unmanned ship in real time through an attitude sensor; the controller automatically adjusts the power and steering of the propeller according to data of the sensor, and it is ensured that the unmanned ship can still run normally after rollover.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the unmanned ship technical field, concretely relates to a symmetrical overturning unmanned ship of stable running of adjustable barycenter of lateral overturning. BACKGROUND

[0002] The traditional unmanned ship is prone to lateral overturning when encountering adverse sea conditions or collision and other unexpected situations, resulting in inability to travel normally or even sinking. The existing solutions mostly rely on external force rescue or complex mechanical structure to realize overturning reset, and have problems of complex operation, low reliability and the like. In addition, the barycenter adjustment capability and autonomous adaptation capability of the existing unmanned ship are limited, and it is difficult to maintain stable running in complex sea conditions. Therefore, it is of important practical significance to design an unmanned ship capable of directly normal running after lateral overturning and running on both sides. SUMMARY

[0003] The utility model aims at providing a symmetrical overturning unmanned ship of stable running of adjustable barycenter of lateral overturning, which can directly adjust the barycenter after lateral overturning and then can run normally and stably, without overturning reset, and significantly improves the stability and reliability of the unmanned ship.

[0004] The utility model achieves the purpose by the following technical scheme:

[0005] A symmetrical overturning unmanned ship of stable running of adjustable barycenter of lateral overturning comprises an unmanned ship body, the unmanned ship body is a closed boat-shaped structure symmetrical about an axis, the unmanned ship body has a barycenter adjustment system inside, the barycenter adjustment system comprises a group of pipelines arranged in the middle of the unmanned ship body, the group of pipelines are in communication with an upper liquid cavity and a lower liquid cavity respectively arranged on the upper and lower parts of the unmanned ship body, and the upper liquid cavity and the lower liquid cavity are filled with liquid; a power propulsion system is installed at the rear of the unmanned ship body; and an attitude sensor, a barycenter sensor and a controller are further installed on the unmanned ship body.

[0006] Further, the attitude sensor is installed at the front end inside the unmanned ship body and located on the axis of the unmanned ship body.

[0007] Further, a satellite navigation system, an INS inertial navigation system, a positioning module and a hydrogen-oxygen storage tank are installed inside the unmanned ship body, the satellite navigation system, the INS inertial navigation system and the positioning module are located on the axis of the unmanned ship body, and the hydrogen-oxygen storage tank is located on the left side of the axis of the unmanned ship body and the storage tank is arranged on the left side of the positioning module.

[0008] Further, signal receiving devices and signal transmitting devices are installed on both sides of the unmanned ship body.

[0009] Further, image collectors are installed on the front end and both sides of the unmanned ship body.

[0010] Further, the unmanned ship body is provided with a protective layer against wall collision on the front end and both sides of the outer part of the unmanned ship body.

[0011] Further, a sonar is installed on the outer part of the unmanned ship body, and the sonar is located on the rear side of the image collector.

[0012] Further, the rear part of the inner part of the unmanned ship body is provided with a generator and a battery, and the generator and the battery are located on the central axis of the unmanned ship body, and the battery is arranged on the left side of the generator.

[0013] Further, the power propulsion system is two propeller thrusters or water jet thrusters.

[0014] Further, the signal receiving devices, the signal transmitting devices, the attitude sensor, the image collector, the INS inertial navigation system, the satellite navigation system, the positioning module, the sonar, the power propulsion system and the battery are electrically connected with a control cabinet, and the control cabinet is installed on the main body axis in the inner part of the unmanned ship body.

[0015] The utility model discloses the beneficial effect lies in:

[0016] The utility model discloses the gravity center adjusting system is located at the center of the ship body, when unmanned ship rolls over, liquid shifts between upper liquid cavity and lower liquid cavity under the action of gravity, changes the gravity center distribution of ship body, makes ship body can automatically adjust gravity center after rolling over, keeps stable driving posture. Unmanned ship can directly normally drive after rolling over, need not external force intervention, has improved the autonomy and reliability of unmanned ship significantly.

[0017] The utility model discloses the axial symmetry design and liquid gravity center adjusting system of the ship body, make unmanned ship both sides can drive, enhanced its adaptability under complex sea conditions.

[0018] The utility model discloses the closed ship body structure effectively prevents liquid leakage, has improved the safety and stability of unmanned ship.

[0019] The utility model discloses the high strength, corrosion -resistant composite material of adoption, combines intelligent control technology, has further improved the performance and task execution efficiency of unmanned ship, has improved the autonomy and reliability of unmanned ship under complex sea conditions significantly, is suitable for marine monitoring, resource detection and emergency rescue etc. task. DRAWINGS

[0020] ATTACH Figure 1This is a schematic diagram of the structure of this utility model.

[0021] Appendix Figure 2 This is the appearance drawing of this utility model.

[0022] Appendix Figure 3 This is a schematic diagram of the center of gravity adjustment system of this utility model.

[0023] Appendix Figure 4 This is a schematic diagram of the power propulsion system of this utility model.

[0024] Appendix Figure 5 This is a schematic diagram of the attitude sensor of this utility model.

[0025] Appendix Figure 6 This is a schematic diagram of the controller of this utility model.

[0026] In the attached diagram: 1. Signal receiving device; 2. Image acquisition device; 3. Attitude sensor; 4. Center of gravity adjustment system; 5. Lower liquid chamber; 6. Signal transmitting device; 7. Satellite navigation system; 8. INS inertial navigation system; 9. Positioning module; 10. Hydrogen-oxygen storage tank; 11. Anti-collision protective layer; 12. Control system; 13. Center of gravity sensor; 14. Upper liquid chamber; 15. Sonar; 16. Water inlet; 17. Propulsion system; 18. Generator; 19. Battery; 20. Control cabinet. Detailed Implementation

[0027] The present invention will now be further described with reference to the accompanying drawings.

[0028] This utility model provides a symmetrical tilting unmanned surface vessel that can tilt sideways and has an adjustable center of gravity for stable operation, as shown in the attached figure. Figures 1-3 As shown, it includes: an unmanned surface vessel (USV) body, which is a closed boat-shaped structure with vertical axis symmetry; a center of gravity adjustment system 4 inside the USV body, which includes a set of pipes located in the middle of the USV body, which are connected to an upper liquid cavity 14 and a lower liquid cavity 5 located at the upper and lower parts of the USV body respectively, and the upper liquid cavity 14 and the lower liquid cavity 5 are filled with liquid; a power propulsion system 17 is installed at the rear of the USV body; and an attitude sensor 3, a center of gravity sensor 13 and a controller 12 are also installed on the USV body.

[0029] The unmanned surface vessel (USV) features a sealed hull design to effectively prevent liquid leakage while enhancing its waterproofing and corrosion resistance. Both sides of the USV's main body can serve as its navigable surface, and it is constructed from high-strength, corrosion-resistant composite materials such as carbon fiber to ensure its service life in marine environments.

[0030] As attached Figure 4As shown, the power propulsion system 17 is two propeller or water jet propeller, wherein two propeller is two electric motor control two propeller double propeller propulsion system.

[0031] The upper liquid chamber 14 and the lower liquid chamber 5 are provided with water injection ports 16, and the liquid in the liquid chamber is water, brine or other liquid with high density, and the density and viscosity of the liquid are optimized according to the hull design.

[0032] Preferably, the pipeline is an hourglass-shaped pipeline, which is helpful for uniform distribution of the liquid in the pipeline, thereby improving the transmission efficiency.

[0033] When the unmanned ship is tilted, the liquid flows to the lower liquid chamber under the action of gravity, the center of gravity of the ship is changed, and the ship can automatically adjust the center of gravity after tilting to maintain a stable driving posture.

[0034] As shown in the accompanying drawings, Figure 5 As shown, the attitude sensor 3 is installed at the front end of the unmanned ship body and located on the axis of the unmanned ship body, which can monitor the state of the ship body in real time and automatically adjust the power and direction of the propeller to realize stable driving

[0035] In the embodiment, a satellite navigation system 7, an INS inertial navigation system 8, a positioning module 9 and a hydrogen-oxygen storage tank 10 are installed in the unmanned ship body.

[0036] The positioning module 9 is installed at the middle end of the unmanned ship body and provides positioning and navigation functions for the unmanned ship.

[0037] The satellite navigation system 7 selects a Beidou navigation system.

[0038] In this embodiment, the unmanned ship body is provided with signal receiving device 1 and signal transmitting device 6 on both sides, and a bidirectional antenna is used to ensure that the unmanned ship can still work normally when it is turned over.

[0039] The front end and both sides of the unmanned ship body are provided with image collectors 2 for underwater image signal collection.

[0040] The front end and both sides of the unmanned ship body are provided with image collectors 2 for underwater image signal collection.

[0041] The front end and both sides of the unmanned ship body are provided with image collectors 2 for underwater image signal collection.

[0042] The rear part of the inside of the unmanned ship body is provided with a generator 18 and a battery 19, and the generator 18 and the battery 19 are located on the center axis of the unmanned ship body, and the battery is arranged on the left side of the generator.

[0043] The signal receiving device 1, the signal transmitting device 6, the attitude sensor 3, the image collector 2, the INS inertial navigation system 8, the satellite navigation system 7, the positioning module 9, the sonar 15, the power propulsion system 17 and the battery 19 are respectively electrically connected with the control cabinet 20, and the control cabinet 20 is installed on the main axis in the inside of the unmanned ship body.

[0044] In this embodiment, the unmanned ship body is provided with an attitude sensor, a gravity center sensor and a controller 12 to form a control system, which can monitor the attitude and gravity center change of the ship body in real time. The controller uses advanced algorithm to automatically adjust the power and direction of the power propulsion system 17 according to the sensor data, so as to realize stable driving of the unmanned ship.

[0045] In this embodiment, the unmanned ship adopts intelligent and autonomous technology, and the unmanned ship combines advanced sensor technology, can realize real-time sensing of the marine environment and the state of the unmanned ship, supports autonomous navigation, obstacle avoidance and path planning. Through optimization algorithm and sensor integration, the unmanned ship can realize completely autonomous remote task execution in complex marine environment.

[0046] When the unmanned ship is rolled over, the liquid in the liquid cavity of the gravity center adjusting system flows to the lower liquid cavity under the action of gravity, and the gravity center of the unmanned ship is automatically adjusted; the state of the unmanned ship is monitored in real time through the attitude sensor; the controller automatically adjusts the power and steering of the propeller according to the sensor data, so as to ensure that the unmanned ship still drives normally after rolling over.

[0047] The above merely describes preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A symmetrical overturning unmanned surface vehicle capable of roll-over, adjustable center of gravity and stable sailing, characterized in that, The unmanned ship body is an upper and lower axis symmetrical closed ship-shaped structure, and has a gravity center adjusting system (4) inside the unmanned ship body. The attitude sensor (3) is installed at the front end inside the unmanned ship body and located on the axis of the unmanned ship body.

2. The symmetrical overturning unmanned surface vehicle with adjustable gravity center and stable rolling according to claim 1, characterized in that, The satellite navigation system (7), the INS inertial navigation system (8), the positioning module (9), and the hydrogen-oxygen storage tank (10) are installed inside the unmanned ship body, and the satellite navigation system (7), the INS inertial navigation system (8), and the positioning module (9) are located on the axis of the unmanned ship body.

3. The symmetrical overturning unmanned surface vehicle of claim 1 or 2, wherein, The signal receiving device (1) and the signal transmitting device (6) are installed on both sides of the unmanned ship body.

4. The symmetrical overturning unmanned surface vehicle of claim 3, wherein, The image collector (2) is installed on the front end and both sides of the unmanned ship body.

5. The symmetrical overturning unmanned surface vehicle of claim 4, wherein, The front end and both sides of the unmanned ship body are provided with a barrier collision protection layer (11).

6. The symmetrical overturning unmanned surface vehicle of claim 5, wherein, The sonar (15) is installed outside the unmanned ship body and located behind the image collector (2).

7. The symmetrical overturning unmanned surface vehicle of claim 6, wherein, The generator (18) and the battery (19) are located on the central axis of the unmanned ship body.

8. The symmetrical overturning unmanned surface vehicle of claim 7, wherein, The power propulsion system (17) is two propeller thrusters or water jet thrusters.

9. The symmetrical overturning unmanned surface vehicle of claim 8, wherein, The signal receiving device (1), the signal transmitting device (6), the attitude sensor (3), the image collector (2), the INS inertial navigation system (8), the satellite navigation system (7), the positioning module (9), the sonar (15), the power propulsion system (17), and the battery (19) are respectively electrically connected with the control cabinet (20), and the control cabinet (20) is installed on the main body axis inside the unmanned ship body.

10. The symmetrical overturning unmanned surface vehicle of claim 9, wherein, ​

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