Unmanned ship

Abstract

The unmanned ship comprises a hollow ship body and a control circuit arranged on the hollow ship body, a vertically-through mounting hole is formed in the hollow ship body, and a water spraying device is arranged in the mounting hole. The water spraying device comprises a shell, a pump arranged in the shell, a spraying pipe rotationally arranged on the shell and a steering engine in transmission connection with the spraying pipe, a water inlet of the pump is connected with a tail end water pumping pipe, and a water outlet of the pump is communicated with the spraying pipe. The unmanned ship serves as an auxiliary ship for water area cleaning unmanned operation, high-pressure rotating water spraying is achieved through the water spraying device, shoal water areas or shoreside water areas can be subjected to water spraying sweeping, blue-green algae are swept to deep water areas to be collected and fished, and the problem of blue-green algae and garbage cleaning in the areas close to the shoreside is solved.

Description

Technical Field

[0001] This application relates to the field of aquatic environment management, and in particular to an unmanned vessel. Background Technology

[0002] With the development of technology, more and more unmanned vessels are being deployed for water cleanup. However, traditional salvage vessels, due to their deep draft and large turning radius, are helpless in complex boundary areas such as shallow waters, under bridges, areas with dense aquatic plants, and vertical hard shorelines. Blue-green algae easily accumulate in these areas due to wind and waves, forming "shore pollution belts"; while manual salvage faces problems such as limited operating space, high labor intensity, and high safety risks. Therefore, the shoreline cleanup rate is generally low, becoming the "last mile" pain point in blue-green algae control projects. Summary of the Invention

[0003] The purpose of this application is to solve the above-mentioned problems in the prior art and provide an unmanned vessel for water cleaning that can effectively clean and collect blue-green algae, fallen leaves and other garbage in shallow waters and on the shore.

[0004] To achieve the above objectives, this application adopts the following technical solution: an unmanned surface vessel, comprising: a hollow hull, a control circuit disposed on the hollow hull, wherein the hollow hull has a vertically penetrating mounting hole, and a water spraying device is disposed within the mounting hole, the water spraying device comprising a housing, a pump disposed within the housing, a nozzle rotatably disposed on the housing, and a servo motor drivenly connected to the nozzle, wherein the pump inlet is connected to an end suction pipe, and the pump outlet is connected to the nozzle.

[0005] In one possible implementation, the control circuit includes a positioning module, a navigation module, and an obstacle avoidance module.

[0006] In one possible implementation, the obstacle avoidance module includes an obstacle avoidance radar.

[0007] In one possible implementation, the control circuit further includes a connector for an external cable that is connected to an external master vessel for communication and / or power supply.

[0008] In one possible implementation, a power module is also provided at the rear of the hollow hull, and the power module includes at least one propeller.

[0009] In one possible implementation, the power module also includes a battery pack or solar circuit board that powers the second thruster.

[0010] In one possible implementation, the servo motor is fixedly mounted on the housing, a connecting block is fixed on the nozzle, the servo motor has a rudder disk, and the rudder disk is eccentrically connected to the connecting block to drive the nozzle to reciprocate in a fan shape.

[0011] In one possible implementation, the outer circumferential surface of the rudder disk is a gear surface, a gear is mounted on the bottom of the connecting block, and the gear surface of the rudder disk meshes with the gear.

[0012] In one possible implementation, the nozzle rotates at an angle of 0° to 180°.

[0013] In one possible implementation, the pump includes a brushless motor and a high-pressure pump head.

[0014] The advantages of this application compared with the prior art are as follows: The unmanned vessel of this application serves as an auxiliary vessel for unmanned water cleaning operations. It achieves high-pressure rotating water spraying through a water spraying device, which can spray water to clean shallow waters or shore waters, sweeping blue-green algae to deep water areas for collection and dredging, thus solving the problem of cleaning blue-green algae and garbage in areas close to the shore. Attached Figure Description

[0015] Figure 1 This is a three-dimensional structural diagram of the auxiliary vessel provided in an embodiment of this application.

[0016] Figure 2 This is a three-dimensional schematic diagram of an unmanned vessel waterway cleaning system provided in an embodiment of this application.

[0017] Figure 3 This is a three-dimensional structural diagram of the main control ship provided in the embodiments of this application.

[0018] Figure 4 A top view of the auxiliary vessel provided in an embodiment of this application;

[0019] Figure 5 This is a three-dimensional structural diagram of the water spraying device provided in the embodiments of this application.

[0020] The components are as follows: 100, main control vessel; 10, main control hull; 11, collection port; 12, garbage storage compartment; 14, hatch guide plate; 16, tipping bucket; 17, rotating shaft; 19, first propeller; 200, auxiliary vessel; 20, hollow hull; 21, water spray device; 211, steering gear; 212, nozzle; 213, outer shell; 214, connecting block; 215, pump; 216, water suction pipe; 300, trawl net device; 31, buoyancy component; 32, filter screen. Detailed Implementation

[0021] To illustrate the technical content, structural features, achieved objectives, and effects of the invention in detail, the technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. In the following description, for illustrative purposes, numerous specific details are set forth to provide a detailed description of various exemplary embodiments or implementations of the invention. However, various exemplary embodiments may also be implemented without these specific details or in one or more equivalent arrangements. Furthermore, the various exemplary embodiments may differ, but are not necessarily exclusive. For example, the specific shape, construction, and characteristics of the exemplary embodiments may be used or implemented in another exemplary embodiment without departing from the inventive concept.

[0022] In the following description, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0023] Furthermore, in this application, spatial relative terms such as “below,” “under,” “below,” “down,” “above,” “above,” “higher,” and “side” (e.g., as in a “sidewall”) are used to describe the relationship between one element and another (other) element as shown in the accompanying drawings. Spatial relative terms are intended to include different orientations of the device in use, operation, and / or manufacture other than those depicted in the drawings. For example, if the device in the drawings is flipped, an element described as “below” or “under” another element or feature would then be positioned “above” said other element or feature. Thus, the exemplary term “below” can include both above and below orientations. Furthermore, the device may be otherwise positioned (e.g., rotated 90 degrees or in other orientations), thus interpreting the spatial relative descriptive terms used herein accordingly.

[0024] In this application, unless otherwise expressly specified and limited, the term "connection" shall be interpreted broadly. For example, "connection" may be a fixed connection, a detachable connection, or an integral part; it may be a direct connection or an indirect connection through an intermediate medium.

[0025] Figure 1 As shown, this is an unmanned vessel provided in an embodiment of this application. The unmanned vessel serves as an auxiliary vessel (hereinafter referred to as the auxiliary vessel) in an unmanned waterway cleaning system. It works in coordination with the main control vessel to achieve shoreline cleaning, collection and salvage of algae and plants on the water surface.

[0026] Specifically, please refer to Figure 1 , 4 The auxiliary vessel 200 includes a hollow hull 20 and a control circuit mounted on the hollow hull 20. The front of the hollow hull 20 has a through-hole mounting hole, and a water spray device 21 is installed within the mounting hole.

[0027] See Figure 5 The water spray device 21 includes a housing 213 (part of the housing is hidden in the figure), a pump 215 disposed inside the housing 213, a nozzle 212 rotatably disposed on the housing 213, and a servo motor 211 that is driven to the nozzle 212. The servo motor 211 drives the nozzle 212 to swing back and forth in a fan shape, thereby achieving high-pressure water spraying and cleaning of the shore.

[0028] Specifically, both the nozzle 212 and the servo motor 211 are mounted on the top surface of the housing 213. The nozzle 212 is fixedly mounted on a connecting block 214 and is connected to the water outlet of the pump 215. The servo motor 211 has a rudder disc, which is eccentrically connected to the connecting block. When the servo motor 211 is working, its output shaft can rotate the connecting block 214, thereby driving the nozzle 212 to sweep the water area in a fan shape. In a preferred embodiment, the rotation angle of the nozzle is 5°-30°. Because high-pressure water spraying is used and the nozzle is more than 5 meters away from the shore, the nozzle only needs to rotate a small angle to achieve a large-area cleaning effect.

[0029] In one embodiment of this application, the outer circumferential surface of the servo disk of the servo motor 211 is a gear surface, and a gear (not shown in the figure) is installed at the bottom of the connecting block 214. The rotation axis of the gear is concentric with the rotation center of the nozzle. Through the meshing of the gear surface of the servo disk with the gear, the nozzle can be driven to swing back and forth in a fan shape.

[0030] To better clean up trash on the shallow shore, pump 215 includes a brushless motor and a high-pressure pump head. The inlet of pump 215 is connected to a terminal suction pipe 216, and the outlet of pump 215 is connected to the spray pipe 212. When the auxiliary vessel 200 operates on the water surface, the end of the suction pipe 216 is below the water surface, continuously drawing in river or lake water. After being pressurized by the pump, the water is sprayed outwards at high pressure through the spray pipe 212. In conjunction with the trawl net device 300 and the main control vessel 100, the auxiliary vessel 200 can also sweep surrounding trash into the trawl net device 300's enclosure area by rotating and sweeping, where it is collected and salvaged by the main control vessel 100.

[0031] A pair of auxiliary vessels 200 are communicatively connected to the main control vessel 100, and the main control vessel 100 plans and navigates the route. During the journey, the auxiliary vessels maintain synchronized speeds with the main control vessel. The control circuit of the auxiliary vessel 100 includes a second navigation module, a second obstacle avoidance module, a second power module, and a second positioning module (not shown in the figure). The second obstacle avoidance module includes an obstacle avoidance radar, and the second power module includes a second thruster (not shown in the figure). In one embodiment of this application, the second power module may include a battery pack or solar circuit board, a permanent magnet synchronous motor, and a propeller or waterjet propulsion device, etc.

[0032] In one embodiment, the control circuit also includes a connector for an external cable, which can be a power supply cable that supplies power to the auxiliary vessel 200. This eliminates the need for a battery pack on the auxiliary vessel 200, further reducing its weight and draft, thus enabling it to enter shallower waters for cleaning operations.

[0033] In some embodiments, the external cable can also be a communication cable, enabling real-time communication between the main control vessel and the auxiliary vessel. Alternatively, the external cable can simultaneously provide power and communication. This application does not limit the form of communication; in some other embodiments, the auxiliary vessel and the main control vessel can also be connected wirelessly, such as via Zigbee, Bluetooth, or Wi-Fi.

[0034] See Figure 2 The image shows a system for waterway cleaning and aquatic environment management using unmanned surface vessels (USVs). The system includes a main control vessel 100 and a pair of auxiliary vessels 200, connected by a trawl net device 300. This system is suitable for cleaning open water bodies such as rivers and lakes, particularly for the removal and collection of fallen leaves, blue-green algae, and aquatic plants.

[0035] Please see Figure 2 , 3 The main control vessel 100 includes a first positioning module, a first navigation module, a central control module, a first power module, a first obstacle avoidance module, and a main control hull 10. A collection port 11 is provided at the front 101 of the main control hull 10, and a garbage storage compartment 12 communicating with the collection port 11 is located in the middle of the main control hull 10. The garbage storage compartment 12 is welded from several perforated steel plates, thus allowing drainage from the sides, bottom, and front and rear of the garbage storage compartment 12 to prevent water accumulation.

[0036] A tipping bucket 16 is rotatably installed on the front side of the garbage storage compartment 12. When the unmanned vessel water cleaning system is in motion, the tipping bucket 16 rotates from bottom to top, dumping garbage and other debris in the water into the garbage storage compartment 12.

[0037] In one embodiment of this application, the draft of the main control vessel 100 is slightly lower than the opening of the garbage storage compartment 12. The lower compartment of the garbage storage compartment 12 is located below the waterline. When the tipping bucket 16 rotates, it can continuously dump aquatic plants and algae, such as blue-green algae, from below the water surface into the garbage storage compartment. The compartment below the waterline is protected by a deck, preventing blue-green algae from scattering. When there is a large amount of garbage inside the unmanned vessel, or when the unmanned vessel has finished its operation, the tipping bucket 16 tilts upwards, blocking the front of the garbage storage compartment 12 to prevent garbage from scattering.

[0038] The first propulsion module includes a pair of first thrusters 19 located at the stern of the main control vessel 10 and a battery pack (not shown) that powers the pair of first thrusters. In some embodiments of this application, the first propulsion module may also include a solar power supply device that provides power to the first thrusters and control circuitry.

[0039] In one embodiment of this application, the first obstacle avoidance module of the main control vessel 100 includes multiple obstacle avoidance radars and a vision system. The vision system can identify aquatic environmental conditions (such as the distribution of cyanobacteria concentration, garbage distribution, etc.), and can also identify obstacles, waterways, or dams, which helps the central control module perform AI calculations and navigation. The obstacle avoidance radars can perceive the surrounding environment in real time during the unmanned vessel's navigation, automatically identify and avoid static or dynamic obstacles, accurately measure the distance to obstacles, and determine the relative speed, thereby assisting the central control module in navigation and propulsion, while ensuring navigation safety and mission continuity.

[0040] The main control vessel 100 is also equipped with a pair of door guide plates 14 at the collection port 11. The door guide plates 14 are rotatably connected to the front of the main control vessel hull 10 via a pair of hinges, and the collection port is opened or closed by a cylinder. The door guide plates 14 are flat and can form a smooth transition guide slope at the collection port 11, which can prevent garbage from accumulating at the connection between the collection port 11 and the trawl net device 300.

[0041] In one embodiment, the first positioning module can employ a GPS positioning chip or a BeiDou positioning chip, and the first navigation module employs an inertial navigation system (INS). An INS is a navigation parameter calculation system that uses gyroscopes and accelerometers as sensing devices. This system establishes a navigation coordinate system based on the gyroscope output and calculates the vehicle's velocity and position within the navigation coordinate system based on the accelerometer output. An INS is an autonomous navigation system that does not rely on external information or radiate energy externally. The basic working principle of INS is based on Newton's laws of motion. By measuring the acceleration of the vehicle in the inertial reference frame, integrating it over time, and transforming it into the navigation coordinate system, information such as velocity, yaw angle, and position in the navigation coordinate system can be obtained.

[0042] The central control module of the master ship acts as a command center. The master ship can receive water area environment data (such as cyanobacteria concentration distribution, garbage distribution, etc.) from the outside through forms such as Bluetooth, WIFI, data card, data cable, etc. It can also, through the first obstacle avoidance module, analyze the water area environment data and obstacle information in real time through visual recognition with the help of a vision system, and generate task strategies (including the optimal operation path) through AI algorithms. At the same time, it is responsible for overall task allocation, path planning, navigation positioning, speed adjustment, and obstacle avoidance functions. The master ship 100 controls the movement direction and speed of the auxiliary ships through power supply cables and communication lines.

[0043] There are two auxiliary ships 200, and the auxiliary ships 200 are located in front of the master ship 100, and the three form a "pin" - shaped configuration. The role of the auxiliary ship 200 is to enter the water area to be cleaned and cooperate with the trawl device 300 to enclose the surface garbage, and finally enter the collection port 11 during the natural movement of the master ship 100.

[0044] The trawl device 300 is connected between each auxiliary ship 200 and the master ship 100. The trawl device 300 includes a buoyancy member 31 for keeping at least part of the trawl device above the water surface, a filter net connected below the buoyancy member 31, and power supply cables and communication cables connecting the master ship 100 and the auxiliary ship 200 (the power supply cables and communication cables are not shown in the figure).

[0045] In this embodiment, the buoyancy member 31 is buoyant cotton. The buoyant cotton 31 wraps outside the power supply cable and the communication cable, and a filter net is fixedly arranged below the buoyant cotton replaceably. The master ship 100 is connected to the two auxiliary ships 200 through a trawl device 300 about 6 meters long. The buoyant cotton can ensure that the cables float on the water surface. The filter net is used to intercept cyanobacteria and garbage, and the filter net can be adjusted and replaced according to different application scenarios. A filter net with a large mesh opening can be used to collect floating garbage and fallen leaves, and when collecting small - particle floating objects such as cyanobacteria, a filter net with about 100 meshes, which is denser, can be replaced.

[0046] A pair of auxiliary ships 200 of this application serve as execution units, responsible for the cleaning and actual collection of cyanobacteria and garbage. The master ship 100 sends task instructions and real - time data to the auxiliary ships through power supply cables and communication cables. The auxiliary ships feedback the operation status to the master ship through communication cables. The buoyant cotton and the filter net are used as auxiliary tools to assist in collecting cyanobacteria and garbage. <​​​​The master ship receives water environment data (such as cyanobacteria concentration distribution, garbage distribution, etc.), and generates an optimal operation path through AI algorithms. Then, based on the first positioning module, the second positioning module, the first navigation module, and the second navigation module, the master ship plans the movement trajectories of itself and the auxiliary ship. The master ship controls the movement direction and speed of the auxiliary ship through power supply cables and communication cables. The water spraying device on the auxiliary ship performs high-pressure water spraying and flushing on the area near the shore, and sweeps back and forth in a fan shape to ensure that cyanobacteria and garbage are washed into the range surrounded by the filter net. The buoyancy cotton and the filter net intercept cyanobacteria and garbage to achieve centralized collection. As the auxiliary ship and the main hull advance forward, a pair of hatch guide plates at the front of the master ship gather the garbage and gradually enter the collection port of the master ship. The tipping bucket flips to pour the underwater garbage into the garbage storage cabin. When the garbage storage cabin is full, the tipping bucket on the front side of the garbage storage cabin flips upward to close the front opening of the garbage storage cabin. The master ship and the auxiliary ship slowly approach the shore to facilitate the shore garbage transfer equipment or operators to clean the garbage storage cabin of the master ship.

[0049] The master ship and the auxiliary ship respectively detect obstacles through the obstacle avoidance radar vision system and the obstacle avoidance radar, and dynamically adjust the path to avoid collisions. The master ship monitors the operation status of the auxiliary ship and environmental changes in real time, and dynamically adjusts the operation strategy.

[0050] When the garbage storage cabin of the master ship is full, the master cabin can be made to approach the shore, and then the garbage in the garbage storage cabin can be transferred to the shore manually. To facilitate the transfer of garbage, in some embodiments of the present application, the garbage storage cabin can also be separated from the master hull, which can help the operators on the shore directly transfer the garbage storage cabin to the shore and then dump or replace it.

[0051] The unmanned ship of the present application serves as an auxiliary ship in the unmanned operation system, cooperating with the master ship for operation. Through the three-ship linkage mode, it can cover a wider range of water areas for cleaning, greatly improving the efficiency of cyanobacteria salvage and water area cleaning. At the same time, as an auxiliary ship, the present application can perform high-pressure fan-shaped water spraying on the shore area, solving the problem of cleaning cyanobacteria and garbage in the area near the shore, realizing unmanned cyanobacteria salvage and water area cleaning, and significantly improving the water area governance effect and efficiency.

[0052] The above shows and describes the basic principles, main features, and advantages of the present application. Those skilled in the art of this industry should understand that the present application is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present application. Without departing from the spirit and scope of the invention, the present application will have various changes and improvements. The scope of protection required by the present application is defined by the appended claims, the specification, and their equivalents.

Claims

1. An unmanned surface vessel, comprising: A hollow hull and a control circuit installed on the hollow hull, characterized in that: the hollow hull has a through mounting hole, and a water spraying device is installed in the mounting hole; the water spraying device includes a housing, a pump installed inside the housing, a nozzle rotatably installed on the housing, and a rudder motor drivenly connected to the nozzle; the pump inlet is connected to an end suction pipe, and the pump outlet is connected to the nozzle.

2. The unmanned vessel according to claim 1, characterized in that: The control circuit includes a positioning module, a navigation module, and an obstacle avoidance module.

3. The unmanned vessel according to claim 2, characterized in that: The obstacle avoidance module includes an obstacle avoidance radar.

4. The unmanned vessel according to claim 2, characterized in that: The control circuit also includes a connector for an external cable, which is connected to the external main control vessel for communication and / or power supply.

5. The unmanned surface vessel according to claim 1, characterized in that: The hollow hull is also equipped with a power module at the rear, and the power module includes at least one propeller.

6. An unmanned surface vessel according to claim 5, characterized in that, The power module also includes a battery pack or solar circuit board that powers the thruster.

7. An unmanned surface vessel according to claim 1, characterized in that, The servo motor is fixedly mounted on the housing, and a connecting block is fixed on the nozzle. The servo motor has a rudder disk, which is eccentrically connected to the connecting block to drive the nozzle to reciprocate in a fan shape.

8. An unmanned surface vessel according to claim 7, characterized in that, The outer circumferential surface of the rudder disk is a gear surface, and a gear is installed at the bottom of the connecting block. The gear surface of the rudder disk meshes with the gear.

9. An unmanned surface vessel according to claim 1 or 7, characterized in that, The rotation angle of the nozzle is 0°-180°.

10. An unmanned surface vessel according to claim 1, characterized in that, The pump includes a brushless motor and a high-pressure water pump head.

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