CN108382526A - A kind of band torpedo submerged body multiple renewable energy sources driving binary unmanned boat - Google Patents
A kind of band torpedo submerged body multiple renewable energy sources driving binary unmanned boat Download PDFInfo
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- CN108382526A CN108382526A CN201810258503.7A CN201810258503A CN108382526A CN 108382526 A CN108382526 A CN 108382526A CN 201810258503 A CN201810258503 A CN 201810258503A CN 108382526 A CN108382526 A CN 108382526A
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 33
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B1/00—Hydrodynamic or hydrostatic features of hulls or of hydrofoils
- B63B1/02—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement
- B63B1/10—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls
- B63B1/107—Semi-submersibles; Small waterline area multiple hull vessels and the like, e.g. SWATH
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
- B63H2021/171—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor making use of photovoltaic energy conversion, e.g. using solar panels
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention discloses a kind of band torpedo submerged body multiple renewable energy sources to drive binary unmanned boat, including the box connecting bridge of the sheet body that leans forward, watertight, aerofoil profile stabilizer column, torpedo submerged body, heaving electricity generation system, solar power system, propulsion system and control system；Two sheet bodies that lean forward connect to form door type structure by the box connecting bridge of watertight, and two torpedo submerged bodies are arranged in the lower section of two sheet bodies that lean forward, and the aerofoil profile stabilizer column that each torpedo submerged body separates setting by least two is connect with the sheet body that leans forward；Aerofoil profile stabilizer column is the hollow-core construction that cross section is NACA aerofoil profiles, and aerofoil profile stabilizer column upper end is fixedly connected with the sheet body that leans forward, and lower end is fixedly connected with torpedo submerged body；The present invention has many advantages, such as good shipping-direction stability, long continuation of the journey, stablizes antidumping, and have topple after self-righting ability.
Description
Technical field
The present invention relates to unmanned boat technical fields, are driven more particularly to a kind of band torpedo submerged body multiple renewable energy sources
Binary unmanned boat.
Background technology
Unmanned boat be a kind of base station on ground or lash ship control centre remote monitoring under navigated with autonomous or remote control mode
The Novel surface motion platform for going in the water surface and completing particular task is observed still in marine environmental monitoring, oceanographic hydrological data
Early warning of marine disasters field or even military field, unmanned boat play important role.
For a long time, artificial acquisition is always the main means of Offshore Waters sampling.Offshore Waters people on ordinary meaning
Work acquisition refers to that sample collector takes the specified marine site of work ship arrival and acquires Seawater Samples by sample devices, is being sampled
Cheng Zhong, personnel need whole scene to participate in, and the sampling period is longer, can not quickly, accurately reflect water pollution situation, and in order to
Support personnel's safety, artificial acquisition inevitably employ the larger ship of tonnage, huge manpower and materials are caused to waste.In addition,
Artificial acquisition is carried out under severe sea condition can also threaten sample collector's life security.Artificial acquisition has not met ocean survey more and more
The automation of amount equipment, intelligentized development trend.
In recent years, the unmanned mobile monitoring platform such as unmanned boat is gradually applied to field of water quality detection, and with communication, control
The technologies such as system, artificial intelligence develop rapidly, and collect many advantages, such as of low cost, communication is reliable, positioning is convenient, easily controllable in one
The unmanned boat of body is just gradually becoming one of the research hotspot in marine exploration field.Greenization, intelligence will become under ship domain
One of the emphasis of one step development.Specifically, it is by breaking through hull lines design technology, structure optimization technology, drag reduction consumption reduction
Technology, efficient Push Technology, clean energy resource and renewable energy utilization technology etc., develop energy conservation and environmental protection type ship；By prominent
The key application technologies of the information technologies on ship such as broken automatic technology are realized navigation automation, mechanical automation, are loaded certainly
Dynamicization, and realize flight course planning, ship-handling, navigation attitude adjustment, monitoring of tools etc., improve the intelligent level of ship.Unmanned boat
Exactly comply with greenization, intelligentized trend and be born.
However, be limited to traditional energy supply mode, the endurance of unmanned boat is far from meeting remote seawater
Sample requirement.Existing water quality sampling unmanned boat is directed to the design of the small ranges waters such as inland river, lake, harbour, ship continuation of the journey mostly
Ability it is small (<10km), seagoing capacity is poor, can not carry out complicated remote marine sampling operation, this undoubtedly influences whether nobody
Ship further develops.When carrying out the remote seawater sampling unmanned boat master-plan of traditional energy, there are conflicting, multidisciplinary
The complicated phenomenon of coupling would have to increase energy source as increased lithium battery quantity or combustion to ensure unmanned boat endurance
Oily storage capacity, this just needs more hull arrangement spaces, and then hull principal dimension is caused to increase, and construction weight increases, draining
Amount increases, and then resistance increases, and resistance increase can cause energy consumption to be accelerated, and be unfavorable for the guarantee of endurance；Even if energy comes
Source is more than energy consumption incrementss, and unmanned boat endurance is guaranteed, but the hull weight of unmanned boat and construction cost or at this time
It is no different with someone's ship taken manually is acquired, this has just violated the original intention that remote seawater sampling is carried out with unmanned boat.Nothing
The endurance problem of people's ship has become the technical bottleneck for limiting remote seawater sampling unmanned boat development.
In addition, remote seawater sampling unmanned boat displacement is smaller, and it is more sensitive to External force interferences such as wind, wave, streams, it is easy
There is the problems such as toppling, yawing, and it is far from shoreside operations, it may be because personnel cannot intervene in time under the equal fortuitous events that topple
And lead to property loss, thus when carrying out unmanned boat design need to vessel stability, sea-keeping and shipping-direction stability so that from
Ability of righting waits worry of resitting an exam, and water area water-quality sampling unmanned boat in existing small range inland often ignores this point.Therefore, exist
Traditional battery technology or oil-burning machine technology is difficult under the background for obtaining revolutionary breakthrough, to regenerative resource in long seawater of continuing a journey
Application in sampling unmanned boat design conducts a research, and research and development stability, sea-keeping and shipping-direction stability are excellent and have self-righting
The unmanned boat of ability has positive meaning.
Invention content
The technical issues of present invention mainly solves in the presence of the prior art, provide it is a kind of with reproducible solar energy and
Wave energy is main energy sources, endurance is remote, ship resistance is small, stability and seakeeping capacity are excellent, easy operation long-distance remote control
The solar energy binary unmanned boat of seawater sampling.
The above-mentioned technical problem of the present invention is mainly to be addressed by following technical proposals：
A kind of band torpedo submerged body multiple renewable energy sources driving binary unmanned boat, including the box company of the sheet body that leans forward, watertight
Meet bridge, aerofoil profile stabilizer column, torpedo submerged body, heaving electricity generation system, solar power system, propulsion system and control system
System；Two sheet bodies that lean forward connect to form door type structure by the box connecting bridge of watertight, and two torpedo submerged bodies are arranged before two
Incline the lower section of sheet body, the aerofoil profile stabilizer column that each torpedo submerged body separates setting by least two is connect with the sheet body that leans forward；
The sheet body that leans forward is the slack bulge type watertight cavity slender bodies structure of proclined stem, the multiple compartments of setting；
The box connecting bridge of the watertight includes support construction, bottom plate and arc-shaped upper cover；Bottom plate and arc-shaped upper cover it
Between form cavity；Support construction is connect with bottom plate and the sheet body that leans forward respectively；
The aerofoil profile stabilizer column is the hollow-core construction that cross section is NACA aerofoil profiles, two aerofoil profile stabilizer columns any one
Upper end be fixedly connected with the sheet body that leans forward of side, lower end is fixedly connected with the torpedo submerged body of the same side；
The torpedo submerged body is two；Two torpedo submerged bodies set gradually lower propeller cabin, heaving from back to front
Water stream channel, lithium battery cabin, heaving water stream channel and emergent lithium battery cabin；The outer profile of the vertical projection of heaving water stream channel is
Circle, heaving water stream channel run through torpedo submerged body shell vertically；
The heaving electricity generation system includes generator, connecting shaft, water wheels, upper current deflecting blade group, the acceleration of upper flow
Cone, lower current deflecting blade group and lower flow accelerate cone；Totally four sets of heaving electricity generation system, is separately positioned on two torpedos
The front and back end of submerged body；Generator is arranged in heaving power module, and generator outer wall is fixedly connected with the sheet body that leans forward；Connecting shaft lower part
It is fixedly connected with water wheels, the rotor connection of upper end and generator；Upper current deflecting blade group outer rim and heaving water stream channel inner wall
It is fixedly connected, inner edge accelerates centrum to be fixedly connected with upper flow；It is bottom surface downward up-small and down-big taper that upper flow, which accelerates cone,
Cavity structure, and the connecting shaft through hole for accelerating cone perpendicular to bottom surface, through upper flow is set at bottom center；Lower flow
Cone is accelerated to be bottom surface up big and down small conical cavity structure upward and the axis for being axially perpendicular to bottom surface is set bottom center at
It holds；
The solar power system includes flexible solar film battery assembly and solar charging controller；It is flexible
Solar film battery assembly is covered in the arc-shaped upper cover of the box connecting bridge of watertight, multiple flexible solar film battery assemblies
It is connected in series with, and is connect with solar charging controller；
The propulsion system includes propeller, propeller drive shaft, propulsion electric machine；Four propellers are separately positioned on two
A lean forward and is connect by four propeller drive shafts with four propulsion electric machines sheet body and two torpedo submerged body rear ends respectively；
The control system includes main control computer, positioning navigation module, communication module, data acquisition module；Positioning
Navigation module, communication module, data acquisition module are connect with main control computer respectively, and main control computer is connect with control station, control
The setting of system station is on the coast or on lash ship.
To further realize the object of the invention, it is preferable that the binary unmanned boat further includes water quality sampling system；It is described
Water quality sampling system include pump line, pump head, tube rolling device, peristaltic pump, sampling box and wastewater discharge pipe；Pump line is corrosion-resistant silica gel
Hose, the box baseplate that pump line passes through the box connecting bridge of watertight are stretched out outside hull and are connect with pump head；The depth of water is housed inside pump head
Sensor；It is connected by pump line between pump head and peristaltic pump and between peristaltic pump and sampling box, wastewater discharge pipe is from wriggling
Pump discharge of wastewater mouth is connected to hull exterior space；Tube rolling device is equipped with fixing end and movable end, and fixing end is connect with peristaltic pump, living
Moved end is connect with pump head.
Preferably, the sheet body that leans forward includes upper propeller cabin, heaving power module and the empty cabin of fore body isolation；Upper propeller
Cabin, two heaving power modules, the empty cabin of fore body isolation are set gradually from back to front.
Preferably, the box connecting bridge of the watertight is mounted between two sheet bodies, and both sides are tied by a pair of support respectively
Structure is fixedly connected with two sheet bodies；Electrical equipment room, sampling chamber, sample devices room are set gradually in cavity from back to front；Electricity
Arch beam is set between device canyon and sampling chamber and between sampling chamber and sample devices room, crossbeam lower edge is away from watertight
Box connecting bridge box baseplate height is not less than 240mm.
The arc-shaped upper cover above sampling chamber is preferably located to cut to form arc watertight compartment with other arc-shaped upper covers
Lid, arc watertight hatchcover side is hinged with bottom plate, and Simple handle is arranged in arc watertight hatchcover.
Speech ciphering equipment, light units, picture pick-up device, alarm equipment, communication navigation is respectively arranged on arc-shaped upper cover to set
Standby and avoidance equipment；Speech ciphering equipment includes loud speaker, and light units include searchlight and red Bai Lvsan colors navigation lights, and camera shooting is set
Standby includes video camera, and alarm equipment includes alarm, and communication and navigation equipment includes GNSS antenna, positioning differential antennae, data biography
Defeated antenna, screen transmission antenna；GNSS antenna, positioning differential antennae are connect with the radio station GNSS, data transmission radio station, screen transmission
Antenna is connect with data transmission radio station and screen transmission radio station respectively；Avoidance equipment includes ultrasonic sensor.It is preferred that arc-shaped
The arc length of upper cover is equal to flexible solar film battery assembly length.
Preferably, the main control computer is the PCM-9375 single board computers based on PC104 buses；Positioning navigation module
Including GNSS antenna, positioning differential antennae and GNSS signal receiver；GNSS antenna connects with positioning differential antennae with GNSS signal
Receipts machine connects, and GNSS signal receiver accesses main control computer；
The communication module includes data transmission antenna, data transmission radio station, screen transmission antenna and screen transmission radio station；
Data transmission antenna is connect with data transmission radio station, and data transmission radio station is connect with main control computer；Screen transmission antenna with regard
Shield transmission radio station connection, screen transmission radio station is connect with main control computer；
The data acquisition module includes video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligence
Gyroscope, 3-axis acceleration sensor and water depth sensor；Video camera, ultrasonic sensor, three axis strapdown reluctance type electronics magnetic
Compass, intelligent gyroscope, 3-axis acceleration sensor, water depth sensor are connect with main control computer respectively.
Preferably, the GNSS antenna, positioning differential antennae are arranged in the rear end of the box connecting bridge of watertight, and GNSS signal connects
Receipts machine is arranged in electrical equipment room；Data transmission antenna is arranged in the rear end of the box connecting bridge of watertight, and data transmission radio station is set
It sets in electrical equipment room；Screen transmission setting antenna is arranged in the rear end of the box connecting bridge of watertight, screen transmission radio station in electricity
In device canyon；Video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyroscope, 3-axis acceleration
Sensor is respectively set on arc-shaped upper cover, and water depth sensor is mounted on pump head.
Preferably, the connecting shaft bottom end insertion is arranged in the bearing that lower flow accelerates cone, and connecting shaft upper end is upward
Accelerate cone, aerofoil profile stabilizer column across upper flow, it is internal into piece, it is connect with the rotor of the generator in heaving power module；
The middle part of water wheels is the disk-like structure that solid cylinder, solid cylinder outer wall circumferentially weld several arc shaped blades, arc shaped blade
Endpoint line is in vertical plane；Upper current deflecting blade group, lower current deflecting blade group are several directing vanes circumferentially
Chip architecture.
Preferably, two heaving water stream channels on the same torpedo submerged body are one in front and one in back arranged in torpedo submerged body
On axis；Torpedo submerged body inner space is isolated into several cabins by the wall of heaving water stream channel；Storage is arranged in lithium battery cabin
It can lithium battery；The emergent lithium battery of arrangement in emergent lithium battery cabin.
Preferably, the sheet body that leans forward, the box connecting bridge of watertight, aerofoil profile stabilizer column, torpedo submerged body are by high intensity
5086 aluminium alloys are made.
Unmanned boat of the present invention by two catamarans lean forward be respectively set on sheet body central fore-and-aft vertical plane two aerofoil profiles stablize it is vertical
Column increases the shipping-direction stability of unmanned boat under the premise of not dramatically increasing ship resistance, meanwhile, stablized by above-mentioned aerofoil profile
Column connects the torpedo submerged body of the equipment such as two placement lithium batteries immediately below the sheet body that leans forward, and greatly reduces hull center of gravity,
Stability, the sea-keeping of unmanned boat are improved, and combines the box connecting bridge design of watertight, can independently be turned over when unmanned boat topples
Body righting；The kinetic energy of unmanned boat under wind, wave, stream effect is turned in addition, four sets of heaving electricity generation systems are arranged on torpedo submerged body
Electric energy is turned to, solar power system is set at the top of the box connecting bridge of watertight and is converted solar energy into electrical energy, makes the present invention's
Electricity generation system realizes round-the-clock power generation, and under the auxiliary of energy-storage lithium battery, unmanned boat endurance of the invention farther out, is communicating
It can be achieved infinitely to continue under unrestricted equal ideal conditions.
Compared with prior art, the beneficial effects of the invention are as follows：
(1) good shipping-direction stability and turning quality.Good shipping-direction stability can avoid unmanned boat during navigation
Adjustment course is frequently manipulated to go as course, has important meaning to reducing unnecessary energy loss and raising equipment life
Justice, unmanned boat smaller to displacement, that shipping-direction stability is poor are particularly true.On the one hand, unmanned boat of the invention uses binary
Two sheet bodies of form, catamaran make it be easily achieved line navigation；On the other hand, the present invention is set using aerofoil profile stabilizer column
Meter, the stabilization of aerofoil profile stabilizer column make the unmanned boat of the present invention be more prone to realize that line navigation, shipping-direction stability obtain
It is greatly improved.Two sheet bodies of unmanned boat and two torpedo submerged bodies of the present invention are provided with propeller, two spiral shells of larboard simultaneously
The spacing revolved between paddle and two propellers of starboard is larger, and under unmanned boat stationary state, two propellers of a side of a ship rotate forward, is another
When one two, side of a ship propeller inverts, pivot stud can be achieved in the present invention, and when unmanned boat navigates by water, two, a side of a ship revolution speed of propeller is not
Two spirals for being same as another side of a ship can be obtained moment of turning ship, and moment of turning ship overcomes steering to damp, and realizes fast steering, i.e. this hair
It is bright to possess good turning quality；To sum up, unmanned boat of the invention possesses good shipping-direction stability and turning quality, and maneuvering performance goes out
Color.
(2) stability and sea-keeping are good.On the one hand, the present invention is designed using torpedo submerged body, by the lithium battery that quality is larger
Deng setting in torpedo submerged body, the height of C.G. of unmanned boat is greatly reduced, unmanned boat stability and sea-keeping are enhanced, improved
Unmanned boat survival ability in stormy waves；On the other hand present invention sampling aerofoil profile stabilizer column design further increases unmanned boat
Roll damping further improves the stability and sea-keeping of unmanned boat of the present invention；Figure 10 is to analyze program with vessel stability
In the hydrostatic that Hydromax is calculated under designed displacement, upright condition unmanned boat of the present invention curve of statical stability, the present invention
Metacentric height GMt (units：M) it is not less than 1.604m, i.e., under designed draft state, outer force effect makes unmanned boat of the present invention generate
When low-angle heel, the inclined torque of resistance is very big, and equilibrium state can be returned at once generating small angle inclination；
Under designed draft state, the limit angle of statical inclination of unmanned boat of the present invention is more than 51.4 °, i.e., larger angle occurs in unmanned boat of the present invention
When inclination, as long as angle of inclination is not more than 51.4 °, the present invention can automatically return to equilibrium state；Under designed draft state,
The angle of vanishing stability of unmanned boat of the present invention is not less than 100 °, as long as that is, angle of inclination is not more than 100 °, unmanned boat of the present invention can
It generates and resists hull further inclined restoring moment.
(3) self-righting ability.The present invention by torpedo submerged body design make the relatively low stability of center of gravity be preferably not easy to topple it is same
When, designed using the box connecting bridge of watertight, ensure that hull is not also intake when hull topples, and is toppled under state, due at this time without
People's ship center of gravity generates the centre of buoyancy of buoyancy far from the box connecting bridge of watertight, and Figure 11 is to analyze program Hydromax meters with vessel stability
Designed displacement in obtained hydrostatic, topple under state (Angle of Heel 180°) unmanned boat of the present invention curve of statical stability, horizontal seat
Mark A is Angle of Heel (unit：°), ordinate GZ is righting arm (unit：m).As shown in figure 11：Topple under state (Angle of Heel
180°), metacentric height GMt (units of the present invention：M) it is not more than 0.27m, it is horizontal that outer force effect makes unmanned boat of the present invention generate low-angle
When inclining, resist inclined torque very little, can be allowed under smaller outer force effect the present invention occur low-angle (be less than 10 °~
15°) heel；The stability that the present invention continues to keep toppling posture is very poor, and limit angle of statical inclination topples under state no more than 10 °
(180 ° of Angle of Heel) unmanned boat tilt angle varied amount of the present invention is more than 10 ° and resists inclined torque i.e. disappearance, in gravity and buoyancy
Synergy under unmanned boat accelerate to tilt and tend to top-up, thus for example faint wind of External force interference minimum under state of toppling, wave
Or stream can make autonomous turn righting of the invention, to make the ability of autonomous righting of the invention.When unmanned boat is far from seashore
Local operation when toppling, self-righting ability makes the present invention that can independently turn over righting without overstaffed intervention, continues
Carry out water quality sampling task or return to seashore and carries out overhaul of the equipments.
(4) unlimited continuation of the journey.On the one hand the unmanned boat of the present invention passes through shiplines optimization design and optimization
Design, reduces ship resistance；On the other hand, solar power system of the invention and heaving electricity generation system are respectively by solar energy
It is converted into electric energy with wave energy, ensures the energy source that the sufficient present invention has.Ship is in wave in hull coordinate vertical axes side
Upward movement is known as heaving, and remote seawater sampling unmanned boat displacement is usually smaller, is moved in wind, wave, stream
When inertia and damp smaller, thus the caused reciprocal heaving response amplitude under the synergy of wind, wave, stream and gravity
Larger, the kinetic energy by the above-mentioned heaving in wave of four sets of heaving electricity generation systems of the invention is converted into electric energy, it is ensured that this
Two big electricity generation systems of invention are sustainable to provide electric energy for unmanned boat；Meanwhile by the way that the box connecting bridge upper surface of watertight is designed
It is in the arc-shaped, so that flexible solar film battery assembly is obtained the light-receiving area of bigger；It is designed, is increased by aerofoil profile stabilizer column
Unmanned boat roll damping is smaller, improves the directional stability of unmanned boat heaving, improves heaving electricity generation system generating efficiency；Too
Positive energy electricity generation system and heaving electricity generation system ensure that the energy supply of unmanned boat, it is ensured that the present invention has longer endurance；
Entire unmanned boat system operation realizes that energy-autarchic is self-sustaining, in the ideal case, unmanned boat endurance infinity of the invention.Figure
12 lower of the designed displacement to be calculated with ship seakeeping analysis methods of the program Seakeeper based on strip theory
Invention unmanned boat the high 1m of wave (practical sea situation wave high often greater than this), wave 9s average period the two-parameter ocean wave spectrums of ITTC under
Heaving response amplitude changes over time curve, and abscissa t is time (unit：S), ordinate H is that heaving responds width
It is worth (unit：M), as shown in figure 12, under the sea situation, there is heaving by a relatively large margin in unmanned boat of the invention, and larger
The heaving of amplitude ensure that heaving electricity generation system can generate sufficient electricity.In fact, rolling and pitching can also drive
Dynamic heaving electricity generation system power generation, but the present invention is based on heaving.
(5) all weather operations ability.Due to it is calm, without wave, without stream the case where minimum appearance, the present invention hanging down in the seawater
Movement is swung almost always to exist.In the daytime when sunshine abundance, solar power system, heaving electricity generation system can be the fortune of unmanned boat
Turn to provide electric energy, when night or bad weather operation, heaving electricity generation system, which works on, to be produced electricl energy, especially wind and waves etc.
Under severe sea condition, unmanned boat heaving response amplitude substantially increases, water wheels faster rotational speed, and heaving electricity generation system efficiency improves,
It produces electricl energy and increases, it is made still can to execute water quality sampling task in severe sea condition；In energy-storage lithium battery not enough power supply and hair
When the electric energy surplus that electric system generates, lithium battery intelligent manager stores extra electric energy to energy-storage lithium battery charging；In solar energy
The electric energy that electricity generation system, heaving electricity generation system generate cannot be satisfied under the extreme case of unmanned boat power demand, lithium battery intelligent
Manager discharges the electric energy of lithium battery storage, ensures supply of electric power.To sum up, unmanned boat of the invention has independent round-the-clock in phase
Close the ability that marine site continues dynamic sampling.
(6) unsinkability can be superior.Each sheet body of unmanned boat, torpedo submerged body and the equal water of the box connecting bridge of watertight of the present invention
Close and mutual indepedent between any two, a certain parts against wear water inlet does not influence the watertightness of other parts, and two sheet bodies, two fishes
It is provided with multiple independent watertight compartments inside thunder shape submerged body, significantly enhances the unsinkability of the present invention.
(7) compact-sized, slim and graceful reasonable.The present invention uses the box connecting bridge of arch watertight by two pieces that lean forward of catamaran
Body connects, and two torpedo submerged bodies are connected with the sheet body that leans forward by aerofoil profile stabilizer column, and each section is compactly constituted
The arrangement platform of unmanned boat all appts mounted, equipment.Meanwhile two sheet bodies that lean forward, the box connecting bridge of watertight and two
The aluminium alloy that torpedo submerged body has light weight, intensity big is made.This structure design had both alleviated overall structure weight of the present invention
It measures, increases solar energy light-receiving area, improves the generating efficiency of heaving electricity generation system, while also ensuring that structure of the invention is strong
Degree.I.e. present invention shows a kind of compact-sized, slim and graceful rational global features.
(8) modularized design, platform have versatility.The box connecting bridge housing interior volume of watertight of the present invention is abundant,
The equipment that the box connecting bridge box house of watertight can be replaced according to actual use function, applies the present invention to harbour monitoring, water
The fields such as literary prospecting, SAR at Sea expand the present invention and apply model to make the present invention become a general unmanned boat platform
It encloses.
Description of the drawings
Fig. 1 is the contour structures signal that binary unmanned boat is driven with torpedo submerged body multiple renewable energy sources of the present invention
Figure；
Fig. 2 is the side view that binary unmanned boat is driven with torpedo submerged body multiple renewable energy sources of the present invention；
Fig. 3 is the vertical view that binary unmanned boat is driven with torpedo submerged body multiple renewable energy sources of the present invention；
Fig. 4 is the front view that binary unmanned boat is driven with torpedo submerged body multiple renewable energy sources of the present invention；
Fig. 5 is the torpedo submerged body signal that binary unmanned boat is driven with torpedo submerged body multiple renewable energy sources of the present invention
Figure；
Fig. 6 is that the band torpedo submerged body multiple renewable energy sources driving binary unmanned boat torpedo submerged body A-A of the present invention is cutd open
Face view；
Fig. 7 is the band torpedo submerged body multiple renewable energy sources driving binary unmanned boat heaving power generation system structure of the present invention
Schematic diagram；
Fig. 8 is that the band torpedo submerged body multiple renewable energy sources driving binary unmanned boat heaving electricity generation system of the present invention is overlooked
Figure；
Fig. 9 is the band torpedo submerged body multiple renewable energy sources driving binary unmanned boat heaving electricity generation system B-B of the present invention
Cross section view；
Figure 10 be the present invention band torpedo submerged body multiple renewable energy sources driving binary unmanned boat normal condition under restore
Arm of force GZ curve graphs；
Figure 11 is that the band torpedo submerged body multiple renewable energy sources driving binary unmanned boat of the present invention topples and restores under state
Arm of force GZ curve graphs；
Figure 12 is the band torpedo submerged body multiple renewable energy sources driving binary unmanned boat heaving response width of the present invention
Value changes over time curve graph.
It is shown in figure：Lean forward sheet body 1, upper propeller cabin 1-1, heaving power module 1-2, fore body isolation sky cabin 1-3, watertight case
Formula connecting bridge 2, support construction 2-1, electrical equipment room 2-2, sampling chamber 2-3, sample devices room 2-4, crossbeam 2-5, bottom plate 2-6
With arc watertight hatchcover 2-7, aerofoil profile stabilizer column 3, torpedo submerged body 4, lower propeller cabin 4-1, heaving water stream channel 4-2, lithium
Battery flat 4-3, emergent lithium battery cabin 4-4, heaving electricity generation system 5, generator 5-1, connecting shaft 5-2, water wheels 5-3, upper flow are led
Cone 5-5, lower current deflecting blade group 5-6 and lower flow is accelerated to accelerate cone 5-7, solar energy hair to blade group 5-4, upper flow
Electric system 6, propulsion system 7, propeller 7-1, propeller drive shaft 7-2, promotes electricity at flexible solar film battery assembly 6-1
Machine 7-3,8 are water quality sampling system, water quality sampling system 8, pump line 8-1, pump head 8-2, tube rolling device 8-3, peristaltic pump 8-4, sampling
Case 8-5, wastewater discharge pipe 8-6.
Specific implementation mode
Preferably to support the present invention, the invention will be further elaborated below in conjunction with the accompanying drawings, but the implementation of the present invention
Mode is without being limited thereto.
As shown in figs 1-9, a kind of band torpedo submerged body multiple renewable energy sources drive binary unmanned boat, including the sheet body that leans forward
1, the box connecting bridge 2 of watertight, aerofoil profile stabilizer column 3, torpedo submerged body 4, heaving electricity generation system 5, solar power system 6, push away
Into system 7, water quality sampling system 8 and control system.Two sheet bodies 1 that lean forward form door by the box connection of connecting bridge 2 of watertight
Formula structure, two torpedo submerged bodies 4 are separately positioned on the underface of two sheet bodies 1 that lean forward, and each torpedo submerged body 4 is by least
Two aerofoil profile stabilizer columns 3 for separating setting are connect with the sheet body 1 that leans forward.
The sheet body 1 that leans forward includes upper propeller cabin 1-1, heaving power module 1-2 and fore body isolation sky cabin 1-3.It leans forward in sheet body 1
Portion sets gradually propeller cabin 1-1, two heaving power module 1-2, fore body isolation sky cabin 1-3 from back to front.The sheet body that leans forward is
The slack bulge type watertight cavity slender bodies structure of proclined stem, the multiple compartments of setting；Two sheet bodies 1 that lean forward are separately positioned on nobody
Two side of a ship of ship, larboard, two sheet bodies 1 that lean forward of starboard are identical.
The box connecting bridge 2 of watertight includes support construction 2-1, bottom plate 2-6 and arc-shaped upper cover；Bottom plate 2-6 and it is arc-shaped on
Cavity is formed between lid, electrical equipment room 2-2, sampling chamber 2-3, sample devices room 2-4 are set gradually in cavity from back to front；
Support construction 2-1 is connect with bottom plate 2-6 and the sheet body 1 that leans forward respectively；The box connecting bridge 2 of watertight lean forward mounted on two sheet body 1 it
Between, both sides are fixedly connected by a pair of of support construction 2-1 with two sheet bodies 1 respectively；Electrical equipment room 2-2 is for arranging that electric appliance is set
Standby, sampling chamber 2-3 is for placing sampling box, and sample devices room 2-4 is for arranging sample devices；Electrical equipment room 2-2 with adopt
Between sample chamber 2-3 and sampling chamber 2-3 and sample devices room 2-4 between be arranged arch beam 2-5, crossbeam 2-5 lower edges away from
The box 2 box baseplate 2-6 height of connecting bridge of watertight is not less than 240mm；Positioned at the arc-shaped upper cover sampled above chamber 2-3 and its
His arc-shaped upper cover cuts to form arc watertight hatchcover 2-7, and the arc watertight sides hatchcover 2-7 are hinged with bottom plate 2-6, arc watertight
Simple handle is arranged in hatchcover 2-7, and arc watertight hatchcover 2-7 is opened convenient for staff.Language is respectively arranged on arc-shaped upper cover
Sound equipment, light units, picture pick-up device, alarm equipment, communication and navigation equipment and avoidance equipment；Speech ciphering equipment includes raising one's voice
Device, light units include searchlight and red Bai Lvsan colors navigation lights, and picture pick-up device includes video camera, and alarm equipment includes alarm
Device, communication and navigation equipment include GNSS antenna, positioning differential antennae, data transmission antenna, screen transmission antenna；GNSS antenna,
Positioning differential antennae connect with the radio station GNSS, data transmission radio station, screen transmission antenna respectively with data transmission radio station and screen
Transmission radio station connects；Avoidance equipment includes ultrasonic sensor.It is preferred that the arc length of arc-shaped upper cover is equal to flexible solar film
Battery component 6-1 length.
Aerofoil profile stabilizer column 3 is the hollow-core construction that cross section is NACA aerofoil profiles, two 3 upper ends of aerofoil profile stabilizer column and side
The sheet body 1 that leans forward be fixedly connected, lower end is fixedly connected with the torpedo submerged body 4 of the same side, other two aerofoil profile stabilizer column 3 with
Identical mode and the other side lean forward sheet body 1 and torpedo submerged body 4 is fixedly connected, two torpedo submerged bodies, 4, four aerofoil profiles are steady
Determine 3, two, column and lean forward sheet body 1 and to form the unmanned boat hull main body that the box connecting bridge 2 of watertight constitutes inverted U.Aerofoil profile is stablized
Column 3 also acts as enhancing unmanned boat shipping-direction stability, increases roll damping, enhancing heaving direction other than connection function
The effects that stability.
Torpedo submerged body 4 includes lower propeller cabin 4-1, heaving water stream channel 4-2, lithium battery cabin 4-3 and emergent lithium battery
Cabin 4-4.Two torpedo submerged bodies 4 set gradually lower propeller cabin 4-1, heaving water stream channel 4-2, lithium battery cabin 4- from back to front
3, heaving water stream channel 4-2 and emergent lithium battery cabin 4-4.The outer profile of the vertical projection of heaving water stream channel 4-2 is circle, is hung down
It swings water stream channel 4-2 to run through 4 shell of torpedo submerged body vertically and terminate in 4 outer surface of torpedo submerged body, one in front and one in back be arranged in fish
On 4 central axes of thunder shape submerged body；4 inner space of torpedo submerged body is isolated into several cabins by the wall of heaving water stream channel 4-2；Lithium
Energy-storage lithium battery is arranged in battery flat 4-3；The emergent lithium battery of arrangement in emergent lithium battery cabin 4-4；Two torpedoes of larboard, starboard
Shape submerged body 4 is identical.
As Figure 6-9, heaving electricity generation system 5 includes generator 5-1, connecting shaft 5-2, water wheels 5-3, upper current deflecting leaf
Piece group 5-4, upper flow accelerate cone 5-5, lower current deflecting blade group 5-6 and lower flow to accelerate cone 5-7.In water wheels 5-3
Portion is the disk-like structure that solid cylinder, solid cylinder outer wall circumferentially weld several arc shaped blades, arc shaped blade endpoint line
In vertical plane；Upper current deflecting blade group 5-4, lower current deflecting blade group 5-6 are several guide vanes circumferentially
Structure；The totally four sets of front and back ends for being separately positioned on two torpedo submerged bodies 4 of heaving electricity generation system 5, the group of each heaving electricity generation system
At identical with internal connection relation etc.；Generator 5-1 is arranged in heaving power module 1-2, generator 5-1 outer walls with lean forward
Sheet body 1 is fixedly connected；The lower parts connecting shaft 5-2 are fixedly connected with water wheels 5-3, and the bottom end insertion of connecting shaft 5-2 is arranged in lower flow
Accelerating in the bearing on cone 5-7, the connecting shaft 5-2 other ends are upward through flow and accelerate cone 5-5, aerofoil profile stabilizer column 3,
It enters in sheet body 1, is connect with the rotor of the generator 5-1 in heaving power module 1-2；Upper current deflecting blade group 5-4 outer rims
It is fixedly connected with heaving water stream channel 4-2 inner walls, inner edge accelerates centrum 5-5 to be fixedly connected with upper flow；Upper flow accelerates cone
5-5 is bottom surface downward up-small and down-big conical cavity structure, and is arranged at bottom center and adds perpendicular to bottom surface, through upper flow
The connecting shaft 5-2 through holes of fast cone 5-5；Similarly, it is that the up big and down small taper of bottom surface upward is empty that lower flow, which accelerates cone 5-7,
Simultaneously the bearing for being axially perpendicular to bottom surface is arranged in cavity configuration at bottom center.Upper flow accelerates cone 5-5 and upper current deflecting leaf
The inner edges piece group 5-4 are fixedly connected, then are connect with heaving water stream channel 4-2 by upper current deflecting blade group 5-4, and lower flow accelerates
Cone 5-7 is also such.
Solar power system 6 includes flexible solar film battery assembly 6-1 and solar charging controller.Flexibility is too
It is positive can film battery assembly 6-1 be covered in the arc-shaped upper cover of the box connecting bridge of watertight 2, multiple flexible solar hull cell groups
Part 6-1 is connected in series with, and is connect with solar charging controller.
Propulsion system 7 includes propeller 7-1, propeller drive shaft 7-2, propulsion electric machine 7-3.Four propeller 7-1 difference
Setting is leaned forward at two sheet body 1 and two 4 rear ends of torpedo submerged body and to be pushed away by four propeller drive shaft 7-2 with four respectively
Stepper motor 7-3 connections.
As shown in Figs 1-4, water quality sampling system 8 includes pump line 8-1, pump head 8-2, tube rolling device 8-3, peristaltic pump 8-4, sampling
Case 8-5 and wastewater discharge pipe 8-6；Pump line 5-1 is corrosion-resistant silica gel hose, and pump line 8-1 passes through the babinet of the box connecting bridge of watertight 2
Bottom plate 2-6 is stretched out outside hull and is connect with pump head 8-2；Water depth sensor is housed inside pump head 8-2；Peristaltic pump 8-4 settings are being adopted
Sample canyon 2-4, sampling box 8-5 settings are in sampling chamber 2-3；Between pump head 8-2 and peristaltic pump 8-4 and peristaltic pump 8-4 and
It is connected by pump line 8-1 between sampling box 8-5, wastewater discharge pipe 8-6 is connected to from peristaltic pump discharge of wastewater mouth outside hull
Space；Tube rolling device 8-3 is equipped with fixing end and movable end, and fixing end is connect with peristaltic pump 8-4, and movable end is connect with pump head 8-2, volume
The folding and unfolding that pipe device 8-3 is used to control pump line 8-1 makes pump head 8-2 reach at the different depth of water.
Preferably, the box connecting bridge 2 of sheet body 1, watertight, aerofoil profile stabilizer column 3, torpedo submerged body 4 are leaned forward by high intensity
5086 aluminium alloys are made, and 5086 aluminium alloy qualities are light, intensity, and intensity meets unmanned boat Structural strength calls.
Control system includes main control computer, positioning navigation module, communication module, data acquisition module, and the present invention passes through
The control station on the coast or on lash ship is arranged to control unmanned boat.Main control computer is the PCM- based on PC104 buses
9375 single board computers.Positioning navigation module, communication module, data acquisition module are connect with main control computer respectively, master control meter
Calculation machine is connect with control station.
Positioning navigation module includes：GNSS antenna, positioning differential antennae and GNSS signal receiver；GNSS antenna and positioning
Differential antennae is arranged at box 2 rear portion of connecting bridge of watertight and is connect with GNSS signal receiver, GNSS signal receiver access master
Control computer.GNSS antenna, positioning differential antennae are arranged in the rear end of the box connecting bridge of watertight 2, the setting of GNSS signal receiver
In the 2-2 of electrical equipment room.
Communication module includes：Data transmission antenna, data transmission radio station, screen transmission antenna and screen transmission radio station；Number
It is connect with data transmission radio station according to transmission antenna, data transmission radio station is connect with main control computer；Screen transmission antenna and screen
Transmission radio station connects, and screen transmission radio station is connect with main control computer.Data transmission antenna is responsible for control and detectable signal long distance
From transmission, data transmission antenna is arranged in the rear end of the box connecting bridge of watertight 2, and data transmission radio station is arranged in electrical equipment room 2-
In 2；Screen transmission antenna is responsible for video image video data and is transmitted at a distance, and screen transmission setting antenna is in the box connection of watertight
The rear end of bridge 2, screen transmission radio station are arranged in the 2-2 of electrical equipment room.
Data acquisition module includes：Video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent top
Spiral shell instrument, 3-axis acceleration sensor and water depth sensor；Video camera, ultrasonic sensor, three axis strapdown reluctance type electronics magnetic sieve
Disk, intelligent gyroscope, 3-axis acceleration sensor are respectively set in the box connecting bridge of watertight 2, and water depth sensor is mounted on pump head
On 8-2；Video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyroscope, 3-axis acceleration sensing
Device, water depth sensor are connect with main control computer respectively；Video camera can 360 degree of real-time figures for looking around capture unmanned boat surrounding enviroment
As information；The setting of three axis strapdown reluctance type Electronic Megnetic Compass is for measuring unmanned boat course, and intelligent gyroscope is for measuring ship
The postures such as body rolling (Roll), pitching (Pitch) and yawing (Yaw), 3-axis acceleration sensor is for measuring unmanned boat sky
Between acceleration (solid space, around, up and down), water depth sensor is for measuring pump head 8-2 current depths.
The specific working mode of the present invention is as follows：
(1) present invention's is thin with the flexible solar at the top of torpedo submerged body multiple renewable energy sources driving binary unmanned boat
Film battery component 6-1 is produced electricl energy under sunlight；After solar charging controller is depressured, power flow lithium battery intelligent
Manager, lithium battery intelligent manager distribute electric current and are supplied to unmanned boat propulsion system 7, water quality sampling system 8 and control system
Electricity；
(2) band torpedo submerged body multiple renewable energy sources of the invention drive binary unmanned boat under the wave action, nobody
The larger heaving of response amplitude occurs for ship, and torpedo submerged body 4 pumps with hull, and at four
Under the stabilization of aerofoil profile stabilizer column 3, unmanned boat rolling weakens, and catenary motion directional stability is strengthened；Figure 12 is fortune
It is analyzed with ship seakeeping under the designed draft 1.055m states that methods of the program Seakeeper based on strip theory is calculated
Unmanned boat of the present invention the high 1m (practical sea situation wave Chang Gao great is in this) of wave, wave 9s average period the two-parameter ocean wave spectrums of ITTC under
Heaving response amplitude change over time curve, abscissa t is time (unit：S), ordinate H responds for heaving
Amplitude (unit：M), as shown in figure 12, under the sea situation, the heaving of unmanned boat of the invention appearance by a relatively large margin, and compared with
Significantly heaving ensure that heaving electricity generation system can generate sufficient electricity.In fact, rolling and pitching can also
The power generation of heaving electricity generation system is driven, but the present invention is based on heaving.
When unmanned boat moves upwards, seawater moves downward with respect to torpedo submerged body 4 and flows into heaving water stream channel 4-2,
Up-small and down-big upper flow accelerates cone 5-5 that heaving water stream channel 4-2 flow-passing surfaces is forced gradually to narrow from top to bottom, and flow adds
Soon, further, under upper current deflecting blade group 5-4 inductions, (seeing from top to bottom) rotation flows to water wheels 5-3 to seawater clockwise
And water wheels 5-3 (seeing from top to bottom) rotations clockwise are driven, and further, water wheels 5-3 (seeing from top to bottom) rotation productions clockwise
Raw torque reaches the rotor of generator 5-1, the rotor rotation of generator 5-1 by connecting shaft 5-2, and generator produces electricl energy；
Seawater, which passes through, continues to flow down through lower current deflecting blade group 5-6 after water wheels 5-3 and lower flow accelerates cone 5-7, upper big
Under small lower flow accelerate cone 5-7 that heaving water stream channel 4-2 flow-passing surfaces is made to be gradually widened from top to bottom, seawater excretion downwards plus
Soon.
Similarly, when unmanned boat moves downward, seawater, which moves upwards with respect to torpedo submerged body 4 and flows into heaving flow, to be led to
Road 4-2, up big and down small lower flow accelerate cone 5-7 that heaving water stream channel 4-2 flow-passing surfaces is forced gradually to narrow from lower to upper, water
Stream is accelerated, and further, under lower current deflecting blade group 5-6 inductions, (seeing from top to bottom) rotation flows to water to seawater clockwise
Wheel 5-3 simultaneously drives water wheels 5-3 (seeing from top to bottom) rotations clockwise, and further, (seeing from top to bottom) turns water wheels 5-3 clockwise
The torque of movable property life reaches the rotor of generator 5-1, the rotor rotation of generator 5-1 by connecting shaft 5-2, and generator generates electricity
Energy；Seawater continues to flow upward through current deflecting blade group 5-4 after passing through water wheels 5-3 and upper flow accelerates cone 5-5, on
Small lower big upper flow accelerates cone 5-5 that heaving water stream channel 4-2 flow-passing surfaces is made to be gradually widened from lower to upper, and seawater is drained upwards
Accelerate.
To sum up, when heaving occurs for unmanned boat, no matter hull upwards or moves downward, and water wheels 5-3 is clockwise
It rotates and drives generator 5-1 rotation power generations.
(3) speed of a ship or plane instruction that control station is sent out is captured by communication and navigation equipment, and communication apparatus is by speed of a ship or plane instruction feedback to control
The main control computer of system processed, main control computer give voltage corresponding with the speed of a ship or plane to four propulsion electric machine 7-3, and four promote electricity
Machine 7-3 is rotated synchronously and is driven four propeller 7-1 rotations, propeller 7-1 to generate by four propeller drive shaft 7-2 respectively
Forward thrust makes unmanned boat travel forward, and the unmanned boat speed of a ship or plane is gradually stablized near given value and stablized in four aerofoil profiles thereafter
Under the action of column 3, unmanned boat goes as course, line navigation；When control station sends out steering order, control system difference is to the left
Two propulsion electric machine 7-3 of the side of a ship and two propulsion electric machine 7-3 of starboard give the different voltage of size or direction, to make two sides of a ship
Propeller 7-1 generate the different thrust of size or direction, the different thrust of size or direction forms torque on hull, nobody
Ship is rotated around hull vertical axes, and after reaching prearranged heading, under the stabilization of four aerofoil profile stabilizer columns 3, unmanned boat is kept
Course, line navigation.At the same time, control system sets the information such as the real time position of unmanned boat, course, acceleration and camera shooting
The image frame of standby capture is sent to control station.
(4) band torpedo submerged body multiple renewable energy sources of the invention driving binary unmanned boat reaches predetermined sampled point, control
System station sends out sampling instruction：Under control system control, tube rolling device 8-3 discharges pump head 8-2, and pump head 8-2 is dragged under the effect of gravity
Dynamic pump line 8-1 sinks rapidly；At the same time, the water depth sensor on pump head 8-2 captures current Water Depth Information and Real-time Feedback is given
Control station, operator assign sampling and confirm that instruction, peristaltic pump 8-4 start, seawater sample extracted after confirming that the depth of water is errorless
To sampling box 8-5, single sampled point sampling process is completed；Tube rolling device 8-3 rotations, pump head 8-2 reach another sampling depth, wriggle
It pumps 8-4 to start, wastewater discharge pipe 8-6 empties remaining seawater in pump line 8-1, and freshly harvested seawater is acquired to sampling box 8-5, sampling
It completes；Repeatedly, after completing all sampled point sampling operations, unmanned boat makes a return voyage；Operator opens sampling chamber 2-3 arc water
Close hatchcover 2-7 takes out sampling box 8-5, and places new sampling box 8-5, and unmanned boat, which continues to sail, executes new sampling task.
(5) present invention's has certain AUTONOMOUS TASK with torpedo submerged body multiple renewable energy sources driving binary unmanned boat
Ability.Similarly, under AUTONOMOUS TASK pattern, above-mentioned steps (3) and (4) process are completed by pre-set programs instruction is autonomous.
(6) further, under the outer force-disturbance such as wind, wave and stream, a variety of renewable energies of band torpedo submerged body of the invention
Source drives binary unmanned boat hull that rolling occurs, and since center of gravity is relatively low, centre of buoyancy is higher, and gravity is under centre of buoyancy, gravity and buoyancy
Coupling generate larger restoring moment, at the same time, four aerofoil profile stabilizer columns 3 generate larger roll damping,
Under the synergy of restoring moment and roll damping, alist angle is quickly zeroed, and unmanned boat keeps stablizing upright condition.Figure 10
For with vessel stability analyze in the hydrostatic that is calculated of program Hydromax under designed draft 1.055m states the present invention nobody
The curve of statical stability of ship, abscissa A are Angle of Heel (unit：°), ordinate GZ is righting arm (unit：m).As shown in Figure 10：
Metacentric height GMt (units of the present invention：M) be not less than 1.604m, i.e., under designed draft state, outer force effect make the present invention nobody
When ship generates low-angle heel, the inclined torque of resistance is very big, and balance can be returned at once generating small angle inclination
State；Under designed draft state, the limit angle of statical inclination of unmanned boat of the present invention is more than 51.4 °, i.e., occurs in unmanned boat of the present invention
When larger angle tilts, as long as angle of inclination is not more than 51.4 °, the present invention can automatically return to equilibrium state；It is eaten in design
Under water state, the angle of vanishing stability of unmanned boat of the present invention is not less than 100 °, as long as that is, angle of inclination is not more than 100 °, the present invention without
People's ship, which will produce, resists hull further inclined restoring moment.
(7) further, under the outer force-disturbance such as violent wind, wave and stream, unmanned boat of the invention topples, due to
The present invention has self-righting ability, and hull restores upright condition automatically.Figure 11 is to analyze program Hydromax with vessel stability
Topple under Design of State displacement the curve of statical stability of (180 ° of Angle of Heel) unmanned boat of the present invention in the hydrostatic being calculated, horizontal seat
Mark A is Angle of Heel (unit：°), ordinate GZ is righting arm (unit：m).As shown in figure 11：Topple under state (Angle of Heel
180 °), metacentric height GMt (units of the present invention：M) it is not more than 0.27m, it is horizontal that outer force effect makes unmanned boat of the present invention generate low-angle
When inclining, resist inclined torque very little, can be allowed under smaller outer force effect the present invention occur low-angle (be less than 10 °~
15 °) heel；The stability that the present invention continues to keep toppling posture is very poor, and limit angle of statical inclination topples under state no more than 10 °
(180 ° of Angle of Heel) unmanned boat tilt angle varied amount of the present invention is more than 10 ° and resists inclined torque i.e. disappearance, in gravity and buoyancy
Synergy under unmanned boat accelerate to tilt and tend to top-up, thus for example faint wind of External force interference minimum under state of toppling, wave
Or stream can make autonomous turn righting of the invention, to make the ability of autonomous righting of the invention.When unmanned boat is far from seashore
Local operation when toppling, self-righting ability makes the present invention that can independently turn over righting without overstaffed intervention, continues
Carry out water quality sampling task or return to seashore and carries out overhaul of the equipments.
It is emphasized that on the basis of the present invention, any change or replacement expected without creative work are all answered
It is included within the scope of the present invention.Protection scope of the present invention should be with protection domain defined by claims
It is accurate.
Claims (10)
1. a kind of band torpedo submerged body multiple renewable energy sources drive binary unmanned boat, which is characterized in that including the sheet body that leans forward, water
Close box connecting bridge, aerofoil profile stabilizer column, torpedo submerged body, heaving electricity generation system, solar power system, propulsion system and
Control system；Two sheet bodies that lean forward connect to form door type structure by the box connecting bridge of watertight, and two torpedo submerged body settings exist
The lower section of two sheet bodies that lean forward, the aerofoil profile stabilizer column that each torpedo submerged body separates setting by least two and the sheet body that leans forward
Connection；
The sheet body that leans forward is the slack bulge type watertight cavity slender bodies structure of proclined stem, the multiple compartments of setting；
The box connecting bridge of the watertight includes support construction, bottom plate and arc-shaped upper cover；Shape between bottom plate and arc-shaped upper cover
At cavity；Support construction is connect with bottom plate and the sheet body that leans forward respectively；
The aerofoil profile stabilizer column is the hollow-core construction that cross section is NACA aerofoil profiles, any one upper of two aerofoil profile stabilizer columns
End is fixedly connected with the sheet body that leans forward of side, and lower end is fixedly connected with the torpedo submerged body of the same side；
The torpedo submerged body is two；Two torpedo submerged bodies set gradually lower propeller cabin, heaving flow from back to front
Channel, lithium battery cabin, heaving water stream channel and emergent lithium battery cabin；The outer profile of the vertical projection of heaving water stream channel is circle
Shape, heaving water stream channel run through torpedo submerged body shell vertically；
The heaving electricity generation system include generator, connecting shaft, water wheels, upper current deflecting blade group, upper flow accelerate cone,
Lower current deflecting blade group and lower flow accelerate cone；Totally four sets of heaving electricity generation system, is separately positioned on two torpedo submerged bodies
Front and back end；Generator is arranged in heaving power module, and generator outer wall is fixedly connected with the sheet body that leans forward；Connecting shaft lower part and water
Wheel is fixedly connected, the rotor connection of upper end and generator；Upper current deflecting blade group outer rim is fixed with heaving water stream channel inner wall
Connection, inner edge accelerate centrum to be fixedly connected with upper flow；It is bottom surface downward up-small and down-big conical cavity that upper flow, which accelerates cone,
Structure, and the connecting shaft through hole for accelerating cone perpendicular to bottom surface, through upper flow is set at bottom center；Lower flow accelerates
Cone is bottom surface up big and down small conical cavity structure upward and the bearing for being axially perpendicular to bottom surface is arranged bottom center at；
The solar power system includes flexible solar film battery assembly and solar charging controller；The flexible sun
Energy film battery assembly is covered in the arc-shaped upper cover of the box connecting bridge of watertight, multiple flexible solar film battery assemblies series connection
Connection, and connect with solar charging controller；
The propulsion system includes propeller, propeller drive shaft, propulsion electric machine；Before four propellers are separately positioned on two
Incline and sheet body and two torpedo submerged body rear ends and is connect respectively with four propulsion electric machines by four propeller drive shafts；
The control system includes main control computer, positioning navigation module, communication module, data acquisition module；Location navigation
Module, communication module, data acquisition module are connect with main control computer respectively, and main control computer is connect with control station, control station
Setting is on the coast or on lash ship.
2. band torpedo submerged body multiple renewable energy sources according to claim 1 drive binary unmanned boat, which is characterized in that
The binary unmanned boat further includes water quality sampling system；The water quality sampling system includes pump line, pump head, tube rolling device, compacted
Dynamic pump, sampling box and wastewater discharge pipe；Pump line is corrosion-resistant silica gel hose, and pump line passes through the box baseplate of the box connecting bridge of watertight
It stretches out outside hull and is connect with pump head；Water depth sensor is housed inside pump head；Between pump head and peristaltic pump and peristaltic pump and adopt
It is connected by pump line between sample case, wastewater discharge pipe is connected to hull exterior space from peristaltic pump discharge of wastewater mouth；Tube rolling device
Equipped with fixing end and movable end, fixing end is connect with peristaltic pump, and movable end is connect with pump head.
3. band torpedo submerged body multiple renewable energy sources according to claim 1 drive binary unmanned boat, which is characterized in that
The sheet body that leans forward includes upper propeller cabin, heaving power module and the empty cabin of fore body isolation；Upper propeller cabin, two heaving power generations
Cabin, the empty cabin of fore body isolation are set gradually from back to front.
4. band torpedo submerged body multiple renewable energy sources according to claim 1 drive binary unmanned boat, which is characterized in that
The box connecting bridge of the watertight is mounted between two sheet bodies, and both sides are fixed by a pair of of support construction and two sheet bodies respectively
Connection；Electrical equipment room, sampling chamber, sample devices room are set gradually in cavity from back to front；Electrical equipment room and sampling box
Arch beam is set between room and between sampling chamber and sample devices room, crossbeam lower edge is away from watertight box connecting bridge babinet bottom
Plate height is not less than 240mm.
5. band torpedo submerged body multiple renewable energy sources according to claim 4 drive binary unmanned boat, which is characterized in that
Arc-shaped upper cover above sampling chamber cuts to form arc watertight hatchcover with other arc-shaped upper covers, arc watertight hatchcover
Side is hinged with bottom plate, and Simple handle is arranged in arc watertight hatchcover.
Be respectively arranged on arc-shaped upper cover speech ciphering equipment, light units, picture pick-up device, alarm equipment, communication and navigation equipment with
And avoidance equipment；Speech ciphering equipment includes loud speaker, and light units include searchlight and red Bai Lvsan colors navigation lights, picture pick-up device packet
Video camera is included, alarm equipment includes alarm, and communication and navigation equipment includes GNSS antenna, positioning differential antennae, data transmission day
Line, screen transmission antenna；GNSS antenna, positioning differential antennae are connect with the radio station GNSS, data transmission radio station, screen transmission antenna
It is connect respectively with data transmission radio station and screen transmission radio station；Avoidance equipment includes ultrasonic sensor.It is preferred that arc-shaped upper cover
Arc length be equal to flexible solar film battery assembly length.
6. band torpedo submerged body multiple renewable energy sources according to claim 1 drive binary unmanned boat, which is characterized in that
The main control computer is the PCM-9375 single board computers based on PC104 buses；Positioning navigation module includes GNSS antenna, determines
Potential difference divided antenna and GNSS signal receiver；GNSS antenna is connect with positioning differential antennae with GNSS signal receiver, GNSS letters
Number receiver accesses main control computer；
The communication module includes data transmission antenna, data transmission radio station, screen transmission antenna and screen transmission radio station；Data
Transmission antenna is connect with data transmission radio station, and data transmission radio station is connect with main control computer；Screen transmission antenna is passed with screen
Platform of transmitting electricity connects, and screen transmission radio station is connect with main control computer；
The data acquisition module includes video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyro
Instrument, 3-axis acceleration sensor and water depth sensor；Video camera, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass,
Intelligent gyroscope, 3-axis acceleration sensor, water depth sensor are connect with main control computer respectively.
7. band torpedo submerged body multiple renewable energy sources according to claim 6 drive binary unmanned boat, which is characterized in that
The GNSS antenna, positioning differential antennae are arranged in the rear end of the box connecting bridge of watertight, and GNSS signal receiver is arranged in electric appliance
In canyon；Data transmission antenna is arranged in the rear end of the box connecting bridge of watertight, and data transmission radio station is arranged in electrical equipment room
It is interior；Screen transmission setting antenna is arranged in the rear end of the box connecting bridge of watertight, screen transmission radio station in electrical equipment room；Camera shooting
Machine, ultrasonic sensor, three axis strapdown reluctance type Electronic Megnetic Compass, intelligent gyroscope, 3-axis acceleration sensor are respectively set
On arc-shaped upper cover, water depth sensor is mounted on pump head.
8. band torpedo submerged body multiple renewable energy sources according to claim 1 drive binary unmanned boat, which is characterized in that
The connecting shaft bottom end insertion is arranged in the bearing that lower flow accelerates cone, and connecting shaft upper end is upward through flow acceleration cone
Body, aerofoil profile stabilizer column, it is internal into piece, it is connect with the rotor of the generator in heaving power module；The middle part of water wheels is solid
Cylinder, solid cylinder outer wall circumferentially weld the disk-like structure of several arc shaped blades, and arc shaped blade endpoint line is in vertical plane
Interior；Upper current deflecting blade group, lower current deflecting blade group are several guide blade structures circumferentially.
9. band torpedo submerged body multiple renewable energy sources according to claim 1 drive binary unmanned boat, which is characterized in that
Two heaving water stream channels on the same torpedo submerged body are one in front and one in back arranged on torpedo submerged body central axes；Heaving flow
Torpedo submerged body inner space is isolated into several cabins by the wall in channel；Energy-storage lithium battery is arranged in lithium battery cabin；Emergent lithium
The emergent lithium battery of arrangement in battery flat.
10. band torpedo submerged body multiple renewable energy sources according to claim 1 drive binary unmanned boat, feature to exist
In the sheet body that leans forward, the box connecting bridge of watertight, aerofoil profile stabilizer column, torpedo submerged body are by 5086 aluminium alloy system of high intensity
At.
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Application publication date: 20180810 |