CN109050802B - Wave self-adaptive unmanned water surface robot - Google Patents

Abstract

The invention relates to a wave self-adaptive unmanned water surface robot. The robot comprises a main body structure, a propulsion system, a buoyancy system, a suspension system and a control system, wherein the main body structure and the buoyancy system are combined to form a stable water surface platform; the suspension system is adopted on the water surface equipment for the first time, and the influence of waves on the robot is reduced through the combined action of the pitching vibration absorber and the rolling vibration absorber, so that the robot has certain wave self-adaptive capacity; meanwhile, a modular design idea is adopted, and all parts can be exchanged according to different requirements, so that the assembly and the debugging are convenient. Compared with the existing equipment, the invention has the advantages of small volume, light weight and flexible movement, can select remote control operation or manual operation switching, can be used in combination with the existing large-scale equipment, and has important popularization value.

Description

A wave adaptive unmanned surface robot

technical field

The invention relates to a marine unmanned equipment, in particular to an unmanned surface robot with a certain wave self-adaptive ability which can still complete the work under the condition of strong wind and waves.

Background technique

With the formulation of the strategy of a maritime power, shipping has achieved significant development in recent years, and activities and work at sea have also increased. At present, the main equipment operating at sea is mainly large ships, which are used to complete the transportation of people and things at sea. With the development of the times, the work at sea is not just transportation, there are many other tasks to be completed, such as search and rescue, navigation, monitoring, hydrographic survey, etc. In addition, there are many needs in the military field, such as reconnaissance, detection, mine clearance, patrolling etc.; in some fields, the existing boats are expensive to use and have certain risks, and other tasks need to be performed without interruption around the clock, and the existing boats cannot perfectly meet all the needs.

Therefore, new high-performance unmanned equipment with high speed, good stability and certain load capacity is needed to fill the above needs, and to better complete the corresponding work by cooperating with existing equipment.

SUMMARY OF THE INVENTION

In order to overcome the above deficiencies, the present invention develops a wave-adaptive unmanned surface robot, which has good seakeeping, does not require human participation, can run stably under relatively large wind and waves, and has a certain load capacity, which can be adapted to different tasks according to different tasks. It is convenient to carry different equipments.

To achieve the above object, the present invention has adopted the following technical solutions:

A wave adaptive unmanned surface robot, comprising a main structure, a propulsion system, a buoyancy system, a suspension system and a control system, wherein:

The main structure is a truss structure, including the main platform. The main platform is a quadrilateral structure, surrounded by a truss structure, and the middle is an equipment cabin. The equipment cabin is equipped with corresponding working equipment according to the tasks performed by the robot. The four corners of the platform are hingedly connected to four sets of rocker arms, and the four sets of rocker arms are hingedly connected to the support arms;

The buoyancy system consists of four pontoons distributed on the same plane. The four pontoons consist of two power cells and two battery cells. The two power cells are hingedly mounted on the two support arms behind the main platform of the main structure. , two battery compartment hinges are installed on the two support arms in front of the main platform of the main structure, the two battery compartments provide power for the two power compartments, and the buoyancy system provides buoyancy for the entire robot. The buoyancy system and the main structure form a stable surface platform;

Suspension system, including pitch damper and roll damper, the pitch damper is connected between the pontoon and the support arm by a hinge, and the roll damper is connected by a hinge between the rocker arm and the main platform ;

The propulsion system, installed inside the two power cabins of the buoyancy system, provides the forward power for the entire robot;

The control system includes a console and a land base station. The console controls the propulsion system and corresponding working equipment by receiving remote control signals from the land base station. The console can also manually control the propulsion system and corresponding working equipment to realize the robot's sea travel and complete corresponding Task.

Further, the power cabin and the battery cabin of the buoyancy system are V-shaped hull structures, which are suitable for high-speed sailing.

Further, the power cabin and the battery cabin of the buoyancy system are provided with an in-cabin support frame, and the cabin support frame increases the structural strength and rigidity of the power cabin and the battery cabin.

Further, the propulsion system includes two sets of propulsion devices, and the two sets of propulsion devices are respectively fixed in the two power cabins behind the main platform of the main structure; each set of propulsion devices includes a propulsion motor and a water jet propeller. , the output shaft of the propulsion motor in each group of propulsion devices is connected to the input shaft of the water jet through a universal coupling, and the nozzle of the water jet is exposed outside the power cabin, and the rotation of the propulsion motor drives the water jet to rotate It is sprayed through the nozzle to provide the robot with driving power at sea, and the control system controls the different rotational speeds of the two propulsion motors to realize the steering of the robot during the traveling process.

Further, the spout angle of the water jet can be adjusted, and the adjustment range of the spout angle is ±25° in the horizontal direction. By changing the spout angle of the water jet, the robot can turn in the process of traveling.

Further, the suspension system also includes a limit rod, the upper end of the limit rod is hinged with the upper part of the rocker arm, and the lower end of the limit rod is hinged with the lower part of the rocker arm, so as to limit the distance between the upper part and the lower part of the rocker arm. The role of limit.

Further, the pitch damper is connected between the floating cabin of the buoyancy system and the support arm through a hinge, and the roll damper is connected between the rocker arm and the main platform through a hinge; one end of the pitch damper passes through the The hinge is connected with the support arm, and the other end is connected with the floating cabin through the hinge, so that the floating cabin can be inclined 5-10° with the horizontal plane along its own length direction, that is, the floating cabin can lift the bow 5-10 degrees in the vertical direction. °, to reduce the pitching of the robot during travel; one end of the roll shock absorber is connected to the main platform through a hinge, and the other end is connected to the lower part of the rocker arm through a hinge, so that the rocker arm can be hinged with the platform in the vertical direction. The axis rotates within a range of ±30° from the horizontal plane, which reduces the roll of the robot during travel, so as to ensure that the robot encounters waves while traveling on the water surface to maintain the stability of the main platform and obtain a certain degree of wave adaptive capability.

The invention realizes the remote control of the unmanned surface robot at the land base station through the control system, and the control system can control the propulsion system and the corresponding working equipment at the same time, so as to realize the movement of the unmanned surface robot and complete the corresponding tasks; the invention can be combined with the existing large-scale The equipment can be used in combination, airdropped by amphibious aircraft, or by large ships, and multiple robot clusters can work together to improve work efficiency.

Compared with the prior art, the present invention has the following advantages:

1. Compared with the existing equipment, it has the advantages of small size, light weight, flexible movement, and can be operated by remote control or manual operation. The remote control operation does not require personnel to participate, with high safety and high flexibility in switching manual operation in special circumstances;

2. The main structure is combined with the buoyancy system to form a stable water surface platform, and the four-floating cabin is separated layout mode, which greatly increases the stability of the robot on the water surface and improves the ability to work in strong wind and waves;

3. The present invention adopts the suspension system on the water surface equipment for the first time, and through the joint action of the pitch damper and the roll damper, the influence of waves on the robot is reduced, so that the robot has a certain wave adaptive ability;

4. The present invention adopts a modular design idea, and each component can be interchanged according to different requirements, which is convenient for assembly and debugging;

5. The present invention can be used in combination with existing large-scale equipment, can be air-dropped by amphibious aircraft, can be dropped by large-scale ships, and can also cooperate with multiple robot clusters to improve work efficiency.

The invention provides an unmanned surface robot with high stability and fast sailing speed, which can carry different equipment to complete different tasks according to different task requirements, and has important promotion value.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments described in this application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

1 is a schematic structural diagram of a wave adaptive unmanned surface robot in Embodiment 1 of the present invention;

Fig. 2 is the external view of the power cabin of the wave adaptive unmanned surface robot in Embodiment 1 of the present invention;

Fig. 3 is the internal view of the wave-adaptive unmanned surface robot power cabin in Embodiment 1 of the present invention;

In the picture: 1. Power cabin, 2. Pitch damper, 3. Support arm, 4. Limit bar, 5. Rocker arm, 6. Roll damper, 7. Main platform, 8. Equipment compartment, 9, console, 10, battery compartment, 11, water jet, 12, universal coupling, 13, cabin support frame, 14, propulsion motor.

Detailed ways

It should be noted that the embodiments of the present invention and the features of the embodiments may be combined with each other under the condition of no conflict. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments It is only a part of the embodiments of the present invention, but not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that the terminology used herein is for the purpose of describing specific embodiments only, and is not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly dictates otherwise, the singular is intended to include the plural as well, furthermore, it is to be understood that when the terms "comprising" and/or "including" are used in this specification, it indicates that There are features, steps, operations, devices, components and/or combinations thereof.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the invention unless specifically stated otherwise. Meanwhile, it should be understood that, for convenience of description, the dimensions of various parts shown in the accompanying drawings are not drawn in an actual proportional relationship. Techniques, methods, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the authorized specification. In all examples shown and discussed herein, any specific values should be construed as illustrative only and not limiting. Accordingly, other examples of exemplary embodiments may have different values. It should be noted that like numerals and letters refer to like items in the following figures, so once an item is defined in one figure, it does not require further discussion in subsequent figures.

In the description of the present invention, it should be understood that the orientations indicated by orientation words such as "front, rear, top, bottom, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" etc. Or the positional relationship is usually based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, and these orientation words do not indicate or imply the indicated device or element unless otherwise stated. It must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as a limitation on the scope of protection of the present invention: the orientation words "inside and outside" refer to the inside and outside relative to the contour of each component itself.

For ease of description, spatially relative terms, such as "on", "over", "on the surface", "above", etc., may be used herein to describe what is shown in the figures. The spatial positional relationship of one device or feature shown to other devices or features. It should be understood that spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over,

A device that is "above" or "above" other devices or features will then be oriented "below" or "under" other devices or features. Thus, the exemplary term "above" Both orientations "above" and "below" can be included. The device may also be oriented in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, it should be noted that the use of words such as "first" and "second" to define components is only for the convenience of distinguishing corresponding components. Unless otherwise stated, the above words have no special meaning and therefore cannot be understood to limit the scope of protection of the present invention.

Example 1

As shown in Figure 1, a wave-adaptive unmanned surface robot consists of a main structure, a propulsion system, a buoyancy system, a suspension system and a control system; wherein:

The main structure is composed of a main platform 7, four sets of rocker arms 5 and four support arms 3. The main platform 7 is a quadrilateral structure, and can be designed as a quadrilateral structure such as a square, a rectangle, a rhombus, a trapezoid, etc. as required. In this embodiment, the main platform 7 is designed It is a rectangular structure, the rectangle is surrounded by a truss structure, and the middle space forms an equipment cabin 8. The equipment cabin 8 is installed with corresponding equipment according to the tasks performed by the robot. At the same time, the equipment cabin 8 is provided with a console 9, and the four corners of the main platform 7 are hingedly connected to four. A set of rocker arms 5, four sets of rocker arms 5 are hingedly connected to the four support arms 3 to provide a robot working platform;

The buoyancy system is composed of four V-shaped floating cabins distributed on the same plane. The four floating cabins are composed of two power cabins 1 and two battery cabins 10. As shown in Figure 3, the power cabins 1 and battery cabins 10. It is a V-shaped hull and is suitable for high-speed sailing. The power cabin 1 and the battery cabin 10 of the buoyancy system are provided with an in-cabin support frame 13, and the cabin support frame 13 increases the structural strength and rigidity of the power cabin 1 and the battery cabin 10. Among them, the two power compartments 1 are hingedly mounted on the two support arms 3 behind the main platform 7 of the main structure, and the two battery compartments 10 are hingedly mounted on the two support arms 3 in front of the main platform 7 of the main structure. The battery in the cabin 10 transmits the electric power to the propulsion motor 14 in the power cabin 1 through the wire to provide power for the whole system, the buoyancy system provides buoyancy for the whole robot, and the buoyancy system and the main structure form a stable water surface platform;

The suspension system includes a pitch damper 2 and a roll damper 6. The pitch damper 2 is connected between the buoyant cabin of the buoyancy system and the support arm 3 through hinges, that is, one end of the pitch damper 2 passes through the The hinge is connected with the support arm 3, and the other end is connected with the floating cabin through the hinge, so that the floating cabin can be inclined 5~10° with the horizontal plane along its own length direction, that is, the floating cabin can lift the bow of the ship in the vertical direction by 5~10°. 10°, to reduce the pitch of the robot during travel; the roll shock absorber 6 is connected between the rocker arm 5 and the main platform 7 through a hinge, that is, one end of the roll shock absorber 6 is connected to the main platform 7 through a hinge, and the other One end is connected to the lower part of the rocker arm 5 by a hinge, so that the rocker arm 5 can rotate within a range of ±30° from the horizontal plane along the hinge axis of the rocker arm 5 and the platform 7 in the vertical direction, reducing the roll of the robot during the traveling process. The pitch shock absorber 2 and the roll shock absorber 6 ensure that the robot encounters waves when traveling on the water surface to maintain the stability of the main platform and obtain a certain degree of wave adaptive capability. At the same time, the suspension system also includes a limit rod 4, the upper end of the limit rod 4 is hinged with the upper part of the rocker arm 5, and the lower end of the limit rod 4 is hinged with the lower part of the rocker arm 5 to limit the distance between the upper part and the lower part of the rocker arm 5, reach the limit.

The propulsion system includes two sets of propulsion devices, and the two sets of propulsion devices are respectively fixed in the two power cabins 1 behind the main platform 7 of the main structure; as shown in Figure 2, each set of propulsion devices includes a propulsion motor 14 and a set of For the water jet 11, the output shaft of the propulsion motor 14 in each set of propulsion devices is connected to the input shaft of the water jet 11 through the universal coupling 12, and the nozzle of the water jet 11 is exposed outside the power cabin 1 and the angle is Adjustable, the propulsion motor 14 rotates to drive the water jet 11 to rotate to spray water through the nozzle, providing the robot with power to travel at sea. The nozzle angle adjustment range is ±25° in the horizontal direction. By changing the nozzle angle of the water jet 11 , which can realize the steering of the robot during the traveling process; and also can realize the steering during the traveling process of the robot by controlling the rotational speed of the two propulsion motors 14 to be different by the control system. The propulsion system provides the forward power for the entire robot;

The control system includes a console 9 and a land base station. The console 9 controls the propulsion system and the corresponding equipment installed in the equipment bay 8 by receiving remote control signals from the land base station. The console 9 can also manually control the propulsion system and the corresponding working equipment to realize the robot. to travel at sea and complete corresponding tasks.

The invention is small in size, light in weight, flexible in movement, and adopts the mode of separate layout of four floating cabins, which effectively increases the distribution area and greatly increases the stability of the robot on the water surface. It can reduce the impact of waves on the main platform, maintain the stability of the main platform, make it have a certain wave adaptive ability, improve the ability to work in the case of strong wind and waves, and can better complete the corresponding tasks. The invention adopts a modular design idea, and the components of the main structure, propulsion system, buoyancy system and suspension system can be interchanged according to different requirements, which is convenient for assembly and debugging; it can be used in combination with existing large-scale equipment, and can be Amphibious aircraft can be air-dropped, can be dropped by large ships, and multiple robot clusters can work together. Through remote control operations, without human participation, the movement of unmanned surface robots can be realized and the corresponding tasks can be completed safely and effectively.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. scope.

Claims (6)

1. a wave adaptive unmanned surface robot, is characterized in that, comprises main body structure, propulsion system, buoyancy system, suspension system and control system, wherein: The main structure is a truss structure, including a main platform (7), the main platform (7) is a quadrilateral structure, surrounded by a truss structure, and an equipment cabin (8) is in the middle. The equipment cabin (8) is installed according to the tasks performed by the robot. Working equipment, the equipment cabin (8) is provided with a console (9), the four corners of the main platform (7) are hingedly connected to four sets of rocker arms (5), and the four sets of rocker arms (5) are hingedly connected to the support arms (3) respectively; The buoyancy system includes four pontoons distributed on the same plane, the four pontoons are composed of two power cabins (1) and two battery cabins (10), wherein the two power cabins (1) are hingedly mounted on the main structure On the two support arms (3) behind the main platform (7), two battery compartments (10) are hingedly mounted on the two support arms (3) in front of the main platform (7) of the main structure, and the two battery compartments (10) ) provides power for the two power cabins, the buoyancy system provides buoyancy for the entire robot, and the buoyancy system and the main structure form a stable surface platform; A suspension system, including a pitch damper (2) and a roll damper (6), the pitch damper (2) is connected between the pontoon and the support arm (3) through a hinge, and the roll damper The device (6) is connected between the rocker arm (5) and the main platform (7) through a hinge; The propulsion system, installed inside the two power cabins (1) of the buoyancy system, provides the forward power for the entire robot; The control system includes a console (9) and a land base station, the console (9) controls the propulsion system and corresponding working equipment by receiving remote control signals from the land base station, and the console (9) can also manually control the propulsion system and corresponding working equipment , to realize the robot's sea travel and complete the corresponding tasks; The pitch damper (2) is connected between the floating cabin of the buoyancy system and the support arm (3) through a hinge, and the roll damper (6) is connected to the rocker arm (5) and the main platform ( 7); one end of the pitch damper (2) is connected to the support arm (3) through a hinge, and the other end is connected to the floating cabin through a hinge, so that the floating cabin can raise the bow of the ship by 5-10° in the vertical direction, Reduce the pitching motion of the robot during traveling; one end of the roll shock absorber (6) is connected to the main platform (7) through a hinge, and the other end is connected to the lower part of the rocker arm (5) through a hinge, so that the rocker arm (5) can In the vertical direction, it rotates within a range of ±30° from the horizontal plane along its hinge axis with the platform (7) to reduce the roll of the robot during the traveling process, so as to ensure that the robot encounters waves when traveling on the water surface and maintains the stability of the main platform. Gain some degree of wave adaptability. 2. The wave self-adaptive unmanned surface robot according to claim 1, wherein the propulsion system comprises two groups of propulsion devices, and the two groups of propulsion devices are respectively fixed on two rear parts of the main platform (7) of the main structure. Each group of propulsion devices includes a propulsion motor (14) and a water jet propeller (11), and the output shaft of the propulsion motor (14) in each group of propulsion devices passes through a universal coupling (12) Connect the input shaft of the water jet (11), while the nozzle of the water jet (11) is exposed outside the power cabin (1), the propulsion motor (14) rotates to drive the water jet (11) to rotate The water is sprayed out through the spout to provide the robot with power for traveling on the sea, and the control system controls the rotation speed of the two propulsion motors (14) to be different to realize the steering of the robot during the traveling process. 3. The wave self-adaptive unmanned surface robot according to claim 2, wherein the spout angle of the water jet propeller (11) can be adjusted, and the spout angle adjustment range is ±25° in the horizontal direction, through The angle of the nozzle of the water jet propeller (11) is changed to realize the turning of the robot during the traveling process. 4. The wave adaptive unmanned surface robot according to claim 1, wherein the suspension system further comprises a limit rod (4), the upper end of the limit rod (4) and the rocker arm (4). 5), the lower end of the limit rod (4) is hinged with the lower part of the rocker arm (5), so as to limit the distance between the upper part and the lower part of the rocker arm (5) and achieve the function of limit. 5 . The wave adaptive unmanned surface robot according to claim 1 , wherein the power cabin ( 1 ) and the battery cabin ( 10 ) of the buoyancy system are V-shaped hull structures, which are suitable for high-speed sailing. 6 . 6. The wave self-adaptive unmanned surface robot according to claim 1, wherein the power cabin (1) and the battery cabin (10) of the buoyancy system are provided with an in-cabin support frame (13), and the cabin The inner support frame (13) increases the structural strength and rigidity of the power compartment (1) and the battery compartment (10).

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