CN109367729B - A kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface - Google Patents
A kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface Download PDFInfo
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- CN109367729B CN109367729B CN201811259074.1A CN201811259074A CN109367729B CN 109367729 B CN109367729 B CN 109367729B CN 201811259074 A CN201811259074 A CN 201811259074A CN 109367729 B CN109367729 B CN 109367729B
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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
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
- B63B39/14—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude for indicating inclination or duration of roll
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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
- B63B39/00—Equipment to decrease pitch, roll, or like unwanted vessel movements; Apparatus for indicating vessel attitude
-
- 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
- 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
- B63B1/14—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected resiliently or having means for actively varying hull shape or configuration
- B63B2001/145—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected resiliently or having means for actively varying hull shape or configuration having means for actively varying hull shape or configuration
-
- 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
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Vibration Prevention Devices (AREA)
- Details Of Aerials (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of unmanned boats of resistance to wave with the adaptive stabilizer of the water surface, the unmanned boat is binary ship type, including upper deck, separately positioned floating body and adaptive stabilizer with upper deck, the floating body provides buoyancy for unmanned boat and is provided with propulsion device, the floating body is 2 full symmetric floating bodies of left and right, obliquity sensor is provided on the upper deck, accelerometer and gyroscope, for obtaining the rotational angle of upper deck, angular acceleration prediction and trend, and it is real-time transmitted to control system, adaptive stabilizer includes suspension and balance control mechanism, suspension is applied not only to connect the upper deck and floating body；It can be freely rotated by the connection structure of damper, piston rod and the first universal hinge simultaneously, realize the steady of upper deck.The invention has the benefit that unstability when can effectively reduce unmanned boat navigation and it is static when wave, improve nevigation safety and operation stability of the unmanned boat under complicated sea situation.
Description
Technical field
The present invention relates to a kind of unmanned boats of resistance to wave with the adaptive stabilizer of the water surface, belong to ocean unmanned systems technology
Field.
Background technique
Unmanned boat is small with the scale of construction, speed is fast, shallow draft advantage as a kind of novel sea observation platform, can enter
Conventional marine research vessel cannot and special waters, be widely used in fields such as paralic environment investigation, pipeline inspections.
Unmanned boat, due to being influenced by marine wave, is inevitably generated when marine environment is navigated by water and sways movement, including cross
Shake, pitching, head shake, swaying, surging, the movement of heaving (or heave) six-freedom degree, wherein rolling, pitching, heave are due to width
Value variation is big, influences maximum to ship, influences unmanned boat navigation safety and normal operation.
Traditional ship stabilizer has bilge keelson, stabilizer, tank stabilizer etc., but since the unmanned boat scale of construction is small, lesser
Wave will cause acutely swaying for hull；Unmanned boat load-carrying simultaneously is limited, can not install large size and subtracts and shake equipment, thus above-mentioned hand
Section, which is difficult to meet unmanned boat, subtracts the demand of shaking.Currently, there are some stabilizers, but existing defects: patent for unmanned boat
CN108298031A proposes a kind of stabilizer using Y-shaped suspension, can realize to subtract with the corresponding rotation of wave generation and shake, but
Passive stabilizer can not accomplish the control to attitude of ship, and anti-rolling effect is poor when sea situation is severe；Patent CN107323613A is mentioned
A kind of stabilizer of unmanned boat detecting devices out can be realized actively to subtract using telescopic rod and shake, but only has on pitching direction
Effect, while the device load-carrying is limited, is only applicable to single detective equipment, unrealized whole ship, which subtracts, shakes.
Therefore, it is necessary to it is a kind of for unmanned boat have an active control and multiple degrees of freedom subtract shake subtract the scheme of shaking and nobody
Ship.
Summary of the invention
The technical problem to be solved by the present invention is to overcome the deficiencies of existing technologies, one kind is provided and is adaptively subtracted with the water surface
The unmanned boat of resistance to wave for shaking device, for spot ship anti-rolling technology means can not be applicable in small volume ship, anti-rolling effect it is poor, application
The small defect of range, using adaptive stabilizer, in conjunction with active with passively subtract section of shaking the hand, have active control and multiple degrees of freedom
Stabilization capability, can effectively reduce unmanned boat navigation when unstability and it is static when wave, improve unmanned boat in complicated sea situation
Under nevigation safety and operation stability.
In order to achieve the above objectives, the present invention adopts the following technical scheme that:
A kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface, the unmanned boat are binary ship type, including upper first
Plate and the separately positioned floating body of upper deck and adaptive stabilizer, the floating body provide buoyancy for unmanned boat and are provided with
Propulsion device, the floating body are 2 full symmetric floating bodies of left and right, are provided with obliquity sensor, acceleration on the upper deck
Meter and gyroscope for obtaining rotational angle, angular acceleration prediction and the trend of upper deck, and are real-time transmitted to control system
System, adaptive stabilizer includes suspension and balance control mechanism, and the suspension is applied not only to connect the upper first
Plate and floating body；It can be freely rotated by the connection structure of damper, piston rod and the first universal hinge simultaneously, realize upper deck
It is steady；The balance control mechanism includes ball shape rotary mechanism, the control system and for connecting balance control mechanism
With the bracket of floating body, the ball shape rotary mechanism is rotated around horizontal rotation shaft, and the both ends of the horizontal rotation shaft are fixed on bracket
On, and one end of horizontal rotation shaft is provided with motor, and is equipped with encoder, is able to detect rotational angle and revolving speed, described
The rotational angle of ball shape rotary mechanism is reversely adjusted under the control of control system, the motor and ball shape rotary mechanism are logical
Retarder connection is crossed, the flexural pivot for connecting with suspension is provided on the spherical surface of the ball shape rotary mechanism；
The control system receives the angle, θ that upper deck updip angle transducer is measured and accelerometer and gyroscope is surveyed
The angular acceleration prediction obtained and trend, and then judge the state of unmanned boat, inclination angle is given constantly when rotational angle θ is less than, control
System judges that unmanned boat is substantially steady, does not respond；When θ is greater than given inclination angle constantly, system judges that unmanned boat is in unstable
State needs to adjust, and is based on PID/feedback control method, then carry out to subsequent time inclination angle using Kalman filtering algorithm
It predicts, angular velocity omega is equal to subsequent time inclination angle multiplied by time t before current inclination θ sovolin, to control motor drive module pair
Motor makes reversed adjustment, and early response is realized actively to subtract and be shaken, and reduces hull caused by wave and shakes.
A kind of above-mentioned unmanned boat of resistance to wave with the adaptive stabilizer of the water surface, the suspension include front overhang on-hook
Structure and rear hitch, the front hitch include suspension, front damper, piston rod, and the suspension is with a narrow upper and lower width
I-shaped overall structure is provided with several cylinders on the upper level bracket of suspension, fixes one in each described cylinder
Cylinder inner spring, the cylinder inner spring is connected with unmanned deck on the ship, can be realized the steady of upper deck under suspension heeling condition,
The both ends of suspension upper level bracket are each provided with a front damper, and the front damper can shrink elongation, and by preceding
Spring in damper and hydraulic device provide restoring force, reply reset condition after flexible, 2 front dampers it is another
End be connected respectively by a connecting rod with a piston rod, the upper end of 2 piston rods respectively with suspension lower horizontal branch
The both ends of frame are hinged by the first universal hinge, can all-direction rotation, the lower end of 2 piston rods is floating with left and right 2 respectively
Balance control mechanism on body is hinged by the second universal hinge, can all-direction rotation, the piston rod can be in range
Free extension in range realizes the variation of piston pole length.
A kind of above-mentioned unmanned boat of resistance to wave with the adaptive stabilizer of the water surface, the rear hitch includes can not
Flexible I-shaped connection rod and rear shock absorber, described I-shaped connection rod one end and upper deck are hinged, flat on the other end and floating body
The control mechanism that weighs is hinged, rotates around upper deck hinge joint；The lower end of the rear shock absorber is connected with the cross bar in I-shaped connection rod
It connects, upper end is hinged with upper deck, the slewing area of limiting rod.
A kind of above-mentioned unmanned boat of resistance to wave with the adaptive stabilizer of the water surface, the ball shape rotary mechanism have 4, point
Forward and backward 4 positions of left and right two floating bodies are not set, are set on the spherical surface of 2 ball shape rotary mechanisms of left and right floating body front
It is equipped with the second universal hinge for connecting with front hitch, the second universal hinge is respectively used in connection front hitch
2 piston rods；It is provided on the spherical surface of 2 ball shape rotary mechanisms at left and right floating body rear portion for being connect with rear hitch
Flexural pivot, the flexural pivot are respectively used to 2 I-shaped connection rods in connection rear hitch.
A kind of above-mentioned unmanned boat of resistance to wave with the adaptive stabilizer of the water surface, the fore body of the floating body are set as ball nose
Bow can reduce the ship wave during ship running.
A kind of above-mentioned unmanned boat of resistance to wave with the adaptive stabilizer of the water surface, the upper deck are also set equipped with operation
Standby and communication antenna, the operating equipment include the winch being arranged in below communication antenna and match simultaneously with the winch
The A type frame being fixed on upper deck.
A kind of above-mentioned unmanned boat of resistance to wave with the adaptive stabilizer of the water surface, the propulsion device are arranged in floating body stern
Portion.
A kind of above-mentioned unmanned boat of resistance to wave with the adaptive stabilizer of the water surface, the material of the suspension are stainless steel conjunction
Golden square tube.
A kind of above-mentioned unmanned boat of resistance to wave with the adaptive stabilizer of the water surface, the piston rod are free type gas bullet
Spring.
A kind of above-mentioned unmanned boat of resistance to wave with the adaptive stabilizer of the water surface, the cylinder have 4.
Advantageous effects of the invention:
(1) present invention solve tradition subtract the defect that section of shaking the hand can not be applicable in small volume ship, anti-rolling effect difference, use with
Suspension is that subtracting for core shakes mechanical structure, and light-weight, space is small, centering short wave length wave is swift in response, and anti-rolling effect is good,
It is very suitable for medium and small-scale vessel use；
(2) present invention passively subtracts the adaptive stabilizer that section of shaking the hand combines using master, and upper deck is separated with floating body,
Upper deck stability is improved by suspension, control system can be realized the prediction of unmanned boat posture based on PID control method,
And make early response, actively subtract and shakes, overcome the problems, such as it is single subtract a section anti-rolling effect difference of shaking the hand, insecure, can be effective
Reduce unmanned boat navigation when unstability and it is static when wave；
(3) present invention realizes multivariant subtract by a set of stabilizer and shakes, and anti-rolling effect is obvious, improves nobody
Nevigation safety and stability of the ship under complicated sea situation；
(4) stabilizer is mostly used with metal pipe material and hydraulic mechanism, simple and reliable, and loading capacity is big, is greatly improved
The functionality of unmanned boat.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is front hitch and 6 structural schematic diagram of balance control mechanism；
Fig. 3 is rear hitch and 6 structural schematic diagram of balance control mechanism；
Fig. 4 is the bracket 65 at floating body rear portion and the structural schematic diagram of ball shape rotary mechanism 61；
Fig. 5 subtracts for unmanned boat on pitching scale shakes operation schematic diagram；
Fig. 6 subtracts for unmanned boat in rolling and heave scale shakes operation schematic diagram；
Fig. 7 is control system pid algorithm block diagram.
The meaning of appended drawing reference in figure:
1, upper deck, 2, communication antenna, 3, operating equipment, 31, A type frame, 32, winch, 4, front hitch, 41, suspension,
42, front damper, 43, cylinder inner spring, 44, piston rod, the 45, first universal hinge, 5, rear hitch, 51, I-shaped connection rod,
52, rear shock absorber, 6, balance control mechanism, 61, ball shape rotary mechanism, the 62, second universal hinge, 63, motor, 64, retarder,
65, bracket, 66, flexural pivot, 7, floating body, 8, propulsion device, 9, bulb bow.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
Referring to Fig. 1 to Fig. 6, the unmanned boat of resistance to wave of the invention is binary ship type, including upper deck 1, separates and set with upper deck 1
The floating body 7 and adaptive stabilizer set, floating body 7 provide buoyancy for unmanned boat and are provided with propulsion device 8, and floating body 7 is a left side
Right 2 full symmetric floating bodies 7 are provided with obliquity sensor, accelerometer and gyroscope on upper deck 1, for obtaining upper first
Rotational angle, angular acceleration prediction and the trend of plate 1, and it is real-time transmitted to control system, adaptive stabilizer includes
Suspension and balance control mechanism 6, suspension are applied not only to connection upper deck 1 and floating body 7；Pass through damper, work simultaneously
The connection structure of stopper rod 44 and the first universal hinge 45 can be freely rotated, realize the steady of upper deck 1；Balance control mechanism 6
Including ball shape rotary mechanism 61, control system and bracket 65 for connecting balance control mechanism 6 and floating body 7, ball shape rotary
Mechanism 61 is rotated around horizontal rotation shaft, and the both ends of horizontal rotation shaft are fixed on bracket 65, and one end setting of horizontal rotation shaft
There is motor 63, and be equipped with encoder, be able to detect rotational angle and revolving speed, under control of the control system to ball shape rotary machine
The rotational angle of structure 61 is reversely adjusted, and motor 63 is connect with ball shape rotary mechanism 61 by retarder 64, ball shape rotary machine
The flexural pivot 66 for connecting with suspension is provided on the spherical surface of structure 61；Bracket 65 is triangle, and bottom is fixed on floating body 7
On, the both ends of balance control mechanism 6 are fixed on bracket 65, and bracket 65 props balance control mechanism 6；
Control system receives what the angle, θ that 1 updip angle transducer of upper deck is measured and accelerometer were measured with gyroscope
Angular acceleration prediction and trend, and then judge the state of unmanned boat, when rotational angle θ is less than given inclination angle, control system is sentenced
Disconnected unmanned boat is substantially steady, does not respond；When θ is greater than given inclination angle, system judges that unmanned boat is in unstable state, needs
It adjusts, is based on PID/feedback control method, then predict subsequent time inclination angle using Kalman filtering algorithm, currently
Angular velocity omega is equal to subsequent time inclination angle multiplied by time t before inclination angle theta sovolin, does to control 63 drive module of motor to motor 63
Reversed adjustment, early response out are realized actively to subtract and be shaken, and are reduced hull caused by wave and are shaken.
Suspension includes front hitch 4 and rear hitch 5, and front hitch 4 includes suspension 41, front damper
42, piston rod 44, suspension 41 is I-shaped overall structure with a narrow upper and lower width, if being provided on the upper level bracket of suspension 41
A cylinder is done, fixes a cylinder inner spring 43 in each cylinder, cylinder inner spring 43 is connected with unmanned deck on the ship 1, can
Upper deck 1 is steady under realization 41 heeling condition of suspension, and the both ends of 41 upper level bracket of suspension subtract before being each provided with one
Device 42 is shaken, front damper 42 can shrink elongation, and by the spring and hydraulic device offer restoring force in front damper 42, stretch
Reset condition is replied after contracting, the other end of 2 front dampers 42 passes through a connecting rod respectively and is connected with a piston rod 44, and 2
The upper end of a piston rod 44 is hinged by the first universal hinge 45 with the both ends of 41 lower horizontal bracket of suspension respectively, can be entirely square
Position rotation, the lower end of 2 piston rods 44 pass through the second universal 62 hinge of hinge with the balance control mechanism 6 on left and right 2 floating bodies respectively
Connect, can all-direction rotation, piston rod 44 can in maximum travel limit free extension, realize 44 length of piston rod change
Change.
Rear hitch 5 includes the I-shaped connection rod 51 and rear shock absorber 52 that can not be stretched, 51 one end of I-shaped connection rod
Hinged with upper deck 1, the balance control mechanism 6 on the other end and floating body 7 is hinged, rotates around 1 hinge joint of upper deck；Rear shock absorber
52 lower end is connected with the cross bar in I-shaped connection rod 51, and upper end and upper deck 1 are hinged, the slewing area of limiting rod.
Ball shape rotary mechanism 61 has 4, is separately positioned on forward and backward 4 positions of left and right two floating bodies, before left and right floating body
The second universal hinge the 62, the 20000th for connecting with front hitch 4 is provided on the spherical surface of 2 ball shape rotary mechanisms 61 in portion
2 piston rods 44 in connection front hitch 4 are respectively used to hinge 62；2 ball shape rotary mechanisms 61 at left and right floating body rear portion
Spherical surface on be provided with flexural pivot 66 for connecting with rear hitch 5, flexural pivot 66 is respectively used in connection rear hitch 5
2 I-shaped connection rods 51.
It should be understood that the spherical surface of 2 ball shape rotary mechanisms 61 of left and right floating body front is arranged in the second universal hinge 62
On, to realize piston rod 44 around the three-dimensional without constraint rotation fortune of the universal hinge in both ends (the first universal hinge 45 and the second universal hinge 62)
It is dynamic；And flexural pivot 66 is arranged on the spherical surface of 2 ball shape rotary mechanisms 61 at left and right floating body rear portion, can only realize rear hitch 5
Middle I-shaped connection rod 51 is in cross section (plane shown in Fig. 3) around the planar rotational movement of flexural pivot 66.
Further, the fore body of floating body 7 is set as bulb bow 9, can reduce the ship wave during ship running.
Further, for upper deck 1 also equipped with operating equipment 3 and communication antenna 2, operating equipment 3 includes setting logical
It the winch 32 of the lower section of Iflytech's line 2 and is matched with winch 32 and is fixed at the A type frame 31 on upper deck 1.
Still further, propulsion device 8 is arranged in 7 stern of floating body.
Preferably, the material of suspension 41 is stainless steel alloy square tube；Piston rod 44 is free type gas spring；Cylinder has 4.
Unmanned boat of the invention is as follows for the stabilization method of different freedom degrees:
Pitching: wave causes ship bow stern height different, forms pitching along ship longitudinal propagation.The unmanned boat of resistance to wave passes through
Upper deck 1 is separated with floating body 7, floating body 7 generates pitching when encountering wave, passes through stretching for front hitch 4 and rear hitch 5
Contracting movement guarantees that the relatively steady of upper deck 1, balance control mechanism 6 make front hitch 4 and rear hitch 5 can be around floating
Body relatively rotates, and guarantees 1 not run-off the straight of upper deck, by the passive regulating device such as damper in 2 suspension mechanisms with
Means of active gulation in balance control mechanism 6 reaches and subtracts on pitching scale so that floating body 7 is promptly restored to reset condition
The purpose shaken.
Rolling and heave: wave is laterally transmitted from ship, causes to lean over, and seriously affects navigation safety, resistance to wave nobody
Ship uses binary ship type, increases stabilizing moment, while the floating body of left and right 2 is relatively rotated by 2 suspension mechanisms around upper deck 1,
Generate independent heave movement, upper deck 1 is due to the cushioning effect of suspension, thus motion amplitude is smaller, reaches in rolling
Subtract the purpose shaken in heave freedom degree.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface, it is characterised in that: the unmanned boat is catamaran
Type, including upper deck and the separately positioned floating body of upper deck and adaptive stabilizer, the floating body provides floating for unmanned boat
Power is simultaneously provided with propulsion device, and the floating body is 2 full symmetric floating bodies of left and right, and inclination angle sensing is provided on the upper deck
Device, accelerometer and gyroscope for obtaining rotational angle, angular acceleration prediction and the trend of upper deck, and it are passed in real time
Control system is given, adaptive stabilizer includes suspension and balance control mechanism, and the suspension is for connecting institute
State upper deck and floating body；The balance control mechanism includes ball shape rotary mechanism, the control system and balances for connecting
The bracket of control mechanism and floating body, the ball shape rotary mechanism are rotated around horizontal rotation shaft, and the both ends of the horizontal rotation shaft are solid
It is scheduled on bracket, and one end of horizontal rotation shaft is provided with motor, and is equipped with encoder, is able to detect rotational angle and turns
Speed reversely adjusts the rotational angle of ball shape rotary mechanism under the control of the control system, the motor and spherical shape
Rotating mechanism is connected by retarder, and the ball for connecting with suspension is provided on the spherical surface of the ball shape rotary mechanism
Hinge；
The control system receives what the angle, θ that upper deck updip angle transducer is measured and accelerometer were measured with gyroscope
Angular acceleration prediction and trend, and then judge the state of unmanned boat, when rotational angle θ is less than given inclination angle when a certain value, control
System processed judges that unmanned boat is substantially steady, does not respond；When θ is greater than given inclination angle, system judges that unmanned boat is in unstable
State needs to adjust, and is based on PID/feedback control method, then carry out to subsequent time inclination angle using Kalman filtering algorithm
It predicts, angular velocity omega is equal to subsequent time inclination angle multiplied by time t before current inclination θ sovolin, to control motor drive module pair
Motor makes reversed adjustment, and early response is realized actively to subtract and be shaken, and reduces hull caused by wave and shakes；
The suspension includes front hitch and rear hitch, and the front hitch includes suspension, front damper, work
Stopper rod, the suspension are I-shaped overall structure with a narrow upper and lower width, are provided with several circles on the upper level bracket of suspension
Tin, a cylinder inner spring is fixed in each described cylinder, the cylinder inner spring is connected with unmanned deck on the ship, can be realized
Upper deck is steady under suspension heeling condition, and the both ends of suspension upper level bracket are each provided with a front damper, described
Front damper can shrink elongation, and by the spring and hydraulic device offer restoring force in front damper, reply after flexible former
Beginning state, the other end of 2 front dampers pass through a connecting rod respectively and are connected with a piston rod, 2 pistons
The upper end of bar is hinged by the first universal hinge with the both ends of suspension lower horizontal bracket respectively, can all-direction rotation, described in 2
The lower end of piston rod is hinged by the second universal hinge with the balance control mechanism on left and right 2 floating bodies respectively, can be comprehensive turn
Dynamic, the piston rod being capable of free extension, the variation of realization piston pole length in maximum travel limit；
The rear hitch includes the I-shaped connection rod and rear shock absorber that can not be stretched, described I-shaped connection rod one end with it is upper
Deck is hinged, and the other end and the balance control mechanism on floating body are hinged, rotates around upper deck hinge joint；Under the rear shock absorber
End is connected with the cross bar in I-shaped connection rod, and upper end is hinged with upper deck, the slewing area of limiting rod.
2. a kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface according to claim 1, it is characterised in that: institute
Stating ball shape rotary mechanism has 4, is separately positioned on forward and backward 4 positions of left and right two floating bodies, and 2 of left and right floating body front
The second universal hinge for connecting with front hitch, the second universal hinge difference are provided on the spherical surface of ball shape rotary mechanism
For connecting 2 piston rods in front hitch；It is provided on the spherical surface of 2 ball shape rotary mechanisms at left and right floating body rear portion
Flexural pivot for connecting with rear hitch, the flexural pivot are respectively used to 2 I-shaped connection rods in connection rear hitch.
3. a kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface according to claim 1, it is characterised in that: institute
The fore body for stating floating body is set as bulb bow, can reduce the ship wave during ship running.
4. a kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface according to claim 1, it is characterised in that: institute
Upper deck is stated also equipped with operating equipment and communication antenna, and the operating equipment includes the winch being arranged in below communication antenna
With matched with the winch and be fixed at the A type frame on upper deck.
5. a kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface according to claim 1, it is characterised in that: institute
Propulsion device is stated to be arranged in floating body stern.
6. a kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface according to claim 1, it is characterised in that: institute
The material for stating suspension is stainless steel alloy square tube.
7. a kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface according to claim 1, it is characterised in that: institute
Stating piston rod is free type gas spring.
8. a kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface according to claim 1, it is characterised in that: institute
Stating cylinder has 4.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811259074.1A CN109367729B (en) | 2018-10-26 | 2018-10-26 | A kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface |
| GB2006069.5A GB2581669B (en) | 2018-10-26 | 2019-07-15 | Seakeeping unmanned ship with water surface self-adaptive stabilizer |
| PCT/CN2019/095930 WO2020082822A1 (en) | 2018-10-26 | 2019-07-15 | Seakeeping unmanned boat provided with water-surface self-adaptive stabilizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811259074.1A CN109367729B (en) | 2018-10-26 | 2018-10-26 | A kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109367729A CN109367729A (en) | 2019-02-22 |
| CN109367729B true CN109367729B (en) | 2019-07-12 |
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ID=65389901
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811259074.1A Active CN109367729B (en) | 2018-10-26 | 2018-10-26 | A kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN109367729B (en) |
| GB (1) | GB2581669B (en) |
| WO (1) | WO2020082822A1 (en) |
Families Citing this family (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109367729B (en) * | 2018-10-26 | 2019-07-12 | 河海大学 | A kind of unmanned boat of resistance to wave with the adaptive stabilizer of the water surface |
| CN109911114B (en) * | 2019-03-08 | 2020-09-22 | 大连海事大学 | Unmanned ship with three-level damping self-stabilizing system |
| CN110316326B (en) * | 2019-07-22 | 2021-02-26 | 上海大学 | Flexible double-body unmanned boat with adjustable posture |
| CN110955248A (en) * | 2019-12-20 | 2020-04-03 | 珠海云洲智能科技有限公司 | Automatic obstacle avoidance method for unmanned ship |
| CN110901841B (en) * | 2019-12-30 | 2024-04-26 | 广东海洋大学 | Underwater robot throwing and recycling device |
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| Publication number | Publication date |
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| GB2581669A (en) | 2020-08-26 |
| CN109367729A (en) | 2019-02-22 |
| GB202006069D0 (en) | 2020-06-10 |
| GB2581669B (en) | 2022-05-11 |
| WO2020082822A1 (en) | 2020-04-30 |
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