CN114408086A - Dual-mode variable-structure water surface navigation device and variable-structure method thereof - Google Patents
Dual-mode variable-structure water surface navigation device and variable-structure method thereof Download PDFInfo
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- CN114408086A CN114408086A CN202210025217.2A CN202210025217A CN114408086A CN 114408086 A CN114408086 A CN 114408086A CN 202210025217 A CN202210025217 A CN 202210025217A CN 114408086 A CN114408086 A CN 114408086A
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- navigation device
- electric push
- water surface
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- push rod
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 62
- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000002457 bidirectional effect Effects 0.000 claims description 13
- 230000009977 dual effect Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
- 230000008602 contraction Effects 0.000 claims description 4
- 230000006641 stabilisation Effects 0.000 claims description 3
- 238000011105 stabilization Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 230000007704 transition Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
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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
- B63B1/14—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
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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
- B63B1/14—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
Abstract
The invention provides a double-mode variable-structure water surface navigation device and a variable-structure method thereof, wherein the device comprises a main ship body and auxiliary ship bodies arranged on two sides of the main ship body, a navigation controller, an electric push rod driving module and a propulsion driving module are arranged on the main ship body, the electric push rod driving module is electrically connected with the navigation controller, the water surface navigation device pushes the water surface navigation device to navigate on the water surface through the propulsion driving module, the electric push rod driving module is used for driving an electric push rod, the connection between the main ship body and the auxiliary ship body is realized through the electric push rod, and the structure of the water surface navigation device is changed through the electric push rod. The water surface navigation device provided by the invention can be changed into a monohull ship to improve the navigation speed when high-speed navigation is required, and can be changed into a trimaran to improve the stability and wave resistance when stable navigation is required.
Description
Technical Field
The invention relates to the technical field of water surface aircrafts, in particular to a dual-mode variable-structure water surface navigation device and a variable-structure method thereof.
Background
With the increasing competition of world countries for ocean resources, higher requirements are put on water surface aircrafts. The traditional low-speed water surface aircraft cannot meet the requirements of high speed, high stability and the like of the aircraft. In the military field, in order to enable naval vessels to execute tasks in complex and severe marine environments, higher requirements are also put forward on the wave resistance of surface vessels.
In order to obtain higher navigational speed, the traditional surface vehicle is mostly a monohull ship with a long hull, but the stability and wave resistance of the monohull ship are poor. Trimarans have better seaworthiness stability and seakeeping, lower fuel consumption than monoships, but trimarans are less maneuverable than monoships.
If the advantages of the two are combined into a whole, the ship body can be flexibly adjusted according to the performance required by the aircraft to respond when the complex water area environment is faced, so that the ship has higher competitiveness in ocean resource exploration. Therefore, how to design a variable structure water surface aircraft with high speed and wave-resisting double modes at the same time becomes a problem to be solved urgently.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a dual-mode variable-structure surface navigation device and a variable-structure method thereof, wherein the dual-mode variable-structure surface navigation device can be changed into a monohull ship to improve the navigation speed when high-speed navigation is required, and can be changed into a trimaran to improve the stability and wave resistance when stable navigation is required.
In order to solve the problems, the technical scheme of the invention is as follows:
the utility model provides a dual mode variable structure surface of water navigation device, the device includes the main hull and sets up in the supplementary hull of main hull both sides, install the navigation controller on the main hull and with navigation controller electric connection's electric putter drive module, impel drive module, surface of water navigation device promotes surface of water navigation device through impeling drive module and sails at the surface of water, electric putter drive module is used for driving electric putter, realizes being connected between main hull and supplementary hull and changes surface of water navigation device's structure through electric putter.
Optionally, the electric push rods include four bidirectional electric push rods respectively located on two sides of the hull of the main hull, two bidirectional electric push rods are installed on each side, and the two bidirectional electric push rods on the same side are parallel to each other and connected to the auxiliary hull.
Optionally, an attitude sensor is mounted on the main hull, real-time attitude information of the water surface navigation device is acquired through the attitude sensor, the electric push rod is driven, and the change of the hull structure is realized by controlling the contraction and extension of the electric push rod.
Optionally, the surface of water navigation device be provided with impel drive module electric connection's the servo module of oar, the supplementary hull one end of main hull both sides respectively is equipped with a screw, through impel the drive module drive the screw servo module, the screw at supplementary hull one end is installed in the drive of the servo module of oar, the navigation of realization surface of water navigation device impels or turns to.
Optionally, the water surface navigation device is provided with a rudder driving module electrically connected with the navigation controller, a rudder is installed at one end of the main hull, and the rudder driving module drives the rudder to realize direction control or stabilization.
Optionally, the rudder is connected to the main hull through a ship shaft, and the navigation controller drives the ship shaft to rotate by 90 ° to drive the rudder to complete the transition from the horizontal state to the vertical state, so as to control the heading of the water surface navigation device.
Optionally, the water surface navigation device is provided with a wireless communication module electrically connected with the navigation controller, and the wireless communication module receives an instruction sent to the navigation controller by the upper computer terminal.
Further, the invention also provides a variable structure method of the dual-mode variable structure water surface navigation device, which comprises the following steps:
the dual-mode variable-structure water surface navigation device receives an instruction of an upper computer control terminal through a navigation controller and sends an adjusting signal according to the instruction;
judging whether the adjusting signal is in a high-speed mode or a wave-resisting mode;
if the adjusting signal is in a high-speed mode, the electric push rod driving module controls the electric push rod to contract;
if the adjusting signal is in the wave resisting mode, the electric push rod driving module controls the electric push rod to extend.
Optionally, if the adjustment signal is in the high-speed mode, the step of controlling the electric putter to retract by the electric putter driving module specifically includes:
the rudder driving module sends a control signal to the ship shaft according to the instruction of the upper computer control terminal, and the rudder is rotated to a vertical position by controlling and adjusting the ship shaft;
and judging whether the water surface navigation device enters a high-speed mode or not according to the real-time attitude data acquired by the attitude sensor.
Optionally, if the adjustment signal is in the wave-resisting mode, the step of controlling the electric putter to extend by the electric putter driving module specifically includes:
the rudder driving module sends a control signal to the ship shaft according to the instruction of the upper computer control terminal, and the rudder is rotated to the horizontal position by controlling and adjusting the ship shaft;
and judging whether the water surface navigation device enters a wave-resisting mode or not according to the real-time attitude data acquired by the attitude sensor.
Compared with the prior art, the invention provides the dual-mode variable-structure water surface sailing device and the variable-structure method thereof, solves the problems that the water surface sailing device faces two different requirements of high speed and high stability in the sailing process, improves the sailing speed for the monohull ship with the variable structure when high-speed sailing is needed, and improves the stability and wave resistance for the triple-hull ship with the variable structure when stable sailing is needed.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a perspective view of a dual mode variable structure surface navigation device in a wave resisting mode according to an embodiment of the present invention;
FIG. 2 is a perspective view of the dual mode variable configuration surface navigation device in a high speed mode in accordance with an embodiment of the present invention;
FIG. 3 is an electrical connection diagram of the dual mode variable structure surface navigation device provided by the embodiment of the invention;
fig. 4 is a flow chart of a variable structure method of the dual-mode variable structure surface navigation device according to the embodiment of the invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Specifically, fig. 1 is a perspective view of the dual-mode variable structure water surface navigation device provided by the embodiment of the present invention in a wave-resistant mode, as shown in fig. 1, the dual-mode variable structure water surface navigation device includes a main hull 8 and auxiliary hulls 9 disposed at two sides of the main hull 8, a rudder 3 is installed at the tail of the main hull 8, the rudder 3 is connected with the main hull 8 through a ship shaft 12, and an attitude sensor 11, a navigation controller 13 and an antenna 14 are also installed on the main hull 8. In this embodiment, the main hull 8 and the auxiliary hull 9 are connected by the electric push rod 4 to form a complete trimaran, the electric push rod 4 comprises four bidirectional electric push rods which are respectively located on two sides of the hull of the main hull 8, two bidirectional electric push rods are installed on each side, and the two bidirectional electric push rods on the same side are parallel to each other and connected with the auxiliary hull 9. In addition, a propeller 1 is respectively arranged at the stern of the auxiliary hull 9 and used for providing power for the advancing of the water surface navigation device. In this embodiment, the rudder 3 is used to assist the surface navigation device in reducing the sway of the navigation device during cruise in the wave-resistant mode, i.e. to reduce the roll, when the function of the rudder 3 is changed to a fin.
In another embodiment, fig. 2 is a perspective view of the dual-mode variable-structure surface navigation device provided by the embodiment of the invention in a high-speed mode, as shown in fig. 2, the surface vehicle can also be changed into a monohull ship from the trimaran shown in fig. 1, the main hull 8 is still connected with the auxiliary hull 9 through the bidirectional electric push rod 4, but the bidirectional electric push rod 4 is in a contracted state. Fig. 3 is an electrical connection schematic diagram of the dual-mode variable-structure water surface navigation device according to the embodiment of the present invention, and as shown in fig. 3, after receiving a variable-structure instruction sent from the upper computer terminal to the navigation controller 13 through the wireless communication module 10, the bidirectional electric push rod 4 executes a contraction command, so as to complete the variable structure from the trimaran to the monohull. In this embodiment, the rudder 3 is changed from a horizontal state to a vertical state, and specifically, the upper computer terminal sends an instruction to the navigation controller 13 to drive the ship shaft 12 to rotate by 90 degrees to drive the rudder 3 to complete the position conversion from the horizontal state to the vertical state, so as to control the course of the water surface navigation device.
The electric push rod driving module 5, the propulsion driving module 6, the rudder driving module 7, the wireless communication module 10 and the attitude sensor 11 are all electrically connected with the navigation controller 13, and the electric push rod driving module 5 is used for driving the extension and contraction of the four bidirectional electric push rods 4. The rudder drive module drive 7 is used for driving the rudder 3 to realize the direction control or the stabilization of the water surface navigation device. The water surface navigation device is provided with a propeller servo module 2 connected with a propulsion driving module 6, and the propeller servo module 2 is driven by the propulsion driving module 6 and is arranged at a propeller 1 at one end of an auxiliary ship body 9, so that navigation propulsion or steering is realized.
Fig. 4 is a flow chart of a variable structure method of the dual-mode variable structure surface navigation device according to the embodiment of the present invention, and as shown in fig. 4, the variable structure method includes the following steps:
step S1: the dual-mode variable-structure water surface navigation device receives an instruction of an upper computer control terminal through a navigation controller and sends an adjusting signal according to the instruction;
step S2: judging whether the adjusting signal is in a high-speed mode or a wave-resisting mode;
step S3: if the adjusting signal is in a high-speed mode, the electric push rod driving module controls the electric push rod to contract;
specifically, step S3 includes the steps of:
the rudder driving module sends a control signal to the ship shaft according to the instruction of the upper computer control terminal, and the rudder is rotated to a vertical position by controlling and adjusting the ship shaft;
and judging whether the water surface navigation device enters a high-speed mode or not according to the real-time attitude data acquired by the attitude sensor.
Step S4: if the adjusting signal is in the wave resisting mode, the electric push rod driving module controls the electric push rod to extend;
specifically, step S4 includes the steps of:
the rudder driving module sends a control signal to the ship shaft according to the instruction of the upper computer control terminal, and the rudder is rotated to the horizontal position by controlling and adjusting the ship shaft;
and judging whether the water surface navigation device enters a wave-resisting mode or not according to the real-time attitude data acquired by the attitude sensor.
Compared with the prior art, the invention provides the dual-mode variable-structure water surface sailing device and the variable-structure method thereof, solves the problems that the water surface sailing device faces two different requirements of high speed and high stability in the sailing process, improves the sailing speed for the monohull ship with the variable structure when high-speed sailing is needed, and improves the stability and wave resistance for the triple-hull ship with the variable structure when stable sailing is needed.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The utility model provides a dual mode variable structure surface of water navigation device, its characterized in that, the device includes the main hull and sets up in the supplementary hull of main hull both sides, install the navigation controller on the main hull and with navigation controller electric connection's electric putter drive module, impel drive module, surface of water navigation device promotes surface of water navigation device at the surface of water navigation through impeling drive module, electric putter drive module is used for driving electric putter, realizes being connected between main hull and supplementary hull and changes the structure of surface of water navigation device through electric putter.
2. The dual mode variable structure surface navigation device of claim 1, wherein the electric push rods comprise four bidirectional electric push rods respectively located at two sides of the hull of the main hull, two bidirectional electric push rods are installed at each side, and the two bidirectional electric push rods at the same side are parallel to each other and connected with the auxiliary hull.
3. The dual-mode variable-structure water surface navigation device as claimed in claim 1, wherein an attitude sensor is mounted on the main hull, real-time attitude information of the water surface navigation device is acquired through the attitude sensor, the electric push rod is driven, and the change of the hull structure is realized by controlling the contraction and the extension of the electric push rod.
4. The dual-mode variable-structure water surface navigation device according to claim 1, wherein the water surface navigation device is provided with a propeller servo module electrically connected with the propulsion driving module, one end of each of the auxiliary hulls on both sides of the main hull is provided with a propeller, the propeller servo module is driven by the propulsion driving module, and the propeller mounted at one end of each of the auxiliary hulls is driven by the propeller servo module, so that the navigation propulsion or steering of the water surface navigation device is realized.
5. The dual-mode variable structure water surface navigation device as claimed in claim 1, wherein the water surface navigation device is provided with a rudder driving module electrically connected with the navigation controller, one end of the main hull is provided with a rudder, and the rudder is driven by the rudder driving module to realize direction control or stabilization.
6. The dual mode variable structure surface navigation device of claim 5, wherein the rudder is connected to the main hull through a shaft, and the navigation controller drives the shaft to rotate 90 ° to drive the rudder to perform a transition from a horizontal state to a vertical state, so as to control the heading of the surface navigation device.
7. The dual-mode variable-structure water surface navigation device according to claim 1, wherein the water surface navigation device is provided with a wireless communication module electrically connected with the navigation controller, and the wireless communication module is used for receiving an instruction sent to the navigation controller by an upper computer terminal.
8. A method of reconfiguration of a dual mode, variable configuration surface navigation apparatus, said method comprising the steps of:
the dual-mode variable-structure water surface navigation device receives an instruction of an upper computer control terminal through a navigation controller and sends an adjusting signal according to the instruction;
judging whether the adjusting signal is in a high-speed mode or a wave-resisting mode;
if the adjusting signal is in a high-speed mode, the electric push rod driving module controls the electric push rod to contract;
if the adjusting signal is in the wave resisting mode, the electric push rod driving module controls the electric push rod to extend.
9. The structure-changing method of the dual-mode structure-changing water surface sailing device as claimed in claim 8, wherein if the adjustment signal is in the high-speed mode, the step of controlling the electric push rod to retract by the electric push rod driving module specifically comprises:
the rudder driving module sends a control signal to the ship shaft according to the instruction of the upper computer control terminal, and the rudder is rotated to a vertical position by controlling and adjusting the ship shaft;
and judging whether the water surface navigation device enters a high-speed mode or not according to the real-time attitude data acquired by the attitude sensor.
10. The structure-changing method of the dual-mode structure-changing water surface navigation device according to claim 8, wherein if the adjustment signal is the wave-resisting mode, the step of the electric push rod driving module controlling the electric push rod to extend specifically comprises:
the rudder driving module sends a control signal to the ship shaft according to the instruction of the upper computer control terminal, and the rudder is rotated to the horizontal position by controlling and adjusting the ship shaft;
and judging whether the water surface navigation device enters a wave-resisting mode or not according to the real-time attitude data acquired by the attitude sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210025217.2A CN114408086A (en) | 2022-01-11 | 2022-01-11 | Dual-mode variable-structure water surface navigation device and variable-structure method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210025217.2A CN114408086A (en) | 2022-01-11 | 2022-01-11 | Dual-mode variable-structure water surface navigation device and variable-structure method thereof |
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| CN114408086A true CN114408086A (en) | 2022-04-29 |
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| CN202210025217.2A Pending CN114408086A (en) | 2022-01-11 | 2022-01-11 | Dual-mode variable-structure water surface navigation device and variable-structure method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115489656A (en) * | 2022-11-16 | 2022-12-20 | 山东科技大学 | Folding floating body propulsion structure for unmanned single sailing boat and working method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2903815A1 (en) * | 1979-02-01 | 1980-08-14 | Erwin Schumacher | Ship with multi-part hull - is of variable beam and has lengthwise partitions and locking connectors allowing sideways movement of parts |
| JPH048696A (en) * | 1990-04-25 | 1992-01-13 | Sumitomo Heavy Ind Ltd | Controlling method for course of ship during braking by reverse rotation of propeller |
| US20010023658A1 (en) * | 1998-07-27 | 2001-09-27 | Mcinnes Ross Gordon | Motor powered catamaran |
| KR20070117878A (en) * | 2006-06-09 | 2007-12-13 | 장동원 | Catamaran changing interval between two hulls |
| CN109606580A (en) * | 2019-01-09 | 2019-04-12 | 上海大学 | A kind of unmanned guard boat of antisurge |
| CN208947528U (en) * | 2018-10-26 | 2019-06-07 | 天津大学仁爱学院 | A kind of transformable three-body rescue at sea ship |
| WO2020254820A1 (en) * | 2019-06-20 | 2020-12-24 | Railscape Technologies Limited | Improvements in or relating to fluid delivery |
-
2022
- 2022-01-11 CN CN202210025217.2A patent/CN114408086A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2903815A1 (en) * | 1979-02-01 | 1980-08-14 | Erwin Schumacher | Ship with multi-part hull - is of variable beam and has lengthwise partitions and locking connectors allowing sideways movement of parts |
| JPH048696A (en) * | 1990-04-25 | 1992-01-13 | Sumitomo Heavy Ind Ltd | Controlling method for course of ship during braking by reverse rotation of propeller |
| US20010023658A1 (en) * | 1998-07-27 | 2001-09-27 | Mcinnes Ross Gordon | Motor powered catamaran |
| KR20070117878A (en) * | 2006-06-09 | 2007-12-13 | 장동원 | Catamaran changing interval between two hulls |
| CN208947528U (en) * | 2018-10-26 | 2019-06-07 | 天津大学仁爱学院 | A kind of transformable three-body rescue at sea ship |
| CN109606580A (en) * | 2019-01-09 | 2019-04-12 | 上海大学 | A kind of unmanned guard boat of antisurge |
| WO2020254820A1 (en) * | 2019-06-20 | 2020-12-24 | Railscape Technologies Limited | Improvements in or relating to fluid delivery |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115489656A (en) * | 2022-11-16 | 2022-12-20 | 山东科技大学 | Folding floating body propulsion structure for unmanned single sailing boat and working method |
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