CN101708760A - Small-waterplane two-body type high-performance water area unmanned inspecting device - Google Patents
Small-waterplane two-body type high-performance water area unmanned inspecting device Download PDFInfo
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Abstract
The invention relates to a small-waterplane two-body type high-performance water area unmanned inspecting device which is provided with a long-distance autonomous cruising function, can finish water surface detection work, is made of glass steel materials, and adopts power-driven outboard motor power and a novel control system. The device has good seakeeping performance, a twin-hull ship is divided into a water upper part and a underwater submerged body; the water upper part is provided with water surface monitoring equipment; underwater monitoring equipment can be arranged on a deck surface and extended into water for monitoring through a lifting rod. The device is made of glass steel materials and adopts power-driven outboard motor power, features good operation and leaves out a rudder system, thus enjoying convenient maintenance and replacement; in addition, the power-driven outboard motor is most suitable for shore-based remote control driving; by adopting a novel control system, a dispersion control system taking a computer microprocessor as the basis, a control system of a programmable logic controller and wireless data communication marinization, the inspection device of the invention can carry out remote management and control on a monitoring ship through a human-computer interface.
Description
Technical field
The present invention relates to a kind of small-waterplane two-body type high-performance water area unmanned inspecting device, belong to shipbuilding and shipping control technology field.
Background technology
Advanced ship type is not only depended in the development of high performance craft, and depends on lightweight high power driving engine, propulsion mode, dexterous failure-free kinetic control system, light-high-strength new material and improved and complete apparatus etc. efficiently.These all reached its maturity since half a century, were the technical guarantee that high performance craft is born and develops.
High performance craft is called high speed vessel again.Be that in fact " at a high speed " and " High Performance " two characteristics, its formation and development are arranged be exactly that the shipbuilding scientist uses of the new technology and constantly improves original navigation performance or develop new navigation performance to this class gear.
Small waterplane area twin hull ship (SWATH) has been known as the boats and ships of a kind of new and high technology, high additive value by shipbuilding and shipping sector.For the safety control in marine waters, be a kind of technological means of security.
The layout of small waterplane area twin hull ship (SWATH), small waterplane area twin hull ship (SWATH) ship type scheme drawing is seen Fig. 1.
(1) underwater hull (also claiming submerged body, lamellar body)--it is 2 parallel to each other and symmetrical torpedo-shaped hulls, and propelling unit is equipped with in the part.In these 2 hull deep divings, it provides the main portion of small waterplane area twin hull ship (SWATH) buoyancy during normal the navigation.Generally arrange the control executing mechanism of fuel oil tank, fresh water tank, ballast chamber, propelling unit or propelling unit transmission device and stabilizing fin under water in the submerged body.
(2) overwater boat body (also claiming casing)--overwater boat body is a lightweight construction, generally makes with aluminum alloy or glass-felt plastic, and is large-scale also by being made up of steel structure.It is the platform structure of being in more than the water surface.The overwater boat body moulding is simple, and profile is rectangle, and inside is the cabin, is broad deck platform above, can arrange capacity weight according to the various missions of being undertaken, and various equipments, equipment, defense preparations for example are installed, and parks helicopter and delivery containerable cargo etc.
(3) pillar--column section is the stream line pattern of flat thin, evagination.Pillar is upwards worn from underwater hull and is cut the water surface, holds overwater boat body, and overwater boat body and underwater immersed body are linked to be an integral body, and it is again the contact channel of going up between the lower hull.
Each underwater hull is linked to each other with overwater boat body with upper supporting column by 1 or 2.Though each pillar waterplane is very narrow and small, because each intercolumniation has enough big distance, so can guarantee the vertical and horizontal static stability of ship.
The shape of underwater hull and pillar and method of attachment skill monolithic body are calculated following three kinds:
(1) continuous underwater hull and pillar also is so-called monomer one-mast support.
(2) continuous underwater hull and the pillar that separates also are so-called monomer twin props.
(3) underwater hull that separates and the pillar that separates also are that (the Slice ship type that the mid-90 in 20th century occurs is exactly this form to two rifles of so-called binary.External also have it is referred to as limbs four pillars).
Be contained in the stabilizing fin or the horizontal control surface of title of underwater hull inboard, its effect is motion and the boat attitude of control ship in wave, thereby further improves its rough water quality.
According to the current state of the art, small waterplane area twin hull ship (SWATH) ship type has rough water quality, rapidity, stability, four Main Features of operability:
1). rough water quality
Small waterplane area twin hull ship (SWATH) is immersed in 70% volume under water deeply, makes wave reduce significantly its disturbance force and moment.Last vertical and horizontal stability radius is less relatively, and the vertical and horizontal natural frequency is lower, and encounter frequency can make ship be in the supercriticality navigation much larger than natural frequency when fair speed is navigated by water, and motion response is very little.Another index of the good rough water quality of reflection small waterplane area twin hull ship (SWATH) is, it does not significantly increase resistance or reduction of speed situation on wave, small waterplane area twin hull ship (SWATH) can waft under various sea situations, so just improved the service conditions of defense preparations and electronic machine on the warship effectively.Model experiment and real boat measurement amount confirm that all the wind loading rating of small waterplane area twin hull ship (SWATH), the stall on the wave, pitching and the seagoing qualitieies such as swinging motion that hangs down are all good than conventional single hull.And after the use automatic control thread, the performance on the wave is better.This point can't realize on conventional single hull.
Good anti-not only being embodied in by property of small waterplane area twin hull ship (SWATH) sailing that string is high, little, the seasick rate of stall rate is low under the high sea condition, and it is little also to be embodied under zero speed of a ship or plane motion response.
2). rapidity
Rapidity comprises two aspect contents, the one, and resistance, the 2nd, advance, be embodied on the speed of a ship or plane certainly at last.People more are concerned about the speed of a ship or plane in the stormy waves.Total drag is made up of friction drag, form resistance, wave making resistance and spray resistance basically.About wave making resistance, the overwater boat body of small waterplane area twin hull ship (SWATH) exceeds the water surface and does not produce wave making resistance, and underwater immersed body is under water deeply, and wave making resistance is less.Therefore, the conventional ship of the resistance ratios of small waterplane area twin hull ship (SWATH) is little during high speed, can also optimize with the favourable interference between each parts, and this is that conventional ship institute is out of the question.
About the propelling problem, most of small waterline plane ship all advances with screw propeller.Evenly, diameter of propeller is unrestricted again, so overall propulsive efficiency is than conventional height because it is darker to bathe body under water, and wake is big.In addition, adopt the measure of further raising the efficiency more convenient.More priorly be, because motion amplitude is less in the stormy waves, Fu Jia resistance is less thus, thereby stall is lower in the stormy waves, and this is that people expect.Thereby the rapidity of small waterplane area twin hull ship (SWATH) is good.
3). stability
For the exciting force and moment and the reduction wave making resistance that reduce wave, specially the waterplane area with ship reduces.For guaranteeing horizontal stability, specially make catamaran (as then guaranteeing transverse stability) with hydrofoil for monomer, enough heel countermoments (Fig. 1 .2) can be arranged like this.As for the trim countermoment, nature is more much smaller than conventional boats and ships, and this advantage of small waterplane area twin hull ship (SWATH) just.Increase natural period because reduce the result of trim countermoment, thereby helped improving rough water quality.
Fig. 2 is the curve of stability: may be the most attractive be stability of motion, fore-and-aft stability problem particularly.Because the effect of Munk moment, small waterplane area twin hull ship (SWATH) is unstability vertically.So-called unstability is exactly that ship can not keep original operational configuration, is not to bury head and cause the overwater boat body front portion to touch water lifting head exactly and cause the overwater boat body rear portion water.Thereby small waterplane area twin hull ship (SWATH) increases usually and does not have stabilizing fin.Stabilizing fin generally is arranged in the inboard, and the junction area fwd is little, back big.Often cause such impression therefrom: do not have fin just unstable.In fact, in certain speed range, small waterplane area twin hull ship (SWATH) also is stable even without fin, and just the motion quality is not good enough.
About course stability, the Munk moment of hull plays unstable effect equally.Fortunately because the side force derivative of each lamellar body and driftage damping derivative are all bigger, as long as appropriate design, course stability can guarantee.
As for damaged stability problem, as the monolateral breakage of underwater immersed body, cause the heavy list angle therefrom, must could guarantee balance in another lamellar body water filling.Even two lamellar bodies are all damaged, because the overwater boat body volume is quite big; Still can guarantee that ship is floating on the water.This just requires the overwater boat body watertight and enough intensity is arranged.
4). operability, owing to be binary, two oar, Twin Rudders, provide good Ships Turning Ability, but cast during zero speed of a ship or plane, underway relative turn diameter D/L ≈ 5.5.But less because of the captain, its absolute turn diameter D is not very big.
Practice shows that a small waterplane area twin hull ship (SWATH) only side host work still can guarantee direct route.
Summary of the invention
The object of the present invention is to provide a kind of small-waterplane two-body type high-performance water area unmanned inspecting device, this device possesses at a distance autonomous cruise function, and the observation tower top is equipped with pick up camera and detector, can finish water surface detection operations.Observation tower also is equipped with battery pack and provides electric energy for entire equipment in the bottom.
For achieving the above object, technical scheme of the present invention is: its design plan is employing small waterplane area twin hull ship (SWATH) ship type, selects for use glass-reinforced plastic material to make, adopt electronic on-hook power, adopts later-model control system and unmanned patrol device equipment.
Described employing small waterplane area twin hull ship (SWATH) ship type has following advantage: 1. have good rough water quality, can reduce the Ship Swaying that causes because of wave on the river surface, reduce the swing of camera as far as possible, improve image quality; 2. small waterplane area twin hull ship (SWATH) divides above water and underwater immersed body two major parts, and it is less to pass through the pillar area that the water surface links to each other and the water surface has a common boundary by pillar, and wave is also less relatively to its interference; 3. small-waterplane two-body type high-performance water area unmanned inspecting device part waterborne is arranged water surface monitoring equipment, and underwater monitoring equipment can be arranged on the deck plane and go deep into monitoring in the water by lifting bar, but also fixed and arranged under water in the submerged body.
The employing glass-reinforced plastic material is made, following advantage is arranged: 1. driverless operation monitoring ship adopts special moulding, and distinct target, alert with sign can be avoided ship collision, help executing the task, glass-reinforced plastic material suitable batch easy to make produce its aesthetic property and manufacturability fine.2. glass-reinforced plastic material reparation property is good, can repair sth. old and make it as good as new.3. the entrant sound ripple is effective.
Adopt electronic on-hook power, following advantage is arranged: 1. electronic on-hook is the green power of recent development in the world, has the advantage of energy-conservation, economy, environmental protection.On-hook adopts the dc low-voltage brushless, permanently not have the joint buncher, is domestic initiation, has the efficient height, noise is low, operating cost is low, characteristics easy and simple to handle.2. electronic on-hook is best suited for bank base remote driving.3. have good road-holding property, omitted rudder system.Can accomplish pivot turn, translation casts off wharf, and forward-reverse freely.4. keep in repair, change conveniently.
Adopt later-model control system, following advantage is arranged: adopt dispersing control system (DCS) and programmable logic controller (PLC) (PLC) control system and peculiar to vesselization of wireless data communication, monitoring ship is carried out telemanagement and control by man-machine interface based on computer microprocessor.
Beneficial effect of the present invention: small waterplane area twin hull ship (SWATH) ship type has rough water quality, rapidity, stability, four Main Features of operability, the safety control that is fit to very much marine waters, be a kind of technological means of security, have certain De Jing Economic benefit and social benefit.
Below in conjunction with drawings and Examples to the technical scheme of the present invention detailed explanation of making comparisons.
Description of drawings
Fig. 1 is a small-waterplane two-body type high-performance water area unmanned inspecting device ship type scheme drawing of the present invention;
Fig. 2 is small-waterplane two-body type high-performance water area unmanned inspecting device ship type curve of stability figure of the present invention;
Fig. 3 is a small-waterplane two-body type high-performance water area unmanned inspecting device major equipment pie graph of the present invention.
The specific embodiment
With reference to Fig. 1, this is a small-waterplane two-body type high-performance water area unmanned inspecting device ship type scheme drawing.
As shown in the figure, this water area unmanned inspection device ship type divides above water and underwater immersed body two major parts, and it is less to pass through the pillar area that the water surface links to each other and the water surface has a common boundary by pillar, and wave is also less relatively to its interference; Small-waterplane two-body type high-performance water area unmanned inspecting device part waterborne is arranged water surface monitoring equipment, and underwater monitoring equipment can be arranged on the deck plane and go deep into monitoring in the water by lifting bar, but also fixed and arranged under water in the submerged body.
With reference to Fig. 2, this is small-waterplane two-body type high-performance water area unmanned inspecting device ship type curve of stability figure of the present invention.
As shown in the figure, for the exciting force and moment and the reduction wave making resistance that reduce wave, specially the waterplane area with ship reduces.For guaranteeing horizontal stability, specially make catamaran (as then guaranteeing transverse stability) with hydrofoil for monomer, enough heel countermoments can be arranged like this.As for the trim countermoment, nature is more much smaller than conventional boats and ships, and this advantage of small waterplane area twin hull ship (SWATH) just.Increase natural period because reduce the result of trim countermoment, thereby helped improving rough water quality.
May be the most attractive be stability of motion, fore-and-aft stability problem particularly.Because the effect of Munk moment, small waterplane area twin hull ship (SWATH) is unstability vertically.So-called unstability is exactly that ship can not keep original operational configuration, is not to bury head and cause the overwater boat body front portion to touch water lifting head exactly and cause the overwater boat body rear portion water.Thereby small waterplane area twin hull ship (SWATH) increases usually and does not have stabilizing fin.Stabilizing fin generally is arranged in the inboard, and the junction area fwd is little, back big.Often cause such impression therefrom: do not have fin just unstable.In fact, in certain speed range, small waterplane area twin hull ship (SWATH) also is stable even without fin, and just the motion quality is not good enough.
With reference to Fig. 3, this is a small-waterplane two-body type high-performance water area unmanned inspecting device major equipment pie graph.
As shown in the figure, this equipment formation comprises image acquisition 5, transmission system 6, extraneous information collection 7, attitude control 8, battery management 9, navigationsystem 10, propulsion system 11; This part is the main information acquisition part of system, by camera head inspection device peripheral focus information is carried out information acquisition, then data is sent to monitoring and control centre by wireless image transmission system.Attitude control can guarantee the operating attitude of unmanned device in water.For the real-time Transmission of signal provides support platform.Navigationsystem: the long rang navigation service is provided.The signal transmission: for total system provides real-time control, field data returns service in real time.Propulsion system: under low noise and high efficiency prerequisite, provide onward impulse for unmanned device waterborne.
Battery management:, adopt solar cell and the compound battery pack of lithium cell for unmanned device provides operation power.Extraneous information is gathered: have optics, and pressure, the back transmission equipment is handled in temperature or the like information acquisition.
Propulsion system: actuating device that can the rotation angle can provide sufficient power for device waterborne.Can effectively ensure unmanned device accurate coordinates location.
Attitude control and dynamic balancing technique waterborne, owing to can run into various complicated situations in the miniature sail body progradation, need different treatment technologies at every kind of situation, pacing up and down in traveling process, tilt, behavior such as rollover, need system that abnormal condition are done automatic correction and handle; Study technology such as low resistance simultaneously, properly settle the stability of motion of micro-miniature system waterborne.
The attitude control and the balancing technique of sail body, mainly by position transduser, and global positioning system (GPS), system passes through two kinds of locate modes: static immobilization and dynamicpositioning.Static immobilization is meant and receiver was statically placed on the survey station several minutes or the longer time is observed, to determine the three-dimensional coordinate of a point in system of axes, or the relative position between two points, and dynamic measurement has a receiver to be kept in motion, mensuration be with the corresponding motion of observing unit in the some position.
The function of gps system is to provide initial alignment information for inertia combined navigation system (sail body attitude sensor) in system, and provide update information for the inertia combination in real time, the error of the measurement sail body attitude of bringing with the drift that reduces gyro, the accuracy of positioning of GPS directly influences the normal realization of the precision and the function of system.
2. miniature boat body designing technique
Parameters such as the shape of miniature boat body and slenderness ratio directly influence drag characteristic and stability of motion, decision voyage distance.
Make miniature boat body far capable as far as possible, have be crucial at 2: 1. good stability, can not bounce, promptly keep flat bullet characteristic; 2. resistance is little, and in the speed range of being studied, because supercavitation takes place, friction drag is very little, mainly is pressure drag, therefore requires designed miniature boat body that supercavitation should take place easily, makes pressure drag as far as possible little again, and promptly end face is as far as possible little.That is to say, stable entry or sub aqua sport characteristic, and stable cavity characteristic all requires end face big as far as possible; But the little pressure drag of trying one's best requires end face little again.
Sail body designing technique (comprising material, profile, low speed control and noise reduction): low navigation noise, good concealment.
The automatic steering technology, system adopts magnetic compass, echosounder etc., autopilot and radio, inertial navigation set etc.After the GPS global positioning system is used, sail body at sea moment accuracy of positioning reach about 10 meters.
The energy and Push Technology, propelling/energy resource system mainly comprises the application of novel efficient energy battery, and need the technology handled in the sail body progradation, owing to need behaviors such as processing is paced up and down, inclination in the sail body progradation, need do automatic correction to abnormal condition such as device rollovers and handle, study technology such as low resistance simultaneously.Carry out high efficient energy sources and Push Technology research and application, realize longer stream time.Autonomous management of inspection task and control comprise: information transfer, trouble diagnosing etc. between inspection mission planning, path planning, information fusion, autonomous sail data recording and the system.
Small-waterplane two-body type high-performance water area unmanned inspecting device main material is a glass-felt plastic, and the gum content of glass-felt plastic is between 50% ~ 55%.The mechanical characteristics of glass-reinforced plastic material should satisfy the requirement of CB797-74.Hull structure is built standard by＜inland river spitkit〉(2006) plastics strengthen the design of ship standard.Hull door, window, hatch cover are aluminium matter.
Small-waterplane two-body type high-performance water area unmanned inspecting device lower apron is made up of two floatage bodies, and each floatage body is a stream line pattern ellipsoid.The water surface partly is the structure of the double bottom pattern of main deck and wet deck composition, arranges a glass-felt plastic cylinder on the deck plane, is convenient to monitor and communicate by letter.The deck links to each other with two lower bodies by the pillar of two streamlined cross-section.
Claims (9)
1. small-waterplane two-body type high-performance water area unmanned inspecting device, comprise hull and control system, it is characterized in that: described hull is the small waterplane area twin hull ship (SWATH) ship type that adopts glass-reinforced plastic material to make, and adopts electronic on-hook power, adopts later-model control system and unmanned patrol device equipment;
Described electronic on-hook power adopts the dc low-voltage brushless, permanently not have the joint buncher;
The later-model control system of described employing is based on the dispersing control system of computer microprocessor.
2. small-waterplane two-body type high-performance water area unmanned inspecting device as claimed in claim 1, it is characterized in that: described small waterplane area twin hull ship (SWATH) ship type, comprise overwater boat body (1) and underwater hull (2) two major parts, it is less to pass through pillar (3) area that the water surface links to each other and the water surface has a common boundary by pillar (3), and wave is also less relatively to its interference; Small-waterplane two-body type high-performance water area unmanned inspecting device underwater portion is furnished with stabilizing fin (4).
3. small-waterplane two-body type high-performance water area unmanned inspecting device as claimed in claim 1 is characterized in that: described electronic on-hook power, omitted rudder system, and can accomplish pivot turn, translation casts off wharf, and forward-reverse is freely.
4. small-waterplane two-body type high-performance water area unmanned inspecting device as claimed in claim 1, it is characterized in that: described control system, dispersing control system and programmable logic controller (PLC) based on computer microprocessor, control system and peculiar to vesselization of wireless data communication are carried out telemanagement and control by man-machine interface to monitoring ship.
5. small-waterplane two-body type high-performance water area unmanned inspecting device as claimed in claim 1, it is characterized in that: described unmanned patrol device equipment comprises image acquisition (5), transmission system (6), extraneous information collection (7), extraneous information collection (7), attitude control (8), battery management (9), navigationsystem (10), propulsion system (11); Its annexation or signal transmission are: comprise that image acquisition (5), extraneous information collection (7) are delivered to transmission system (6), transmission system (6) is connected to battery management (9), battery management (9) is connected respectively to attitude control (8), propulsion system (11), attitude control (8) is connected to navigationsystem (10), and navigationsystem (10) is connected to propulsion system (11).
6. as claim 1 or 5 described small-waterplane two-body type high-performance water area unmanned inspecting devices, it is characterized in that: described battery management (9), for unmanned device provides operation power, adopt solar cell and the compound battery pack of lithium cell.
7. as claim 1 or 5 described small-waterplane two-body type high-performance water area unmanned inspecting devices, it is characterized in that: described image acquisition (5), this part is the information acquisition part of system, by camera head inspection device peripheral focus information is carried out information acquisition, then data are sent to monitoring and control centre by wireless image transmission system.
8. as claim 1 or 5 described small-waterplane two-body type high-performance water area unmanned inspecting devices, it is characterized in that: described attitude control (8) can guarantee the operating attitude of unmanned device in water, for the real-time Transmission of signal provides support platform.
9. as claim 1 or 5 described small-waterplane two-body type high-performance water area unmanned inspecting devices, it is characterized in that: described propulsion system (11), the actuating device of rotation angle can provide sufficient power for device waterborne, effectively ensures unmanned device accurate coordinates location.
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| CN102156412B (en) * | 2010-12-29 | 2012-08-22 | 哈尔滨工程大学 | Motion visual simulation method for underwater super-cavity vehicle |
| CN102211650A (en) * | 2011-04-27 | 2011-10-12 | 河北先河环保科技股份有限公司 | Water quality automatic monitoring floating platform |
| CN102407919A (en) * | 2011-09-29 | 2012-04-11 | 夏向东 | High-speed small water-plane catamaran body |
| CN102935874A (en) * | 2012-11-20 | 2013-02-20 | 江苏科技大学 | Double submerged body small water plane composite water surface unmanned surface vehicle |
| CN102935874B (en) * | 2012-11-20 | 2015-10-21 | 江苏科技大学 | Two submerged body small-waterplane-area compound unmanned surface vehicle |
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Application publication date: 20100519 |