CN101708760A - Small-waterplane two-body type high-performance water area unmanned inspecting device - Google Patents

Abstract

The invention relates to a small water plane surface two-body high-performance unmanned inspection device for water areas, which has a long-distance autonomous cruise function and can complete the water surface detection work. It is made of glass fiber reinforced plastic material, adopts electric hanging machine power, and adopts a new control system. The device has excellent seakeeping performance; the catamaran is divided into an above-water part and an underwater submerged body, and the above-water part is equipped with surface monitoring equipment. It is made of fiberglass material and powered by an electric hanger, which is most suitable for shore-based remote control driving. It has good maneuverability, omits the rudder system, and is easy to maintain and replace. Adopting a new type of control system, using computer microprocessor-based distributed control system and programmable logic controller control system and wireless data communication marine, and remotely managing and controlling the monitoring ship through the man-machine interface.

Description

Small water plane double-body high-performance water area unmanned inspection device

technical field

The invention relates to a small water plane surface two-body type high-performance unmanned patrol device for water areas, which belongs to the technical field of shipbuilding and shipping control.

Background technique

The development of high-performance ships depends not only on advanced ship types, but also on light and high-power engines, efficient propulsion methods, smart and reliable motion control systems, lightweight and high-strength new materials, and complete supporting equipment. These have been maturing day by day in the past half century, which is the technical guarantee for the birth and development of high-performance ships.

High-performance ships are also called high-speed ships. That is to say, this type of ship has two characteristics of "high speed" and "high performance". Its formation and development are actually the application of new technologies by shipbuilding scientists to continuously improve the original navigation performance or develop new navigation performance.

The small waterplane area catamaran has been recognized as a high-tech, high-value-added ship by the shipbuilding and shipping departments. For the security of sea waters, it is a technical means of security.

The layout of the small waterplane area catamaran and the schematic diagram of the small waterplane area catamaran are shown in Figure 1.

(1) Underwater hull (also known as submerged body, sheet body)-it is two torpedo-shaped hulls that are parallel to each other and symmetrical to each other, and are partially equipped with propellers. During normal sailing, these 2 hulls provide the main part of the buoyancy of the small waterplane area catamaran during deep diving. Fuel tanks, fresh water tanks, ballast water tanks, propellers or propeller transmission mechanisms, and control actuators for stabilizing fins are generally arranged in the underwater submerged body.

(2) Water hull (also known as box) - water hull is a light structure, generally made of aluminum alloy or fiberglass, and large ones are also composed of steel structures. It is a platform structure that sits high above the water. The water hull is simple in shape, rectangular in shape, with a cabin inside and a wide deck platform above. The payload can be arranged according to the various missions it undertakes, such as installing various equipment, equipment, armaments, parking helicopters and carrying container cargo, etc. .

(3) Pillar - The section of the pillar is flat, thin and streamlined. The pillar pierces and cuts the water surface upwards from the underwater hull, supports the above-water hull, and connects the above-water hull and the underwater submerged body into a whole, and it is also a communication channel between the upper and lower hulls.

Each underwater hull is connected with the water hull by one or more pillars. Although the water plane of each pillar is very narrow, the longitudinal and lateral static stability of the ship can be guaranteed due to the large enough distance between the pillars.

The shape and connection method of the underwater hull and pillars are as follows:

(1) Continuous underwater hull and pillars, also known as monocoque single pillars.

(2) Continuous underwater hull and separate pillars, so-called single double pillars.

(3) Separate underwater hull and separate pillars, also known as double body and double guns (the Slice ship type that appeared in the mid-1990s is this form. There are also foreign countries that collectively refer to it as four bodies and four pillars).

The stabilizing fins or horizontal control surfaces installed on the inner side of the underwater hull are used to control the movement and state of the ship in waves, thereby further improving its seakeeping.

According to the current technical status, the small waterplane area catamaran has four main performance characteristics of seakeeping, rapidity, stability and operability:

1). Seakeeping

The small waterplane area catamaran immerses 70% of its volume deeply underwater, so that the disturbing force and moment of waves to it are greatly reduced. The upper longitudinal and lateral stability radii are relatively small, and the longitudinal and lateral natural frequencies are relatively low. When sailing at a high speed, the encounter frequency can be much greater than the natural frequency, so that the ship sails in a supercritical state with little motion response. Another indicator reflecting the excellent seakeeping of the small waterplane area catamaran is that it has no obvious increase in resistance or deceleration on waves, and the small waterplane area catamaran can sail smoothly in various sea conditions, so it is effective Greatly improved the working conditions of the ship's armament and electronic equipment. Both the ship model test and the real ship measurement have confirmed that the wind resistance, stall on waves, pitching and heaving performance of the small waterplane area catamaran are better than the conventional monohull. Also, the performance on the waves is better after using the self-control thread. This cannot be achieved on a conventional monohull.

The excellent seaming resistance of small waterplane area catamarans is not only reflected in the high sailing string, small loss rate, and low seasickness rate under high sea conditions, but also in the small motion response at zero speed.

2). Rapidity

Rapidity includes two aspects, one is resistance, the other is propulsion, and finally, of course, it is reflected in the speed. People are more concerned about the speed in wind and waves. The total resistance is basically composed of friction resistance, shape resistance, wave resistance and splash resistance. Regarding the wave-making resistance, the above-water hull of the small waterplane area catamaran does not produce wave-making resistance, and the underwater submerged body is deeply immersed in water, so the wave-making resistance is relatively small. Therefore, the resistance of the small waterplane area catamaran at high speed is smaller than that of the conventional ship, and it can also be optimized with the favorable interference between the components, which is impossible for the conventional ship.

Regarding propulsion, most small waterplane surface craft are propelled by propellers. Because the underwater bath is deep, the accompanying flow is large and uniform, and the diameter of the propeller is not limited, the total propulsion efficiency is higher than that of conventional ships. In addition, it is convenient to adopt measures to further improve efficiency. More importantly, stalls are lower in wind and waves, which is to be expected, due to the lower range of motion in wind and waves and thus less added drag. Thereby the rapidity of small waterplane area catamaran is good.

3). Stability

In order to reduce the disturbing force and moment of waves and reduce the wave-making resistance, the water surface area of the ship is deliberately reduced. In order to ensure the lateral stability, it is specially made into a catamaran (if it is a monohull, hydrofoils must be used to ensure the lateral stability), so that there can be sufficient heel restoring moment (Figure 1.2). As for the trim restoring moment, it is naturally much smaller than that of conventional ships, and this is the advantage of SWAPA catamarans. Because the result of reducing the trim restoring moment is just to increase the natural period, which is beneficial to improve seakeeping.

Figure 2 shows the stability curves: probably the most noticeable is the problem of kinematic stability, especially longitudinal stability. Due to the Munk moment, the small waterplane area catamaran may be longitudinally unstable. The so-called instability means that the ship cannot maintain the original sailing state, either sinking the head and causing the front of the hull on the water to touch the water or raising the head to cause the rear of the hull on the water to hit the water. Therefore, small waterplane area catamarans usually add or remove stabilizing fins. Stabilizing fins are generally arranged on the inner side, and the junction area is small in front and large in the back. This often creates the impression that without fins, it is unstable. In essence, within a certain speed range, a small waterplane area catamaran is stable even without fins, but its motion quality is not good enough.

With regard to heading stability, the Munk moment of the hull also plays an destabilizing role. Fortunately, since the lateral force derivative and yaw damping derivative of each sheet are relatively large, as long as the design is reasonable, the heading stability can be guaranteed.

As for the problem of damage stability, if one side of the underwater submersible is damaged, resulting in a large heel angle, water must be injected into another piece to ensure the balance. Even if the two sheet bodies are damaged, the boat can still be guaranteed to float on the water due to the large volume of the hull on the water. This requires that the water hull be watertight and have sufficient strength.

4). Operability. Due to the double body, double propellers and double rudders, it provides excellent turning performance. It can turn in place at zero speed, and the relative turning diameter D/L≈5.5 during sailing. But because the length of the ship is small, its absolute turning diameter D is not too large.

Practice has shown that a small waterplane area catamaran can still guarantee direct sailing with only one side of the main engine working.

Contents of the invention

The purpose of the present invention is to provide a small water plane area two-body type high-performance unmanned patrol device for water areas. The device has a long-distance autonomous cruise function. A camera and a detector are installed on the top of the observation tower to complete the water surface detection work. The observation tower is also equipped with a battery pack at the bottom to provide power for the entire device.

In order to achieve the above object, the technical solution of the present invention is: its design is to adopt the small waterplane area catamaran ship type, select glass fiber reinforced plastic material to make, adopt electric on-board power, adopt a new type of control system and unmanned inspection device equipment.

Said adoption of the small waterplane area catamaran ship type has the following advantages: 1. has excellent seakeeping performance, can reduce the swaying of the ship caused by waves on the river surface, reduce the swing of the camera as much as possible, and improve the image quality; 2. The small waterplane area catamaran is divided into two parts: the upper part and the underwater submerged body. The area of the pillars connected to the water surface through the pillars crossing the water surface is small, and the wave interference is relatively small; ③Small waterplane area double body type The high-performance water area unmanned inspection device is equipped with surface monitoring equipment on the water part, and the underwater monitoring equipment can be arranged on the deck surface to monitor deep into the water through the lifting rod, or it can be fixedly arranged in the underwater submersible.

It is made of FRP material, which has the following advantages: ①The unmanned monitoring boat adopts a special shape, clear targets, and police signs, which can avoid ship collisions and facilitate the execution of tasks. The FRP material is convenient to manufacture and suitable for mass production. Its aesthetics and craftsmanship Good sex. ② FRP material has good repairability and can be repaired as new. ③The effect of sound wave transmission is good.

The use of electric on-hook power has the following advantages: ① Electric on-hook is the latest green power in the world, with the advantages of energy saving, economy, and environmental protection. The on-hook adopts a DC low-voltage permanent magnet brushless adjustable speed motor, which is the first in China. It has the characteristics of high efficiency, low noise, low operating cost and easy operation. ②The electric hanger is most suitable for shore-based remote control driving. ③It has good maneuverability and omits the rudder system. It can turn around on the spot, move away from the dock, and move forward and backward freely. ④ Easy maintenance and replacement.

The adoption of a new type of control system has the following advantages: use of computer microprocessor-based distributed control system (DCS) and programmable logic controller (PLC) control system and wireless data communication marine For remote management and control.

Beneficial effects of the present invention: the small waterplane area catamaran has four main performance characteristics of seakeeping, rapidity, stability, and operability, and is very suitable for safety protection in sea waters. It is a technical means for safety protection and has Certain economic and social benefits.

The technical solutions of the present invention will be described in more detail below in conjunction with the accompanying drawings and embodiments.

Description of drawings

Fig. 1 is a schematic diagram of the ship type of the small waterplane area double-body type high-performance water area unmanned inspection device of the present invention;

Fig. 2 is the ship type stability curve diagram of the small waterplane area double-body type high-performance waters unmanned inspection device of the present invention;

Fig. 3 is a diagram of the main equipment of the small water plane area two-body type high-performance unmanned water area inspection device of the present invention.

Detailed ways

Referring to Figure 1, this is a schematic diagram of a small waterplane area twin-body high-performance water area unmanned inspection device.

As shown in the figure, the ship type of the unmanned inspection device in this water area is divided into two parts: the upper part and the underwater submerged body. The line-surface dual-body high-performance water area unmanned inspection device is equipped with surface monitoring equipment on the water surface, and the underwater monitoring equipment can be arranged on the deck surface to monitor deep into the water through the lifting rod, or it can be fixedly arranged in the underwater submersible.

With reference to Fig. 2, this is the ship type stability curve of the small waterplane area two-body type high-performance water area unmanned inspection device of the present invention.

As shown in the figure, in order to reduce the disturbance force and moment of the wave and reduce the wave-making resistance, the water surface area of the ship is deliberately reduced. In order to ensure the lateral stability, it is specially made into a catamaran (if it is a monohull, the hydrofoil must be used to ensure the lateral stability), so that there can be sufficient heel restoring moment. As for the trim restoring moment, it is naturally much smaller than that of conventional ships, and this is the advantage of SWAPA catamarans. Because the result of reducing the trim restoring moment is just to increase the natural period, which is beneficial to improve seakeeping.

Probably most notable is the issue of kinematic stability, particularly longitudinal stability. Due to the Munk moment, the small waterplane area catamaran may be longitudinally unstable. The so-called instability means that the ship cannot maintain the original sailing state, either sinking the head and causing the front of the hull on the water to touch the water or raising the head to cause the rear of the hull on the water to hit the water. Therefore, small waterplane area catamarans usually add or remove stabilizing fins. Stabilizing fins are generally arranged on the inner side, and the junction area is small in front and large in the back. This often creates the impression that without fins, it is unstable. In essence, within a certain speed range, a small waterplane area catamaran is stable even without fins, but its motion quality is not good enough.

Referring to Figure 3, this is a diagram of the main equipment composition of the small water plane area twin-body high-performance water area unmanned inspection device.

As shown in the figure, the equipment consists of image acquisition 5, transmission system 6, external information acquisition 7, attitude control 8, battery management 9, navigation system 10, and propulsion system 11; this part is the main information acquisition part of the system. Collect information on the focus information around the inspection device, and then transmit the data to the monitoring center through the wireless image transmission system. Attitude control can ensure the working attitude of the unmanned device in the water. Provide a support platform for real-time transmission of signals. Navigation system: Provide remote navigation service. Signal transmission: provide real-time control for the whole system, and real-time return service of on-site information. Propulsion system: Provide forward power for the water unmanned device under the premise of low noise and high efficiency.

Battery management: provide operating power for unmanned devices, using a battery pack composed of solar cells and lithium batteries. External information collection: with optical, pressure, temperature and other information collection, processing and transmission equipment.

Propulsion system: The driving device that can rotate the angle can provide sufficient power for the water device. It can effectively guarantee the precise coordinate positioning of unmanned devices.

Attitude control and water dynamic balance technology, due to various complex situations encountered during the propulsion process of micro-vehicles, different processing technologies are required for each situation, and behaviors such as wandering, tilting, and rollover during travel require system Automatically correct abnormal conditions; at the same time, research technologies such as low resistance to properly solve the motion stability of ultra-small water systems.

The attitude control and balance technology of the flying body is mainly through the position sensor and the global positioning system (GPS). The system uses two positioning methods: static positioning and dynamic positioning. Static positioning refers to placing the receiver on the station for several minutes or longer to observe, so as to determine the three-dimensional coordinates of a point in the coordinate system, or the relative position between two points, while dynamic measurement has a The receiver is in motion, and what is measured is the point in motion corresponding to the observation unit.

The function of the GPS system in the system is to provide initial positioning information for the inertial integrated navigation system (vehicle attitude sensor), and provide correction information for the inertial combination in real time to reduce the error in measuring the attitude of the aircraft caused by the drift of the gyroscope. Positioning accuracy directly affects the accuracy of the system and the normal realization of functions.

2. Micro-aircraft body design technology

Parameters such as the shape and slenderness ratio of the micro-aircraft directly affect the resistance characteristics and motion stability, and determine the distance of the voyage.

To make the micro-aircraft travel as far as possible, there are two key points: ① good stability, no bouncing, that is, maintain the flat warhead characteristics; ② small resistance, in the speed range studied, due to the occurrence of supercavitation, friction The resistance is very small, mainly due to pressure difference resistance, so it is required that the designed micro-aircraft body should not only be prone to supercavitation, but also make the pressure difference resistance as small as possible, that is, the end face should be as small as possible. That is to say, stable water entry or underwater movement characteristics, and stable cavitation characteristics require the end face to be as large as possible; but as small as possible the pressure difference resistance requires a small end face.

Aircraft body design technology (including material, shape, low-speed control and noise reduction): low navigation noise, good concealment.

Autopilot technology, the system uses magnetic compass, depth sounder, etc., autopilot and radio, inertial navigation equipment, etc. After the GPS global positioning system is used, the instantaneous positioning accuracy of the vehicle at sea can reach about 10 meters.

Energy and propulsion technology, the propulsion/energy system mainly includes the application of new high-efficiency energy batteries, and the technologies that need to be dealt with during the propulsion process of the aircraft body. Since the hovering, tilting and other behaviors need to be dealt with during the propulsion process of the aircraft body, it is necessary to overturn the device, etc. Abnormal situations are automatically corrected, and technologies such as low resistance are studied at the same time. Carry out high-efficiency energy and propulsion technology research and application to achieve longer continuous working hours. The independent management and control of inspection tasks include: inspection task planning, path planning, information fusion, autonomous navigation data recording and information transmission between systems, fault diagnosis, etc.

The main material of the double-body high-performance unmanned inspection device for small water planes is FRP, and the glue content of FRP is between 50% and 55%. The mechanical properties of FRP materials should meet the requirements of CB797-74. The hull structure is designed according to the "Code for Construction of Small Ships in Inland Waterways" (2006) for plastic reinforced boats. Hull doors, windows and hatch covers are all made of aluminum.

The underwater part of the small water plane double-body high-performance water area unmanned inspection device is composed of two buoyancy bodies, and each buoyancy body is a streamlined ellipsoid. The water surface part is a double-bottom structure composed of the main deck and the wet deck, and a fiberglass column is arranged on the deck surface to facilitate monitoring and communication. The deck is connected to the two lower bodies through two streamlined cross-section pillars.

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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