CN103640675A - Amphibious unmanned surface vehicle with three bodies - Google Patents
Amphibious unmanned surface vehicle with three bodies Download PDFInfo
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Abstract
The invention discloses an amphibious unmanned surface vehicle with three bodies. The middle of the bottom of a middle boat body is connected with a water entry boat body through a perpendicular first sheet body, two sides of the middle of the middle boat body are connected with tops of side bodies through horizontal second sheet bodies, two propellers are placed in front and rear of each second sheet body, the upper part of the water entry boat body is lower than the bottom of each side body, and the bottom of each side body is connected with the water entry boat body through an outward extending hydrofoil; and the front-mounted propellers are connected with the sheet bodies through support frames of the front-mounted propellers fixed on the second sheet bodies, the rear-mounted propellers are connected with the sheet bodies through rotatable support frames of the rear-mounted propellers, each rotatable support frame is connected with the second sheet body at the outer end of the boat width direction through a bearing, and the inner end of the frame is connected with a first transmission shaft. According to the amphibious unmanned surface vehicle with three bodies, detects of poor sea wave sailing maneuverability and sea keeping performance, posture uncontrollability and low working efficiency in sea wave of the conventional unmanned surface vehicle can be overcome effectively.
Description
Technical field
The present invention relates to a kind of ships and light boats, refer in particular to a kind of for the water surface, under water and the amphibious unmanned boat type of water surface trisome of low-altitude reconnaissance patrol and monitoring.
Background technology
Typical water surface unmanned boat does not have ship person; rely on remote control or from master mode at surface navigation; on ship, do not need to be equipped with commander and operator; ship surface scribbles multiple stealth material; in addition volume is small and exquisite, can be by the shielding of the offshore complex environments such as wave, islands and reefs, and can be movable for a long time in high-risk waters; unmanned from master control, can complete ISR, troops' protection, precision strike, the task such as antisubmarine.Substantially be all to adopt modular design, press according to demand modular mode and substitute task module, can be equipped with different equipments, by modes such as remote control, formulation program and unmanned intelligence, complete the task of appointment.Current water surface unmanned boat is substantially all to adopt glider type, and displacement and the yardstick thereof of glider are all very little, and navigation is subject to the effect of wave across the sea, and its navigation performance is poor, and work efficiency is low.Particularly, be difficult to normally work under high sea conditions.
In the empty amphibious ship of water, only have two types, ground effect ship and air cushion vehicle, ground effect ship belongs to high speed large vessel, and this ship type is not suitable for the miniature self-service ship for monitoring results, and cannot depart from the water surface in the time of low speed, and under the high speed of a ship or plane, its navigation stability is poor.Although air cushion vehicle can depart from the water surface under high speed low speed, but it is very near apart from the water surface, be substantially limited within the scope of its skirt depth, in the wave situation compared with large, air cushion can leak gas and lose efficacy, and air cushion vehicle, because its hull bottom will be used for sealing air cushion, is inconvenient to install monitoring equipment.Although there are indivedual overwater helicopters, can realize water surface vertical takeoff and landing, but its structure just will be installed buoyancy aid on the basis of helicopter on alighting gear, only when rising and falling, and body nodal point is high, seakeeping performance is poor, surface navigation poor performance, if usining overwater helicopter is the miniature self-service ship of main task as take monitoring and patrol, its cost and maintenance cost are also very high.
Summary of the invention
The object of this invention is to provide and a kind ofly overcome current water surface unmanned boat and navigate by water at a high speed ineffective weakness in the moving fatal shortcoming of stablize poor controllability of luck and wave, and for the water surface, under water and the low latitude amphibious unmanned boat of water surface trisome of monitoring.
The present invention is achieved by the following technical programs: have middle hull, the middle, bottom of middle hull connects into water hull by the first vertical lamellar body, the both sides, middle of middle hull respectively connect the top of a lateral body by the second lamellar body of a level, before and after on each second lamellar body, all put two screw propellers, enter the top of water hull lower than the bottom of lateral body, the bottom of each lateral body all connects into water hull by outer Zhang Shuiyi; Two lateral bodys laterally extend to outer lower side along middle hull, to the outer subtended angle degree of outer lower side, are 35 °～65 °; The partially front end face in middle hull middle part is arranged one
topaware platform, the anterior bottom surface of middle hull is arranged a reversely hung Yong aware platform; Two the second lamellar bodies, two lateral bodys, two outer Zhang Shuiyi are all symmetrical with respect to middle hull, and four screw propellers are symmetrical between two with respect to middle hull; Hull inside, middle part is provided with battery pack, control system, driving system and other instrument and equipments; Between preposition screw propeller and lamellar body, to be fixed on the support frame of the preposition screw propeller on the second lamellar body, be connected, rotatable support frame with rear-mounted propeller between rear-mounted propeller and the second lamellar body is connected, and the rotatable support frame of rear-mounted propeller is connected in the second lamellar body, is innerly connected with first transmission shaft by bearing in the outer end of ship cross direction; Driving system connects respectively the centre of first, second root transmission shaft, and second transmission shaft connects respectively a diving rudder at the two ends of ship cross direction; Screw propeller connects brushless motor, and brushless motor connects battery pack and control system by electronic governor.
The present invention is based on hull hydrodynamics, aerodynamics, marine engineering, control science, system analysis engineering and artificial intelligence multidisciplinary synthesis optimal design, can effectively overcome current water surface unmanned boat wave navigation road-holding property and seakeeping performance is poor and attitude heavy handled shortcoming and wave in ineffective weakness, its Combination property is better than current water surface unmanned boat, and being applicable to provides strong technical support at the scouting monitoring unmanned boat of high sea conditions operation for the normal operation under higher sea situation environmental conditions of small-size water surface unmanned boat.
Accompanying drawing explanation
Fig. 1 is front view of the present invention;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the left view of Fig. 1;
Fig. 4 is hull 1 inner composition and outside connection diagram in middle part in Fig. 1;
Fig. 5 is the johning knot composition of front and back screw propeller 6 in Fig. 1;
Fig. 6 is two kinds of section-drawings of A-A of lateral body 2 in Fig. 3;
Fig. 7 is the control schematic diagram of screw propeller 6 and diving rudder 9 in Fig. 2;
Fig. 8 is the lift schematic diagram of the present invention while navigating by water;
1. middle part hull; 2. lateral body; 3. enter water hull; 4. connect middle part hull 1 and the lamellar body that enters water hull 3; 5. outer Zhang Shuiyi; 6. screw propeller; 7. connect the lamellar body of middle part hull 1 and lateral body 2; 8. platform is responded at top; 9. diving rudder; 10. reversely hung Yong is responded to platform; 11. brushless motors; The support frame of 12. preposition screw propellers; The rotatable support frame of 13. rear-mounted propellers; 14. transmission shafts; 15. electronic governors.
The specific embodiment
As shown in Figure 1, Figure 2, Figure 3 shows, the present invention has middle hull 1, and the middle, bottom of middle hull 1, with entering water hull 3, enters water hull 3 symmetrical with respect to middle hull 1.Middle hull and entering between water hull 3 connects by vertical lamellar body 4
,the both sides, middle of middle hull 1 respectively connect the top of a lateral body 2 by the lamellar body 7 of a level, two lamellar bodies 7 are symmetrical with respect to middle hull 1, and two lateral bodys 2 are also symmetrical with respect to middle hull 1.On the lamellar body 7 of level, be furnished with screw propeller 6, all put 6, four screw propellers 6 of two screw propellers before and after on each lamellar body 7 symmetrical between two with respect to middle hull 1.Enter the top of water hull 3 lower than the bottom of lateral body 2, it is symmetrical with respect to middle hull 1 that the bottom of each lateral body 2 all connects into 3, two outer Zhang Shuiyi 5 of water hull by outer Zhang Shuiyi 5.The additional lift that outer Zhang Shuiyi 5 can provide hull to rise, cutting while striking face operational configuration, make hull there is excellent self-stability, simultaneously, because outer Zhang Shuiyi 5 and two lateral body 2 location arrangements are at midships section, the largest ground lifting hull in the time of high speed, guarantees good course stability when reducing resistance.
Two lateral bodys 2 are the airfoil type of outer, along middle hull 1, laterally to outer lower side, extend, and outer subtended angle degree (angle of lateral body 2 inside faces and middle hull 1 central longitudinal section) is 35 °～65 °.High long than the large or lower ship of design navigation sea situation for ship, this outer subtended angle degree capping value, high long than the little or high ship of design navigation sea situation for ship, outer subtended angle degree takes off limit value.During navigation, aerofoil profile lateral body 2 can produce the lift perpendicular to lateral body 2 surfaces, while having outer subtended angle to spend, and the constraint when component of the horizontal direction of its lift can increase its rolling, the rough water quality of increase unmanned boat; The lift of its vertical direction can hold up hull, reduces it and enters water volume and resistance.Lateral body 2 extreme lengths are 9～22 with the ratio of maximum transversal yardstick, and length to height ratio is 4～9.Hull surface speed is higher, lateral body 2 extreme lengths are larger with the ratio of maximum transversal yardstick, and length to height ratio is less, and hull surface speed is lower, and lateral body 2 extreme lengths are less with the ratio of maximum transversal yardstick, and length to height ratio is larger.
In order to make this unmanned boat there is good service conditions, middle hull 1 middle part partially before hull end face arrange a top aware platform 8, at the anterior bottom surface of middle hull 1, arrange a reversely hung Yong aware platform 10, when surface navigation, can only use top aware platform 8, and when state of flight, can take bottom reversely hung Yong aware platform 10 as main, top aware platform 8 helps out.
Preposition two screw propellers 6 are contrary with two rearmounted screw propeller 6 rotating speeds, and selected main frame model, power and rotating speed is also identical respectively; The diameter of four screw propellers 6, the number of sheets, oar type and rotating speed etc. according to when flight cruise and maximum speed between the required lift of certain middle speed and design definite.
The skeleton of the light materials such as middle hull 1, lateral body 2, screw propeller 6 and lamellar body 7 employing carbon fiber composite materials or aluminum alloy and the grillage that outside plate is made form, by lateral body 2, middle hull 1 and lamellar body 7 skeleton splicings, closed up, junction (or covering of whole hull) pasted into the fully enclosed hull of airtight or watertight by carbon fiber/epoxy resin.
It is the streamlined body of sub-elliptical (oval minor axis level) that the upper body of middle hull 1 adopts streamlined body or the section that the partially front or placed in the middle elongated stream line pattern gyro-rotor of the centre of form or section are oval (oval minor axis level).Entering water buoyancy aid 3 is also that elongated stream line pattern gyro-rotor or section are the streamlined body of oval (transverse level), has both had good low-resistance characteristic, and manufacturability might as well.The upper body length to height ratio of middle hull 1 is 9～12, and for arranging that volume requires high hull, this length to height ratio takes off limit value, and for arranging the less demanding hull of volume, this length to height ratio capping value.Enter water buoyancy aid 3 length and be about 1/4～1/2 of middle hull 1 overall length, aspect ratio is 5～9, for underwater, arrange that volume requires high hull, this Length Ratio capping value, aspect ratio are taken off limit value, and for arranging the less demanding hull of volume, this length is taken off limit value, aspect ratio capping value.
As shown in Figure 4, middle part hull 1 internal main will be installed battery pack, control system, driving system and other instrument and equipments, all the other all inner redundant spaces all adopt little severe buoyant material to fill, improved significantly resistance to sinking when damaged, for under damaged condition, maintenance work ability provides support.
As shown in Figure 5, screw propeller 6 with adopt the support frame 12 of preposition screw propeller and the rotatable support frame 13 of rear-mounted propeller being connected of lamellar body 7, guarantee screw propeller 6 together with the center of gravity of brushless motor 11 the vertical central position at lamellar body 7.Near the preposition screw propeller 6 and the support frame 12 that adopts preposition screw propeller being connected of lamellar body 7 of ship bow, the support frame 12 of preposition screw propeller is fixed on above lamellar body 7.And near the rearmounted screw propeller 6 of ship stern and the rotatable support frame 13 that adopts rear-mounted propeller that is connected of lamellar body 7,13 outer ends at ship cross direction of rotatable support frame of rear-mounted propeller are connected in lamellar body 7, inner are connected with first transmission shaft 14 by bearing, the centre of first transmission shaft 14 is connected with the driving system in middle part hull 1, the centre of second transmission shaft 14 is also connected with the driving system in middle part hull 1, and second transmission shaft 14 connects respectively a diving rudder 9(referring to Fig. 7 at the two ends of ship cross direction).Screw propeller 6 connects the output shaft of brushless motor 11, by brushless motor 11 driven rotary.
As shown in Figure 6, consider navigation and the symmetrical designing requirement of flight for hull, two lateral bodys 2 adopt identical high lift-drag ratio, become the short wing of the elongated stream line pattern of chord length, aerofoil profile is bow type, and aerofoil profile adopts maximum ga(u)ge position to omit the improvement bow type (Fig. 6 (a)) of reach, the improvement airfoil type (Fig. 6 (b)) that maximum ga(u)ge position is moved slightly afterwards.Maximum ga(u)ge h is 6% of lateral body 2 chord length L, the chord length L of lateral body 2 lengthens from top to bottom gradually, Thickness Ratio reduces gradually, when approaching bottom, chord length slowly reduces, adopt the lateral body 2 that becomes chord length can make arterial drainage volume on the lower, effectively alleviate the stability that reduces to cause due to displacement of volume after hull is held up by lift and decline.Can at surface navigation, provide for hull on the one hand the ships and light boats static mechanical performance such as buoyancy, stability to support, on the other hand, also can improve the dynamic performances such as the rapidity of its surface navigation and navigability.
As shown in Figure 7 and Figure 8, brushless motor 11 connecting electronic governors 15, electronic governor 15 is connected to battery pack and the control system in the hull 1 of middle part by cable again, by control system, send instruction and to electronic governor 14, control the rotating speed of brushless motor 11, reach the different lift of screw propeller 6 generation and control the attitude of unmanned boat and the object of motion.The present invention provides power by the battery pack in middle part hull 1, the unmanned boat that reversely hung Yong aware platform 10 and top aware platform 8 the receive real-time operational configuration information of moving sends to control system, control system by closed loop control system send adjust operational configuration instruction to each electronic governor 15, electronic governor 15 transfers control command to voltage and current signal and issues brushless motor 11 and realize rotating speed and control; Control system also by sending controling instruction to driving system, by second transmission shaft 14, drive diving rudders 9 to rotate to adjust suitable rudder angle to guarantee the stable of navigation.When reversely hung Yong aware platform 10 and top aware platform 8 detect large wave and approach unmanned boat, send signal to control system, then control system is controlled four screw propellers, 6 modulation rotating shaft plumbness High Rotation Speeds, produces huge lift unmanned boat is raised to and avoids wave in the air; If reversely hung Yong aware platform 10 Hes
top aware platform 8 detects the situation of urgent break-in (as between islands and reefs unairworthiness state in the situation that) that needs, can control 6 rotations of one-sided screw propeller makes hull initiatively produce heel, make left and right lateral body 2 enter the asymmetric torque of water generates, again because the conventional steering rudder of lateral body 2 Area Ratios wants large and lateral body 2 is large apart from middle part hull 1 distance, therefore this torque can reach very large so that unmanned boat can be realized small radius steering under high-speed case, has very high road-holding property.For guaranteeing the basic flying speed of hull, pass through closed-loop control device, two screw propellers 6 near ship stern are controlled automatically, making it can be the axis of screw propeller 6 and the angle of hull midship bench section this angle of angle (see figure 5) of 0 °～20 ° around transverse horizontal axis, from the axis of screw propeller 6, turns to hull midship bench section conter clockwise to rotate in just.According to rate request, the larger corner of the speed of a ship or plane is larger, otherwise less.Screw propeller 6 High Rotation Speed under the drive of brushless motor 11 can produce lift, realize the vertical takeoff and landing of unmanned boat, can under high sea situation, realize and promptly keep away wave, and the arrangement of four screw propellers 6 makes unmanned boat have better wind resistance and maneuvering performance than overwater helicopter in the time of state of flight, can also be with state of flight fast transfer operating area.In addition, during the screw propeller 6 asynchronous work of the left and right sides, can realize initiatively subtracting and shake, stability when increasing operation in its wave.
Claims (5)
1. the amphibious unmanned boat of water surface trisome, there is middle hull (1), it is characterized in that: the middle, bottom of middle hull (1) connects into water hull (3) by vertical the first lamellar body (4), the both sides, middle of middle hull (1) respectively connect the top of a lateral body (2) by second lamellar body (7) of a level, before and after each second lamellar body (7) is upper, all put two screw propellers (6), enter the top of water hull (3) lower than the bottom of lateral body (2), the bottom of each lateral body (2) all connects into water hull (3) by outer Zhang Shuiyi (5); Two lateral bodys (2) laterally extend to outer lower side along middle hull (1), to the outer subtended angle degree of outer lower side, are 35 °～65 °; The partially front end face in middle hull (1) middle part is arranged one
topaware platform (8), the anterior bottom surface of middle hull (1) is arranged a reversely hung Yong aware platform (10); Two the second lamellar bodies (7), two lateral bodys (2), two outer Zhang Shuiyi (5) are all symmetrical with respect to middle hull (1), and four screw propellers (6) are symmetrical between two with respect to middle hull (1); Hull (1) inside, middle part is provided with battery pack, control system, driving system and other instrument and equipments; Between preposition screw propeller (6) and lamellar body (7), to be fixed on the support frame (12) of the preposition screw propeller on the second lamellar body (7), be connected, rotatable support frame (13) with rear-mounted propeller between rear-mounted propeller (6) and the second lamellar body (7) is connected, and the rotatable support frame (13) of rear-mounted propeller is connected in the second lamellar body (7), is innerly connected with first transmission shaft (14) by bearing in the outer end of ship cross direction; Driving system connects respectively the centre of first, second root transmission shaft (14), and second transmission shaft (14) connects respectively a diving rudder (9) at the two ends of ship cross direction; Screw propeller (6) connects brushless motor (11), and brushless motor (11) connects battery pack and control system by electronic governor (15).
2. the amphibious unmanned boat of water surface trisome according to claim 1, is characterized in that: lateral body (2) extreme length is 9～22 with the ratio of maximum transversal yardstick, and length to height ratio is 4～9.
3. the amphibious unmanned boat of water surface trisome according to claim 1, is characterized in that: preposition two screw propellers (6) are contrary with rearmounted two screw propellers (6) rotating speed.
4. the amphibious unmanned boat of water surface trisome according to claim 1, is characterized in that: the upper body length to height ratio of middle hull (1) is 9～12; Enter water buoyancy aid (3) length and be middle hull (1) overall length 1/4～1/2, aspect ratio is 5～9.
5. the amphibious unmanned boat of water surface trisome according to claim 1, it is characterized in that: two lateral bodys (2) are the short wings of elongated stream line pattern that becomes chord length, aerofoil profile is that the improvement bow type of reach and the improvement airfoil type that maximum ga(u)ge position is moved slightly are afterwards omited in maximum ga(u)ge position, maximum ga(u)ge be lateral body (2) chord length 6%, the chord length of lateral body (2) lengthens from top to bottom gradually, Thickness Ratio reduces gradually, and when approaching bottom, chord length slowly reduces.
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Cited By (11)
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| CN105035256A (en) * | 2015-07-10 | 2015-11-11 | 上海交通大学 | Carrier type high-speed water three-body unmanned platform |
| CN105076098A (en) * | 2014-05-23 | 2015-11-25 | 合肥多加农业科技有限公司 | A paddy field plant protection amphibious aircraft |
| CN105564631A (en) * | 2016-03-06 | 2016-05-11 | 陈俞任 | Bullet shaped plane |
| CN105856995A (en) * | 2016-04-08 | 2016-08-17 | 吉林大学 | Duct type low-diving aircraft |
| CN106828797A (en) * | 2017-02-15 | 2017-06-13 | 湖北工业大学 | A kind of aircraft of dwelling more |
| CN107792324A (en) * | 2016-09-07 | 2018-03-13 | 朴永赞 | Diving hovercar |
| CN108639236A (en) * | 2018-05-15 | 2018-10-12 | 武汉理工大学 | A kind of airfoil type high speed trimaran structure |
| CN109358495A (en) * | 2018-12-05 | 2019-02-19 | 山东智翼航空科技有限公司 | Unmanned ship propeller pitch-rotating speed differential stabilization and stabilization system and method |
| CN109669469A (en) * | 2018-12-05 | 2019-04-23 | 山东智翼航空科技有限公司 | Unmanned ship rolling-course coordination stability augmentation control system and method |
| CN109669347A (en) * | 2018-12-05 | 2019-04-23 | 山东智翼航空科技有限公司 | Unmanned ship rotating speed differential anti-rolling stability-increasing system and method |
| CN112550571A (en) * | 2020-12-15 | 2021-03-26 | 中国科学院沈阳自动化研究所 | Small unmanned water surface vehicle capable of standing for long time under high sea condition |
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| CN105076098A (en) * | 2014-05-23 | 2015-11-25 | 合肥多加农业科技有限公司 | A paddy field plant protection amphibious aircraft |
| CN105035256A (en) * | 2015-07-10 | 2015-11-11 | 上海交通大学 | Carrier type high-speed water three-body unmanned platform |
| CN105564631A (en) * | 2016-03-06 | 2016-05-11 | 陈俞任 | Bullet shaped plane |
| CN105856995A (en) * | 2016-04-08 | 2016-08-17 | 吉林大学 | Duct type low-diving aircraft |
| CN107792324A (en) * | 2016-09-07 | 2018-03-13 | 朴永赞 | Diving hovercar |
| CN107792324B (en) * | 2016-09-07 | 2020-06-12 | 朴永赞 | Diving aerocar |
| CN106828797A (en) * | 2017-02-15 | 2017-06-13 | 湖北工业大学 | A kind of aircraft of dwelling more |
| CN108639236A (en) * | 2018-05-15 | 2018-10-12 | 武汉理工大学 | A kind of airfoil type high speed trimaran structure |
| CN109669469A (en) * | 2018-12-05 | 2019-04-23 | 山东智翼航空科技有限公司 | Unmanned ship rolling-course coordination stability augmentation control system and method |
| CN109669347A (en) * | 2018-12-05 | 2019-04-23 | 山东智翼航空科技有限公司 | Unmanned ship rotating speed differential anti-rolling stability-increasing system and method |
| CN109358495A (en) * | 2018-12-05 | 2019-02-19 | 山东智翼航空科技有限公司 | Unmanned ship propeller pitch-rotating speed differential stabilization and stabilization system and method |
| CN109358495B (en) * | 2018-12-05 | 2024-01-30 | 山东智翼航空科技有限公司 | Unmanned ship pitch-rotating speed differential stabilization and stabilization system and method |
| CN109669347B (en) * | 2018-12-05 | 2024-04-02 | 山东智翼航空科技有限公司 | Unmanned ship rotating speed differential stabilization system and method |
| CN109669469B (en) * | 2018-12-05 | 2024-04-05 | 山东智翼航空科技有限公司 | Unmanned ship roll-course coordination stability augmentation control system and method |
| CN112550571A (en) * | 2020-12-15 | 2021-03-26 | 中国科学院沈阳自动化研究所 | Small unmanned water surface vehicle capable of standing for long time under high sea condition |
| CN112550571B (en) * | 2020-12-15 | 2022-01-14 | 中国科学院沈阳自动化研究所 | Small unmanned water surface vehicle capable of standing for long time under high sea condition |
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