CN108438137A - The unmanned Wutai rock group of multifunctional rescue and its working method - Google Patents
The unmanned Wutai rock group of multifunctional rescue and its working method Download PDFInfo
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- CN108438137A CN108438137A CN201810466090.1A CN201810466090A CN108438137A CN 108438137 A CN108438137 A CN 108438137A CN 201810466090 A CN201810466090 A CN 201810466090A CN 108438137 A CN108438137 A CN 108438137A
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- 239000011435 rock Substances 0.000 title claims abstract description 25
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000005183 dynamical system Methods 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims description 19
- 238000005266 casting Methods 0.000 claims description 16
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 10
- 210000000538 tail Anatomy 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 7
- 238000010168 coupling process Methods 0.000 claims description 7
- 238000005859 coupling reaction Methods 0.000 claims description 7
- 235000010627 Phaseolus vulgaris Nutrition 0.000 claims description 6
- 244000046052 Phaseolus vulgaris Species 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 6
- 230000004888 barrier function Effects 0.000 claims description 6
- 241000826860 Trapezium Species 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 2
- 238000003786 synthesis reaction Methods 0.000 claims description 2
- 150000001875 compounds Chemical class 0.000 abstract description 4
- 239000002283 diesel fuel Substances 0.000 abstract description 2
- 235000013305 food Nutrition 0.000 abstract description 2
- 239000013505 freshwater Substances 0.000 abstract description 2
- 230000004083 survival effect Effects 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 8
- 238000005457 optimization Methods 0.000 description 7
- 239000003643 water by type Substances 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000034994 death Effects 0.000 description 1
- 231100000517 death Toxicity 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002068 genetic effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
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
- B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
- B63B1/125—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising more than two hulls
-
- A—HUMAN NECESSITIES
- A62—LIFE-SAVING; FIRE-FIGHTING
- A62C—FIRE-FIGHTING
- A62C37/00—Control of fire-fighting equipment
- A62C37/36—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device
- A62C37/38—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone
- A62C37/40—Control of fire-fighting equipment an actuating signal being generated by a sensor separate from an outlet device by both sensor and actuator, e.g. valve, being in the danger zone with electric connection between sensor and actuator
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/20—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/0206—Control of position or course in two dimensions specially adapted to water vehicles
-
- 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
- B63B1/12—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly
- B63B1/125—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising more than two hulls
- B63B2001/126—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising more than two hulls comprising more than three hulls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/20—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units
- B63H2021/202—Use of propulsion power plant or units on vessels the vessels being powered by combinations of different types of propulsion units of hybrid electric type
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- Engineering & Computer Science (AREA)
- Ocean & Marine Engineering (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Business, Economics & Management (AREA)
- Emergency Management (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Electric Cable Installation (AREA)
Abstract
The invention discloses a kind of unmanned Wutai rock group of multifunctional rescue and its working method, the Wutai rock group includes hull, dynamical system, propulsion system, steerable system, life saving system and fire extinguishing system.The unmanned Wutai rock group of multifunctional rescue of the present invention reduces pollution of the petrol and diesel oil machine driving to environment using green compound energy using wind energy, solar energy as main source of energy.Intermediate elongated main hull, the sheet body being arranged symmetrically from beginning to end and the streamlined hydrofoil of modified stem reduce resistance when navigation, improve speeds.Intelligent operating system and propulsion system rescue the safety of Wutai rock group when ensure that autonomous navigation, lifesaving and fire extinguishing system can Real-time Feedback field conditions, and fire extinguishing relief is carried out to live burning things which may cause a fire disaster, it is autonomous simultaneously to cast rescue aid, including equipment such as food, fresh water, lifebuoy, life vests, the survival rate of personnel is substantially increased.
Description
Technical field
The present invention relates to a kind of unmanned Wutai rock group of multifunctional rescue and its working methods, belong to Marine engineering technology neck
Domain.
Background technology
China waters is wide, and inland river lake is numerous, and coastline is very long, overwater accident it is sudden it is high, rescue difficulty is big, environment
It is complicated and changeable, group's injures and deaths are easily caused, therefore, reinforces the construction of water life-saving equipment, ensures the peace of production and operating activities waterborne
Entirely, there is particularly important meaning to China's socio-economic development.
Domestic waters searching rescue is started late, and current waters rescue mainly takes traditional salvor to search and rescue mode,
It is carried out by salvor and simple equipment.Waters fire-fighting is mainly based on fireboat, while with the development of science and technology intelligent water
The gradual extensive use of domain rescue helicopters.Water surface salvor common problem, mainly tables of equipment one have a single function, search
It is small to rescue region, and it is slow to rescue reaction speed.Unmanned boat is a kind of novel rescue tool, it have contexture by self, autonomous navigation,
The intelligence behaviour of intelligent Collision Avoidance and remote control does propulsion system, it collects Ship Design, artificial intelligence, information processing and motion control
Etc. professional techniques be integrated, merged the functions such as real-time monitoring, data transmission, GPS positioning；The water surface is rescued unmanned boat and is occurred, by
In its rapidity, self-contained, vdiverse in function, previous rescue aid is gradually replaced.
Unmanned boat is combined by the present invention with rescue, by carrying lifesaving and fire extinguishing system, including intelligent fire fighting, rescue prison
Measurement equipment, rescue aid such as are independently jettisoninged at the functions, and a kind of multifunctional rescue nobody compound Wutai rock group, while the sail carried are formed
It can ensure the cruising ability of unmanned boat with solar panels green compound energy and its dynamical system.
Invention content
The purpose of the present invention is the present situations for the current waters rescue aid scarcity of solution, while overcoming current pick-up operation
The problem of inefficient, low energy and manpower and materials largely waste provides a kind of small, fast multifunctional rescue unmanned five
Body ship can realize the multipurposes such as rescue, search and rescue, fire extinguishing.
In order to achieve the above objectives, technical solution provided by the invention is as follows：
A kind of unmanned Wutai rock group of multifunctional rescue, including hull, dynamical system, propulsion system, steerable system, lifesaving
System and fire extinguishing system；The hull includes the slender type main hull that head and the tail are passed through at middle part, the stem both sides pair of the main hull
Claim to be equipped with first sheet body, the main hull and the first sheet body are equipped with bottom plate, between the head sheet bodies and the main hull pass through
The hydrofoil connection being laterally arranged, the hydrofoil include outside pillar and the pillar through the first sheet body and the main hull
Streamlined wing plate, the two sides of tail of the main hull is arranged with cauda body, and the cauda body passes through its middle part vertical direction
Axis and the bottom plate it is hinged, the top of the bottom plate is equipped with deck and superstructure；The dynamical system includes being arranged in institute
Several solar panels, foldable sail and setting on deck are stated in the indoor accumulator in main hull cabin, it is described too
Positive energy solar panel is connect by converter and Voltage stabilizing module with the accumulator, and the foldable sail includes sail, mast, turns
To device and pedestal, the pedestal is hollow cylinder, is fixed on the deck, and the steering gear rotatably is mounted on described
In pedestal, the mast is connect with the steering gear, and the sail is located on the mast；The propulsion system include steering engine,
Positioning bean, rudder post, rudder blade, propeller, transmission shaft, universal coupling and driving motor, the driving motor are mounted on the master
Connect with the propeller drive in the cabin of hull and by the universal coupling and the transmission shaft, the rudder blade with set
The drive link connection in the rudder post is set, and is arranged in the rear propeller by the rudder post, the drive link passes through
Positioning bean is connect with steering engine；The steerable system includes laser range finder sensor, the complex optimal controlled strategy device being arranged in bow
And GPS positioning device, the laser range finder sensor, the GPS positioning device, the steering engine, the steering gear are and institute
State the connection of complex optimal controlled strategy device；The life saving system includes the setting on the quarter autonomous life-saving casting device at intermediate position, setting
In the rescue camera head of bow, Wireless data transmission receiving module, it is arranged in long-range bank machine, the autonomous life-saving casting device is set
It includes ejection mouth and ejector blade to have acclivitous ejection orbit, the ejection orbit, and the top of the ejection orbit is equipped with dress
Standby filling port, the equipment filling port pass through the ejector blade of the connection ejection orbit, the Wireless data transmission reception
Module and the autonomous life-saving casting device are connect with the complex optimal controlled strategy device；The fire extinguishing system includes being arranged in bow
Flame sensor and the adjustable nozzle of intelligence and setting high-pressure hydraulic pump on the quarter, the flame sensor and the intelligence
The adjustable nozzle of energy and the high-pressure hydraulic pump are connect with the complex optimal controlled strategy device.
It is further preferred that the length of the main hull is identical as ship length, width is the 1/5-1/4 of beam of hull,
Length to height ratio 10-15, it is U-shaped that cross section shape by first front V-type transits to middle and back.
It is further preferred that described length of hull 10-30 meters, length-width ratio 5-10, length to height ratio 5-10, design speed 15~20
Section.
It is further preferred that the length of the head sheet bodies is the 2/5-3/5 of ship length, width is the 1/ of beam of hull
, length to height ratio 10-15, cross section shape by first front V-type transit to middle part U be transitioned into rear portion V-type again；The cauda
The length of body is the 1/5-2/5 of ship length, and width is the 1/11-1/10 of beam of hull, length to height ratio 10-15, cross section shape
Middle part U is transitted to by first front V-type and is transitioned into rear portion V-type again.
It is further preferred that the installation position of the hydrofoil is away from bow 1/6-1/7 captain, away from the deck 1/10-1/5 ships
The spanwise length of height, the streamlined wing plate is the 3/4-4/5 beam, and chord length is the 1/11-1/10 spanes, and the pillar passes through bearing
It is hinged with the first sheet body and the main hull.The cross sectional shape of the streamlined wing plate is approximate with Subsonic Wing section.
It is further preferred that the solar panel is longitudinally arranged in the both sides of the superstructure along hull, with water
For plane at 30 ° -45° angle, the foldable sail is trapezium structure, and upper bottom length is 1/6-1/5 captain, upper bottom and bottom ratio 1/
, it is 1/3-1/2 captain close to quarter the length of the hypotenuse, is 1/6-1/4 captain, the mast close to bow portion the length of the hypotenuse
The a height of 1/2-3/4 captain of bar, the mast are located at the partially short bevel edge side of upper bottom center line, are bottom on 1/5-1/4 away from upper bottom center line,
The sail is strutted by the mast, and the rotation angle of the foldable sail is positive and negative 45 °.
It is further preferred that the rescue camera head is hit exactly mounted on bow, visual angle is ± 90 °.
The control program of the complex optimal controlled strategy device is a kind of improvement genetic algorithm strong based on global optimizing ability
Ship recognizing model of movement and analysis system recognition software.Its optimization process is a multivariable, multiple objective function, mostly about
The optimization problem of beam condition, in other words, ship optimization are the decision problem of a multiple-objective and multiple-attribute, traditional optimization method
An important performance parameter is often found out as object function, extreme value is acquired to it, to export optimum results, however this
Sample often cannot get optimum optimization result.Therefore the present invention proposes hydrodynamic performance complex optimum this design method, is exactly
Multi-objective problem single-objective problem is converted into classical method then to optimize.
The present invention also provides the working methods of the unmanned Wutai rock group of above-mentioned multifunctional rescue, including accumulator drive mode
With wind drive pattern：In accumulator drive mode, the complex optimal controlled strategy device is by controlling the driving motor just
Turn, reversion and rotating speed are realized and advance, retreat and acceleration and deceleration, realized by controlling the steering engine to control the deflection of the rudder blade
It turns to；
In the wind drive pattern, the complex optimal controlled strategy device is by controlling the steering gear to described in control
Foldable sail raises and falls and rotate realization advance, acceleration and deceleration and steering.
When the laser range finder sensor has detected barrier, the complex optimal controlled strategy device is delivered a signal to,
The complex optimal controlled strategy device controls the steering engine and/or the foldable sail is realized and turned to, and avoids encountering barrier.
After the flame sensor finds identification flame, the complex optimal controlled strategy device, the synthesis are delivered a signal to
Optimization sensor controls the high-pressure hydraulic pump and draws water, and control the adjustable nozzle of the intelligence angle can aperture, realization goes out
Fire.
When the rescue camera head picture taken passed to by the Wireless data transmission receiving module it is described
Bank machine, the personnel of the bank machine therefrom identify whether have personnel to need to succour, and are then sent commands to if necessary to relief described comprehensive
Close optimal controller, the complex optimal controlled strategy device controls the autonomous life-saving casting device and jettisonings rescue outfit.
The autonomous life-saving casting device will be in advance by the equipment filling port loading by controlling the ejector blade rotation
Rescue outfit is dished out along the ejection orbit.
Data can be also passed to internet by the bank machine simultaneously, to monitor the variation of rescue environment in real time for more people.
Compared with prior art, technical scheme of the present invention has the following advantages：
The unmanned Wutai rock group of multifunctional rescue of the present invention has several functions, has expanded water life-saving significantly and set
Standby diversity.The driving of petrol and diesel oil machine is reduced to environment using wind energy, solar energy as main source of energy using green compound energy
Pollution.Intermediate elongated main hull, the sheet body being arranged symmetrically from beginning to end and the streamlined hydrofoil of modified stem are reduced when navigating by water
Resistance improves speeds.Rescue the safety of Wutai rock group when intelligent operation and propulsion system ensure that autonomous navigation, lifesaving and
Fire extinguishing system can Real-time Feedback field conditions, and fire extinguishing relief is carried out to live burning things which may cause a fire disaster, while independently casting rescue aid, including
The equipment such as food, fresh water, lifebuoy, life vest substantially increase the survival rate of personnel.It is spread using its small and exquisite advantage large area
Search and rescue net is opened, the waste of manpower and materials has been greatly reduced while improving search and rescue success rate.This multifunctional rescue is unmanned
Wutai rock group forms a powerful rescue network by the real-time Transmission function of itself, height intelligence with command centre, ensures
The safety of perils of the sea personnel.
Description of the drawings
Fig. 1 is the diagrammatic top view of the embodiment of the present invention；
Fig. 2 is the propulsion system schematic diagram of the embodiment of the present invention；
Fig. 3 is the left view schematic diagram of the embodiment of the present invention；
Fig. 4 is the boat bottom structure diagram of the embodiment of the present invention；
Fig. 5 is hydrofoil front view in the embodiment of the present invention；
Fig. 6 is sectional view at A-A in hydrofoil front view in the embodiment of the present invention；
Fig. 7 is autonomous life-saving casting device structure diagram in the embodiment of the present invention；
In figure：1 be main hull, 2 be deck, 3 be superstructure, 4 be foldable sail, 5 be autonomous life-saving casting device,
101 it is sheet body headed by cauda body, 102,103 be bottom plate, 104 be pillar, 105 be streamlined wing plate, 111 be transmission shaft, 112 is
Rudder blade, 113 be propeller, 114 be universal coupling, 115 be driving motor, 116 be rudder post, 122 be high-pressure hydraulic pump, 201 be
Solar panel, 211 be flame sensor, 212 be the adjustable nozzle of intelligence, 221 be laser range finder sensor, 231
It is sail for rescue camera head, 401,402 be mast, 403 be steering gear, 404 be pedestal, 501 be ejection mouth, 502 is ejection
Piece, 503 are equipment filling port.
Specific implementation mode
To make the above purposes, features and advantages of the invention more obvious and understandable, below in conjunction with the accompanying drawings to the present invention
Specific embodiment be described in detail.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and direction term) there is meaning identical with the general understanding of the those of ordinary skill in fields of the present invention.
As shown in Figures 1 to 6, it is a kind of unmanned Wutai rock group of multifunctional rescue of the present invention, including hull, dynamical system
System, propulsion system, steerable system, life saving system and fire extinguishing system；The hull includes the main ship of slender type that head and the tail are passed through at middle part
The stem both sides of body 1, the main hull 1 are arranged with first sheet body 102, and the main hull 1 and the first sheet body 102 pass through skeleton
It is connected with bottom plate 103, and is reinforced by reinforcing plate, the water between the head sheet bodies 102 and the main hull 1 by being laterally arranged
The wing connects, and the hydrofoil includes outside the pillar 104 and the pillar 104 of the first sheet body 102 and the main hull 1
The two sides of tail of streamlined wing plate 105, the main hull 1 is arranged with cauda body 101, and the cauda body 101 passes through its middle part
The axis of vertical direction is hinged with the bottom plate 103, and the top of the bottom plate 103 is equipped with deck 2 and superstructure 3；The power
System includes several solar panels 201 being arranged on the deck 2, foldable sail 4 and is arranged in the main hull 1
The indoor accumulator in cabin, the solar panel 201 are connect by converter and Voltage stabilizing module with the accumulator, it is described can
It includes sail 401, mast 402, steering gear 403 and pedestal 404 to fold sail 4, and the pedestal 404 is hollow cylinder, is fixed on
On the deck 2, the steering gear 403 rotatably is mounted in the pedestal 404, the mast 402 and the steering
Device 403 connects, and the sail 401 is located on the mast 402；The propulsion system includes steering engine, Positioning bean, rudder post 116, rudder
Leaf 112, propeller 113, transmission shaft 111, universal coupling 114 and driving motor 115, the driving motor 115 are mounted on institute
It states in the cabin of main hull 1 and is connected with the transmission of the propeller 113 by the universal coupling 114 and the transmission shaft 111
It connects, the rudder blade 112 is connect with the drive link being arranged in the rudder post 116, and is arranged in the spiral shell by the rudder post 116
113 rear of paddle is revolved, the drive link is connect by Positioning bean with steering engine；The steerable system includes the Laser Measuring being arranged in bow
Distance meter sensor 221, complex optimal controlled strategy device and GPS positioning device, the laser range finder sensor 221, the GPS positioning
Device, the steering engine, the steering gear are connect with the complex optimal controlled strategy device；The life saving system includes being arranged on the quarter
The rescue camera head 231 in bow, Wireless data transmission receiving module, setting is arranged in the autonomous life-saving casting device 5 at intermediate position
In long-range bank machine, the autonomous life-saving casting device 5 is equipped with acclivitous ejection orbit, and the ejection orbit includes ejection mouth
501 and ejector blade 502, the top of the ejection orbit is equipped with equipment filling port 503, and the equipment filling port 503 passes through connection
The ejector blade 502 of the ejection orbit, the Wireless data transmission receiving module and the autonomous life-saving casting device 5 with
The complex optimal controlled strategy device connection；The fire extinguishing system includes that the flame sensor 211 and intelligence that are arranged in bow are adjustable
The high-pressure hydraulic pump 122 of formula nozzle 212 and setting on the quarter, the flame sensor 211 and the adjustable nozzle of the intelligence
212 and the high-pressure hydraulic pump 122 connect with the complex optimal controlled strategy device.
The length of main hull 1 described above is identical as ship length, and width is the 1/5 of beam of hull, and length to height ratio 10 is cross-sectional
It is U-shaped that face shape by first front V-type transits to middle and back.
The length of head sheet bodies 102 described above is the 2/5 of ship length, and width is the 1/11 of beam of hull, length to height ratio 10,
Cross section shape transits to middle part U by first front V-type and is transitioned into rear portion V-type again；The length of the cauda body 101 is ship length
1/5, width be beam of hull 1/11, length to height ratio 10, cross section shape by first front V-type transit to middle part U be transitioned into again
Rear portion V-type.
As shown in Figure 5 and Figure 6, the installation position of the hydrofoil is away from 1/6 captain of bow, away from 21/10 height of the deck, institute
The spanwise length for stating streamlined wing plate 105 is 3/4 beam, and chord length is 1/11 span, and the pillar 104 passes through bearing and the head
Sheet body 102 and the main hull 1 are hinged.
As shown in figure 3, the solar panel 201 is longitudinally arranged in the both sides of the superstructure 3 along hull, with water
For plane at 30 ° of angles, the foldable sail 4 is trapezium structure, and upper bottom length is 1/6 captain, upper bottom and bottom ratio 1/4, close
Quarter the length of the hypotenuse is 1/3 captain, is 1/6 captain, 402 a height of 1/2 captain of the mast, institute close to bow portion the length of the hypotenuse
It states mast 402 and is located at the partially short bevel edge side of upper bottom center line, be bottom on 1/5 away from upper bottom center line, the sail 401 is by the mast
402 strut, and the rotation angle of the foldable sail 4 is positive and negative 45 °.
The rescue camera head 231 is hit exactly mounted on bow, and visual angle is ± 90 °.The flame sensor 211 is also mounted at
The bow center, quantity are 3.
A kind of working method of the unmanned Wutai rock group of multifunctional rescue of the present invention, including accumulator drive mode and wind
Power drive pattern：In accumulator drive mode, the complex optimal controlled strategy device is by controlling the driving motor 115 just
Turn, reversion and rotating speed are realized and advance, retreat and acceleration and deceleration, by controlling the steering engine to control the deflection of the rudder blade 112
It realizes and turns to；
In the wind drive pattern, the complex optimal controlled strategy device is by controlling the steering gear 403 to control
The foldable sail 4 raises and falls and rotate realization advance, acceleration and deceleration and steering.
When the laser range finder sensor 221 has detected barrier, the complex optimal controlled strategy is delivered a signal to
Device, the complex optimal controlled strategy device controls the steering engine and/or the foldable sail 4 is realized and turned to, and avoids encountering barrier.
After the flame sensor 211 finds identification flame, the complex optimal controlled strategy device is delivered a signal to, it is described comprehensive
It closes optimization sensor and controls the high-pressure hydraulic pump 122 and draw water, and the angle for controlling the adjustable nozzle of the intelligence 212 can be opened
Degree realizes fire extinguishing.
When the picture taken is passed to institute by the rescue camera head 231 by the Wireless data transmission receiving module
Bank machine is stated, the personnel of the bank machine therefrom identify whether there are personnel to need to succour, and are then sent commands to if necessary to relief described
Complex optimal controlled strategy device, the complex optimal controlled strategy device control the autonomous life-saving casting device 5 and jettisoning rescue outfit.
Although present disclosure is as above, present invention is not limited to this.Any those skilled in the art are not departing from this
It in the spirit and scope of invention, can make various changes or modifications, therefore protection scope of the present invention should be with claim institute
Subject to the range of restriction.
Claims (10)
1. a kind of unmanned Wutai rock group of multifunctional rescue, it is characterised in that：Including hull, dynamical system, propulsion system, manipulation
System, life saving system and fire extinguishing system；The hull includes the slender type main hull (1) that head and the tail are passed through at middle part, the main hull
(1) stem both sides are arranged with first sheet body (102), and the main hull (1) and the first sheet body (102) are equipped with bottom plate
(103), it is connect by the hydrofoil being laterally arranged between the first sheet body (102) and the main hull (1), the hydrofoil includes passing through
Wear the streamlined wing plate of pillar (104) and the pillar (104) outside of the first sheet body (102) and the main hull (1)
(105), the two sides of tail of the main hull (1) is arranged with cauda body (101), and the cauda body (101) is perpendicular by its middle part
Histogram to axis and the bottom plate (103) it is hinged, the top of the bottom plate (103) is equipped with deck (2) and superstructure (3)；Institute
It includes several solar panels (201) being arranged on the deck (2), foldable sail (4) and setting to state dynamical system
In the indoor accumulator in the main hull (1) cabin, the solar panel (201) by converter and Voltage stabilizing module with it is described
Accumulator connects, and the foldable sail (4) includes sail (401), mast (402), steering gear (403) and pedestal (404), institute
It is hollow cylinder to state pedestal (404), is fixed on the deck (2), and the steering gear (403) rotatably is mounted on described
In pedestal (404), the mast (402) connect with the steering gear (403), and the sail (401) is located at the mast (402)
On；The propulsion system includes steering engine, Positioning bean, rudder post (116), rudder blade (112), propeller (113), transmission shaft (111), ten thousand
To shaft coupling (114) and driving motor (115), the driving motor (115) is mounted in the cabin of the main hull (1) and leads to
It crosses the universal coupling (114) and the transmission shaft (111) to be sequentially connected with the propeller (113), the rudder blade (112)
It connect with the drive link being arranged in the rudder post (116), and is arranged in the propeller (113) by the rudder post (116)
Rear, the drive link are connect by Positioning bean with steering engine；The steerable system includes the laser range finder biography being arranged in bow
Sensor (221), complex optimal controlled strategy device and GPS positioning device, the laser range finder sensor (221), GPS positioning dress
It sets, the steering engine, the steering gear are connect with the complex optimal controlled strategy device；The life saving system includes in setting on the quarter
Between position autonomous life-saving casting device (5), be arranged bow rescue camera head (231), Wireless data transmission receiving module, set
It sets in long-range bank machine, the autonomous life-saving casting device (5) is equipped with acclivitous ejection orbit, and the ejection orbit includes bullet
The top of loophole (501) and ejector blade (502), the ejection orbit is equipped with equipment filling port (503), the equipment filling port
(503) by being connected to the ejector blade (502) of the ejection orbit, the Wireless data transmission receiving module and it is described from
Main life-saving casting device (5) connect with the complex optimal controlled strategy device；The fire extinguishing system includes the flame sensing being arranged in bow
The high-pressure hydraulic pump (122) of device (211) and the adjustable nozzle (212) of intelligence and setting on the quarter, the flame sensor
(211) connect with the complex optimal controlled strategy device with the adjustable nozzle of the intelligence (212) and the high-pressure hydraulic pump (122)
It connects.
2. the unmanned Wutai rock group of a kind of multifunctional rescue according to claim 1, it is characterised in that：The main hull
(1) length is identical as ship length, and width is the 1/5-1/4, length to height ratio 10-15, before cross section shape is by head of beam of hull
It is U-shaped that portion's V-type transits to middle and back.
3. the unmanned Wutai rock group of a kind of multifunctional rescue according to claim 1, it is characterised in that：The head sheet bodies
(102) length is the 2/5-3/5 of ship length, and width is the 1/11-1/10 of beam of hull, length to height ratio 10-15, cross section shape
Shape transits to middle part U by first front V-type and is transitioned into rear portion V-type again；The length of the cauda body (101) is the 1/5- of ship length
2/5, width be beam of hull 1/11-1/10, length to height ratio 10-15, cross section shape by first front V-type transit to middle part U again
It is transitioned into rear portion V-type.
4. the unmanned Wutai rock group of a kind of multifunctional rescue according to claim 1, it is characterised in that：The hydrofoil is set
Seated position is away from bow 1/6-1/7 captain, and away from the deck (2) 1/10-1/5 heights, the span of the streamlined wing plate (105) is long
Degree is the 3/4-4/5 beam, and chord length is the 1/11-1/10 spanes, the pillar (104) by bearing and the first sheet body (102) and
The main hull (1) is hinged.
5. the unmanned Wutai rock group of a kind of multifunctional rescue according to claim 1, it is characterised in that：The solar-electricity
Pond plate (201) is longitudinally arranged in the both sides of the superstructure (3) along hull, described foldable with horizontal plane at 30 ° -45° angle
Sail (4) is trapezium structure, and upper bottom length is 1/6-1/5 captain, and with bottom than 1/4-1/3, close quarter bevel edge is long at upper bottom
Degree is 1/3-1/2 captain, is 1/6-1/4 captain close to bow portion the length of the hypotenuse, a height of 1/2-3/4 captain of the mast (402),
The mast (402) is located at the partially short bevel edge side of upper bottom center line, is bottom on 1/5-1/4, the sail (401) away from upper bottom center line
It is strutted by the mast (402), the rotation angle of the foldable sail (4) is positive and negative 45 °.
6. the unmanned Wutai rock group of a kind of multifunctional rescue according to claim 1, it is characterised in that：The rescue camera
Head (231) is hit exactly mounted on bow, and visual angle is ± 90 °.
7. a kind of working method of the unmanned Wutai rock group of multifunctional rescue according to claim 1-6, it is characterised in that：
Including accumulator drive mode and wind drive pattern：In accumulator drive mode, the complex optimal controlled strategy device passes through control
The rotating forward, reversion and rotating speed for making the driving motor (115) realize and advance, retreat and acceleration and deceleration, by control the steering engine from
And the deflection for controlling the rudder blade (112) is realized and is turned to；
In the wind drive pattern, the complex optimal controlled strategy device is by controlling the steering gear (403) to control
That states foldable sail (4) raises and falls and rotate realization advance, acceleration and deceleration and steering.
8. a kind of working method of the unmanned Wutai rock group of multifunctional rescue according to claim 7, it is characterised in that：When
When the laser range finder sensor (221) has detected barrier, the complex optimal controlled strategy device is delivered a signal to, it is described comprehensive
It closes optimal controller and controls the steering engine and/or the foldable sail (4) realization steering, avoid encountering barrier.
9. a kind of working method of the unmanned Wutai rock group of multifunctional rescue according to claim 8, it is characterised in that：When
After the flame sensor (211) finds identification flame, the complex optimal controlled strategy device is delivered a signal to, the complex optimum passes
Sensor controls the high-pressure hydraulic pump (122) and draws water, and control the adjustable nozzle of the intelligence (212) angle can aperture, it is real
Now put out a fire.
10. a kind of working method of the unmanned Wutai rock group of multifunctional rescue according to claim 9, it is characterised in that：
When the picture taken is passed to the bank by the rescue camera head (231) by the Wireless data transmission receiving module
Machine, the personnel of the bank machine therefrom identify whether have personnel to need to succour, and the synthesis is then sent commands to if necessary to relief
Optimal controller, the complex optimal controlled strategy device control the autonomous life-saving casting device (5) and jettisoning rescue outfit.
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| CN201810466090.1A CN108438137A (en) | 2018-05-16 | 2018-05-16 | The unmanned Wutai rock group of multifunctional rescue and its working method |
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| CN109606578A (en) * | 2018-12-03 | 2019-04-12 | 江苏科技大学 | A kind of marine environmental monitoring green energy resource small-waterplane-area improvement unmanned ships and light boats of binary |
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| CN115092309A (en) * | 2022-06-30 | 2022-09-23 | 江苏科技大学 | Cruise five-body unmanned ship with shaftless power generation device and design method thereof |
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Application publication date: 20180824 |