CN108973559A - A kind of empty amphibious five body constituents unmanned boat of water - Google Patents
A kind of empty amphibious five body constituents unmanned boat of water Download PDFInfo
- Publication number
- CN108973559A CN108973559A CN201710398409.7A CN201710398409A CN108973559A CN 108973559 A CN108973559 A CN 108973559A CN 201710398409 A CN201710398409 A CN 201710398409A CN 108973559 A CN108973559 A CN 108973559A
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- unmanned boat
- constituents
- amphibious
- water
- hull
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of empty amphibious five body constituents unmanned boat of water, and the five body constituents unmanned boat mainly includes the components such as main hull, lateral body, marine propulsion system, Airborne Propellant System.Carrying platform of the main hull for components such as power device, attachment devices；The lateral body is used for ship-lifting navigation performance, is the symmetrical four lateral bodys structure in front and back, four lateral bodys are in same level and front side body is less than rear side body；The marine propulsion system is used to promote and control when amphibious unmanned boat surface navigation, mainly includes host, propeller and rudder system；The Airborne Propellant System mainly includes the components such as four air propellers, four brushless motors for promoting and controlling when severe sea condition unmanned boat being avoided to navigate by water in the sky.A kind of amphibious five body constituents unmanned boat of water sky according to the present invention is amphibious by VTOL realization, can adapt to can be used for water quality monitoring, military the effects of investigating in high sea situation operation efficiently against the disadvantage of existing unmanned boat seakeeping capacity difference in wave navigation.
Description
Technical field
The invention patent relates to high performance craft, refer in particular to a kind of empty amphibious five body constituents of the water monitored for the water surface and low latitude nobody
Ship.
Background technique
Typical unmanned surface vehicle does not have ship person, is essentially all to be equipped with not using modularized design according to mission requirements
Same equipment completes specified task by being remotely controlled, formulating the modes such as program and unmanned intelligence.Conventional unmanned surface vehicle is basic
All use glider, displacement and its scale all very littles of glider, motion stabilization poor controllability when high speed operation, in stormy waves
Rapidity is also poor, and hull is among wave, is inevitably influenced by wave, is difficult under higher sea conditions just
Often work.
The empty amphibious ship of water only has ground effect ship and aircushion vehicle two types, and aircushion vehicle has certain amphibious property and sea-keeping
Can, although can be detached from the water surface under high speed low speed, it is very close apart from the water surface, is limited in its skirt depth model substantially
In enclosing, under biggish wave situations air cushion can gas leakage and fail, and aircushion vehicle will be used to close air cushion due to its hull bottom, not side
Just installation monitoring equipment.Under high sea situation can not normal operation, can not accomplish that the sea area of round-the-clock and normalization is gone on patrol, especially
Burst accident is coped with, task place can not be timely and effectively reached.Ground effect ship belongs to high speed large vessel, and what is leaned on is high-speed aircraft
Capable ground effect generates lift, the disadvantage is that the water surface can not be detached from low speed, and its navigation stability is poor under the high speed of a ship or plane, for
Waters requires high, it is necessary to have the sliding zones of large area, and high sea situation can not take off.
Summary of the invention
The technical problem to be solved is that provide one kind to overcome current unmanned surface vehicle high speed operation luck for the invention patent
Ineffective weakness in the shortcomings that dynamic stability poor controllability and wave provides a kind of efficient, autonomous, round-the-clock, task sound
Water quality monitoring, the empty amphibious five body constituents unmanned boat of the water of military the effects of investigating should be can be used in time.
The present invention is achieved by the following technical programs: including an intermediate hull and symmetrical four lateral bodys in front and back, often
It is all connected by horizontal part hollow out connecting bridge between a lateral body and intermediate hull, all connecting bridges are carried out by carbon fiber pipe
It connects, arranges that symmetrical four brushless motors of left-right and front-back, four brushless motors are separately connected four on peripheral two sides carbon fiber pipe
A different air propeller, four air propellers relative to intermediate hull two-by-two bilateral symmetry, pass through change four spirals
The lift that the revolving speed of paddle generates different propellers forms the combination of different power and torque to control attitude of flight vehicle and movement,
Arrange that a root long antenna and a short antenna, intermediate hull arrange one on stern top surface on the bow top surface of intermediate hull
A set of vertical rudder is arranged in GPS navigation positioning device, intermediate hull rudder portion middle, warship body top layout solar panels, before two
Lateral body and two rear side bodies are respectively identical two kinds of streamlined sheet bodies, and front side body and rear side body are placed in same level position
It sets, and front side body size is less than rear side body.
The present invention uses five body constituents structure, amphibious by VTOL realization, can navigate efficiently against existing unmanned boat in wave
The disadvantage of maneuverability and seakeeping capacity difference in row uses two kinds of propulsion systems of Airborne Propellant System and surface propulsion system for device
Power is provided, it mainly includes host, spiral that the marine propulsion system, which is used to promote and control when amphibious unmanned boat surface navigation,
Paddle propeller and rudder system；The rudder system is for adjusting unmanned boat surface navigation direction, including steering engine, rudder stock, rudder blade；It is described
Lifting hull reduces ship resistance and avoids severe sea condition unmanned boat in sky when Airborne Propellant System is used for unmanned boat surface navigation
It promotes and controls when middle navigation, mainly include the components such as four air propellers, four brushless motors, by changing four spirals
The lift that the revolving speed of paddle generates different propellers forms the combination of different power and torque to control attitude of flight vehicle and movement.
It can be promoted using air propeller in high sea situation or some special circumstances such as hull damage, the water surface can be completely disengaged, can be had
Effect prevent propeller emergence under high sea situation so as to cause driving phenomena such as, moreover it is possible to efficiently control the unmanned boat speed of a ship or plane and posture.
And when unmanned boat energy deficiency, the water surface can be swum in by solar panels and carry out supplement power source.
It, can effectively gram the present invention is based on hull hydrodynamics, aerodynamics, system analysis engineering multidisciplinary synthesis optimization design
Take the effect that works in the disadvantage and wave that current unmanned surface vehicle wave navigation maneuverability and seakeeping capacity difference and posture are difficult to control
The low weakness of rate, comprehensive performance is better than current unmanned surface vehicle, and in high sea situation, the present invention has excellent sea-keeping,
The water surface can be completely disengaged, influences it by severe marine environment, is suitable for can be used for water quality in high sea conditions operation
The effects of monitoring, military investigation.
Detailed description of the invention
Fig. 1 is the present invention two isogonism axonometric drawings up and down
Fig. 2 is top view of the present invention
Fig. 3 is main view of the present invention
Fig. 4 is left view of the present invention
Fig. 5 is rudder system figure of the present invention
Fig. 6 is connecting bridge figure of the present invention
1. middle part hull；2. front side body；3. rear side body；4. air propeller；5. rudder system；6. propeller；7. carbon fiber pipe；8.
Connecting bridge；9. long antenna；10. short antenna；11. corner fittings；12. host；13. steering engine；14. rudder stock；15. rudder blade.
Specific embodiment
As shown in Figs 1-4, the present invention includes an intermediate hull 1 and symmetrical four lateral bodys 2,3 in front and back, each lateral body 2,3
It is all connected by horizontal connecting bridge 8 between intermediate hull 1.For the good aerodynamic quality for guaranteeing connecting bridge 8, connecting bridge
8 be rule body, and part hollow out.All connecting bridges 8 are attached by carbon fiber pipe 7, cloth on two sides periphery carbon fiber pipe 7
Symmetrical four brushless motors of left-right and front-back are set, four brushless motors are separately connected four different air propellers 4, counterclockwise
It is followed successively by No.1 propeller, No. two propellers, No. three propellers, No. four propellers, four air propellers 4 are relative to intermediate ship
Body 1 two-by-two bilateral symmetry.The first two air propeller 4 and latter two air propeller 4 fully meet left and right geometrically respectively
Symmetrically, and selected host model, power and revolving speed are also identical respectively, the diameter of four air propellers 4, the number of sheets, paddle type
Lift needed for some midrange speed between cruise and maximum speed when revolving speed etc. according to flight and design determination, the present invention is logical
The lift that the revolving speed for crossing four air propellers 4 of change generates different propellers forms the combination of different power and torque to control
Attitude of flight vehicle processed and movement.
It is disposed on the top surface of hull on the bow top surface of solar panels, intermediate hull 1 and arranges a root long antenna 9 and one
Root short antenna 10, intermediate hull 1 arrange a GPS navigation positioning device, intermediate 1 rudder portion middle of hull on stern top surface
Arrange a set of vertical rudder 5.
The ratio between the maximum length of front side body 2 and maximum transversal scale are 18-22, length to height ratio 4.5-8.5；Rear side body 3
The ratio between maximum length and maximum transversal scale are 15-19, length to height ratio 6-10.Hull surface speed is higher, lateral body 2,3 most greatly enhances
Spend bigger with the ratio between maximum transversal scale, length to height ratio is smaller, and hull surface speed is lower, lateral body 2,3 maximum lengths and maximum cross
Smaller to the ratio between scale, length to height ratio is bigger.In view of the bilateral symmetry design requirement of hull, the lateral body of front and back four 2,3 is adopted respectively
With two kinds of identical lower resistances, the elongated streamline sheet body of high lift-drag ratio, it is symmetrically arranged in the two of intermediate hull 1
Side, front side body 2 and rear side body 3 are placed in the same horizontal position, and 2 size of front side body is less than rear side body 3, resulting quality
The arrangement by adjusting 1 in-vivo device position of captain boat is deviated to eliminate.
Intermediate hull 1, lateral body 2,3 are all made of carbon fibre composite, the skeleton and outside plate system of the light materials such as aluminium alloy
At grillage constitute, since the arrangement of the air propeller 4 of amphibious unmanned boat requires lateral body 2,3 to should be greater than at a distance from main body 1
The blade radius of air propeller 4 reduces air spiral shell so that the motor of air propeller 4 can be arranged among connecting bridge 8
The risk that rotation paddle 4 soaks during swaying.All internal redundant spaces of hull are all filled using small severe buoyant material, greatly
Unsinkability when breakage is improved, amplitude to maintain ability to work to provide support under the conditions of breakage.
As shown in Fig. 2, the number of blade that each paddle of air propeller 4 is selected depends on lift requirement and arrangement areas, this two
Unmanned boat dwell due to using multiple Design of Propeller, the lift that each paddle provides is small, and revolving speed is relatively low, increases blade quantity pair
The efficiency of single-blade influences little.Blade selects cross-section blade referring to the design of lifting airscrew, and cross sectional shape then uses
NACA4415 aerofoil profile.
For guarantee hull basic flying speed, by closed-loop control device, the amphibious unmanned boat symmetrically fill there are four sky
Gas propeller 4, since the shaft of air propeller 4 can not vert, thus flight control system altogether there are four input, respectively one
The torque of a climbing power and three directions.The amphibious unmanned boat uses the mechanical structure of four air propellers 4, four motors
As the direct driving force source of flight, the lift that the revolving speed by changing four air propellers 4 generates different propellers 4 is formed
The combination of different power and torque controls attitude of flight vehicle and movement, the rotation direction of the two adjacent paddles of four air propellers 4
On the contrary, itself can both make torque offset each other, it is not required to realize balance reaction torque by tail-rotor.The paddle inverse time after left front paddle and the right side
Needle rotation, right bow oar and left back paddle rotate clockwise, and this reverse symmetry structure is instead of conventional helicopters tail rotor.It is flying
In the process, change the revolving speed of four air propellers 4, unmanned boat can be made to generate various flight attitudes, unmanned boat can also be made to fly
Device is moved to each predetermined direction.This design concept significantly simplifies the structure and power of the flight system of amphibious unmanned boat
Learn model.
As shown in figure 4, the chord length of the lateral body of the front and back four 2,3 is gradually reduced from top to bottom, thickness ratio is gradually reduced, connecing
Chord length slowly reduces when nearly bottom, on the one hand can provide buoyancy, stability support in surface navigation for hull, on the other hand,
The sea-keeping, rapidity and airworthiness of its surface navigation can be improved.
Intermediate hull 1 is both had good using the hull for being rescued 143 three-body lifeboat main hull ship type improved wires based on north
Resistance performance also has good craftsmanship.In order to guarantee the basic maneuverability of hull, top surface arrangement one on intermediate 1 front of hull
9, short antenna 10 of root long antenna, intermediate 1 rudder portion of hull arrange a set of vertical rudder 5.In order to enable the unmanned boat is with excellent
Operating condition, arrange a GPS positioning platform in 1 middle part hull top surface to the rear of intermediate hull, can in order to meet mission requirements
To increase the devices such as camera, mechanical arm on ship as the case may be.
Claims (9)
1. a kind of empty amphibious five body constituents unmanned boat of water, mainly includes intermediate hull (1) and front and back lateral body (2), (3) and air spiral shell
It revolves paddle (4), it is characterised in that: the necessary instrument and equipment such as battery pack, control system, transmission system is equipped with inside middle part hull (1),
Intermediate hull (1) tail portion is disposed with vertical rudder (5), by horizontal between the lateral body (2), (3) and intermediate hull (1)
Connecting bridge (8) connection, the connecting bridge (8) are attached by carbon fiber pipe (7).
2. the empty amphibious five body constituents unmanned boat of water according to claim 1, it is characterised in that: the front and back lateral body (2), (3) are each
There is symmetrical arrangement two, constitutes the double five body constituents ship types for setting sheet body in front and back with the intermediate hull (1).
3. the empty amphibious five body constituents unmanned boat of water according to claim 1, it is characterised in that: the connecting bridge (8) uses part
Truss structure.
4. the empty amphibious five body constituents unmanned boat of water according to claim 1, it is characterised in that: the bow of the intermediate hull (1)
The long antenna (9) and short antenna (10) for information transmission are provided on top surface.
5. the empty amphibious five body constituents unmanned boat of water according to claim 1, it is characterised in that: arranged on the carbon fiber pipe (7)
Useful motor-driven air propeller (4), the air propeller (4) are symmetrical all around relative to intermediate hull (1).
6. the empty amphibious five body constituents unmanned boat of water according to claim 1, it is characterised in that: the water of the front and back lateral body (2) (3)
Flat cutting upper thread perimeter is gradually reduced from top to bottom, and when closer to bottom horizontal profile line perimeter reduction speed it is slower.
7. the empty amphibious five body constituents unmanned boat of water according to claim 5, it is characterised in that: preposition two air propellers (4)
With two air propellers (4) of postposition attitude of flight vehicle and movement can be controlled by changing its respective steering and revolving speed.
8. the empty amphibious five body constituents unmanned boat of water according to claim 6, it is characterised in that: front side body (2) and rear side body (3) are
The identical streamlined sheet body of shape, front side body (2) and rear side body (3) are placed in the same horizontal position, and front side body (2)
Size should be less than rear side body (3).
9. the empty amphibious five body constituents unmanned boat of water according to claim 6, it is characterised in that: the length-width ratio of front side body (2) is 18-
22, length to height ratio 4.5-8.5；The length-width ratio of rear side body (3) is 15-19, length to height ratio 6-10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710398409.7A CN108973559A (en) | 2017-05-31 | 2017-05-31 | A kind of empty amphibious five body constituents unmanned boat of water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710398409.7A CN108973559A (en) | 2017-05-31 | 2017-05-31 | A kind of empty amphibious five body constituents unmanned boat of water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108973559A true CN108973559A (en) | 2018-12-11 |
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ID=64502240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710398409.7A Pending CN108973559A (en) | 2017-05-31 | 2017-05-31 | A kind of empty amphibious five body constituents unmanned boat of water |
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| Country | Link |
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| CN (1) | CN108973559A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696576A (en) * | 2019-10-25 | 2020-01-17 | 广东工业大学 | Empty dual-purpose driving system of water and unmanned platform of patrolling and examining |
| CN110816829A (en) * | 2019-11-15 | 2020-02-21 | 哈尔滨工程大学 | Four-rotor water-air amphibious unmanned ship |
-
2017
- 2017-05-31 CN CN201710398409.7A patent/CN108973559A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110696576A (en) * | 2019-10-25 | 2020-01-17 | 广东工业大学 | Empty dual-purpose driving system of water and unmanned platform of patrolling and examining |
| CN110816829A (en) * | 2019-11-15 | 2020-02-21 | 哈尔滨工程大学 | Four-rotor water-air amphibious unmanned ship |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181211 |