CN109606578A - A kind of marine environmental monitoring green energy resource small-waterplane-area improvement unmanned ships and light boats of binary - Google Patents
A kind of marine environmental monitoring green energy resource small-waterplane-area improvement unmanned ships and light boats of binary Download PDFInfo
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- CN109606578A CN109606578A CN201811465070.9A CN201811465070A CN109606578A CN 109606578 A CN109606578 A CN 109606578A CN 201811465070 A CN201811465070 A CN 201811465070A CN 109606578 A CN109606578 A CN 109606578A
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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
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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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
- B63B1/121—Hydrodynamic or hydrostatic features of hulls or of hydrofoils deriving lift mainly from water displacement with multiple hulls the hulls being interconnected rigidly comprising two hulls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
- B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
- B63B43/10—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
- B63B43/14—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy using outboard floating members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H9/00—Marine propulsion provided directly by wind power
- B63H9/04—Marine propulsion provided directly by wind power using sails or like wind-catching surfaces
- B63H9/06—Types of sail; Constructional features of sails; Arrangements thereof on vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
Abstract
The invention discloses a kind of marine environmental monitoring green energy resource small-waterplane-areas to improve the unmanned ships and light boats of binary, it includes the captain boat body of superstructure and small-waterplane-area improvement biplate body, boat body monitoring and sport intellect control system, navigation planning and decision system and environmental monitoring system, the present invention is using small waterplane area twin hull ship as carrier, and calculating is optimized by complex optimum software to the ship type parameter of small waterplane area twin hull ship, it obtains monitoring the best scheme of this major function navigation performance for maritime meteorology, effectively reduce wave making and interference drag between sheet body, the wave making resistance having in conjunction with small waterplane area twin hull ship itself is small, floor space is big, sea-keeping is good, ship resistance is small, the good advantage of stability, stable working environment can be provided for a variety of monitoring devices, and it is simultaneous in coastal waters that its preferable navigation performance can satisfy the unmanned boat The job requirement in the waters Gu Yuanhai.
Description
Technical field
The present invention relates to a kind of small-waterplane-area binary unmanned boats about marine environmental monitoring, belong to Marine engineering technology neck
Domain.
Background technique
Under big data era background, ship intelligence has become shipbuilding and necessarily becomes with what shipping field developed
Gesture.Unmanned boat is because its excellent performance is played a greater and greater role in military field, for current China's marine environmental monitoring
With marine management there are the problem of, in conjunction with the characteristics of unmanned boat, to unmanned boat in terms of marine environmental monitoring and marine management
Application prospect explored and looked forward to.
Domestic and international most of monitoring ships, mostly surface type unmanned boat is exactly that sea-keeping is poor wherein there is a common drawback, this
Works design is a kind of small waterline plane ship, its advantage is that there is preferable sea-keeping, overcomes monomer glider and conventional three-body
Kinetic stability difference and less economical disadvantage, comprehensive performance are better than monomer when ship type unmanned surface vehicle is quiet floating and high speed operation
Glider and conventional trimaran type unmanned boat, especially sway movenent performance and are greatly improved.This works also sets up water simultaneously
Swing device is to improve navigation performance.
Simultaneously as environmental protection, the cry of energy-saving and emission-reduction is higher and higher, the exploitation benefit of all kinds of new energy, clean energy resource
With also increasingly being paid attention to by various countries, the conventional cleaning energy such as solar energy and wind energy multi-field used and are in by multinational
It constantly updates research and development state, using solar panel, to convert solar energy into electrical energy on unmanned boat, and utilizes controller
It charges to battery.In the use aspects of wind energy, mainly there are two Main ways of air feed and wind power generation at present, and
In view of wind-power electricity generation practical application difficulty is larger, this clean energy resource of wind energy is preferably utilized so becoming using air feed
Mode.
Summary of the invention
Goal of the invention: it in order to guarantee unmanned boat energy task that is accurate, real-time, effectively completing maritime meteorology monitoring, obtains
A series of monitoring modulars are equipped on unmanned boat by related maritime meteorology data, this project, by intelligent navigation system, are realized more
Weather monitoring task under kind mode, and by the design of creative solar wind sail, increase cruise duration, it is energy saving.
Technical solution: to achieve the above object, a kind of marine environmental monitoring green energy resource small-waterplane-area improvement of the invention
The unmanned ships and light boats of binary, comprising: superstructure, captain boat body, boat body monitoring and sport intellect control system, navigation planning and decision
System and environmental monitoring system, the superstructure, boat body monitoring and sport intellect control system, navigation planning and decision system
System and environmental monitoring system be arranged on the captain boat body, which is characterized in that the captain boat body include top box connecting bridge,
Be symmetrically arranged and be fixed in two elongated sheet bodies of top box connecting bridge lower part, the master that is fixed in two elongated sheet body lower parts it is floating
Body；Wherein, top box connecting bridge cross section is rectangle, and box connecting bridge length-width ratio is 1.2-4:1, top box connecting bridge
Length is LBridge, height H after midshipBridgeWith width BBridgeIt is constant, its height H from midships section to front endBridgeGradually decrease to 3/5-4/5*HBridge
Maximum value and width BBridgeGradually decrease to its 4/7-8/9*BBridgeMaximum value；
The length-width ratio of two elongated sheet bodies is 16-26:1, its geometry and size is identical, its Water Plane is with splash line
Face shape be near symmetrical aerofoil profile not with drinking water variation, before the above midship of its Water Plane 1/3- tail end waterplane shape and waterline with
Under before identical, the above midship of its Water Plane 1/3 bow end waterplane shape be the 1.5:1 of symmetrical airfoil and length-width ratio from connecting bridge by
The 6:1 being gradually promoted at Water Plane；Two main floating body geometries and size is identical, its cross section or so is respectively oval for half
Or half of circle, its length-width ratio are 9-15:1, its length to height ratio is 8.8-16:1；The length L of the main floating bodyMain floating body11-55 meters, LBridge
With LMain floating bodyThe ratio between be 0.96-1.12:1, the ratio between main floating body and two elongated sheet body spacing be 1.66-8.88:1.
Further, preferably, the superstructure includes anemobiagraph, anemoscope and solar wind sail, pass through wind speed
The external wind direction wind data that instrument and anemoscope obtain, the solar wind sail control angle, institute by sport intellect control system
Stating the sail of solar wind sail is auxiliary propulsion plant to provide auxiliary power when unmanned boat navigation, and the solar wind sail can also
It is enough to convert electric energy storage for the solar energy being collected into improve the cruising ability of unmanned boat.
Further, preferably, the environmental monitoring system includes camera, water source extraction element, PM2.5 monitoring dress
It sets, thermometer, pH value sensor, wherein the camera is realized to the real time monitoring around unmanned boat and realizes collision prevention function；
The PM2.5 monitoring device, thermometer, pH value sensors towards ambient carry out environmental monitoring, and data are passed in real time
It is defeated；
The water source extraction element extracts the water for saving different location by positioning, carries out the water quality detection in later period.
Further, preferably, boat body monitoring and sport intellect control system include temperature monitor, urgent system
Device for cooling, supply voltage monitoring device and motor speed monitoring device, wherein the temperature monitor is responsible for the temperature to motor
It is monitored；The urgent refrigerating plant is arranged on the outside of motor, when motor temperature overheat, promptly cools to it；
Supply voltage monitoring device is responsible for being monitored the supply voltage of unmanned boat, prevents supply voltage too low, works as prison
It is too low to measure supply voltage, when being lower than setting value, promptly uses backup power source；
The motor speed monitoring auxiliary is monitored motor speed, when motor speed is too low or excessively high, by moving
Intelligence control system controls output power of power supply, adjusts revolving speed.
Further, it preferably, navigation planning can integrate unmanned ships and light boats own situation with decision system, is collected into
Unmanned ships and light boats where sea area condition wind direction and wind velocity information, and from the received global climate of bank base, ocean current variation is calculated
Unmanned ships and light boats safety, the efficient speed of service and operation course line are planned in analysis, and by sport intellect control system, in real time
Control unmanned ships and light boats operating status and speed of a ship or plane course line.
Further, preferably, the solar wind sail includes solar wind sail support rod, small sail, photovoltaic
Plate, bottom rotating electric machine, upper rotating electric machine, lower rotating electrical machine, decelerating motor, upper auxiliary carbon-point cross bar, lower auxiliary carbon-point cross bar,
Cotton rope, wherein small sail is fixed on sail support rod, and sail support rod is made using carbon-point material, solar energy photovoltaic panel water
Smooth to be arranged on small sail together, the bottom end of solar wind sail support rod is connected on hull vertically using bottom rotating electric machine,
Using the hinged of freedom degree degree between the lower auxiliary carbon-point cross bar and solar wind sail support rod, and hinged place uses lower rotation
Motor driven rotation, to adjust the angle of the lower auxiliary carbon-point cross bar；Upside carbon-point stock and solar wind sail support rod
Between it is hinged using freedom degree degree, and hinged place is using the driving rotation of upper rotating electric machine, to adjust the upper auxiliary carbon-point
The angle of cross bar；The decelerating motor is fixedly connected by cotton rope with upside carbon-point stock outer end, when wanting sail to work, upper rotation
Rotating motor and lower rotating electrical machine rotate simultaneously, put down carbon-point stock and lower carbon-point stock；Decelerating motor rotated down cotton rope, line
Rope provides the effect of being auxiliarily fixed for small sail；Bottom rotating electric machine rotates sail and fits to proper angle according to system needs
The angle for answering the sun, under sail working condition, the solar energy photovoltaic panel for being arranged in sail side passes through the solar energy being collected into
Voltage-stablizer pressure stabilizing is crossed, is stored in battery, the cruise duration of unmanned boat is increased.
Preferably, being equipped with electric actuator in the elongated sheet body in left side and the elongated sheet body on right side, set on hull
There are controller and motor driver, controller is connect with motor driver, and motor driver is connect with electric actuator, the electricity
Transmission device includes sequentially connected motor, universal coupling, transmission shaft and propeller.
Further, preferably, navigation planning and decision system further include GPS, nine axle sensors, gyroscope,
In be located at unmanned boat hull on GPS determine that the position coordinates of unmanned boat and the position coordinates of target point, nine axle sensors obtain
Offset direction angle, and combined with the control program in single-chip microcontroller, realize the autonomous cruise and a variety of monitoring patterns of unmanned boat.
Further, preferably, further including light-sensitive element, the light-sensitive element is connect with control system, will pass through light
The sunlight of quick element testing controls bottom rotating electric machine driving angle, improves the efficiency that sail utilizes solar energy and wind energy
In addition, optimizing each of the calculating small-waterplane-area improvement unmanned ships and light boats of binary based on performance synthesis the present invention provides a kind of
The method of scale when each section geometry, which is characterized in that itself the following steps are included:
(1) design variable is chosen
18 design variables are had chosen altogether, comprising: captain L, beam B absorb water T, submerged body length Lh, submerged body diameter D1, pillar
Length LS, pillar maximum width ts, longitudinal center on buoyancy Lcp, Block Coefficient Cb, water line length Lw, water plane coefficient Cw, catamaran piece
Body spacing C0, height of C.G. Zg, airscrew diameter DP, disk ratio Aeo, screw pitch ratio PDP, revolution speed of propeller N, design speed VS；
(2) optimized mathematical model is constructed
The comprehensive performance catalogue scalar functions of unmanned surface vehicle are constructed according to the form of power exponent product:
F (x)=f1(x)α1*f2(x)α2*f3(x)α3*f4(x)α4*f5(x)α5
In formula: f1(x)、f2(x)、f3(x)、f4(x)、f5(x) be respectively unmanned boat resistance and propulsive performance, maneuverability,
The objective function of transverse stability and pitch metacentric stability, green energy resource utilization rate and system reliability, general arrangement characteristic and environment monitoring function,
α 1, α 2, α 3, α 4, α 5 is respectively the weight of four systems, and has α 1* α 2* α 3* α 4* α 5=1, each specific item scalar functions it is specific
Expression formula is as follows:
f1It (x) is rapidity objective function, using the efficiency of unmanned boat resistance and propulsion device respectively as objective function,
Its expression formula is,
f2It (x) is maneuverability objective function, using 31 ariyoshi wave amplitudes as objective function, expression formula is,
f2(x)=2.00 σζ
F3 (x) is transverse stability and pitch metacentric stability objective function, and expression formula is as follows,
f3(x)=GMT β1·GML β2
β 1, β 2 are the weight of transverse stability and pitch metacentric stability objective function, and meet 1 β 2=1 of β；
f4It (x) is green energy resource utilization rate and system reliability, C1(x) refer to for green energy resource utilization rate and system reliability
Mark, expression formula is as follows,
f4(x)=C1(x)
f6It (x) is general arrangement characteristic and environment monitoring function objective function, D1It (x) is general arrangement characteristic index, D2(x) it is
Environment monitoring function characteristic index, expression formula is as follows,
f5(x)=D1 β1·D2 β2
(3) constraint condition
Constraint condition include: hydrostatic buoyancy constraint, thrust resistance balance constraint, torque balance constraint, metacentric height constraint,
Rolling, pitching constraint, propeller need to meet vacuole constraint, green energy resource system restriction；
Optimization object function, final performance shape are established by the ship type performance and green energy resource system that combine the ship
Formula is optimization fitness value；In conjunction with intelligent optimization method genetic algorithm and paralleling tactic, by optimization fitness value and optimization method
Interface realizes that the complex optimum of algorithm and strategy calculates, and finally obtains its scale and each section geometry.
The utility model has the advantages that
The present invention passes through complex optimum to the ship type parameter of small waterplane area twin hull ship using small waterplane area twin hull ship as carrier
Software optimizes calculating, obtains monitoring the best scheme of this major function navigation performance for maritime meteorology, effectively reduce
Wave making and interference drag between sheet body, the wave making resistance having in conjunction with small waterplane area twin hull ship itself is small, and floor space is big, sea-keeping
Good, ship resistance is small, the good advantage of stability, stable working environment can be provided for a variety of monitoring devices, and it is preferably
Navigation performance can satisfy the unmanned boat and take into account the job requirement in off-lying sea waters in coastal waters.Increase for reply operation cost,
The demand that ship operation complicates and environmental regulation is increasingly stringent, shipping world is continuously increased the technology to intelligent ship in recent years
Investment.Ship is a kind of by the very big equipment of such environmental effects, and intelligent ship system of the present invention realizes that ship is intelligent
Perception, discriminatory analysis and decision and control, to better ensure that the navigation safety and efficiency of ship.
Detailed description of the invention
Fig. 1 is hull top partial view diagram schematic diagram of the invention；
Fig. 2 is whole ship side view of the present invention；
Fig. 3 is solar wind sail schematic diagram of the invention；
Fig. 4 is whole ship front view of the invention；
Fig. 5 is 1/3 cross-sectional view before midship of the invention；
Fig. 6 is connecting bridge lower part cross-sectional view of the invention；
Fig. 7 is designed waterplane cross-sectional view of the invention；
Description of symbols:
1 main hull, 2 floating body, 3 sheet body, 4 propeller, 5 steering engine, 6 solar wind sail support rod, 7 solar wind sail
8 anemobiagraph, 9 anemoscope, 10 temperature temperature detector 11GPS, 12 9 axle sensor and single-chip microcontroller
705 lower rotating electrical machine 706 of rotating electric machine in 701 small 702 solar energy photovoltaic panel of sail body, 703 bottom motors 704
Assist carbon-point stock 708 is lower to assist 709 cotton rope of carbon-point stock on decelerating motor 707
Specific embodiment
The present invention will be further explained with reference to the accompanying drawing.
As shown in figs. 1-7, a kind of marine environmental monitoring green energy resource small-waterplane-area improves the unmanned ships and light boats of binary, comprising: this
Invention a kind of marine environmental monitoring green energy resource small-waterplane-area improve the unmanned ships and light boats of binary, comprising: superstructure, captain boat body,
Boat body monitoring and sport intellect control system, navigation planning and decision system and environmental monitoring system, the superstructure, ship
Hull monitoring and sport intellect control system, navigation planning and decision system and environmental monitoring system are arranged at the captain boat body
On, which is characterized in that the captain boat body includes top box connecting bridge, is symmetrically arranged and is fixed in top box connecting bridge
The elongated sheet body of the two of lower part, the main floating body for being fixed in two elongated sheet body lower parts；Wherein, top box connecting bridge cross section is square
Shape.
Each scale of the small-waterplane-area improvement unmanned ships and light boats of binary of the invention when each section geometry, uses with lower section
Method optimizes calculating, method includes the following steps:
(1) design variable is chosen
18 design variables are had chosen altogether, comprising: captain L, beam B absorb water T, submerged body length Lh, submerged body diameter D1, pillar
Length LS, pillar maximum width ts, longitudinal center on buoyancy Lcp, Block Coefficient Cb, water line length Lw, water plane coefficient Cw, catamaran piece
Body spacing C0, height of C.G. Zg, airscrew diameter DP, disk ratio Aeo, screw pitch ratio PDP, revolution speed of propeller N, design speed VS；
(2) optimized mathematical model is constructed
The comprehensive performance catalogue scalar functions of unmanned surface vehicle are constructed according to the form of power exponent product:
F (x)=f1(x)α1*f2(x)α2*f3(x)α3*f4(x)α4*f5(x)α5
In formula: f1(x)、f2(x)、f3(x)、f4(x)、f5(x) be respectively unmanned boat resistance and propulsive performance, maneuverability,
The objective function of transverse stability and pitch metacentric stability, green energy resource utilization rate and system reliability, general arrangement characteristic and environment monitoring function,
α 1, α 2, α 3, α 4, α 5 is respectively the weight of four systems, and has α 1* α 2* α 3* α 4* α 5=1, each specific item scalar functions it is specific
Expression formula is as follows:
f1It (x) is rapidity objective function, using the efficiency of unmanned boat resistance and propulsion device respectively as objective function,
Its expression formula is,
f2It (x) is maneuverability objective function, using 31 ariyoshi wave amplitudes as objective function, expression formula is,
f2(x)=2.00 σζ
f3It (x) is transverse stability and pitch metacentric stability objective function, expression formula is as follows,
f3(x)=GMT β1·GML β2
β 1, β 2 are the weight of transverse stability and pitch metacentric stability objective function, and meet 1 β 2=1 of β；
f4It (x) is green energy resource utilization rate and system reliability, C1(x) refer to for green energy resource utilization rate and system reliability
Mark, expression formula is as follows,
f4(x)=C1(x)
f6It (x) is general arrangement characteristic and environment monitoring function objective function, D1It (x) is general arrangement characteristic index, D2(x) it is
Environment monitoring function characteristic index, expression formula is as follows,
f5(x)=D1 β1·D2 β2
(3) constraint condition
Constraint condition include: hydrostatic buoyancy constraint, thrust resistance balance constraint, torque balance constraint, metacentric height constraint,
Rolling, pitching constraint, propeller need to meet vacuole constraint, green energy resource system restriction；
Optimization object function, final performance shape are established by the ship type performance and green energy resource system that combine the ship
Formula is optimization fitness value；In conjunction with intelligent optimization method genetic algorithm and paralleling tactic, by optimization fitness value and optimization method
Interface realizes that the complex optimum of algorithm and strategy calculates, and finally obtains its scale and each section geometry.
Optimize each section geometry and its size being calculated using above method specifically: box connecting bridge length and width
Than being L for the length of 1.2-4:1, top box connecting bridgeBridge, height H after midshipBridgeWith width BBridgeIt is constant, from midships section to front end
Its height HBridgeGradually decrease to 3/5-4/5*HBridgeMaximum value and width BBridgeGradually decrease to its 4/7-8/9*BBridgeMaximum value；Two is elongated
The length-width ratio of sheet body is 16-26:1, its geometry and size are identical, the following waterplane shape of its Water Plane is approximate right
Claim aerofoil profile not, its waterline identical as underwater with 1/3- tail end waterplane shape before drinking water variation, the above midship of its Water Plane
1/3 bow end waterplane shape is that the 1.5:1 of symmetrical airfoil and length-width ratio from connecting bridge is gradually promoted to waterline before the above midship in face
6:1 at face；Two main floating body geometries and size is identical, its cross section or so respectively for half it is oval or half it is round,
Its length-width ratio is 9-15:1, its length to height ratio is 8.8-16:1；The length L of the main floating bodyMain floating body11-55 meters, LBridgeWith LMain floating bodyThe ratio between
For 0.96-1.12:1, the ratio between main floating body and two elongated sheet body spacing are 1.66-8.88:1.
In the present embodiment, the superstructure includes anemobiagraph 8, anemoscope 9 and solar wind sail 7, passes through wind speed
The external wind direction wind data that instrument 8 and anemoscope 9 obtain, the solar wind sail 7 control angle by sport intellect control system,
The sail of the solar wind sail 7 provides auxiliary power, the solar wind sail 7 when navigating by water for auxiliary propulsion plant for unmanned boat
The solar energy being collected into can also be converted to electric energy storage to improve the cruising ability of unmanned boat.
As preferred embodiment, the environmental monitoring system includes camera, water source extraction element, PM2.5 monitoring dress
It sets, thermometer, pH value sensor, wherein the camera is realized to the real time monitoring around unmanned boat and realizes collision prevention function；
The PM2.5 monitoring device, thermometer, pH value sensors towards ambient carry out environmental monitoring, and by real-time data transmission；The water
Source extraction element extracts the water for saving different location by positioning, carries out the water quality detection in later period.
As preferred embodiment, boat body monitoring and sport intellect control system include temperature monitor, urgent
Refrigerating plant, supply voltage monitoring device and motor speed monitoring device, wherein the temperature monitor is responsible for the temperature to motor
Degree is monitored；The urgent refrigerating plant is arranged on the outside of motor, when motor temperature overheat, promptly cools to it；
Supply voltage monitoring device is responsible for being monitored the supply voltage of unmanned boat, prevents supply voltage too low, when monitoring power supply
Brownout when being lower than setting value, promptly uses backup power source；The motor speed monitoring auxiliary supervises motor speed
It surveys, when motor speed is too low or excessively high, output power of power supply is controlled by sport intellect control system, adjusts revolving speed.
As more preferably embodiment, the navigation planning can integrate unmanned ships and light boats own situation with decision system, collect
Sea area condition wind direction and wind velocity information where the unmanned ships and light boats arrived, and from the received global climate of bank base, ocean current variation is counted
Unmanned ships and light boats safety, the efficient speed of service and operation course line are planned in point counting analysis, and by sport intellect control system, real
When control unmanned boat ship operating status and speed of a ship or plane course line.
In the present embodiment, the solar wind sail 7 includes solar wind sail support rod 6, small sail 701, solar energy
It is horizontal to lie prostrate plate 702, bottom rotating electric machine 703, upper rotating electric machine 704, lower rotating electrical machine 705, decelerating motor 706, upper auxiliary carbon-point
Bar 707, lower auxiliary carbon-point cross bar 708, cotton rope 709, wherein small sail 701 is fixed on sail support rod 6, sail support rod 6
It is made using carbon-point material, solar energy photovoltaic panel 702 is horizontal to be neatly arranged on small sail 701, solar wind sail support rod 6
Bottom end is connected on hull vertically using bottom rotating electric machine 703, and the lower auxiliary carbon-point cross bar 708 is supported with solar wind sail
It is hinged using 90 degree of freedom degree between bar 6, and hinged place is using the driving rotation of lower rotating electrical machine 705, so as to adjust it is described under
Assist the angle of carbon-point cross bar 708；90 degree of freedom degree are used between upside carbon-point stock 707 and solar wind sail support rod 6
Hingedly, and hinged place is using the driving rotation of upper rotating electric machine 704, to adjust the angle of the upper auxiliary carbon-point cross bar 707；Institute
It states decelerating motor 706 and is fixedly connected by cotton rope 709 with 707 outer end of upside carbon-point stock, when wanting sail to work, upper electric rotating
Machine 704 and lower rotating electrical machine 705 rotate simultaneously, put down carbon-point stock 707 and lower carbon-point stock 708；Decelerating motor 706 rotates
Cotton rope 709 is put down, cotton rope 709 provides the effect of being auxiliarily fixed for small sail；Bottom rotating electric machine 703 is according to system needs, rotation
Sail adapts to the angle of the sun to proper angle, under sail working condition, is arranged in the photovoltaic of sail side
The solar energy being collected into is passed through voltage-stablizer pressure stabilizing by plate 702, is stored in battery, is increased the cruise duration of unmanned boat.
The solar wind sail 7 includes light-sensitive element, and the light-sensitive element is connect with control system, will pass through light-sensitive element
The sunlight of detection controls bottom rotating electric machine driving angle, improves the efficiency that sail utilizes solar energy and wind energy.
Wherein, it is equipped with electric actuator in the elongated sheet body 3 in left side and the elongated sheet body 3 on right side, is equipped on hull
Controller and motor driver, controller are connect with motor driver, and motor driver is connect with electric actuator, the fax
Dynamic device includes sequentially connected motor, universal coupling, transmission shaft and propeller 4.
As preferred embodiment, the navigation planning and decision system further include GPS11, nine axle sensors 12, gyro
Instrument, wherein the GPS11 being located on unmanned boat hull determines the position coordinates of unmanned boat and the position coordinates of target point, nine axis sensing
Device 12 obtains offset direction angle, and combines with the control program in single-chip microcontroller, realizes the autonomous cruise of unmanned boat and a variety of
Monitoring pattern.
The present invention passes through complex optimum to the ship type parameter of small waterplane area twin hull ship using small waterplane area twin hull ship as carrier
Software optimizes calculating, obtains monitoring the best scheme of this major function navigation performance for maritime meteorology, effectively reduce
Wave making and interference drag between sheet body, the wave making resistance having in conjunction with small waterplane area twin hull ship itself is small, and floor space is big, sea-keeping
Good, ship resistance is small, the good advantage of stability, stable working environment can be provided for a variety of monitoring devices, and it is preferably
Navigation performance can satisfy the unmanned boat and take into account the job requirement in off-lying sea waters in coastal waters.Increase for reply operation cost,
The demand that ship operation complicates and environmental regulation is increasingly stringent, shipping world is continuously increased the technology to intelligent ship in recent years
Investment.Ship is a kind of by the very big equipment of such environmental effects, and intelligent ship system of the present invention realizes that ship is intelligent
Perception, discriminatory analysis and decision and control, to better ensure that the navigation safety and efficiency of ship.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (10)
1. a kind of marine environmental monitoring green energy resource small-waterplane-area improves the unmanned ships and light boats of binary, comprising: superstructure, captain boat body
(1), boat body monitoring and sport intellect control system, navigation planning and decision system and environmental monitoring system, the upper layer is built
Build, boat body monitoring and sport intellect control system, navigation planning be arranged at decision system and environmental monitoring system it is described
On captain boat body (1), which is characterized in that
The captain boat body (1) includes top box connecting bridge, is symmetrically arranged and is fixed in top box connecting bridge lower part
Two elongated sheet bodies (3), the main floating body (2) for being fixed in two elongated sheet body (3) lower parts；Wherein,
Top box connecting bridge cross section is rectangle, and box connecting bridge length-width ratio is 1.2-4:1, the length of top box connecting bridge
For LBridge, height H after midshipBridgeWith width BBridgeIt is constant, its height H from midships section to front endBridgeGradually decrease to 3/5-4/5*HBridgeIt is maximum
Value and width BBridgeGradually decrease to its 4/7-8/9*BBridgeMaximum value；
The length-width ratio of two elongated sheet bodies (3) is 16-26:1, its geometry and size is identical, its Water Plane is with splash line
Face shape be near symmetrical aerofoil profile not with drinking water variation, before the above midship of its Water Plane 1/3 tail end waterplane shape and waterline with
Under before identical, the above midship of its Water Plane 1/3 bow end waterplane shape be the 1.5:1 of symmetrical airfoil and length-width ratio from connecting bridge by
The 6:1 being gradually promoted at Water Plane；
Two main floating body geometries and size is identical, its cross section or so is respectively half of oval or half of round, its length and width
Than being 8.8-16:1 for 9-15:1, its length to height ratio；
The length L of the main floating body (2)Main floating body11-55 meters, LBridgeWith LMain floating bodyThe ratio between be 0.96-1.12:1, main floating body and two strips
The ratio between body spacing is 1.66-8.88:1.
2. a kind of marine environmental monitoring green energy resource small-waterplane-area according to claim 1 improves the unmanned ships and light boats of binary,
Be characterized in that, the superstructure includes anemobiagraph (8), anemoscope (9) and solar wind sail (7), by anemobiagraph (8) and
The external wind direction wind data that anemoscope (9) obtains, the solar wind sail (7) control angle by sport intellect control system,
The sail of the solar wind sail (7) provides auxiliary power, the solar energy wind when navigating by water for auxiliary propulsion plant for unmanned boat
Sail (7) can also convert the solar energy being collected into electric energy storage to improve the cruising ability of unmanned boat.
3. a kind of marine environmental monitoring green energy resource small-waterplane-area according to claim 1 improves the unmanned ships and light boats of binary,
It is characterized in that, the environmental monitoring system includes camera, water source extraction element, PM2.5 monitoring device, thermometer, pH value biography
Sensor, wherein the camera is realized to the real time monitoring around unmanned boat and realizes collision prevention function；
The PM2.5 monitoring device, thermometer, pH value sensors towards ambient carry out environmental monitoring, and by real-time data transmission；
The water source extraction element extracts the water for saving different location by positioning, carries out the water quality detection in later period.
4. a kind of marine environmental monitoring green energy resource small-waterplane-area according to claim 1 improves the unmanned ships and light boats of binary,
It is characterized in that, the boat body monitoring and sport intellect control system include temperature monitor, urgent refrigerating plant, supply voltage
Monitoring device and motor speed monitoring device, wherein the temperature monitor is responsible for being monitored the temperature of motor；It is described tight
Anxious refrigerating plant is arranged on the outside of motor, when motor temperature overheat, promptly cools to it；
Supply voltage monitoring device is responsible for being monitored the supply voltage of unmanned boat, prevents supply voltage too low, when monitoring
Supply voltage is too low, when being lower than setting value, promptly uses backup power source；
The motor speed monitoring auxiliary is monitored motor speed, when motor speed is too low or excessively high, by sport intellect
Control system controls output power of power supply, adjusts revolving speed.
5. a kind of marine environmental monitoring green energy resource small-waterplane-area according to claim 1 improves the unmanned ships and light boats of binary,
It is characterized in that, the navigation planning can integrate unmanned ships and light boats own situation with decision system, where the unmanned ships and light boats being collected into
Sea area condition wind direction and wind velocity information, and from the received global climate of bank base, ocean current variation carries out calculating analysis, plans nobody
Ships and light boats safety, the efficient speed of service and operation course line, and pass through sport intellect control system, the unmanned ships and light boats fortune of real-time control
Row state and speed of a ship or plane course line.
6. a kind of marine environmental monitoring green energy resource small-waterplane-area according to claim 1 improves the unmanned ships and light boats of binary,
It is characterized in that, the solar wind sail (7) includes solar wind sail support rod (6), small sail (701), solar energy photovoltaic panel
(702), bottom rotating electric machine (703), upper rotating electric machine (704), lower rotating electrical machine (705), decelerating motor (706), upper auxiliary
Carbon-point cross bar (707), lower auxiliary carbon-point cross bar (708), cotton rope (709), wherein small sail (701) is fixed on sail support rod
(6) on, sail support rod (6) is made using carbon-point material, and solar energy photovoltaic panel (702) level is neatly arranged in small sail
(701) on, the bottom end of solar wind sail support rod (6) is connected on hull vertically using bottom rotating electric machine (703), under described
Assist it is hinged using 90 degree of freedom degree between carbon-point cross bar (708) and solar wind sail support rod (6), and under the use of hinged place
Rotating electric machine (705) driving rotation, to adjust the angle of lower auxiliary carbon-point cross bar (708)；Upside carbon-point stock (707)
It is hinged using 90 degree of freedom degree between solar wind sail support rod (6), and hinged place is using upper rotating electric machine (704) driving
Rotation, to adjust the angle of the upside carbon-point stock (707)；The decelerating motor (706) passes through cotton rope (709) and upside
Carbon-point stock (707) outer end is fixedly connected, and when wanting sail to work, upper rotating electric machine (704) and lower rotating electrical machine (705) are simultaneously
Rotation, puts down carbon-point stock (707) and lower carbon-point stock (708)；Decelerating motor (706) rotated down cotton rope (709), cotton rope
(709) effect of being auxiliarily fixed is provided for small sail；Bottom rotating electric machine (703) rotates sail to suitable angular according to system needs
It spends to adapt to the angle of the sun, under sail working condition, the solar energy photovoltaic panel (702) for being arranged in sail side will be collected
The solar energy arrived passes through voltage-stablizer pressure stabilizing, is stored in battery, increases the cruise duration of unmanned boat.
7. a kind of marine environmental monitoring green energy resource small-waterplane-area according to claim 1 improves the unmanned ships and light boats of binary,
It is characterized in that, is equipped with electric actuator in the elongated sheet body (3) in left side and the elongated sheet body (3) on right side, is equipped on hull
Controller and motor driver, controller are connect with motor driver, and motor driver is connect with electric actuator, the fax
Dynamic device includes sequentially connected motor, universal coupling, transmission shaft and propeller (4).
8. a kind of marine environmental monitoring green energy resource small-waterplane-area according to claim 1 improves the unmanned ships and light boats of binary,
It is characterized in that, the navigation planning further includes (11) GPS, nine axle sensors (12), gyroscope, wherein being located at nothing with decision system
GPS (11) on people's ship hull determines that the position coordinates of unmanned boat and the position coordinates of target point, nine axle sensors (12) obtain
Offset direction angle, and combined with the control program in single-chip microcontroller, realize the autonomous cruise and a variety of monitoring patterns of unmanned boat.
9. a kind of marine environmental monitoring green energy resource small-waterplane-area according to claim 6 improves the unmanned ships and light boats of binary,
It is characterized in that, further includes light-sensitive element, the light-sensitive element is connect with control system, will pass through the sun of light-sensitive element detection
Light controls bottom rotating electric machine driving angle, improves the efficiency that sail utilizes solar energy and wind energy.
10. a kind of optimize each scale when each section geometry for calculating the small-waterplane-area improvement unmanned ships and light boats of binary based on performance synthesis
The method of shape, which is characterized in that it is used for the small-waterplane-area improvement unmanned ships and light boats of binary described in any one of claim 1-9
Calculation optimization comprising following steps:
(1) design variable is chosen
18 design variables are had chosen altogether, comprising: captain L, beam B absorb water T, submerged body length Lh, submerged body diameter D1, strut lengths
LS, pillar maximum width ts, longitudinal center on buoyancy Lcp, Block Coefficient Cb, water line length Lw, water plane coefficient Cw, between catamaran sheet body
Away from C0, height of C.G. Zg, airscrew diameter DP, disk ratio Aeo, screw pitch ratio PDP, revolution speed of propeller N, design speed VS；
(2) optimized mathematical model is constructed
The comprehensive performance catalogue scalar functions of unmanned surface vehicle are constructed according to the form of power exponent product:
F (x)=f1(x)α1*f2(x)α2*f3(x)α3*f4(x)α4*f5(x)α5
In formula: f1(x)、f2(x)、f3(x)、f4(x)、f5It (x) is respectively that unmanned boat resistance and propulsive performance, maneuverability, cross are steady
The objective function of property and pitch metacentric stability, green energy resource utilization rate and system reliability, general arrangement characteristic and environment monitoring function, α 1, α
2, α 3, α 4, α 5 is respectively the weight of four systems, and has α 1* α 2* α 3* α 4* α 5=1, and each specific item scalar functions embody
Formula is as follows:
f1It (x) is rapidity objective function, using the efficiency of unmanned boat resistance and propulsion device respectively as objective function, table
It is up to formula,
f2It (x) is maneuverability objective function, using 31 ariyoshi wave amplitudes as objective function, expression formula is,
f2(x)=2.00 σζ
f3It (x) is transverse stability and pitch metacentric stability objective function, expression formula is as follows,
f3(x)=GMT β1·GML β2
β 1, β 2 are the weight of transverse stability and pitch metacentric stability objective function, and meet 1 β 2=1 of β；
f4It (x) is green energy resource utilization rate and system reliability, C1It (x) is green energy resource utilization rate and Reliability Index,
Expression formula is as follows,
f4(x)=C1(x)
f6It (x) is general arrangement characteristic and environment monitoring function objective function, D1It (x) is general arrangement characteristic index, D2It (x) is environment
Monitoring function characteristic index, expression formula is as follows,
f5(x)=D1 β1·D2 β2
(3) constraint condition
Constraint condition includes: the constraint of hydrostatic buoyancy, the constraint of thrust resistance balance, torque balance constraint, metacentric height constraint, cross
It shakes, pitching constraint, propeller need to meet vacuole constraint, green energy resource system restriction；
Optimization object function is established by the ship type performance and green energy resource system that combine the ship, the final form of expression is
Optimize fitness value；In conjunction with intelligent optimization method genetic algorithm and paralleling tactic, by optimization fitness value and optimization method interface
It realizes that the complex optimum of algorithm and strategy calculates, finally obtains its scale and each section geometry.
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| CN111930123A (en) * | 2020-08-13 | 2020-11-13 | 上海船舶研究设计院（中国船舶工业集团公司第六0四研究院） | Multi-objective comprehensive optimization decision method and device and electronic equipment |
| CN113306691A (en) * | 2021-07-14 | 2021-08-27 | 哈尔滨工程大学 | Multifunctional folding sail for unmanned sailing boat |
| CN114455009A (en) * | 2022-01-01 | 2022-05-10 | 青岛海研电子有限公司 | Unmanned ship on water |
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| CN113306691B (en) * | 2021-07-14 | 2022-06-14 | 哈尔滨工程大学 | Multifunctional folding sail for unmanned sailing boat |
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