CN109606578B - Small water plane improvement twin-hull unmanned ship for marine environment monitoring - Google Patents

Abstract

The invention discloses a marine environment monitoring green energy small water plane improved double-hull unmanned boat, which comprises a superstructure and a main hull of the small water plane improved double hull, a ship hull monitoring and motion intelligent control system , Navigation planning and decision-making system and environmental monitoring system, the invention takes the small waterplane area catamaran as the carrier, and optimizes the ship type parameters of the small waterplane area catamaran through the comprehensive optimization software, and obtains the requirements for marine meteorological monitoring. A scheme with the best navigation performance for main functions, effectively reducing wave-making and interference resistance between sheets, combined with the small waterplane area catamaran itself, which has small wave-making resistance, large deck area, good seakeeping, small sailing resistance, and stability It has the advantages of good performance, can provide a stable working environment for a variety of monitoring equipment, and its better navigation performance can meet the working requirements of the unmanned boat in both offshore and far-sea waters.

Description

A marine environment monitoring green energy small water plane improved catamaran unmanned boat

technical field

The invention relates to a small waterplane area twin-hull unmanned boat for marine environment monitoring, and belongs to the technical field of ship engineering.

Background technique

In the context of the era of big data, ship intelligence has become an inevitable trend in the development of shipbuilding and shipping. Unmanned boats play an increasingly important role in the military field because of their excellent performance. In view of the current problems in my country's marine environment monitoring and marine management, combined with the characteristics of unmanned boats, unmanned boats are used in marine environment monitoring and marine management. The application prospects of this aspect are explored and prospected.

Most monitoring boats at home and abroad are mostly surface unmanned boats, which have a common disadvantage, that is, poor seakeeping. The hull planing craft and conventional trimaran surface unmanned boats have the disadvantages of static floating and poor motion stability and poor economy during high-speed sailing. Sports performance is greatly improved. At the same time, this work is also equipped with hydrofoils to improve sailing performance.

At the same time, due to environmental protection, the voice of energy conservation and emission reduction is getting louder and louder, and the development and utilization of various new energy and clean energy are increasingly being valued by various countries. Conventional clean energy such as solar energy and wind energy has been adopted by many countries and fields. And it is in a state of continuous research and development. On the unmanned boat, the solar panel is used to convert the solar energy into electricity, and the controller is used to charge the battery. In terms of the utilization of wind energy, there are currently two main directions of wind propulsion and wind energy power generation. Considering the difficulty of practical application of wind power generation, wind propulsion has become a better way to utilize wind energy as a clean energy.

SUMMARY OF THE INVENTION

Purpose of the invention: In order to ensure that the unmanned boat can accurately, real-timely and effectively complete the task of marine meteorological monitoring and obtain relevant marine meteorological data, this project will carry a series of monitoring modules on the unmanned boat, and through the intelligent navigation system, realize various Mode of weather monitoring tasks, and through the creative design of solar sails, increase battery life and save energy.

Technical scheme: In order to achieve the above purpose, a marine environment monitoring green energy small water plane improved catamaran unmanned boat of the present invention includes: a superstructure, a main hull, a hull monitoring and motion intelligent control system, and a navigation system. Planning and decision-making system and environmental monitoring system, the superstructure, hull monitoring and motion intelligent control system, navigation planning and decision-making system and environmental monitoring system are all set on the main hull, characterized in that the main hull is The hull includes an upper box-type connecting bridge, two slender pieces arranged symmetrically on the left and right and fixed to the lower part of the upper box-type connecting bridge, and a main floating body fixed to the lower part of the two slender pieces; wherein, the upper box-type connecting bridge transverse The cross section is rectangular, the length-width ratio of the box-type connecting bridge is 1.2-4:1, the length of the upper box-type connecting bridge is L _bridge , the height of the H _bridge after the midship and the width of the B _bridge are unchanged, and the height from the midship to the front end The H- _bridge gradually decreases to 3/5-4/5*H- _bridge maximum and the width B- _bridge gradually decreases to its 4/7-8/9*B- _bridge maximum;

The aspect ratio of the two slender pieces is 16-26:1, the geometry and size are exactly the same, the shape of the waterline below the waterline is approximately symmetrical, and the airfoil does not change with the draft, and the waterline is above the midship. 1/3- The shape of the waterline surface at the rear end is the same as that below the waterline. Above the waterline surface, the shape of the waterline surface at the forward 1/3 bow end is a symmetrical airfoil and the aspect ratio is gradually increased from 1.5:1 at the connecting bridge. It is 6:1 at the water plane; the geometric shapes and sizes of the two main floating bodies are exactly the same, their cross sections are half ellipses or half circles on the left and right, their length-width ratio is 9-15:1, and their length-to-height ratio is 8.8-16:1; the length of the main floating body L _is 11-55 meters, the ratio of L _bridge to L _{main floating body} is 0.96-1.12:1, and the ratio of the distance between the main floating body and the two slender pieces is 1.66- 8.88:1.

Further, preferably, the superstructure includes an anemometer, an anemometer and a solar sail, the external wind direction and wind data obtained by the anemometer and the anemometer, the angle of the solar sail is controlled by a motion intelligent control system, and the sail of the solar sail is In order to assist the propulsion device to provide auxiliary power for the unmanned boat when sailing, the solar sail can also convert the collected solar energy into electrical energy for storage to improve the endurance of the unmanned boat.

Further, preferably, the environmental monitoring system includes a camera, a water source extraction device, a PM2.5 monitoring device, a thermometer, and a PH value sensor, wherein the camera realizes real-time monitoring around the unmanned boat and realizes a collision avoidance function;

The PM2.5 monitoring device, thermometer, and pH sensor perform environmental monitoring on the environment, and transmit data in real time;

The water source extraction device extracts and saves water at different locations by positioning, and performs later water quality detection.

Further, preferably, the hull monitoring and motion intelligent control system includes a temperature monitor, an emergency refrigeration device, a power supply voltage monitoring device and a motor speed monitoring device, wherein the temperature monitor is responsible for monitoring the temperature of the motor; The emergency refrigeration device is arranged on the outside of the motor, and when the temperature of the motor is overheated, it is urgently cooled and cooled;

The power supply voltage monitoring device is responsible for monitoring the power supply voltage of the unmanned boat to prevent the power supply voltage from being too low.

The motor speed monitoring assists in monitoring the motor speed, and when the motor speed is too low or too high, the motion intelligent control system controls the output power of the power supply to adjust the speed.

Further, as an option, the navigation planning and decision-making system can integrate the situation of the unmanned boat itself, the collected information on the wind direction and wind speed of the sea area where the unmanned boat is located, and the global climate and ocean current changes received from the shore base, and perform calculation and analysis. , Plan the safe and efficient operation speed and operation route of unmanned boats, and control the operation status and speed route of unmanned boats in real time through the motion intelligent control system.

Further, preferably, the solar sail includes a solar sail support rod, a small sail, a solar photovoltaic panel, a bottom rotating motor, an upper rotating motor, a lower rotating motor, a deceleration motor, an upper auxiliary carbon rod crossbar, and a lower auxiliary carbon rod crossbar , ropes, among which, the small sail is fixed on the sail support rod, the sail support rod is made of carbon rod material, the solar photovoltaic panels are arranged horizontally and neatly on the small sail, and the bottom end of the solar sail support rod is connected vertically by the bottom rotating motor On the hull, a degree of freedom hinge is used between the lower auxiliary carbon rod crossbar and the solar sail support rod, and the hinge is driven by a lower rotating motor to rotate, so as to adjust the angle of the lower auxiliary carbon rod crossbar; The upper carbon rod long rod and the solar sail support rod are hinged with degrees of freedom, and the hinge is driven by an upper rotating motor to adjust the angle of the upper auxiliary carbon rod cross rod; the deceleration motor is connected by a wire rope It is fixedly connected with the outer end of the upper carbon rod long rod. When the sail is to work, the upper rotating motor and the lower rotating motor rotate at the same time, and the upper carbon rod long rod and the lower carbon rod long rod are put down; Provide auxiliary fixation for the small sail; the bottom rotating motor rotates the sail to an appropriate angle to adapt to the angle of the sun according to the needs of the system. When the sail is working, the solar photovoltaic panel arranged on one side of the sail will collect the solar energy through the voltage stabilizer The voltage is stabilized and stored in the battery to increase the battery life of the unmanned boat.

Preferably, the slender body on the left side and the slender body on the right side are provided with an electric transmission device, a controller and a motor driver are arranged on the hull, the controller is connected with the motor driver, and the motor driver is connected with the electric transmission device The electric transmission device includes a motor, a universal joint, a transmission shaft and a propeller connected in sequence.

Further, as preferably, the navigation planning and decision-making system also includes GPS, a nine-axis sensor and a gyroscope, wherein the GPS located on the unmanned boat hull determines the position coordinates of the unmanned boat and the position coordinates of the target point, and the nine-axis sensor obtains The deviation direction angle is determined and combined with the control program in the single-chip microcomputer to realize the autonomous cruise and various monitoring modes of the unmanned boat.

Further, preferably, a photosensitive element is also included, and the photosensitive element is connected with the control system, so that the driving angle of the bottom rotating motor can be controlled by the sunlight detected by the photosensitive element, so as to improve the efficiency of the sail using solar energy and wind energy.

In addition, the present invention provides a method for calculating the scale ratio and the geometric shape of each part of the improved catamaran unmanned vessel based on the comprehensive optimization of performance, which is characterized in that it includes the following steps:

(1) Select design variables

A total of 18 design variables are selected, including: ship length L, ship breadth B, draught T, submerged body length L _h , submerged body diameter D ₁ , strut length L _S , maximum strut width _ts , longitudinal position of buoyancy center L _cp , Square coefficient C _b , waterline length L _w , water plane coefficient C _w , catamaran hull spacing C ₀ , center of gravity height Z _g , propeller diameter D _P , disk surface ratio A _eo , pitch ratio P _DP , propeller speed N , the design speed V _S ;

(2) Build an optimization mathematical model

The overall objective function of the comprehensive performance of the surface unmanned vehicle is constructed according to the form of the product of power exponents:

F(x)=f ₁ (x) ^α1 *f ₂ (x) ^α2 *f ₃ (x) ^α3 *f ₄ (x) ^α4 *f ₅ (x) ^α5

where: f ₁ (x), f ₂ (x), f ₃ (x), f ₄ (x), f ₅ (x) are the resistance and propulsion performance, maneuverability, lateral stability and The objective functions of longitudinal stability, green energy utilization rate and system reliability, general layout characteristics and environmental monitoring function, α1, α2, α3, α4, α5 are the weights of the four systems, and α1*α2*α3*α4 *α5=1, the specific expression of each sub-objective function is as follows:

f ₁ (x) is the objective function of rapidity, and the resistance of the unmanned boat and the efficiency of the propulsion device are used as the objective functions respectively, and its expression is,

f ₂ (x) is the manipulative objective function, and the three-one meaningful amplitude is used as the objective function, and its expression is,

f ₂ (x)=2.00σ _ζ

f3(x) is the objective function of lateral stability and longitudinal stability, and its expression is as follows,

f ₃ (x)= ^{GMT β1} ·GM _{L β2}

β1 and β2 are the weights of the lateral stability and longitudinal stability objective functions, and satisfy β1·β2=1;

f ₄ (x) is the green energy utilization rate and system reliability, C ₁ (x) is the green energy utilization rate and system reliability index, and its expression is as follows:

f ₄ (x)=C ₁ (x)

f ₆ (x) is the objective function of general layout characteristics and environmental monitoring function, D ₁ (x) is the general layout characteristic index, D ₂ (x) is the environmental monitoring function characteristic index, and its expression is as follows:

f ₅ (x)=D ₁ ^β1 ·D ₂ ^β2

(3) Constraints

Constraints include: hydrostatic buoyancy constraints, thrust-resistance balance constraints, torque balance constraints, high initial stability constraints, roll and pitch constraints, propellers must meet cavitation constraints, and green energy system constraints;

The optimization objective function is established by combining the boat type performance and the green energy system, and its final expression is the optimization fitness value; combined with the intelligent optimization method genetic algorithm and parallel strategy, the optimization fitness value and the optimization method are interfaced to realize the algorithm And the comprehensive optimization calculation of the strategy, the scale and the geometric shape of each part are finally obtained.

Beneficial effects:

The invention takes the small waterplane area catamaran as a carrier, and optimizes and calculates the ship type parameters of the small waterplane area catamaran through comprehensive optimization software, so as to obtain a plan with the best navigation performance for the main function of marine meteorological monitoring, and effectively Reduce wave-making and interference resistance between sheets, combined with the advantages of small waterplane area catamaran itself, such as small wave-making resistance, large deck area, good seakeeping, small sailing resistance, and good stability, it can be used for a variety of monitoring equipment. Provide a stable working environment, and its better navigation performance can meet the working requirements of the unmanned boat in both offshore and far-sea waters. In response to increasing operating costs, complex ship operations and increasingly stringent environmental regulations, the shipping industry has been increasing technological investment in smart ships in recent years. The ship is a kind of equipment that is greatly affected by environmental factors. The intelligent ship system of the present invention realizes the intelligent perception, judgment analysis, decision-making and control of the ship, so as to better ensure the navigation safety and efficiency of the ship.

Description of drawings

Fig. 1 is the schematic plan view of the hull part of the present invention;

Fig. 2 is the side view of the whole ship of the present invention;

3 is a schematic diagram of the solar sail of the present invention;

Fig. 4 is the front view of the whole ship of the present invention;

Fig. 5 is the front 1/3 sectional view of midship of the present invention;

Fig. 6 is the sectional view of the lower part of the connecting bridge of the present invention;

Fig. 7 is the design waterline plane sectional view of the present invention;

Description of reference numbers:

1 main hull 2 floating body 3 hulls 4 propellers 5 steering gear 6 solar sail support rods 7 solar sails

8 Anemometer 9 Anemometer 10 Air temperature and water temperature detection device 11 GPS 12 Nine-axis sensor and single-chip microcomputer

701 Small sail body 702 Solar photovoltaic panel 703 Bottom motor 704 Upper rotary motor 705 Lower rotary motor 706 Gear motor 707 Upper auxiliary carbon rod long rod 708 Lower auxiliary carbon rod long rod 709 Line

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings.

As shown in Figures 1-7, a marine environment monitoring green energy small water plane improved catamaran unmanned boat includes: a marine environment monitoring green energy small water plane improved catamaran unmanned boat of the present invention , including: superstructure, main hull, hull monitoring and motion intelligent control system, navigation planning and decision-making system and environmental monitoring system, the superstructure, hull monitoring and motion intelligent control system, navigation planning and decision-making system The main hull and the environmental monitoring system are both arranged on the main hull, and it is characterized in that the main hull includes an upper box-type connecting bridge, two slender pieces arranged symmetrically on the left and right and fixed to the lower part of the upper box-type connecting bridge, The main floating body fixed on the lower part of the two slender sheet bodies; wherein, the cross section of the upper box-shaped connecting bridge is rectangular.

The small waterplane surface of the present invention improves the scale ratios and the geometric shapes of each part of the catamaran unmanned boat, and adopts the following method to optimize the calculation, and the method includes the following steps:

(1) Select design variables

A total of 18 design variables are selected, including: ship length L, ship breadth B, draught T, submerged body length L _h , submerged body diameter D ₁ , strut length L _S , maximum strut width _ts , longitudinal position of buoyancy center L _cp , Square coefficient C _b , waterline length L _w , water plane coefficient C _w , catamaran hull spacing C ₀ , center of gravity height Z _g , propeller diameter D _P , disk surface ratio A _eo , pitch ratio P _DP , propeller speed N , the design speed V _S ;

(2) Build an optimization mathematical model

The overall objective function of the comprehensive performance of the surface unmanned vehicle is constructed according to the form of the product of power exponents:

F(x)=f ₁ (x) ^α1 *f ₂ (x) ^α2 *f ₃ (x) ^α3 *f ₄ (x) ^α4 *f ₅ (x) ^α5

where: f ₁ (x), f ₂ (x), f ₃ (x), f ₄ (x), f ₅ (x) are the resistance and propulsion performance, maneuverability, lateral stability and The objective functions of longitudinal stability, green energy utilization rate and system reliability, general layout characteristics and environmental monitoring function, α1, α2, α3, α4, α5 are the weights of the four systems, and α1*α2*α3*α4 *α5=1, the specific expression of each sub-objective function is as follows:

f ₁ (x) is the objective function of rapidity, and the resistance of the unmanned boat and the efficiency of the propulsion device are used as the objective functions respectively, and its expression is,

f ₂ (x) is the manipulative objective function, and the three-one meaningful amplitude is used as the objective function, and its expression is,

f ₂ (x)=2.00σ _ζ

f ₃ (x) is the objective function of lateral stability and longitudinal stability, and its expression is as follows,

f ₃ (x)= ^{GMT β1} ·GM _{L β2}

β1 and β2 are the weights of the lateral stability and longitudinal stability objective functions, and satisfy β1·β2=1;

f ₄ (x) is the green energy utilization rate and system reliability, C ₁ (x) is the green energy utilization rate and system reliability index, and its expression is as follows:

f ₄ (x)=C ₁ (x)

f ₆ (x) is the objective function of general layout characteristics and environmental monitoring function, D ₁ (x) is the general layout characteristic index, D ₂ (x) is the environmental monitoring function characteristic index, and its expression is as follows:

f ₅ (x)=D ₁ ^β1 ·D ₂ ^β2

(3) Constraints

Constraints include: hydrostatic buoyancy constraints, thrust-resistance balance constraints, torque balance constraints, high initial stability constraints, roll and pitch constraints, propellers must meet cavitation constraints, and green energy system constraints;

The optimization objective function is established by combining the boat type performance and the green energy system, and its final expression is the optimization fitness value; combined with the intelligent optimization method genetic algorithm and parallel strategy, the optimization fitness value and the optimization method are interfaced to realize the algorithm And the comprehensive optimization calculation of the strategy, the scale and the geometric shape of each part are finally obtained.

The geometric shapes and dimensions of each part obtained by the optimization calculation using the above method are specifically: the length-to-width ratio of the box-type connecting bridge is 1.2-4:1, the length of the upper box-type connecting bridge is the L _bridge , and the rear height and width of the H _bridge are midships. The B _bridge remains unchanged. From the midship to the front end, its height H _bridge gradually decreases to 3/5-4/5*H _bridge maximum and width B _bridge gradually decreases to its 4/7-8/9*B _bridge maximum ; The aspect ratio of the two slender pieces is 16-26:1, the geometry and size are exactly the same, the shape of the waterline below the waterline is approximately symmetrical, and the airfoil does not change with the draft, and the midship above the waterline The shape of the front 1/3-tail waterline is the same as that below the waterline, and the shape of the front 1/3 bow waterline above the waterline is a symmetrical airfoil and the aspect ratio gradually increases from 1.5:1 at the connecting bridge. It is upgraded to 6:1 at the water plane; the geometry and size of the two main floating bodies are exactly the same, the cross section is half ellipse or half circle on the left and right, the aspect ratio is 9-15:1, and its length and height are The ratio is 8.8-16:1; the length of the main floating body L _is 11-55 meters, the ratio between the L _bridge and the L _{main floating body} is 0.96-1.12:1, and the ratio between the main floating body and the distance between the two elongated pieces is 1.66 -8.88:1.

In this embodiment, the superstructure includes an anemometer 8, an anemometer 9 and a solar sail 7, and the external wind direction and wind data are obtained through the anemometer 8 and the anemometer 9, and the angle of the solar sail 7 is controlled by a motion intelligent control system The sail of the solar sail 7 is an auxiliary propulsion device to provide auxiliary power for the unmanned boat when sailing, and the solar sail 7 can also convert the collected solar energy into electrical energy for storage to improve the endurance of the unmanned boat.

As a preferred embodiment, the environmental monitoring system includes a camera, a water source extraction device, a PM2.5 monitoring device, a thermometer, and a PH value sensor, wherein the camera realizes real-time monitoring of the surroundings of the unmanned boat and realizes the function of avoiding collision ; The PM2.5 monitoring device, thermometer, and pH sensor perform environmental monitoring on the environment, and transmit data in real time;

As a preferred embodiment, the hull monitoring and motion intelligent control system includes a temperature monitor, an emergency refrigeration device, a power supply voltage monitoring device, and a motor speed monitoring device, wherein the temperature monitor is responsible for monitoring the temperature of the motor. Monitoring; the emergency refrigeration device is arranged on the outside of the motor, and when the temperature of the motor is overheated, it is urgently cooled and cooled; the power supply voltage monitoring device is responsible for monitoring the power supply voltage of the unmanned boat to prevent the power supply voltage from being too low. When the motor speed is too low or lower than the set value, the backup power supply is used urgently; the motor speed monitoring assists in monitoring the motor speed. When the motor speed is too low or too high, the motion intelligent control system controls the output power of the power supply and adjusts the speed.

As a better embodiment, the navigation planning and decision-making system can integrate the situation of the unmanned boat itself, the collected information on the wind direction and wind speed of the sea area where the unmanned boat is located, and the global climate and ocean current changes received from the shore base, and conduct Calculate and analyze, plan the safe and efficient operation speed and operating route of unmanned ships, and control the running status and speed of unmanned ships in real time through the motion intelligent control system.

In this embodiment, the solar sail 7 includes a solar sail support rod 6, a small sail 701, a solar photovoltaic panel 702, a bottom rotating motor 703, an upper rotating motor 704, a lower rotating motor 705, a deceleration motor 706, and an upper auxiliary carbon rod. The crossbar 707, the lower auxiliary carbon rod crossbar 708, and the wire rope 709, wherein the small sail 701 is fixed on the sail support rod 6, and the sail support rod 6 is made of carbon rod material, and the solar photovoltaic panels 702 are arranged horizontally and neatly on the small sail On 701, the bottom end of the solar sail support rod 6 is vertically connected to the hull by a bottom rotating motor 703, and the lower auxiliary carbon rod crossbar 708 and the solar sail support rod 6 are hinged with a degree of freedom of 90 degrees, and The lower rotating motor 705 is used to drive the hinged joint to adjust the angle of the lower auxiliary carbon rod crossbar 708; the upper carbon rod long rod 707 and the solar sail support rod 6 are hinged with a degree of freedom of 90 degrees, and the hinged joint is The upper rotating motor 704 is used to drive and rotate, so as to adjust the angle of the upper auxiliary carbon rod cross bar 707; the deceleration motor 706 is fixedly connected to the outer end of the upper carbon rod long rod 707 through the wire 709. When the sail is to work, The upper rotating motor 704 and the lower rotating motor 705 rotate at the same time, lowering the upper carbon rod long rod 707 and the lower carbon rod long rod 708; the deceleration motor 706 rotates and lays down the wire rope 709, which provides auxiliary fixing for the small sail; the bottom rotary motor 703 According to the needs of the system, rotate the sail to an appropriate angle to adapt to the angle of the sun. When the sail is working, the solar photovoltaic panel 702 arranged on one side of the sail will stabilize the collected solar energy through a voltage stabilizer and store it in the battery. The life time of the unmanned boat.

The solar sail 7 includes a photosensitive element, and the photosensitive element is connected with the control system, so that the driving angle of the bottom rotating motor can be controlled by the sunlight detected by the photosensitive element, so as to improve the efficiency of the sail using solar energy and wind energy.

Among them, the slender body 3 on the left and the slender body 3 on the right are both provided with electric transmission devices, and the hull is provided with a controller and a motor driver, the controller is connected with the motor driver, and the motor driver is connected with the electric drive The device is connected, and the electric transmission device includes a motor, a universal joint, a transmission shaft and a propeller 4 connected in sequence.

As a preferred embodiment, the navigation planning and decision-making system also includes GPS11, a nine-axis sensor 12, and a gyroscope, wherein the GPS11 located on the hull of the unmanned boat determines the position coordinates of the unmanned boat and the position coordinates of the target point. The axis sensor 12 obtains the deviation direction angle, and combines with the control program in the single-chip microcomputer to realize the autonomous cruise and various monitoring modes of the unmanned boat.

The invention takes the small waterplane area catamaran as a carrier, and optimizes and calculates the ship type parameters of the small waterplane area catamaran through comprehensive optimization software, so as to obtain a plan with the best navigation performance for the main function of marine meteorological monitoring, and effectively Reduce wave-making and interference resistance between sheets, combined with the advantages of small waterplane area catamaran itself, such as small wave-making resistance, large deck area, good seakeeping, small sailing resistance, and good stability, it can be used for a variety of monitoring equipment. Provide a stable working environment, and its better navigation performance can meet the working requirements of the unmanned boat in both offshore and far-sea waters. In response to increasing operating costs, complex ship operations and increasingly stringent environmental regulations, the shipping industry has been increasing technological investment in smart ships in recent years. The ship is a kind of equipment that is greatly affected by environmental factors. The intelligent ship system of the present invention realizes the intelligent perception, judgment analysis, decision-making and control of the ship, so as to better ensure the navigation safety and efficiency of the ship.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (9)

1. A marine environment monitoring green energy small waterplane area improved twin-hull unmanned ship comprises: the intelligent control system for the ship body monitoring and motion, the navigation planning and decision system and the environment monitoring system are all arranged on the main ship body (1),

the main boat body (1) comprises an upper box-shaped connecting bridge, two slender sheet bodies (3) which are arranged in a bilateral symmetry mode and fixedly connected to the lower portion of the upper box-shaped connecting bridge, and a main floating body (2) fixedly connected to the lower portions of the two slender sheet bodies (3); wherein,

the cross section of the upper box-type connecting bridge is rectangular, and the length-width ratio of the box-type connecting bridge is 1.2-4: 1, the length of the upper box-type connecting bridge is L_{Bridge with a bridge body}Posterior height of midship H_{Bridge with a bridge body}And width B_{Bridge with a bridge body}Constant height H from midship to foremost_{Bridge with a bridge body}Gradually decreases to 3/5-4/5H_{Bridge with a bridge body}Maximum value and width B_{Bridge with a bridge body}Gradually decreases to 4/7-8/9B_{Bridge with a bridge body}A maximum value;

the length-width ratio of the two slender sheets (3) is 16-26: 1. the geometrical shapes and the sizes of the wing profiles are completely the same, the waterline surface shapes below the waterline surface are approximate symmetrical wing profiles and do not change along with the draught, the waterline surface shapes of the tail end of 1/3 in front of the midship above the waterline surface are the same as the waterline surface below the waterline, the waterline surface shapes of the bow end of 1/3 in front of the midship above the waterline surface are symmetrical wing profiles and the length-width ratio of the wing profiles is 1.5 from the connecting bridge: 1 is gradually raised to 6 at the water line level: 1;

the two main floating bodies have the same geometric shape and size, the left and the right of the cross section of each main floating body are respectively a half ellipse or a half circle, and the length-width ratio of the two main floating bodies is 9-15: 1. the length-height ratio is 8.8-16: 1;

the length L of the main floating body (2)_{Main floating body}11-55 m, L_{Bridge with a bridge body}And L_{Main floating body}The ratio of (A) to (B) is 0.96-1.12: 1, the ratio of the distance between the main floating body and the two slender sheets is 1.66-8.88: 1.

2. the small-waterplane-improved twin-hull unmanned ship for marine environment monitoring as claimed in claim 1, wherein the superstructure comprises an anemoscope (8), a wind direction indicator (9) and a solar sail (7), external wind direction and wind force data obtained through the anemoscope (8) and the wind direction indicator (9) are obtained, the angle of the solar sail (7) is controlled by a motion intelligent control system, the sail of the solar sail (7) provides auxiliary power for an auxiliary propulsion device when the unmanned ship sails, and the solar sail (7) can convert collected solar energy into electric energy to be stored so as to improve the cruising ability of the unmanned ship.

3. The small waterline area improved twin-hull unmanned ship for marine environmental monitoring as claimed in claim 1, wherein said environmental monitoring system comprises a camera, a water source extraction device, a PM2.5 monitoring device, a thermometer, a PH sensor, wherein said camera realizes real-time monitoring around unmanned ship and collision avoidance function;

the PM2.5 monitoring device, the thermometer and the PH value sensor are used for carrying out environmental monitoring on the environment and transmitting data in real time;

the water source extraction device extracts and stores water at different positions through positioning, and performs later-stage water quality detection.

4. The marine environment monitoring green energy small waterplane area improved twin-hull unmanned ship according to claim 1, wherein the intelligent ship hull monitoring and motion control system comprises a temperature monitor, an emergency refrigeration device, a power supply voltage monitoring device and a motor rotation speed monitoring device, wherein the temperature monitor is responsible for monitoring the temperature of the motor; the emergency refrigerating device is arranged outside the motor, and is used for cooling the motor in an emergency manner when the temperature of the motor is overheated;

the power supply voltage monitoring device is responsible for monitoring the power supply voltage of the unmanned ship, the power supply voltage is prevented from being too low, and when the power supply voltage is monitored to be too low and lower than a set value, a standby power supply is adopted emergently;

the motor rotating speed monitoring is assisted to monitor the rotating speed of the motor, and when the rotating speed of the motor is too low or too high, the motion intelligent control system controls the output power of the power supply and adjusts the rotating speed.

5. The marine environment monitoring green energy small waterplane area improved catamaran unmanned ship of claim 1, wherein the navigation planning and decision making system is capable of integrating the self condition of the unmanned ship, collected information of wind direction and wind speed of the sea area condition where the unmanned ship is located, and global climate and ocean current change received from a shore base, performing calculation and analysis, planning the safety and efficient operation speed and operation route of the unmanned ship, and controlling the operation state and navigation speed route of the unmanned ship in real time through the motion intelligent control system.

6. The marine environment monitoring green energy small waterplane area improved twin unmanned ship as claimed in claim 2, wherein the solar sail (7) comprises a solar sail support rod (6), a small sail (701), a solar photovoltaic panel (702), a bottom rotating motor (703), an upper rotating motor (704), a lower rotating motor (705), a decelerating motor (706), an upper auxiliary carbon rod cross rod (707), a lower auxiliary carbon rod cross rod (708), and a string (709), wherein the small sail (701) is fixed on the sail support rod (6), the sail support rod (6) is made of carbon rod material, the solar photovoltaic panel (702) is horizontally and orderly arranged on the small sail (701), the bottom end of the solar sail support rod (6) is vertically connected to the ship body by the bottom rotating motor (703), and the lower auxiliary carbon rod cross rod (708) is hinged to the solar sail support rod (6) by 90 degrees of freedom, the hinged part is driven to rotate by adopting a lower rotating motor (705) so as to adjust the angle of the lower auxiliary carbon rod cross rod (708); the upper side carbon rod long rod (707) is hinged with the solar sail supporting rod (6) by 90 degrees of freedom, and the hinged part is driven to rotate by an upper rotating motor (704) so as to adjust the angle of the upper side carbon rod long rod (707); the speed reducing motor (706) is fixedly connected with the outer end of the upper carbon rod long rod (707) through a wire rope (709), when the sail needs to work, the upper rotating motor (704) and the lower rotating motor (705) rotate simultaneously, and the upper carbon rod long rod (707) and the lower carbon rod long rod (708) are put down; the speed reducing motor (706) rotates to release the wire rope (709), and the wire rope (709) provides an auxiliary fixing effect for the small sail; the bottom rotating electrical machines (703) rotate the sail to suitable angle so as to adapt to the angle of the sun according to the system requirement, and under the sail working condition, the solar photovoltaic panel (702) arranged on one side of the sail stabilizes the collected solar energy through the voltage stabilizer and stores the solar energy in the storage battery, so that the endurance time of the unmanned ship is prolonged.

7. A small waterline improvement twin-hull unmanned ship for marine environmental monitoring green energy according to claim 1, characterized in that, electric transmission device is set in the left side slender sheet (3) and the right side slender sheet (3), a controller and a motor driver are set on the ship, the controller is connected with the motor driver, the motor driver is connected with the electric transmission device, the electric transmission device comprises a motor, a universal coupling, a transmission shaft and a propeller (4) which are connected in turn.

8. The small water plane improved twin-hull unmanned ship for marine environment monitoring as claimed in claim 1, wherein the navigation planning and decision system further comprises a GPS (11), a nine-axis sensor (12) and a gyroscope, wherein the GPS (11) located on the hull of the unmanned ship determines the position coordinates of the unmanned ship and the position coordinates of the target point, and the nine-axis sensor (12) derives the deviation direction angle and is combined with a control program in the single chip microcomputer to realize autonomous cruising and various monitoring modes of the unmanned ship.

9. The small waterplane area improved twin unmanned ship for ocean environment monitoring as claimed in claim 6, further comprising a photosensitive element connected to the control system for controlling the driving angle of the bottom rotating motor by the sunlight detected by the photosensitive element, thereby improving the efficiency of the wind sail using solar energy and wind energy.

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