CN113212084A - Ice-water amphibious unmanned ship suitable for polar region sea area - Google Patents
Ice-water amphibious unmanned ship suitable for polar region sea area Download PDFInfo
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- CN113212084A CN113212084A CN202110644821.9A CN202110644821A CN113212084A CN 113212084 A CN113212084 A CN 113212084A CN 202110644821 A CN202110644821 A CN 202110644821A CN 113212084 A CN113212084 A CN 113212084A
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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
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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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
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
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Abstract
The invention relates to an ice-water amphibious unmanned boat suitable for polar sea areas, which comprises a boat body, a propulsion system, a monitoring system, a communication system, a central control system and an electric power system, wherein retractable water wing plates are arranged on the boat body; the propulsion system comprises an underwater propeller device arranged at the tail part of the boat body, an air propeller and auxiliary power devices arranged at two sides of the boat body; the central control system is arranged in the upper-layer building of the boat body and is connected with the propulsion system, the monitoring system, the communication system and the power system, and data information is analyzed and processed to obtain a task instruction. The communication system exchanges data with the shore foundation station in real time, and the power system provides power for all equipment and carries on the solar panel simultaneously. The unmanned ship provided by the invention can switch sailing postures in a complex environment of polar region ice water mixing, so as to improve the maneuverability, the rapidity and the wave resistance of the ship body, and can accurately, real-timely and effectively complete the task of polar region marine environment monitoring.
Description
Technical Field
The invention belongs to the field of unmanned boats, and particularly relates to an ice-water amphibious unmanned boat suitable for polar sea areas.
Background
Unmanned vessels, which were first found in the target boats or minesweeping vessels that appeared in the fifies and sixties of the 20 th century, were limited to surface operations within the remote range of manned platforms. With the progress of satellite positioning and communication technology, autonomous navigation technology and intelligent planning and control technology, the application range of the unmanned ship serving as a sea surface task platform is expanded to a far sea area, even in north and south polar regions, the unmanned ship executes different tasks according to needs, uses various different task modules and carries different sensors or execution equipment, and then executes tasks such as marine surveying and mapping scientific investigation, marine monitoring reconnaissance, anti-thunderstorm battle, independent or cooperative anti-diving, anti-warship and the like.
To the unmanned ship among the prior art, mostly can only navigate in the surface of water, because the large tracts of land of polar region is covered by the ice sheet, this use flexibility and the range of application of restricting unmanned ship to a certain extent, chinese patent CN104626901A discloses a water ice amphibious scientific investigation ship, this unmanned ship is equipped with a pair of skates and auxiliary power device in the bottom of hull, adopt jet-propelled, similar sled navigates in the surface of ice, but this kind of hull structure when the surface of water navigation, has great navigation resistance, and wave resistance is relatively poor.
When an unmanned ship in the prior art is in a polar region, higher requirements are provided for the performances of structural design of a ship body, motion performance prediction, polar environment perception, autonomous control, system integration and the like.
Disclosure of Invention
Aiming at the problems of the unmanned ship and the technical defects, the invention provides an ice-water amphibious unmanned ship suitable for polar regions and sea areas, so as to adapt to the polar region complex marine environment with water surface, ice surface, snow land and ice-water mixed and meet the requirements of polar region development.
In order to achieve the purpose, the invention is realized by the following technical scheme:
the invention relates to an ice-water amphibious unmanned boat suitable for polar sea areas, which comprises a boat body, a propulsion system, a monitoring system, a communication system, a central control system and an electric power system, wherein the propulsion system is connected with the monitoring system through a power line; the boat body adopts a semi-channel planing boat body, and a retractable water wing plate is arranged on the boat body; the propulsion system comprises an underwater propeller arranged at the stern, an air propeller and auxiliary power devices arranged at two sides of the boat body; the monitoring system comprises a camera and a sensor array; the communication system comprises a signal transmitter and a signal receiver, and transmits data with a shore foundation station in real time; the central control system is arranged in the upper-layer building of the boat body, is connected with the propulsion system, the monitoring system, the communication system and the power system, and analyzes and processes data information to obtain a task command; the electric power system provides the power for all equipment, carries on solar panel simultaneously, increases unmanned ship duration.
The invention is further improved in that: the submarine body adopts an improved half-channel slide line type, the bottom structure of the submarine body comprises a central slide surface and two side slide surfaces, the central slide surface is transited to the two side slide surfaces by a transverse oblique angle with a certain size, the middle of the bottom plate of the submarine body is inwards sunken to form a channel, and a bow opening of the submarine is in a horn shape.
The invention is further improved in that: the retractable hydrofoil plate comprises a V-shaped front hydrofoil plate and a rear hydrofoil plate, the two front hydrofoil plates are symmetrically arranged on two sides of the boat body, the two front hydrofoil plates are respectively retracted and extended through two first hydraulic devices and can be placed on a deck 1 of the boat body, the front hydrofoil plates can be rotated through the extension and retraction of the first hydraulic devices, the rear hydrofoil plates are retracted and extended through a second hydraulic device, and the boat body can be embedded into the bottom storage cabin.
The invention is further improved in that: the propeller device includes screw, pillar, sets up steering mechanism and elevating system in the fixed cover that is located the boat tail under water, and the screw is connected with the lower extreme of pillar, and the upper end setting of pillar is in steering mechanism's inside, and the pillar is with steering mechanism's the mode of setting: the support column can move up and down in the steering mechanism, and the support column and the steering mechanism cannot rotate mutually; the lifting mechanism is two hydraulic lifting oil cylinders, one ends of the two lifting oil cylinders are respectively hinged to two sides of the support column, the other ends of the two lifting oil cylinders are fixed to the bottom of the steering mechanism, the steering mechanism realizes up-and-down stretching and steering of the propeller, the steering mechanism is arranged in a fixed sleeve located at the stern, the steering mechanism is provided with three pin supports along the circumferential direction, guide holes are formed in the two pin supports, one end of the locking pin axially moves along the guide holes, the other end of the locking pin is rotatably connected with the rotating shaft sleeve through a rotating connecting piece to form a crank block device, a driving oil cylinder is installed on the other pin support, a piston rod of the driving oil cylinder is rotatably connected with the rotating shaft sleeve through a rotating connecting piece to drive the rotating shaft sleeve to rotate, and the pin supports and the driving oil cylinders are respectively installed on the boat body through fixed plates.
The invention is further improved in that: the setting of two air propulsors symmetries is at the hull tail, air propulsor is including the air screw of locating the hull afterbody, the honeycomb duct support, air vane and driving motor, the air screw is installed in the honeycomb duct support of hull tail, the air vane transmission articulates in air screw rear side with the control direction, driving motor drives the rotation of air screw, auxiliary power device includes third hydraulic means, driving motor and sawtooth gyro wheel, third hydraulic means's one end articulates on the hull body, third hydraulic means's piston rod tip is driving motor, driving motor's output shaft and sawtooth gyro wheel are connected.
The invention is further improved in that: the monitoring system comprises a sensor array installed on a boat bow, an infrared camera arranged on an upper building and used for collecting sea ice distribution conditions, the sensor array comprises but is not limited to a water level sensor, a wave flow sensor, a wind speed and direction sensor, a temperature sensor and a humidity sensor, the communication system comprises a signal transmitter and a signal receiver, data are transmitted with a shore foundation station in real time, an electric power system provides a power supply for all equipment, the camera is used for collecting the sea ice distribution conditions, the monitoring system transmits environmental information indexes of polar sea areas to a control system, data are analyzed and processed, work of other systems carried by unmanned boats is adjusted, meanwhile, information can be transmitted to the shore foundation station through the communication system, and real-time monitoring is carried out on the sea areas.
The invention has the beneficial effects that:
(1) the unmanned ship provided by the invention combines the advantages of high speed of the hydroplane, good wave resistance and small wave making of the hydrofoil, and the sailing posture of the unmanned ship is switched by the control system, so that the unmanned ship can be used as the hydrofoil and the hydroplane, and can sail in water surface, ice area mixed with ice and water, ice surface and snowfield.
(2) When the unmanned ship sails on the basis of a hydrofoil boat, the underwater propeller propels the unmanned ship, and the unmanned ship is suitable for a water surface and ice water mixed ice crushing area; the hull leaves the surface of water when hydrofoil sails, provides lift by the receiving water pterygoid lamina of installation, and the hull can avoid simultaneously and collide the induced ice load that forms with sea ice, reduces the navigation resistance greatly.
(3) When the unmanned ship sails on the basis of the planing boat, the unmanned ship is propelled by air injection, and is suitable for sailing on ice and snow; it adopts the skimming boat line type, and the hull is the arc changeover portion at the bow, and the hull is straight section, inwards caves in along hull bottom plate middle and forms the channel, and both sides distribute has protruding side sliding surface, supports whole hull by two side sliding surfaces when navigating on ice surface and snowfield, because it is little with ground area of contact during the navigation to reduce frictional resistance greatly, adopt auxiliary power device simultaneously can provide an auxiliary power for unmanned ship, and prevent the effect that unmanned ship skidded at the ice surface in addition.
(4) The ice-water amphibious unmanned ship can realize navigation in various severe working condition environments in polar sea areas through an intelligent navigation system, namely, a control system based propulsion system, a monitoring system, a communication system and the like, and the environment monitoring range is expanded.
Drawings
Fig. 1 is a schematic structural diagram of the amphibious unmanned boat.
Fig. 2 is a schematic structural diagram of the bottom of the unmanned submarine.
Fig. 3 is a schematic view of a hydrofoil installation structure of the unmanned ship.
Fig. 4 is a schematic diagram of a front V-shaped front hydrofoil structure.
Fig. 5 is a schematic structural diagram of the tail of the unmanned boat.
Fig. 6 is a schematic view of the underwater propeller structure.
Fig. 7 is a schematic side structure view of the unmanned boat.
Fig. 8 is a schematic structural view of an auxiliary power unit.
Fig. 9 is a schematic structural view of the head of the unmanned submarine.
Fig. 10 is a schematic structural view of the sailing state of the hydrofoil of the unmanned boat.
Fig. 11 is a structural schematic diagram of an ice surface navigation state of the unmanned ship.
Wherein: 1, a boat body; 2 a propulsion system; 3, monitoring the system; 4 a communication system; 5, controlling the system; 6, a power system; 1-1 central sliding surface; 1-2 side sliding surfaces; 1-3, opening the boat bow; 1-4 front water wing plates; 1-5 rear hydrofoil plates; 1-4-1 cross section of front hydrofoil; 1-4-2 card slots; 1-4-3 hinge shaft sleeve; 1-4-4 a first hydraulic device; 1-4-5 of a support; 1-5-1 second hydraulic means; 1-5-2 storage compartments; 2-1 underwater propeller; 2-2 air mover; 2-2-1 air propeller; 2-2-2 air rudders; 2-2-3 honeycomb duct bracket; 2-2-4 driving the motor; 2-1-1 propeller; 2-1-2 struts; 2-1-3 lifting mechanisms; 2-1-4 steering mechanisms; 2-1-4-1 pin support; 2-1-4-2 rotating connecting pieces; 2-1-4-3 locking pins; 2-1-4-4 rotating shaft sleeves; 2-1-4-5 driving oil cylinders; 2-3 auxiliary power units; 2-3-1 a third hydraulic device; 2-3-2 drive motor; 2-3-3 sawtooth rollers; 3-1 sensor array; 3-2 cameras; 4-1 signal transmitter; 4-2 signal receiver.
Detailed Description
In the following description, for purposes of explanation, numerous implementation details are set forth in order to provide a thorough understanding of the embodiments of the invention. It should be understood, however, that these implementation details are not to be interpreted as limiting the invention. That is, in some embodiments of the invention, such implementation details are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.
As shown in fig. 1, the ice-water amphibious unmanned boat suitable for polar sea areas comprises a boat body 1, a propulsion system 2, a monitoring system 3, a communication system 4, a central control system 5 and an electric power system 6.
As shown in fig. 2, the boat body 1 adopts a half-channel slide boat line type, the bottom structure of the boat body 1 comprises a central slide surface 1-1 and two side slide surfaces 1-2, the central slide surface 1-1 is transited to the two side slide surfaces 1-2 at a transverse inclination angle of about 5 degrees to 10 degrees, the middle of the bottom plate of the boat body 1 is sunken inwards to form a channel, and a boat opening 1-3 at the bow part of the boat body is in a horn shape.
As shown in fig. 3, the retractable hydrofoil comprises a V-shaped front hydrofoil 1-4 and a rear hydrofoil 1-5, two front hydrofoils 1-4 are symmetrically installed on two sides of the hull, a first hydraulic device 1-4-1 is arranged on the hull 1, a clamping groove 1-4-2 is arranged on the front hydrofoil 1-4, the first hydraulic device 1-4-1 is hinged with the clamping groove 1-4-2, one end of the front hydrofoil 1-4 is hinged on a support of the hull 1 through a shaft sleeve 1-3-1, the two front hydrofoils 1-4 are respectively retracted and extended through two first hydraulic devices 1-4-1 and can be placed on a deck of the hull 1, and the rotation of the front hydrofoil 1-4 can be realized through the extension and retraction of the first hydraulic devices 1-4-1, the submarine body is characterized in that a storage cabin 1-5-2 is arranged at the bottom of the submarine body 1, a second hydraulic device 1-5-1 is arranged between the interior of the storage cabin 1-5-2 and the rear hydrofoil plate 1-5, and the rear hydrofoil plate is folded and unfolded through the second hydraulic device and can be embedded into the storage cabin at the bottom of the submarine body.
As shown in figure 4, the cross section 1-4-1 of the front water wing plate is streamline, similar to a wing, a clamping groove 1-4-2 on the front water wing plate is hinged with a first hydraulic device 1-4-4, a hinged shaft sleeve 1-4-3 is hinged on a support 1-4-5 on the boat body, and the rotation of the front water wing plate 1-4 can be realized through the extension and contraction of the first hydraulic device 1-4-1.
As shown in fig. 5 and 7, the propulsion system 2 comprises an underwater propeller device 2-1 installed at the tail of the hull 1, an air propeller 2-2 and an auxiliary power device 2-3 installed at both sides of the hull 1, the two air propellers 2-2 are symmetrically arranged at the stern, the air propeller 2-2 comprises an air propeller 2-2-1 installed at the tail of the hull 1, a draft tube bracket 2-2-3, an air rudder 2-2-2 and a driving motor 2-2-4, the air propeller 2-2-1 is installed in the draft tube bracket 2-2-3 of the stern, the air rudder 2-2-2 is drivingly hinged at the rear side of the air propeller 2-2-1 to control the direction, the driving motor 2-2-4 drives the air propeller 2-2-1 to rotate.
As shown in fig. 6, the underwater propeller device 2-1 includes a propeller 2-1-1, a strut 2-1-2, a steering mechanism 2-1-4 disposed in a fixing sleeve located at the stern of the boat, and a lifting mechanism 2-1-3, the propeller 2-1-1 is connected to the lower end of the strut 2-1-2, the upper end of the strut 2-1-2 is disposed inside the steering mechanism 2-1-4, and the strut 2-1-2 and the steering mechanism 2-1-4 are disposed in the following manner: the support column 2-1-2 can move up and down in the steering mechanism 2-1-4, but the support column 2-1-2 and the steering mechanism 2-1-4 can not rotate mutually, the steering mechanism 2-1-4 comprises a rotating shaft sleeve 2-1-4-4, the rotating shaft sleeve 2-1-4-4 is provided with three pin supports 2-1-4-1 along the circumferential direction, wherein guide holes are formed in the two pin supports 2-1-4-1, one end of a locking pin 2-1-4-3 moves axially along the guide holes, the other end of the locking pin 2-1-4-3 is rotationally connected with the rotating shaft sleeve 2-1-4-4 through a rotating connecting piece 2-1-4-2, a crank block device is formed, a driving oil cylinder 2-1-4-5 is arranged on the other pin support 2-1-4-1, a piston rod of the driving oil cylinder 2-1-4-5 is rotationally connected with the rotating shaft sleeve 2-1-4-4 through the rotating connecting piece 2-1-4-2 to drive the rotating shaft sleeve 2-1-4-4 to rotate, the pin support 2-1-4-1 and the driving oil cylinder 2-1-4-5 are respectively arranged on the boat body 1 through a fixing plate, the lifting mechanism 2-1-3 is two hydraulic lifting oil cylinders, one end of each of the two hydraulic lifting oil cylinders is respectively hinged on two sides of the support 2-1-2, the other ends of the two lifting hydraulic oil cylinders are fixed at the bottom of the steering mechanism 2-1-4, and the steering mechanism 2-1-4 and the lifting mechanism 2-1-3 realize the up-and-down extension and steering of the propeller 2-1-1.
As shown in fig. 7 and 8, the auxiliary power device 2-3 includes a third hydraulic device 2-3-1, a driving motor and a saw-tooth roller 2-3-3, one end of the third hydraulic device 2-3-1 is hinged on the hull 1, the end of a piston rod of the third hydraulic device 2-3-1 is the driving motor, and an output shaft of the driving motor is connected with the saw-tooth roller 2-3-3.
As shown in fig. 9, the monitoring system 3 comprises a sensor array 3-1 installed on the boat bow, an infrared camera 3-2 installed on the superstructure, the sensor array 3-1 including but not limited to a water level sensor, a wave flow sensor, a wind speed and direction sensor, a temperature sensor, a humidity sensor, the camera 3-2 for collecting sea ice distribution; the monitoring system 3 sends environmental information indexes of the polar region sea area to the central control system 5, analyzes and processes data, adjusts the work of the propulsion system 2, the communication system 4 and the power system 6 carried by the unmanned ship, transmits information to the shore foundation station through the communication system 4, and monitors the sea area in real time, wherein the communication system 4 comprises a signal transmitter 4-1 and a signal receiver 4-2 and exchanges data with the shore foundation station in real time, the power system 6 provides power for all equipment, and simultaneously carries a solar panel, and the endurance time of the unmanned ship is prolonged.
As shown in fig. 10, when the unmanned surface vehicle sails on the basis of a hydrofoil craft, an underwater propeller 2-1 is propelled, and is suitable for an ice crushing area where water surface and ice water are mixed; when the hydrofoil sails, the boat body leaves the water surface, the lifting force is provided by the retractable front water wing plates 1-4 and the rear water wing plates 1-5, and meanwhile, the ice load formed by collision induction with sea ice can be avoided, so that the sailing resistance is greatly reduced.
As shown in fig. 11, when the unmanned boat is sailing on the basis of the planing boat, the air jet propels the air propeller 2-2, which is suitable for sailing on ice and snow; the novel ice-water hybrid boat adopts a sliding boat line type, the bow is an arc transition section, the body is a straight section, a channel is formed by inwards sinking along the middle of a bottom plate of the boat body 1, protruding side sliding surfaces are distributed on two sides of the bottom plate, the whole boat body is supported by the two side sliding surfaces when the boat is sailed on ice and snow, the contact area between the boat body and the ground is small during sailing, so that the friction resistance is greatly reduced, meanwhile, an auxiliary power device 2-3 is adopted to provide auxiliary power for the unmanned boat, and the effect of preventing the unmanned boat from slipping on the ice is achieved.
The working principle is as follows: when the ice-water amphibious unmanned ship provided by the invention is positioned on the water surface or in a polar region for breaking ice, the underwater propeller 2-1, the front water wing plate 1-4 and the rear water wing plate 1-5 are put down in water, and the unmanned ship sails similar to a hydrofoil ship. When the unmanned ship sails on the ice, the underwater propeller 2-1, the front water wing plate 1-4 and the rear water wing plate 1-5 are contracted, the unmanned ship slides on the ice similarly to a sledge, the jet propulsion 2-2 and the auxiliary power device 2-3 provide auxiliary power.
The unmanned ship provided by the invention can switch sailing postures in a complex environment of polar region ice water mixing, so as to improve the maneuverability, the rapidity and the wave resistance of the ship body, and can accurately, real-timely and effectively complete the task of polar region marine environment monitoring.
The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (9)
1. The utility model provides an ice water amphibious unmanned ship suitable for polar region sea area, includes hull (1), propulsion system (2), monitoring system (3), communication system (4), central control system (5) and electric power system (6), its characterized in that:
a retractable water wing plate is arranged on the boat body (1);
the propulsion system (2) comprises an underwater propeller device (2-1) arranged at the tail part of the boat body (1), an air propeller (2-2) and auxiliary power devices (2-3) arranged at two sides of the boat body (1);
the central control system (5) is arranged in an upper-layer building of the boat body (1), the central control system (5) is connected with the propulsion system (2), the monitoring system (3), the communication system (4) and the power system (6), and a task command is achieved after data information is analyzed and processed.
2. The ice-water amphibious unmanned ship suitable for polar sea areas as claimed in claim 1, is characterized in that: the submarine body (1) adopts a half-channel sliding submarine line type, the bottom structure of the submarine body (1) comprises a central sliding surface (1-1) and two side sliding surfaces (1-2), the central sliding surface (1-1) is transited to the two side sliding surfaces (1-2) at a certain transverse oblique lift angle, the middle of the bottom plate of the submarine body (1) is sunken inwards to form a channel, and a submarine bow opening (1-3) at the bow part of the submarine body is in a horn shape.
3. The ice-water amphibious unmanned ship suitable for polar sea areas as claimed in claim 1, is characterized in that: the retractable hydrofoil plate comprises V-shaped front hydrofoil plates (1-4) and rear hydrofoil plates (1-5), the two front hydrofoil plates (1-4) are symmetrically installed on two sides of the boat body, a first hydraulic device (1-4-4) is arranged on the boat body (1), a clamping groove (1-4-2) is arranged on the front hydrofoil plates (1-4), the first hydraulic device (1-4-4) is hinged with the clamping groove (1-4-2), one end of each front hydrofoil plate (1-4) is hinged to a support (1-4-5) of the boat body (1) through a shaft sleeve (1-3-1), a storage cabin (1-5-2) is arranged at the bottom of the boat body (1), and a second hydraulic plate is arranged between the interior of the storage cabin (1-5-2) and the rear hydrofoil plate (1-5) A hydraulic device (1-5-1).
4. The ice-water amphibious unmanned ship suitable for polar sea areas as claimed in claim 1, is characterized in that: the underwater propeller device (2-1) comprises a propeller (2-1-1), a support column (2-1-2), a steering mechanism (2-1-4) and a lifting mechanism (2-1-3), wherein the steering mechanism (2-1-4) and the lifting mechanism (2-1-3) are arranged in a fixed sleeve positioned at the tail of the boat, the propeller (2-1-1) is connected with the lower end of the support column (2-1-2), the upper end of the support column (2-1-2) is arranged in the steering mechanism (2-1-4), the support column (2-1-2) moves up and down in the steering mechanism (2-1-4), the lifting mechanism (2-1-3) is two hydraulic lifting oil cylinders, and one ends of the two lifting oil cylinders are respectively hinged to two sides of the support column (2-1-2), the other ends of the two lifting hydraulic oil cylinders are fixed at the bottom of the steering mechanism (2-1-4), and the steering mechanism (2-1-4) and the lifting mechanism (2-1-3) realize the up-and-down extension and steering of the propeller (2-1-1).
5. The ice-water amphibious unmanned ship suitable for polar sea areas as claimed in claim 4, is characterized in that: the steering mechanism (2-1-4) comprises a rotating shaft sleeve (2-1-4-4), the rotating shaft sleeve (2-1-4-4) is circumferentially provided with three pin supports (2-1-4-1), guide holes are formed in two pin supports (2-1-4-1), one end of a locking pin (2-1-4-3) axially moves along the guide holes, the other end of the locking pin (2-1-4-3) is rotatably connected with the rotating shaft sleeve (2-1-4-4) through a rotating connecting piece (2-1-4-2) to form a crank block device, a driving oil cylinder (2-1-4-5) is mounted on the other pin support (2-1-4-1), the piston rod of the driving oil cylinder (2-1-4-5) is rotatably connected with the rotating shaft sleeve (2-1-4-4) through the rotating connecting piece (2-1-4-2) to drive the rotating shaft sleeve (2-1-4-4) to rotate, and the pin support (2-1-4-1) and the driving oil cylinder (2-1-4-5) are respectively installed on the boat body (1) through a fixing plate.
6. The ice-water amphibious unmanned ship suitable for polar sea areas as claimed in claim 1, is characterized in that: the two air propellers (2-2) are symmetrically arranged at the stern of the boat, the air propellers (2-2-1) arranged at the tail of the boat body (1), the draft tube support (2-2-3), the air rudders (2-2-2) and the driving motors (2-2-4) are included, the air propellers (2-2-1) are arranged in the draft tube support (2-2-3) of the stern of the boat body, the air rudders (2-2-2) are in transmission hinge connection with the rear side of the air propellers (2-2-1) to control the direction, and the driving motors (2-2-4) drive the air propellers (2-2-1) to rotate.
7. The ice-water amphibious unmanned ship suitable for polar sea areas as claimed in claim 1, is characterized in that: the auxiliary power device (2-3) comprises a third hydraulic device (2-3-1), a driving motor (2-3-2) and a sawtooth roller (2-3-3), one end of the third hydraulic device (2-3-1) is hinged to the boat body (1), the end of a piston rod of the third hydraulic device (2-3-1) is the driving motor (2-3-2), and an output shaft of the driving motor (2-3-2) is connected with the sawtooth roller (2-3-3).
8. The ice-water amphibious unmanned ship suitable for polar sea areas as claimed in claim 1, is characterized in that: the monitoring system (3) comprises a sensor array (3-1) arranged on a boat bow and an infrared camera (3-2) arranged on an upper building and used for collecting sea ice distribution conditions, wherein the sensor array (3-1) comprises but is not limited to a water level sensor, a wave flow sensor, a wind speed and direction sensor, a temperature sensor and a humidity sensor, the monitoring system (3) sends environmental information indexes of polar sea areas to the central control system (5), analyzes and processes data and adjusts the work of a propulsion system (2), a communication system (4) and an electric power system (6) carried by the unmanned boat.
9. The ice-water amphibious unmanned ship suitable for polar sea areas as claimed in claim 1, is characterized in that: the communication system (4) comprises a signal transmitter (4-1) and a signal receiver (4-2), and transmits data with a shore foundation station in real time.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113968110A (en) * | 2021-10-28 | 2022-01-25 | 中国北方车辆研究所 | Sliding type crawler amphibious vehicle body with folding hydrofoil structure |
| CN114132443A (en) * | 2021-12-08 | 2022-03-04 | 无锡市鸿声船用玻璃钢有限公司 | Unmanned equipment transportation naval vessel and navigation use mode thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113968110A (en) * | 2021-10-28 | 2022-01-25 | 中国北方车辆研究所 | Sliding type crawler amphibious vehicle body with folding hydrofoil structure |
| CN113968110B (en) * | 2021-10-28 | 2024-04-16 | 中国北方车辆研究所 | Sliding track amphibious vehicle body with folding hydrofoil structure |
| CN114132443A (en) * | 2021-12-08 | 2022-03-04 | 无锡市鸿声船用玻璃钢有限公司 | Unmanned equipment transportation naval vessel and navigation use mode thereof |
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| Publication number | Publication date |
|---|---|
| CN113212084B (en) | 2022-10-14 |
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