CN113212084B - 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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- CN113212084B CN113212084B CN202110644821.9A CN202110644821A CN113212084B CN 113212084 B CN113212084 B CN 113212084B CN 202110644821 A CN202110644821 A CN 202110644821A CN 113212084 B CN113212084 B CN 113212084B
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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
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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 were first found in the target boats or minescan vessels in the fifties of the 20 th century but 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 sail at the surface of water, because the polar region sea area is covered by the ice sheet by a large scale, 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 sails on the ice surface, but this kind of hull structure has great navigation resistance when the surface of water sails, 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 boat and the technical defects, the invention provides an ice-water amphibious unmanned boat suitable for polar regions and sea areas, so as to adapt to the complex polar region 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 base 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 end of the two lifting oil cylinders is fixed to the bottom of the steering mechanism, the steering mechanism achieves up-and-down stretching and steering of the propeller, the steering mechanism is arranged in a fixing 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 moves axially 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 support and the driving oil cylinder are respectively installed on the boat body through fixing 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 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 at air screw rear side with control direction, driving motor drives the air screw rotatory, 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 tailpiece of the piston rod portion 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 beneficial effects of the invention are:
(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 polar regions under various severe working condition environments through an intelligent navigation system, namely, based on the work of a control system allocation 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 vehicle.
Fig. 2 is a schematic structural diagram of the bottom of the unmanned boat.
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 diagram of the unmanned boat.
Fig. 8 is a schematic structural view of the 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 a boat bow; 1-4 front water wing plates; 1-5 rear hydrofoil plates; 1-4-1 cross section of front hydrofoil plate; 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 of a storage cabin; 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 panel comprises a V-shaped front hydrofoil panel 1-4 and a rear hydrofoil panel 1-5, the two front hydrofoil panels 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 panel 1-4, the first hydraulic device 1-4-1 is hinged to the clamping groove 1-4-2, one end of the front hydrofoil panel 1-4 is hinged to a support of the hull 1 through a shaft sleeve 1-3-1, the two front hydrofoil panels 1-4 are respectively realized through two first hydraulic devices 1-4-1 and can be retracted to a deck of the hull 1, the front hydrofoil panel 1-4 can be rotated through the expansion and retraction of the first hydraulic devices 1-4-1, a storage cabin 1-5-2 is arranged at the bottom of the hull 1, a second hydraulic device 1-5-1 is arranged between the interior of the storage cabin 1-5-2 and the rear hydrofoil panel 1-5, and the rear hydrofoil panel is embedded in the storage cabin, and the boat body can be retracted.
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 includes an underwater propeller device 2-1 installed at the rear portion of the hull 1, an air propeller 2-2, and auxiliary power devices 2-3 installed at both sides of the hull 1, the two air propellers 2-2 are symmetrically arranged at the hull tail, the air propeller 2-2 includes an air propeller 2-2-1 installed at the rear portion of the hull 1, a duct 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 duct bracket 2-2-3 of the hull tail, the air rudder 2-2-2 is drivingly hinged at the rear side of the air propeller 2-2-1 to control the direction, and 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 support column 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 a lower end of the support column 2-1-2, an upper end of the support column 2-1-2 is disposed inside the steering mechanism 2-1-4, and the support column 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, 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, guide holes are formed in 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 rotatably 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 to the boat body 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 to 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 submarine adopts a slide boat line type, the bow of the submarine is an arc transition section, the body of the submarine is a flat straight section, the middle of a bottom plate of the submarine body 1 is inwards sunken to form a channel, protruding side sliding surfaces are distributed on two sides of the channel, the whole ship body is supported by the two side sliding surfaces when the submarine is sailed on ice and snow, and the contact area between the ship body and the ground is small during sailing, so that the frictional resistance is greatly reduced, and meanwhile, an auxiliary power device 2-3 is adopted to provide auxiliary power for the unmanned boat and prevent the unmanned boat from skidding on the ice.
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 (6)
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:
the submarine is characterized in that a retractable hydrofoil plate is installed on the submarine body (1), the retractable hydrofoil plate comprises a V-shaped front hydrofoil plate (1-4) and a rear hydrofoil plate (1-5), the two front hydrofoil plates (1-4) are symmetrically installed on two sides of the submarine body, a first hydraulic device (1-4-4) is arranged on the submarine body (1), a clamping groove (1-4-2) is formed in each front hydrofoil plate (1-4), the first hydraulic device (1-4-4) is hinged to 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 submarine body (1) through a shaft sleeve (1-4-3), a storage cabin (1-5-2) is arranged at the bottom of the submarine body (1), and a second hydraulic device (1-5-1) is arranged between the inside of each storage cabin (1-5-2) and the rear hydrofoil plate (1-5);
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 underwater propeller device (2-1) comprises a propeller (2-1-1), a strut (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 strut (2-1-2), the upper end of the strut (2-1-2) is arranged in the steering mechanism (2-1-4), the strut (2-1-2) moves up and down in the steering mechanism (2-1-4), the lifting mechanism (2-1-3) is two hydraulic lifting cylinders, one ends of the two hydraulic lifting cylinders are respectively hinged to two sides of the strut (2-1-2), the other ends of the two hydraulic lifting cylinders are fixed at the bottom of the steering mechanism (2-1-4), the steering mechanism (2-1-4) and the lifting mechanism (2-1-3) realize that the propeller shaft sleeve (2-1-1) and the steering mechanism (2-4) and the support (2-1-4) are provided with three rotating pins (1-4) in the circumferential direction, and the support (1-4) is arranged in a circumferential direction A guide hole is formed in each of the two pin supports (2-1-4-1), one end of each of the locking pins (2-1-4-3) axially moves along the guide hole, the other end of each of the locking pins (2-1-4-3) is rotatably connected with the corresponding 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), a piston rod of each of the driving oil cylinders (2-1-4-5) is rotatably connected with the corresponding rotating shaft sleeve (2-1-4-4) through the corresponding rotating connecting piece (2-1-4-2) to drive the corresponding rotating shaft sleeve (2-1-4-4), and the pin supports (2-1-4-1) and the driving oil cylinders (2-1-4-5) are respectively mounted on the boat body (1) through fixing plates;
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 regions and sea areas according to 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 regions and sea areas according to 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.
4. 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 driving motor (2-3-2) is arranged at the end part of a piston rod of the third hydraulic device (2-3-1), and an output shaft of the driving motor (2-3-2) is connected with the sawtooth roller (2-3-3).
5. The ice-water amphibious unmanned ship suitable for polar regions and sea areas according to 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 wind 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), and the central control system (5) analyzes and processes data and adjusts the work of a propelling system (2), a communication system (4) and an electric power system (6) carried by an unmanned boat.
6. 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| US4962718A (en) * | 1988-04-27 | 1990-10-16 | Westfoil International | Hydrofoil propulsion system |
| US20070134999A1 (en) * | 2002-05-15 | 2007-06-14 | Reinhold Ficht | Motor-driven inflatable boat, in particular for ice rescue, comprising mounted steering devices, control units and an air propeller propulsion device |
| CN201220745Y (en) * | 2008-03-25 | 2009-04-15 | 张家港市飞驰机械制造有限公司 | Propeller elevating and reversing arrangement |
| CN101367322A (en) * | 2008-09-25 | 2009-02-18 | 江苏科技大学 | Amphibian double-body hydrofoil tourism boat |
| CN104626901B (en) * | 2015-02-02 | 2016-01-13 | 江苏科技大学 | The amphibious scientific investigation ship of a kind of water-ice |
| CN104743091A (en) * | 2015-03-30 | 2015-07-01 | 华南理工大学 | Double-wing wave propulsion remote unmanned boat |
| CN106347574A (en) * | 2016-09-18 | 2017-01-25 | 江苏科技大学 | Planar straight wall side and double channel composite hydroplane |
-
2021
- 2021-06-09 CN CN202110644821.9A patent/CN113212084B/en active Active
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