CN113772067A

CN113772067A - Novel long-endurance unmanned ship based on clean energy

Info

Publication number: CN113772067A
Application number: CN202111033798.6A
Authority: CN
Inventors: 邓锐; 王士刚; 罗富强; 宋志杰; 任航; 莫潇越; 李豪
Original assignee: Sun Yat Sen University; Southern Marine Science and Engineering Guangdong Laboratory Guangzhou
Current assignee: Sun Yat Sen University; Southern Marine Science and Engineering Guangdong Laboratory Guangzhou
Priority date: 2021-09-03
Filing date: 2021-09-03
Publication date: 2021-12-10
Also published as: WO2023029306A1

Abstract

The invention discloses a novel long-endurance unmanned ship based on clean energy, comprising a ship hull, a driving mechanism, an energy recovery mechanism, a monitoring mechanism and a control mechanism arranged on the ship hull; Including brackets, sails and solar panels; the sails are movably installed on the brackets in a foldable manner; multiple solar panels are installed on the sails, and multiple solar panels are used to convert solar energy into electricity for long-endurance unmanned ships Use; the monitoring agency is used to monitor environmental information; the control agency is used to control the long-endurance unmanned ship according to the environmental information; when it is judged that it is in a safe environment, it controls the sails and multiple solar panels to expand to obtain solar energy; when it is judged that there is a risk of capsizing Control the folding of sails and multiple solar panels; this solution can realize the utilization of wind and solar energy, and reduce the impact of wind and waves on driving, effectively solving the problem that unmanned ships cannot work in harsh environments for a long time.

Description

Novel long-endurance unmanned ship based on clean energy

Technical Field

The invention relates to the technical field of unmanned ships, in particular to a novel long-endurance unmanned ship based on clean energy.

Background

The unmanned ship is used as an important tool for ocean exploration, reconnaissance and other tasks, and needs to be continuously monitored for a long time, so that automatic acquisition of clean energy can be realized; in order to achieve the purpose, most of the existing unmanned ships adopt solar energy for power generation, but the conversion efficiency of the solar energy is low, the ships are difficult to continuously push only by using the solar energy as a power source, and long endurance cannot be realized; secondly, the water surface area of the ship which is not specially designed is large, so that the ship can be seriously influenced by water surface waves, and the established course is difficult to maintain and the task requirement is difficult to meet.

Therefore, there is a need to design a new unmanned ship with long endurance using clean energy as power source to meet the requirements of normal task execution, long endurance, intelligence and high stability in severe marine environment.

Disclosure of Invention

The invention aims to provide a novel long-endurance unmanned ship based on clean energy, and the problem that the unmanned ship cannot work in a severe environment for a long time is solved.

In order to solve the technical problems, the invention provides a novel clean energy-based long-endurance unmanned ship, which comprises a ship body, a driving mechanism, an energy recovery mechanism, a monitoring mechanism and a control mechanism, wherein the driving mechanism, the energy recovery mechanism, the monitoring mechanism and the control mechanism are arranged on the ship body; the driving mechanism is used for driving the ship body to run; the energy recovery mechanism comprises a support, a sail and a solar panel; the sail is movably arranged on the bracket in a foldable manner; the solar panels are all arranged on the sails and used for converting solar energy into electric energy for the unmanned ship with long endurance; the monitoring mechanism is used for monitoring environmental information; the control mechanism is used for controlling the long-endurance unmanned ship according to the environment information; when the ship sail is judged to be in a safe environment, the ship sail and the solar panels are controlled to be unfolded to obtain solar energy; and when the overturning risk is judged to exist, the sail and the solar panels are controlled to be folded.

In one embodiment, the energy recovery mechanism further comprises a motor and a pull rope; guide rails are vertically arranged on two sides of the support; guide wheels are arranged on two sides of the solar panels, the guide wheels on two sides of the solar panels are respectively installed in the two guide rails in a rolling mode, and the solar panels are vertically arranged on the sail; the motor is connected with the pull rope, the pull rope is connected with the sail or the solar panels, and the motor is used for driving the sail and the solar panels to move upwards and extend through the pull rope.

In one embodiment, the bracket and the motor are both arranged on the upper surface of the ship body; the top of the bracket is provided with a guide wheel, the outer side of the bracket is provided with a wire guide groove, and the arrangement track of the wire guide groove passes through the side surface and the top surface of the bracket; the stay cord is arranged in the wire guide groove, and the stay cord bypasses the guide wheel to be connected with the sail or the solar panel.

In one embodiment, the monitoring mechanism comprises a wind direction anemometer which is arranged at the upper part of the ship body, and the control mechanism controls the sail and the solar panels to be folded when the wind speed measured by the wind direction anemometer is greater than a set value.

In one embodiment, the control mechanism controls the driving mechanism to be started when insufficient wind power driving or wind power obstruction is detected by the wind direction anemometer.

In one embodiment, the monitoring mechanism comprises a tilt sensor, and the control mechanism controls the sail and the solar panels to fold when the tilt sensor detects that the tilt angle is larger than a set value.

In one embodiment, the monitoring mechanism includes a radar, and the control mechanism controls the long-endurance unmanned ship to bypass an obstacle when the radar detects the existence of the obstacle.

In one embodiment, the monitoring mechanism comprises a GPS locator, and the control mechanism is used for controlling the long-endurance unmanned ship to move to a destination according to the position information measured by the GPS locator.

In one embodiment, a camera and a wireless transmission mechanism are arranged on the ship body, and the wireless transmission mechanism is used for transmitting the content shot by the camera to the equipment to be received.

In one embodiment, the driving mechanism comprises a floating body, a propeller and a storage battery; the floating body is arranged at the bottom of the ship body; the propeller is arranged outside the floating body and is electrically connected with the storage battery; the storage battery is arranged in the floating body, the storage battery is electrically connected with the solar panel, and the storage battery is used for storing electric energy converted by the solar panel to drive the propeller to operate.

The invention has the following beneficial effects:

firstly, the energy recovery mechanism comprises a support, a sail and a solar panel, so that the sail can realize the utilization of wind power, and the solar panel can realize the utilization of solar energy, thereby improving the utilization efficiency of clean energy and meeting the requirement of long-time running; secondly, when the unmanned ship is judged to be in a safe environment, the sail and the solar panels are controlled to be unfolded to obtain solar energy, when the sail and the solar panels are judged to have a risk of overturning, the sail and the solar panels are controlled to be folded, so that the influence of wind waves on the driving of the unmanned ship can be reduced, the driving safety of the unmanned ship is ensured, and the problem that the existing unmanned ship cannot work in a severe environment for a long time is actually solved.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of a structure provided by an embodiment of the present invention;

FIG. 2 is a schematic front view of the structure of FIG. 1;

FIG. 3 is an enlarged view of part A of FIG. 1;

FIG. 4 is an enlarged view of the portion B of FIG. 1;

fig. 5 is a schematic view of the folded configuration of the sail of fig. 1.

The reference numbers are as follows:

10. a hull;

20. a drive mechanism; 21. a float; 22. a propeller; 23. a storage battery;

30. an energy recovery mechanism; 31. a support; 311. a guide rail; 312. a wire guide groove; 32. a sail; 33. a solar panel; 331. a guide wheel; 34. a motor; 35. pulling a rope; 36. a guide wheel;

41. a wind direction anemometer; 42. a tilt sensor; 43. a radar; 44. a GPS locator; 45. a camera; 46. a wireless transmission mechanism; 47. an ADCP sensor;

50. and a control mechanism.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

The invention provides a novel clean energy-based long-endurance unmanned ship, which is shown in fig. 1, 2 and 5 and comprises a ship body 10, a driving mechanism 20, an energy recovery mechanism 30, a monitoring mechanism and a control mechanism 50, wherein the driving mechanism 20, the energy recovery mechanism 30, the monitoring mechanism and the control mechanism are arranged on the ship body 10; the driving mechanism 20 is used for driving the ship body 10 to run; the energy recovery mechanism 30 comprises a bracket 31, a sail 32 and a solar panel 33; the sail 32 is movably mounted on the bracket 31 in a foldable manner; the solar panels 33 are all arranged on the sail 32, and the solar panels 33 are used for converting solar energy into electric energy for the unmanned ship with long endurance; the monitoring mechanism is used for monitoring environmental information; the control mechanism 50 is used for controlling the long-endurance unmanned ship according to the environmental information; when the ship sail is judged to be in a safe environment, the ship sail 32 and the solar panels 33 are controlled to be unfolded to obtain solar energy; and controlling the sail 32 and the solar panels 33 to fold when the overturning risk is judged.

In the process of unmanned ship operation, monitoring mechanism will carry out environmental information monitoring constantly to the environmental information who will record conveys to control mechanism 50, and then control mechanism 50 will judge according to environmental information, knows that unmanned ship is in safe operational environment with this, still has the risk of toppling.

If the control mechanism 50 determines that the unmanned ship is in a safe environment, the sail 32 and the solar panels 33 can be controlled to extend together, at this time, the sail 32 can obtain wind power to push the unmanned ship to move, and the solar panels 33 can convert solar energy into electric energy for the unmanned ship to use, for example, power is supplied to the driving mechanism 20 to meet the active driving requirement of the unmanned ship.

If the control mechanism 50 determines that the unmanned ship has the risk of overturning, the sail 32 and the solar panels 33 can be controlled to be folded and stored together, so that the sail 32 is prevented from being exposed to wind, the risk of overturning of the unmanned ship is reduced, and the safe operation and running of the unmanned ship are guaranteed.

Therefore, the scheme can realize the utilization of wind energy and solar energy, reduce the influence of wind waves on running and practically solve the problem that the unmanned ship cannot work in severe environment for a long time.

As shown in fig. 1, 3 and 4, the energy recovery mechanism 30 further includes a motor 34 and a pull cord 35; guide rails 311 are vertically arranged on both sides of the bracket 31; guide wheels 331 are arranged on two sides of the plurality of solar panels 33, the guide wheels 331 on two sides of the plurality of solar panels 33 are respectively installed in the two guide rails 311 in a rolling manner, and the plurality of solar panels 33 are vertically arranged on the sail 32; the motor 34 is connected with a pull rope 35, the pull rope 35 is connected with the sail 32 or the solar panels 33, and the motor 34 is used for driving the sail 32 and the solar panels 33 to move upwards and extend through the pull rope 35.

Specifically, in this embodiment, the support 31 is substantially rectangular frame-shaped, the inner surfaces of the two side edges of the support 31 are vertically provided with guide rails 311, the sail 32 is placed between the two guide rails 311, the plurality of solar panels 33 are vertically arranged on the same surface of the sail 32, the two sides of the plurality of solar panels 33 are installed in the guide rails 311 in a rolling manner through guide wheels 331, and the motor 34 is connected and fixed with the uppermost solar panel 33 through the pull rope 35.

When the motor 34 does not apply a pulling force to the solar panels 33 through the pulling ropes 35, the sail 32 is made of a flexible material, and the solar panels 33 are not fixedly connected, so that the solar panels 33 can be lowered and stacked due to gravity, the sail 32 can be driven to be folded, the unmanned ship is prevented from tilting due to the fact that the sail 32 is blown by strong wind, the stress distribution of the unmanned ship can be changed, the gravity center of the unmanned ship is stable, and the possibility of overturning is further reduced.

When the motor 34 applies pulling force to the solar panels 33 through the pulling ropes 35, the solar panels 33 are linked with the sail 32, so that the solar panels 33 can move upwards along with the motor until the sail 32 is in a fully unfolded state, and the solar panels 33 can be vertically arranged to ensure that the solar panels 33 can fully acquire solar energy.

It should be noted that, besides the above embodiments, the folding and storage of the sail 32 and the solar panels 33 may be realized by other manners; for example, the lowermost solar panel 33 may be set to move, so that when the solar panel 33 is pulled, the sail 32 and the solar panels 33 may be pulled to move upwards for folding, and when the pulling force on the solar panel 33 is stopped, the sail 32 and the solar panels 33 may automatically move downwards to the unfolded state due to gravity; or the sail 32 and the plurality of solar panels 33 may be configured to be in a lateral movement structure, for example, when the sail 32 and the plurality of solar panels 33 are pulled to move to the right, the sail 32 and the plurality of solar panels 33 are unfolded, and when the sail 32 and the plurality of solar panels 33 are pulled to move to the left, the sail 32 and the plurality of solar panels 33 are folded and stored; that is, the storage modes of the sail 32 and the solar panels 33 are not unique, and the technicians can select the storage modes according to specific requirements.

As shown in fig. 1 and 4, the bracket 31 and the motor 34 are both provided on the upper surface of the hull 10; the top of the bracket 31 is provided with a guide wheel 36, the outer side of the bracket 31 is provided with a wire guide groove 312, and the arrangement track of the wire guide groove 312 passes through the side surface and the top surface of the bracket 31; the pulling rope 35 is arranged in the wire guiding groove 312, and the pulling rope 35 is connected with the sail 32 or the solar panel 33 by bypassing the guide wheel 36.

In this embodiment, the wire groove 312 is substantially L-shaped, and the wire groove 312 extends from the side surface of the bracket 31 to the top surface; after the wire groove 312 is additionally arranged, a relatively stable working space can be provided for the pull rope 35, so that the stability of the pull rope 35 during working is improved, the pull rope 35 is protected, and the service life of the pull rope 35 is prolonged; the guide wheels 36 improve the smoothness of pulling the solar panels 33, and provide guarantee for smooth unfolding and folding of the sail 32 and the solar panels 33.

As shown in fig. 1, the monitoring mechanism includes a wind direction anemometer 41, the wind direction anemometer 41 is disposed on the upper portion of the hull 10, and the control mechanism 50 controls the sail 32 and the plurality of solar panels 33 to fold when the wind speed measured by the wind direction anemometer 41 is greater than a set value.

After the anemoscope 41 is installed, the anemoscope 41 can measure the wind speed and the wind direction of the current environment, for example, when the measured wind speed is greater than a set value, it is proved that the wind speed of the current environment is too high, the sail 32 is easily tilted due to the unfolding stress of the sail 32, so that the control mechanism 50 controls the sail 32 and the solar panels 33 to be folded, the windward stress of the unmanned ship can be reduced, and the possibility of tilting is reduced.

As shown in fig. 1, the control means 50 controls the drive means 20 to be activated when the wind-driven deficiency or the wind-force blockage is detected by the anemoscope 41.

For example, when the current wind direction measured by the wind direction anemometer 41 is consistent with the driving direction of the unmanned ship, the driving mechanism 20 may be controlled to stop working, and the sail 32 may be controlled to be unfolded, so as to drive the unmanned ship to move by using the natural wind force, and at this time, if the wind force is found to be unable to meet the driving requirement of the unmanned ship, the driving mechanism 20 may be simultaneously started, so that the unmanned ship can sail under the cooperation of the driving mechanism 20 and the natural wind force, thereby reducing the energy consumption.

If the wind direction is different from the driving direction of the unmanned ship, the natural wind can block the driving of the unmanned ship, so that the driving mechanism 20 can be controlled to start at the moment, and the unmanned ship can be ensured to smoothly arrive at the destination; therefore, after the control mode is adopted, natural wind power can be more reasonably utilized, and the energy consumption of the unmanned ship is reduced.

As shown in fig. 1 and 2, the monitoring mechanism includes a tilt sensor 42, and the control mechanism 50 controls the sail 32 and the plurality of solar panels 33 to fold when the tilt sensor 42 detects a tilt angle greater than a predetermined value.

The factors causing the unmanned ship to roll are generally natural wind and waves, and the waves cannot be detected through the wind direction anemometer 41, so the inclination angle sensor 42 is arranged to detect the current inclination angle of the unmanned ship in the embodiment, no matter the natural wind or the waves influence the unmanned ship at this time, the inclination angle is larger than a set value, which can indicate that the unmanned ship has a roll risk, so the control mechanism 50 controls the sail 32 and the solar panels 33 to be folded at this time, not only can the windward stress be reduced, but also the stress distribution of the unmanned ship can be changed, so that the gravity center of the unmanned ship is more stable, and the possibility of rolling is further reduced

Wherein, can also set up monitoring mechanism and include ADCP sensor 47 (miniature acoustic Doppler current profiler) to realize the monitoring of velocity of water flow, depth of water and discharge, satisfied more various monitoring regulation and control demands.

As shown in fig. 1 and 2, the monitoring means includes a radar 43, and the control means 50 controls the long-endurance unmanned ship to bypass an obstacle when the radar 43 detects the presence of the obstacle.

In the process of unmanned ship driving, the radar 43 can constantly monitor whether an obstacle exists on the unmanned ship driving route, and after the radar 43 finds that the obstacle exists, the driving route of the unmanned ship can be adjusted in time, so that the unmanned ship is prevented from being hindered from driving, and the unmanned ship is guaranteed to safely drive.

As shown in fig. 1, the monitoring means includes a GPS locator 44, and the control means 50 is configured to control the long endurance unmanned ship to move to the destination based on the position information measured by the GPS locator 44.

After the GPS locator 44 is arranged, the GPS locator 44 can accurately know the current position of the unmanned ship at any time, so that the unmanned ship can be controlled to accurately move to the destination.

As shown in fig. 1, a camera 45 and a wireless transmission mechanism 46 are provided on the ship body 10, and the wireless transmission mechanism 46 is used for transmitting the content shot by the camera 45 to the device to be received.

After the camera 45 and the wireless transmission mechanism 46 are additionally arranged, the condition of the working environment of the unmanned ship can be shot at any time, and then the shot content is sent to a shore workstation, so that a worker can know the working environment of the unmanned ship in time, and a better working scheme is planned.

As shown in fig. 1, the drive mechanism 20 includes a float 21, a propeller 22, and a battery 23; the floating body 21 is arranged at the bottom of the ship body 10; the propeller 22 is arranged outside the floating body 21, and the propeller 22 is electrically connected with the storage battery 23; the storage battery 23 is arranged in the floating body 21, the storage battery 23 is electrically connected with the solar panel 33, and the storage battery 23 is used for storing electric energy converted by the solar panel 33 and driving the propeller 22 to operate.

In application, the floating body 21 realizes the floating of the unmanned ship on the sea surface, and the storage battery 23 can obtain electric energy from the solar panel 33 for the propeller 22 to use, thereby realizing the active driving running control of the unmanned ship.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims

1. a novel long-endurance unmanned ship based on clean energy, is characterized in that,

Including the hull, and the drive mechanism, energy recovery mechanism, monitoring mechanism and control mechanism arranged on the hull;

the driving mechanism is used for driving the hull to travel;

The energy recovery mechanism includes a bracket, a sail and a solar panel; the sail is movably installed on the bracket in a foldable manner; a plurality of the solar panels are arranged on the sail, and a plurality of the the solar panel is used for converting solar energy into electricity for the long-endurance unmanned ship;

The monitoring agency is used to monitor environmental information;

The control mechanism is used to control the long-endurance unmanned ship according to the environmental information; when it is judged that it is in a safe environment, it controls the sail and a plurality of the solar panels to unfold to obtain solar energy; when it is judged that there is a risk of overturning when the sail and the plurality of solar panels are controlled to fold.

2. The long-endurance unmanned ship according to claim 1, characterized in that,

The energy recovery mechanism further includes a motor and a pull cord;

Both sides of the bracket are vertically provided with guide rails;

Both sides of the plurality of solar panels are provided with guide wheels, the guide wheels on both sides of the plurality of solar panels are rolled and installed in the two guide rails respectively, and the plurality of solar panels are mounted on the sails. Arranged vertically along the top;

The motor is connected with the pull rope, the pull rope is connected with the sail or the solar panel, and the motor is used to drive the sail and the plurality of solar panels to move through the pull rope. stretch.

3. The long-endurance unmanned ship according to claim 2, characterized in that,

Both the bracket and the motor are arranged on the upper surface of the hull;

The top of the bracket is provided with a guide wheel, the outer side of the bracket is provided with a wire groove, and the arrangement track of the wire groove passes through the side surface and the top surface of the bracket;

The pull rope is arranged in the wire groove, and the pull rope bypasses the guide wheel and is connected to the sail or the solar panel.

4. The long-endurance unmanned ship according to claim 1, wherein the monitoring mechanism comprises a wind direction anemometer, the wind direction anemometer is arranged on the upper part of the hull, and the wind speed is measured on the wind direction anemometer When the value is greater than the set value, the control mechanism controls the sail and the plurality of solar panels to fold.

5 . The long-endurance unmanned ship according to claim 4 , wherein the control mechanism controls the driving mechanism to start when it is detected by the wind direction anemometer that the wind force is insufficient or there is wind obstruction. 6 .

6. The long-endurance unmanned ship according to any one of claims 1 or 4, wherein the monitoring mechanism comprises an inclination sensor, and when the inclination measured by the inclination sensor is greater than a set value, the control mechanism The sails and the plurality of solar panels are controlled to fold.

7 . The long-endurance unmanned ship according to claim 1 , wherein the monitoring mechanism comprises a radar, and when the radar detects that an obstacle exists, the control mechanism controls the long-endurance unmanned ship to bypass the long-endurance unmanned ship. 8 . obstacle.

8 . The long-endurance unmanned ship according to claim 1 , wherein the monitoring mechanism comprises a GPS locator, and the control mechanism is configured to control the long-endurance according to the position information measured by the GPS locator. 9 . The unmanned ship moves to its destination.

9 . The long-endurance unmanned ship according to claim 1 , wherein a camera and a wireless transmission mechanism are provided on the hull, and the wireless transmission mechanism is used to transmit the content captured by the camera to the device to be received. 10 . .

10. The long-endurance unmanned ship according to claim 1, characterized in that,

The drive mechanism includes a floating body, a propeller and a battery;

the floating body is arranged at the bottom of the hull;

The propeller is arranged outside the floating body, and the propeller is electrically connected with the battery;

The storage battery is arranged in the floating body, the storage battery is electrically connected with the solar panel, and the storage battery is used for storing the electric energy converted by the solar panel to drive the propeller to operate.