CN115042928A - Semi-submersible mother ship capable of safely and quickly deploying cluster type unmanned submersible vehicle - Google Patents
Semi-submersible mother ship capable of safely and quickly deploying cluster type unmanned submersible vehicle Download PDFInfo
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- CN115042928A CN115042928A CN202210798317.9A CN202210798317A CN115042928A CN 115042928 A CN115042928 A CN 115042928A CN 202210798317 A CN202210798317 A CN 202210798317A CN 115042928 A CN115042928 A CN 115042928A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/40—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for transporting marine vessels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/40—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for transporting marine vessels
- B63B35/42—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for transporting marine vessels with adjustable draught
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/40—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for transporting marine vessels
- B63B2035/405—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for transporting marine vessels for carrying submarines
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Abstract
The invention relates to a semi-submersible mother ship capable of safely and quickly deploying a cluster type unmanned submersible vehicle, wherein a special base for the submersible vehicle is arranged on an open deck of a semi-submersible mother ship body; the cluster type unmanned submersible vehicle is fastened on a special base for the submersible vehicle; the ballast water system and the dynamic positioning system are arranged on the semi-submersible mother ship body; the control room is arranged in the superstructure of the semi-submersible mother ship body. According to the semi-submersible mother ship provided by the invention, the cluster type unmanned submersible vehicle can be carried at one time through the weather deck with a large area and a large number of special bases of the semi-submersible mother ship; through a semi-submersible mother ship ballast system and a dynamic positioning system, a ship body can be sunk to a water level required by self-navigation deployment of the unmanned submersible vehicle, the posture and the relative position of the mother ship are kept, and self-navigation retraction conditions of the submersible vehicle are met; through horizontal arranging of latent ware base and opening towards the topside, rely on the latent ware self-navigation, can lay a plurality of latent wares simultaneously, fast, effectively solve the unmanned latent ware of cluster formula quantity big, open-sea transportation difficult, deploy difficult problem.
Description
Technical Field
The invention relates to a semi-submersible mother ship capable of safely and quickly deploying a cluster type unmanned submersible vehicle, and belongs to the field of unmanned submersible vehicles and ships.
Background
At present, with the gradual maturity of the unmanned submersible vehicle single-loading technology, a great amount of manpower and material resources are also put into the cluster type unmanned submersible vehicle, but the research results are few, the expected effect of wide application is not achieved, and the main difficulties in deployment are as follows:
(1) the cluster unmanned submersible vehicle is large in quantity and difficult to transport.
Unmanned vehicles carry limited energy and are usually transported to the target sea by mother vessels. However, the number of the cluster type unmanned submersible vehicles is large, the appearance is mostly cylindrical or elliptic cylindrical, a large number of special bases and a large area for placing a deck are needed, and transportation is difficult.
(2) The cluster unmanned submersible vehicles are large in quantity and difficult to arrange.
At present, the unmanned submersible vehicle is mostly placed by hanging or tail slide way. However, the cluster unmanned submersible vehicles are large in number, and are arranged by adopting a crane or a tail slide way, so that the workload is large, the time consumption is long, and the efficiency is low; and under the action of sea waves, the mother ship body and the submersible are violently rocked, the requirement on the operation sea condition is high, and the open sea distribution is difficult.
(3) The sea is windy and waved, and the unmanned submersible vehicle is easy to bump and difficult to recover.
At present, the mode of unmanned submersible vehicle recovery is mostly to hang recovery or tail slide recovery. However, the cluster unmanned submersible vehicle is large in number, and a mode of lifting or tail slide recovery is adopted, so that the workload is large, the time consumption is long, and the efficiency is low; under the action of sea waves, the mother ship body, the recovery device and the submersible vehicle are violently shaken and easily collided, precision instruments inside the submersible vehicle are easily damaged, the requirement on the operation sea condition is high, and the recovery in the open sea is difficult.
These difficulties become key technology elbows restricting the popularization and application of the cluster unmanned submersible vehicle in the open sea.
Disclosure of Invention
The technical problem to be solved by the invention is as follows:
(1) the cluster unmanned submersible vehicles are large in number, and how to safely and quickly transport a large number of unmanned submersible vehicles to a target sea area at one time;
(2) after the unmanned submersible vehicle reaches a target sea area, how to reduce the influence of sea waves and safely and quickly arrange the cluster unmanned submersible vehicle;
(3) after the task is completed, how to reduce the influence of sea waves and safely and quickly recover the cluster type unmanned submersible vehicle.
In order to solve the technical problems, the invention adopts the technical scheme that: a semi-submersible mother ship capable of safely and quickly deploying a clustered unmanned submersible vehicle comprises a semi-submersible mother ship body, a submersible vehicle special base, the clustered unmanned submersible vehicle, a ballast water system, a dynamic positioning system and a control room, wherein the submersible vehicle special base is installed on an open deck of the semi-submersible mother ship body; the cluster type unmanned submersible vehicle is fastened on a special base for the submersible vehicle; the ballast water system and the dynamic positioning system are arranged on the semi-submersible mother ship body; the control room is arranged in an upper-layer building of the semi-submersible mother ship body.
Further, the semi-submersible mother ship body is provided with a weather deck with the operation area matched with the number and size of the cluster type unmanned submersible vehicles, two rows of special bases for the submersible vehicles are carried on the left side and the right side of the weather deck and are fixed on the weather deck through bolts, and therefore the semi-submersible mother ship has the capacity of carrying the cluster type unmanned submersible vehicles at one time.
Furthermore, the main propulsion system of the semi-submersible mother ship body is matched with the rudder, so that the semi-submersible mother ship has maneuverability, the cluster type unmanned submersible vehicle is safely and quickly transported to a target sea area, and the carrying and transporting functions of the cluster type unmanned submersible vehicle are realized.
Further, the semi-submersible mother ship body adopts a ballast water system and a dynamic positioning system, so that the semi-submersible mother ship has sinking and floating and dynamic positioning capabilities, can sink the ship body to a water level required by self-navigation arrangement of the unmanned submersible vehicle, and keeps the posture and the relative position of the mother ship.
Furthermore, the side of the weather deck is open, the cluster type unmanned submersible vehicle and the special base for the submersible vehicle are transversely arranged on the left side and the right side, the side of the special base for the submersible vehicle is open, and the special base for the cluster type unmanned submersible vehicle is automatically navigated out of the special base for the submersible vehicle by means of the power of the cluster type unmanned submersible vehicle, so that the cluster type unmanned submersible vehicle is centralized and arranged at the same time.
Furthermore, the special submersible vehicle base is matched with a propelling and positioning control system of the cluster type unmanned submersible vehicle, after the unmanned submersible vehicle self-navigates into the special submersible vehicle base, the cluster type unmanned submersible vehicle is clamped and captured at a small opening by means of self-navigating forward inertial motion of the cluster type unmanned submersible vehicle, and the unmanned recovery function of the cluster type unmanned submersible vehicle is achieved.
Furthermore, the special submersible vehicle base is a standard, modularized and detachable base, an independent ID identity is arranged on each special submersible vehicle base, a data real-time monitoring system and a GPS/Beidou positioning system are arranged, a dynamic positioning result is sent to the clustered unmanned submersible vehicle in the recovery process in real time through the control room, and the clustered unmanned submersible vehicle can conveniently and quickly find the special submersible vehicle base.
Furthermore, the interior of the special base for the submersible vehicle is arranged into a horn shape according to the appearance of the cluster type unmanned submersible vehicle, the horn shape is formed by U-shaped cross sections with different sizes, a large opening is close to a side, the cluster type unmanned submersible vehicle can conveniently enter, a small opening is close to the inside of the side, the net width is consistent with the width of the cluster type unmanned submersible vehicle, the submersible vehicle is clamped and captured at the small opening by the aid of the self-navigation forward inertial motion of the submersible vehicle, and the cluster type unmanned submersible vehicle is manually fastened after floating on a semi-submersible mother ship body.
Furthermore, flexible materials are laid on each section of the middle part of the special base for the submersible vehicle, and the bottoms of the flexible materials are at the same height; the special base for each submersible vehicle is cuboid in shape, is suitable for cluster type unmanned submersible vehicles with different main dimensions, and is used for replacing other adaptive submersible vehicle bases in a modularized mode through the aid of a wharf crane.
Furthermore, the control room can monitor the vacancy condition, pressure and liquid level of the special bases for all the submersible vehicles on the semi-submersible mother ship body in real time, monitor the parameters of the positions of the dynamic positioning system and the mother ship body, monitor the position parameters of the cluster type unmanned submersible vehicles, complete the data transmission and collection work with the cluster type unmanned submersible vehicles according to the parameters obtained by monitoring, guide the cluster type unmanned submersible vehicles to retract and release in real time, and realize the safe and quick recovery function of the cluster type unmanned submersible vehicles by means of the self power of the cluster type unmanned submersible vehicles, the positioning control system and the special bases.
Compared with the prior art, the invention has the following outstanding beneficial effects:
the invention provides a semi-submersible mother ship capable of safely and quickly deploying a cluster type unmanned submersible vehicle, which can carry the cluster type unmanned submersible vehicle at one time through a large-area weather deck and a large number of special bases of the semi-submersible mother ship; the ship body can be sunk to a water level required by the self-navigation deployment of the unmanned submersible vehicle through a semi-submersible mother ship ballast system and a dynamic positioning system, and the posture and the relative position of the mother ship are kept, so that the self-navigation deploying and retracting conditions of the submersible vehicle are met; it transversely arranges and the opening is towards the topside through the latent ware base, relies on the latent ware self-navigation, can lay a plurality of latent wares simultaneously, fast, effectively solves the unmanned latent ware of cluster formula quantity big, the long-sea transportation is difficult, the difficult problem of deployment.
Compared with the traditional carrier, the deck area is large, and the cluster type unmanned submersible vehicle can be carried at one time; compared with the traditional mode of hoisting the unmanned submersible vehicle or retracting the tail slide way, the self-navigation retracting mode of the submersible vehicle after the main ship is semi-submerged is adopted, a plurality of submersible vehicles can be retracted at the same time, the time consumption is short, and the efficiency is high; the submersible vehicle does not need to leave the water surface to be suspended in the air in the retracting process, the movement is small, the requirement on the operation sea condition is low, and the safety is high; the inner shape of the base is designed according to the appearance of the submersible vehicle, the submersible vehicle is used for moving forwards through inertia, the submersible vehicle is clamped and captured at a small opening, and unmanned recovery can be implemented; the base is in standardized, modular and detachable design, so that a large amount of carrying is conveniently implemented; has better economy and certain strategic reserve value.
The semi-submersible mother ship capable of safely and quickly deploying the cluster type unmanned submersible vehicle provides a new solution for deploying the cluster type unmanned submersible vehicle.
Drawings
FIG. 1 is a top plan view of a semi-submersible mother vessel of the present invention;
FIG. 2 is a side view of the semi-submersible mother vessel of the present invention;
FIG. 3 is a top view of a specialized base;
FIG. 4 is a mid-longitudinal cross-sectional view of a specialized base;
FIG. 5 is a cross-sectional view of a specialized base;
in the figure: 1-semi-submersible mother ship body, 2-weather deck, 3-control room, 4-main propulsion system, 5-ballast water system, 6-dynamic positioning system, 7-rudder, 8-special base, 9-unmanned submersible vehicle and 10-flexible material in the base.
Detailed Description
The invention will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and such equivalents may fall within the scope of the present invention as defined in the appended claims.
As shown in fig. 1 to 2, the semi-submersible mother ship capable of safely and rapidly deploying the cluster-type unmanned submersible vehicle disclosed in this embodiment includes a semi-submersible mother ship body 1, an open deck 2, a control room 3, a main propulsion system 4, a ballast water system 5, a dynamic positioning system 6, a rudder 7, a special base 8, and the like. The special base 8 is arranged on the weather deck 2 of the semi-submersible mother ship body; the cluster type unmanned submersible vehicle is fastened on a special base 8; the ballast water system 5 and the dynamic positioning system 6 are arranged on the semi-submersible mother ship body 1; the control room 3 is arranged in the superstructure of the semi-submersible mother ship body 1. The appearance, the layout and the design scheme of the semi-submersible mother ship body 1 are similar to those of a semi-submersible ship, and the mature experience of the design of the semi-submersible ship can be used.
A large number of special bases 8 are transversely arranged in two rows on the port side and the starboard side of a weather deck 2 of the semi-submersible mother ship, the special bases 8 are transversely arranged and open towards the side, and the special bases 8 and the weather deck 2 of the semi-submersible mother ship are fixed through bolts, so that the semi-submersible mother ship has the open sea carrying capacity of the cluster type unmanned submersible vehicle, the open sea carrying function of the cluster type unmanned submersible vehicle 9 is realized, and the problems that the cluster type unmanned submersible vehicle is large in number and difficult to carry at one time are solved.
The main propulsion system 4 of the semi-submersible mother ship is matched with the rudder 7, so that the semi-submersible mother ship has maneuverability, the function of transporting the cluster type unmanned submersible vehicles 9 in the open sea is realized, and the problems of large quantity of the cluster type unmanned submersible vehicles and difficult marine transportation are solved.
The ballast water system 5 of the semi-submersible mother ship is controlled by matching with the dynamic positioning system 6, so that the semi-submersible mother ship has sinking and floating and dynamic positioning capabilities, the ship body can be sunk to a water level required by self-navigation and arrangement of the unmanned submersible vehicle, and the posture and the relative position of the mother ship are kept; the side of the open deck of the mother ship body is open, the unmanned submersible vehicles and the bases are transversely arranged on the left side and the right side, the openings of the bases face the side, the special bases for the unmanned submersible vehicles are navigated out by means of the power of the unmanned submersible vehicles, centralized and simultaneous distribution is implemented, and compared with a mode of distributing the submersible vehicles one by means of a lifting and tail slide way, the distribution speed is high, and the consumed time is short; the semi-submersible mother ship has large displacement, is slightly influenced by sea waves after sinking and floating, has small movement, and is beneficial to the safe arrangement operation of the submersible vehicle; because the submersible vehicle is arranged in a self-navigation mode without leaving the water surface to be suspended, compared with the arrangement mode of a hanging and a tail slide way, the submersible vehicle does not have overlarge movement, has lower requirements on operation sea conditions, realizes the safe and rapid centralized self-navigation arrangement function of the cluster type unmanned submersible vehicle 9, has no need of leaving the water surface to be suspended, has high safety, and solves the problem of safe and rapid arrangement of the cluster type unmanned submersible vehicle on the sea.
The semi-submersible mother ship is provided with a control room 3 which can receive the position information of GPS/Beidou in real time, monitor the position information of all unmanned submersible vehicles, monitor the vacancy condition, pressure and liquid level information of all bases, convert the real-time position information of all the bases in real time, send the real-time position information to the unmanned submersible vehicles, and command the unmanned submersible vehicles 9 to self-navigate to the designated bases 8 during recovery.
The special base 8 of the semi-submersible mother ship is matched with a propelling and positioning control system of the unmanned submersible vehicle, after the unmanned submersible vehicle self-navigates into the base, the submersible vehicle is clamped and captured at a small opening by means of self-navigating forward inertial movement of the submersible vehicle, the unmanned recovery function of the cluster type unmanned submersible vehicle 9 is achieved, and the problem of safe and rapid recovery of the cluster type unmanned submersible vehicle at sea is solved.
As shown in fig. 3 and 4, the interior of the special base 8 is flared according to the shape of the submersible vehicle, is composed of U-shaped cross sections with different sizes, and is paved with a flexible material (the shaded part in fig. 3 to 5 represents the flexible material). The bottoms of the flexible materials with the sections A5-A5, A4-A4, A3-A3 and A2-A2 are at the same height and are used for supporting the submersible vehicle in the transportation process. As shown in FIG. 5, the clear width of the section A6-A6 is not less than 1.5 times the width of the submersible vehicle, so that the submersible vehicle can enter the submersible vehicle by self-navigation and the storage of a propeller of the submersible vehicle is not influenced; the clear width of section A5-A5 is 1.3 times the width of the submersible, and the clear width of section A2-A2 is 1.0 times the width of the submersible for catching and capturing the submersible self-propelled into the base. And mooring locks are distributed around the base and used for mooring the submersible vehicle in the transportation process.
Claims (10)
1. The utility model provides a can dispose semi-submerged mother ship of cluster formula unmanned submersible vehicle fast safely which characterized in that: the system comprises a semi-submersible mother ship body, a special submersible base, a cluster type unmanned submersible, a ballast water system, a dynamic positioning system and a control room, wherein the special submersible base is arranged on an open deck of the semi-submersible mother ship body; the cluster type unmanned submersible vehicle is fixedly tied on a special base for the submersible vehicle; the ballast water system and the dynamic positioning system are arranged on the semi-submersible mother ship body; the control room is arranged in an upper-layer building of the semi-submersible mother ship body.
2. The semi-submersible mother vessel capable of safely and rapidly deploying a clustered unmanned submersible as claimed in claim 1, wherein: the semi-submersible mother ship body is provided with a weather deck with the working area matched with the number and size of the cluster type unmanned submersible vehicles, and the left side and the right side of the weather deck are provided with two rows of special bases for the submersible vehicles and are fixed on the weather deck through bolts, so that the semi-submersible mother ship has the capacity of carrying the cluster type unmanned submersible vehicles at one time.
3. The semi-submersible mother vessel capable of safely and rapidly deploying a clustered unmanned submersible as claimed in claim 1, wherein: the main propulsion system of the semi-submersible mother ship body is matched with the rudder, so that the semi-submersible mother ship has maneuvering capability, the cluster type unmanned submersible vehicle can be safely and quickly transported to a target sea area at one time, and the carrying and transporting functions of the cluster type unmanned submersible vehicle are realized.
4. The semi-submersible mother vessel capable of safely and rapidly deploying a clustered unmanned submersible as claimed in claim 1, wherein: the semi-submersible mother ship body adopts a ballast water system and a dynamic positioning system, so that the semi-submersible mother ship has sinking and floating and dynamic positioning capabilities, can sink the ship body to a water level required by self-navigation arrangement of the unmanned submersible vehicle, and keeps the posture and the relative position of the mother ship.
5. The semi-submersible mother vessel capable of safely and rapidly deploying a clustered unmanned submersible as claimed in claim 1, wherein: the open deck side is open, the cluster unmanned submersible vehicle and the special base for the submersible vehicle are transversely arranged on the left side and the right side, the special base for the submersible vehicle is open on the side, and the cluster unmanned submersible vehicle is driven out of the special base for the submersible vehicle by the power of the cluster unmanned submersible vehicle, so that the cluster unmanned submersible vehicle is concentrated and arranged at the same time.
6. The semi-submersible mother vessel capable of safely and rapidly deploying a clustered unmanned submersible as claimed in claim 1, wherein: the special submersible vehicle base is matched with a propelling and positioning control system of the cluster type unmanned submersible vehicle, after the unmanned submersible vehicle self-navigates into the special submersible vehicle base, the cluster type unmanned submersible vehicle is clamped and captured at a small opening by means of self-navigating forward inertial motion of the cluster type unmanned submersible vehicle, and the unmanned recovery function of the cluster type unmanned submersible vehicle is achieved.
7. The semi-submersible mother vessel capable of safely and rapidly deploying a clustered unmanned submersible as claimed in claim 1, wherein: the special submersible vehicle base is a standard, modularized and detachable base, an independent ID identity is arranged on each special submersible vehicle base, a data real-time monitoring system and a GPS/Beidou positioning system are arranged, a dynamic positioning result is sent to the clustered unmanned submersible vehicle in the recovery process in real time through a control room, and the clustered unmanned submersible vehicle can conveniently and quickly find the special submersible vehicle base.
8. The semi-submersible mother vessel capable of safely and rapidly deploying a clustered unmanned submersible as claimed in claim 1, wherein: the inside of the special base for the submersible vehicle is arranged into a horn shape according to the appearance of the cluster type unmanned submersible vehicle, the special base is composed of U-shaped cross sections with different sizes, a large opening is close to a shipboard side and is convenient for the cluster type unmanned submersible vehicle to enter, a small opening is close to the shipboard side, the clear width is consistent with the width of the cluster type unmanned submersible vehicle, the submersible vehicle is clamped and captured at the small opening by the aid of self-navigation forward inertial motion of the submersible vehicle, and the cluster type unmanned submersible vehicle is manually fastened after floating on a semi-submersible mother ship body.
9. The semi-submersible mother vessel capable of safely and rapidly deploying a clustered unmanned submersible as claimed in claim 1, wherein: flexible materials are laid on each section of the middle part of the special base of the submersible vehicle, and the bottoms of the flexible materials are at the same height; the special base for each submersible vehicle is cuboid in shape, is suitable for cluster type unmanned submersible vehicles with different main dimensions, and is used for replacing other adaptive submersible vehicle bases in a modularized mode through the aid of a wharf crane.
10. The semi-submersible mother vessel capable of safely and rapidly deploying a clustered unmanned submersible as claimed in claim 1, wherein: the control room can monitor the vacancy condition, the pressure and the liquid level of the special bases for all the submersible vehicles on the semi-submersible mother ship body in real time, monitor the parameters of the positions of the dynamic positioning system and the mother ship body, monitor the position parameters of the cluster type unmanned submersible vehicles, complete the data transmission and collection work with the cluster type unmanned submersible vehicles according to the monitored parameters, guide the cluster type unmanned submersible vehicles to be folded and unfolded in real time, and realize the safe and quick recovery function of the cluster type unmanned submersible vehicles by depending on the power of the cluster type unmanned submersible vehicles, the positioning control system and the special bases.
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| CN202210798317.9A CN115042928A (en) | 2022-07-08 | 2022-07-08 | Semi-submersible mother ship capable of safely and quickly deploying cluster type unmanned submersible vehicle |
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