CN116279978A - Self-adaptive stable carrying device for unmanned ship - Google Patents
Self-adaptive stable carrying device for unmanned ship Download PDFInfo
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- CN116279978A CN116279978A CN202211624484.8A CN202211624484A CN116279978A CN 116279978 A CN116279978 A CN 116279978A CN 202211624484 A CN202211624484 A CN 202211624484A CN 116279978 A CN116279978 A CN 116279978A
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- momentum wheel
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- vertical rod
- mast
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- 230000003044 adaptive effect Effects 0.000 claims description 22
- 239000000463 material Substances 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 abstract description 13
- 230000006854 communication Effects 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000008447 perception Effects 0.000 abstract description 3
- 230000005622 photoelectricity Effects 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 2
- 230000007423 decrease Effects 0.000 abstract 1
- 238000012544 monitoring process Methods 0.000 description 4
- 239000003921 oil Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000969 carrier Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
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- 238000011161 development Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Classifications
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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
- B63B15/00—Superstructures, deckhouses, wheelhouses or the like; Arrangements or adaptations of masts or spars, e.g. bowsprits
- B63B15/02—Staying of masts or of other superstructures
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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
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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
- B63B49/00—Arrangements of nautical instruments or navigational aids
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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
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application discloses unmanned ship is with self-adaptation stable carrying device, the device includes self-adaptation mast (3), and self-adaptation mast (3) include: the device comprises a load (301), a load fixing frame (302), a vertical rod (303), a spindle shell (304), a momentum wheel (305), a rotating motor (306), a universal joint (307), an adjusting oil cylinder (308), a base (309) and a momentum wheel rotating shaft (311). The utility model provides a can ingenious through momentum wheel, adjust the combination of hydro-cylinder and universal joint, with unmanned ship navigation in-process motion and carried communication navigation, photoelectricity, load such as radar separate to promote the running performance of these load equipment, greatly reduce the influence of hull motion to the load, thereby solve unmanned ship and lead to communication signal variation, the perception degree of accuracy decline scheduling problem that the unstability of carrying equipment leads to, this application can avoid mounting structure complicacy, to the gesture stable control device of whole hull, and simple structure, easily realization, cost of maintenance is low.
Description
Technical Field
The invention belongs to the technical field of unmanned ship deck equipment, and particularly relates to a self-adaptive stable carrying device for an unmanned ship.
Background
The unmanned ship is an unmanned surface vessel. Mainly for performing dangerous tasks not suitable for being performed by someone ship. Once equipped with advanced control systems, sensor systems, communication systems, and weapon systems, a variety of war and non-war military tasks can be performed, such as reconnaissance, searching, detection, and mine-discharging; search and rescue, navigation and hydrographic geographic investigation; anti-dive combat, anti-specie combat, patrol, pirate fight, anti-terrorist attacks, etc. When the unmanned ship is anchored at sea, due to the influence of the sea wind, sea wave, ocean current and other uncertain sea conditions, six-degree-of-freedom swinging motion with a coupling effect is inevitably generated, and due to the operation requirement and the characteristics of the unmanned ship, various communication equipment such as radar, antenna and the like and sensing equipment are usually mounted on a mast of the unmanned ship. The stable transmission of information from these devices is directly related to the implementation of unmanned boat functions, and therefore, how to ensure the stability of these devices during transmission is a key to unmanned boat development.
At present, measures for improving the stability of communication equipment on the unmanned ship mainly start from the ship and control the posture of the unmanned ship. The commonly used marine attitude monitoring equipment is provided with a triaxial acceleration sensor and a triaxial gyroscope.
However, if only the three-axis acceleration sensor is used for collecting the gesture data, the gesture control method has the defects of single data and poor short-time gesture monitoring effect, and the three-axis gyroscope has high short-time accuracy when measuring the gesture angle, but the error accumulation is caused by drift. Moreover, the current general ship attitude measurement equipment has the problems of complex structure, high manufacturing cost, large volume and mass, inconvenient assembly and disassembly and the like. In addition, the relevant sensors in the ship attitude monitoring equipment are all installed in the ship body, and the magnetometer is easily influenced by the metal shell of the ship body, so that the measurement accuracy of the magnetometer is reduced, and the ship attitude monitoring accuracy is influenced.
Therefore, if the attitude stability control can be performed on the device carrying the communication equipment, the defect of installing the ship attitude control device can be avoided, the problems of communication signal degradation and sensing accuracy reduction caused by unstable equipment such as unmanned ship communication and sensing can be solved, and the performance of the unmanned ship is greatly improved.
Disclosure of Invention
The invention of the present application aims to: when the unmanned ship is in the process of executing the task, the stability of carriers such as communication, photoelectricity and perception can be greatly improved in the navigation process through the technical scheme, so that the functions of accurate positioning, stable communication and the like of the unmanned ship are realized, and finally the task target is achieved.
The specific technical scheme of the invention is an adaptive stable carrying device for unmanned boats, which is characterized in that the device comprises an adaptive mast,
the adaptive mast comprises: the load, load fixing frame, vertical rod, momentum wheel, rotating motor, universal joint, adjusting cylinder, base and momentum wheel rotating shaft, the momentum wheel, rotating motor and momentum wheel rotating shaft together form a momentum wheel device, one end of the momentum wheel rotating shaft is connected with the vertical rod, the other end is connected with the rotating motor, the rotating motor is connected with the momentum wheel through the rotating shaft, the universal joint is divided into an upper part and a lower part, the upper part is a sphere and rigidly fixed with the vertical rod, the lower part is a hollow sphere with the top removed, the lower part can form sliding fit or rolling fit with the sphere part, the other end of the hollow sphere with the top removed is fixedly connected with a piston rod of the adjusting cylinder which is vertically arranged, the adjusting cylinder is fixed on the base,
the momentum wheel devices are at least three sets, are uniformly distributed on the circumference of the cross section of the vertical rod and are positioned at the lower part of the vertical rod,
the base of the adaptive mast is fixed on the unmanned boat.
Further, the angle between the momentum wheel rotating shaft and the vertical rod of the momentum wheel device is controlled between 30 degrees and 150 degrees.
Still further, the adaptive mast further comprises a spindle housing, wherein the spindle housing is arranged outside the momentum wheel device, and the spindle housing is in a streamline spindle body shape.
Furthermore, the self-adaptive mast penetrates out of the opening of the top plate of the unmanned ship superstructure at the universal joint, and the opening, the universal joint and the part below the universal joint are sealed by adopting external flexible watertight materials.
Further, the load is fixed on the vertical rod and the load fixing frame, and the load fixing frame is connected to the high position of the vertical rod.
Still further, the load is a radar device, an optoelectronic device, a navigation light, an antenna, or a camera.
The beneficial effects of this application are: 1) The self-adaptive stable carrying device for the unmanned ship can skillfully separate the motion in the navigation process of the unmanned ship from the carried loads such as communication navigation, photoelectricity, radar and the like through the combination of the momentum wheel, the adjusting oil cylinder and the universal joint so as to improve the running performance of the load devices, greatly reduce the influence of the motion of the ship body on the load, and solve the problems of communication signal deterioration, perception accuracy reduction and the like caused by the instability of the unmanned ship through carrying device compared with other direct attitude control methods for the unmanned ship; 2) The unmanned ship has the advantages that the influence of the unmanned ship on the communication antenna can cause signal interruption, the influence on the navigation antenna is position deviation, the influence on the photoelectric radar is detection stability, targets are easy to lose, and stable tracking cannot be realized, so that the conditions can be greatly improved or even avoided by adopting the technical scheme of the application; 3) The gesture stable control device for the whole boat body can avoid complex installation structure, is simple in structure, easy to realize, relatively low in price and low in maintenance cost.
Drawings
The advantages of the foregoing and/or additional aspects of the present application will become apparent and readily appreciated from the description of the embodiments, taken in conjunction with the accompanying drawings, wherein:
FIG. 1 is a general schematic view of an adaptive stability carrying device for an unmanned boat of the present application;
fig. 2 is a schematic structural view of the adaptive stability carrying device for the unmanned ship of the present application;
FIG. 3 is a schematic illustration of a modified initial velocity decomposition of one embodiment of an adaptive stability mount for an unmanned boat according to the present application;
in the accompanying drawings: 1. unmanned boats; 2. a flexible watertight material; 3. an adaptive mast; 301. a load; 302. a load fixing frame; 303. a vertical rod; 304. a spindle housing; 305. a momentum wheel; 306. a rotating electric machine; 307. a universal joint; 308. an adjusting oil cylinder; 309. a base; 310. a centralized control center; 311. and a momentum wheel rotating shaft.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, however, the present application may be practiced otherwise than as described herein, and thus the scope of the present application is not limited to the specific embodiments disclosed below.
As shown in fig. 1 and 2, the present application provides a general self-adaptive stable carrying device for an unmanned ship, and the scheme thereof can be applied to a ship, an unmanned ship and other platforms needing relatively stable carriers, and the device comprises a self-adaptive mast 3.
Wherein the adaptive mast 3 comprises: load 301, load mount 302, vertical bar 303, spindle housing 304, momentum wheel 305, rotating motor 306, universal joint 307, adjusting cylinder 308, base 309, centralized control center 310, momentum wheel rotating shaft 311.
The load 301 may be a radar device, an optoelectronic device, a navigation light, an antenna, a camera, etc.
The adaptive mast 3 is fixed to the unmanned boat 1 by means of a mount 309.
The load 301 is fixed on the vertical rod 303 and the load fixing frame 302, and the load fixing frame 302 is connected to the high position of the vertical rod 303, so as to meet the use requirement of the load 301.
The momentum wheel 305, the rotating motor 306 and the momentum wheel rotating shaft 311 together constitute a momentum wheel device.
Wherein the momentum wheel rotating shafts 311 are uniformly distributed on the circumference of the vertical rod 303, one end of each momentum wheel rotating shaft is connected with the vertical rod 303, the other end of each momentum wheel rotating shaft is connected with the rotating motor 306, and the rotating motor 306 is connected with the momentum wheel 305 through the rotating shaft.
The momentum wheel devices are at least three sets, are uniformly distributed on the circumference of the cross section of the vertical rod 303 and are positioned at the lower part of the vertical rod 303, and the angle between the momentum wheel rotating shaft 311 and the vertical rod 303 is controlled between 30 degrees and 150 degrees.
The momentum wheel 305 is externally provided with a spindle housing 304, and the spindle housing 304 is in the shape of a streamline spindle body.
The universal joint 307 is divided into an upper part and a lower part, the upper part is in a sphere shape and rigidly fixed with the vertical rod 303, the lower part is a hollow sphere with a truncated end, the hollow sphere with a truncated end can form sliding fit or rolling fit with the sphere part, the other end of the hollow sphere with a truncated end is fixedly connected with a piston rod of the adjusting cylinder 308, and the adjusting cylinder 308 is fixed on a base.
The adjustment cylinder 308 is arranged in a manner that the adjustment cylinder is arranged vertically near possible in the normal sailing process of the unmanned ship 1.
The self-adaptive mast 3 penetrates out of the opening of the top plate of the superstructure of the unmanned ship 1 at the universal joint 307, and the opening, the universal joint 307 and the part below the universal joint 307 are sealed by adopting external flexible watertight materials. The self-adaptive mast 3 can ensure that the splash water of the boat body cannot enter the space in the boat when the posture is adjusted, has a streamline form, and cannot bring too much extra resistance to the navigation of the boat body.
As shown in fig. 3, 310 may control 308, 306, 302, 311. The centralized control center 310 is a control core of the present application, and not only can adjust the rotation speed of the rotating motor 306, thereby controlling the rotation speed of the momentum wheel 305, but also can adjust the included angle between the disk surface of the momentum wheel 305 and the straight line where the vertical rod 303 is located according to the need. 302 is retractable in a direction perpendicular to 303, controlled by 310; the load mount 302 is retractable in a direction perpendicular to the pole 303 and is also controlled by the central control center 310 to adjust the centre of gravity of the mast to lie on the line of the pole 303.
When the device is used, firstly, the length is adjusted through the centralized control center 310, the gravity center of the whole mast is positioned on the central axis of the mast, then, the motor is controlled to rotate at a certain speed, so that the upright pole 303 is ensured to be always kept in a vertical state when the boat sails, the upright pole 303 and the adjusting oil cylinder 308 are directly connected through the universal joint 307, the vertical state of the upright pole 303 is prevented from being changed along with the movement of the boat body on the premise that the upright pole 303 is not separated, and the centralized control center 310 is used for controlling the pressure of hydraulic oil in the adjusting oil cylinder 308, so that the height of the load 301 is controlled to be basically kept unchanged, and the working performance of the load 301 is improved.
The structure in the device can be combined, divided and deleted according to actual requirements.
Although the present application is disclosed in detail with reference to the accompanying drawings, it is to be understood that such description is merely exemplary and is not intended to limit the application of the present application. The scope of the present application is defined by the appended claims and may include various modifications, alterations, and equivalents to the invention without departing from the scope and spirit of the application.
Claims (6)
1. An adaptive stable carrying device for unmanned boats, characterized in that it comprises an adaptive mast (3),
the adaptive mast (3) comprises: the load (301), the load fixing frame (302), the vertical rod (303), the momentum wheel (305), the rotating motor (306), the universal joint (307), the adjusting oil cylinder (308), the base (309) and the momentum wheel rotating shaft (311), the momentum wheel (305), the rotating motor (306) and the momentum wheel rotating shaft (311) jointly form a momentum wheel device, one end of the momentum wheel rotating shaft (311) is connected with the vertical rod (303), the other end of the momentum wheel rotating shaft is connected with the rotating motor (306), the rotating motor (306) is connected with the momentum wheel (305) through the rotating shaft, the universal joint (307) is divided into an upper part and a lower part, the upper part is a sphere and rigidly fixed with the vertical rod (303), the lower part is a hollow sphere with a top removed, the hollow sphere with the top removed can form sliding fit or rolling fit with the spherical part, the other end of the hollow sphere with the momentum wheel is fixedly connected with a piston rod of the adjusting oil cylinder (308) which is vertically arranged, the adjusting oil cylinder (308) is fixed on the base (309),
the momentum wheel devices are at least three sets, are uniformly distributed on the circumference of the cross section of the vertical rod (303) and are positioned at the lower part of the vertical rod (303),
the base (309) of the adaptive mast (3) is fixed on the unmanned boat (1).
2. An adaptive stability carrying device for unmanned boats according to claim 1, wherein the angle between the momentum wheel rotation axis (311) of the momentum wheel device and the vertical bar (303) is controlled between 30 ° and 150 °.
3. An adaptive stability carrying device for unmanned boats according to claim 1, wherein the adaptive mast (3) further comprises a spindle housing (304), the spindle housing (304) being arranged outside the momentum wheel device, the spindle housing (304) having the shape of a streamlined spindle body.
4. An adaptive stable carrying device for an unmanned ship according to claim 1, wherein the adaptive mast (3) penetrates out of an opening of a roof of an superstructure of the unmanned ship (1) at a universal joint (307), and the opening, the universal joint (307) and a part below the universal joint (307) are closed by using an external flexible watertight material.
5. An adaptive stability carrying device for unmanned boats according to claim 1, wherein the load (301) is fixed to a vertical rod (303) and a load fixing frame (302), and the load fixing frame (302) is connected to the vertical rod (303) at a high position.
6. An adaptive stability mounting for unmanned boats according to claim 5, wherein the load (301) is a radar device, a photovoltaic device, a navigation light, an antenna or a camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211624484.8A CN116279978A (en) | 2022-12-16 | 2022-12-16 | Self-adaptive stable carrying device for unmanned ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211624484.8A CN116279978A (en) | 2022-12-16 | 2022-12-16 | Self-adaptive stable carrying device for unmanned ship |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116279978A true CN116279978A (en) | 2023-06-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211624484.8A Pending CN116279978A (en) | 2022-12-16 | 2022-12-16 | Self-adaptive stable carrying device for unmanned ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116279978A (en) |
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2022
- 2022-12-16 CN CN202211624484.8A patent/CN116279978A/en active Pending
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