GB2581669A

GB2581669A - Seakeeping unmanned boat provided with water-surface self-adaptive stabilizer

Info

Publication number: GB2581669A
Application number: GB2006069.5A
Authority: GB
Inventors: Xu Pengfei; Ding Yanxu; Shen Yalin; Cheng Wenbin; Cheng Hongxia; Luo Jiacheng
Original assignee: Hohai University HHU
Current assignee: Hohai University HHU
Priority date: 2018-10-26
Filing date: 2019-07-15
Publication date: 2020-08-26
Anticipated expiration: 2039-07-15
Also published as: WO2020082822A1; GB202006069D0; GB2581669B; CN109367729A; CN109367729B

Abstract

A seakeeping unmanned boat provided with a water-surface self-adaptive stabilizer. The unmanned boat is of a catamaran type and comprises an upper deck (1), floating bodies (7) separated from the upper deck (1) and the self-adaptive stabilizer; the floating bodies (7) provide buoyancy for the unmanned boat and are provided with propelling devices (8); the floating bodies (7) are two floating bodies that are completely bilaterally symmetric; a tilt angle sensor, an accelerometer and a gyroscope are provided on the upper deck (1) and are used to acquire the rotating angle of the upper deck (1) and an angular acceleration prediction and tendency and to transmit the same to a control system in real time; and the self-adaptive stabilizer comprises a suspension system and a balance control mechanism (6).

Description

SEAKEEPING UNMANNED SHIP WITH WATER SURFACE SELF-ADAPTIVE

STABILIZER

TECHNICAL FIELD

The present invention relates to a seakeeping unmanned ship with a water surface self-adaptive stabilizer, relating to the technical field of marine unmanned systems.

BACKGROUND

An unmanned ship, as a novel marine observation platform, has the advantages of small size, fast speed and shallow draft, can enter a special water area where a conventional oceanographic research ship cannot enter, and has wide application in the fields of offshore environment investigation, pipeline inspection and the like. The unmanned ship inevitably experiences swing motions, including six degrees of freedom of motions such as roll, pitch, yaw, sway, surge, and heave due to the influence of sea waves when navigating in a marine environment, where roll, pitch, and heave have the greatest influence on the ship due to their large amplitude change, and thus affect the navigation safety and the normal operation of the unmanned ship.

A conventional ship stabilizer is provided with a bilge keel, fin stabilizers, a stabilizing tank and the like. However, due to the small size of the unmanned ship, small waves can cause violent swinging of the hull, and moreover, the unmanned ship has limited load and cannot install a large-size stabilizer, and therefore, the aforementioned means is difficult to meet stabilizing requirements of the unmanned ship. At present, some stabilizers are present for the unmanned ship but have the defects: the patent application CN108298031A provides a stabilizer using a Y-shaped suspension frame, which can rotate with waves accordingly to realize stabilization; however, a passive stabilizer cannot control the orientation of a ship, and thus the stabilizing effect is poor when sea conditions are severe; and the patent application CN107323613A provides a stabilizer for an unmanned ship detection apparatus, which can realize active stabilization using a telescopic rod, but is only effective in a pitch direction; moreover, the device has limited load, is only suitable for a single detection apparatus, and does not realize stabilization for the whole ship.

Therefore, there is a need for a stabilizing solution with active control and multi-degree-of-freedom stabilization for an unmanned ship, and the unmanned ship.

SUMMARY

The technical problem to be solved by the present invention is to overcome the defects of the prior art. Provided is a seakeeping unmanned ship with a water surface self-adaptive stabilizer. Aiming at the defects that an existing ship stabilizing technical means cannot be applied to small-size ships, and is poor in stabilizing effects and narrow in application ranges, the self-adaptive stabilizer is adopted, and the self-adaptive stabilizer has active control and multi-degree-of-freedom stabilizing capability by combining active and passive stabilizing means, so that the instability of the unmanned ship during navigation and swinging of the unmanned ship at rest can be effectively reduced, and the navigation safety and the operation stability of the unmanned ship under complex sea conditions can be improved In order to achieve the foregoing objective, the present invention adopts the following technical solution: a seakeeping unmanned ship with a water surface self-adaptive stabilizer, where the unmanned ship adopts the catamaran type and includes an upper deck, floating bodies separated from the upper deck, and a self-adaptive stabilizer; the floating bodies provide buoyancy for the unmanned ship and are provided with propelling devices; the floating bodies are two symmetric floating bodies; a tilt angle sensor, an accelerometer, and a gyroscope are provided on the upper deck and are configured to obtain the rotating angle, the angular acceleration prediction arid trend of the upper deck, and transmit same to a control system in real time; the self-adaptive stabilizer includes a suspension system and balance control mechanisms; the suspension system is configured to connect the upper deck and the floating bodies; and the connecting structures of shock absorbers, piston rods, and first universal hinges can rotate freely, thereby realizing the stability of the upper deck; each balance control mechanism includes a spherical rotating mechanism, the control system, and brackets for connecting the balance control mechanism and the floating body; the spherical rotating mechanism rotates around a horizontal rotating shaft, and two ends of the horizontal rotating shaft are fixed on the brackets; one end of the horizontal rotating shaft is provided with a motor and an encoder capable of detecting the rotating angle and the rotating speed; the rotating angle of the spherical rotating mechanism is reversely adjusted under the control of the control system; the motor is connected to the spherical rotating mechanism through a speed reducer, spherical hinges connected to the suspension system are provided on the spherical surface of the spherical rotating mechanism; the control system receives an angle 0 measured by the tilt angle sensor and the angular acceleration prediction and trend measured by the accelerometer and the gyroscope on the upper deck, thereby determining the state of the unmanned ship; if the rotating angle 0 is less than a given tilt angle, the control system determines that the unmanned ship is basically stable and makes no response; if the 0 is greater than the given tilt angle, the system determines that the unmanned ship is in an unstable state and needs to be adjusted, an tilt angle of the next moment is predicted by adopting a Kalman filtering algorithm based on a HD feedback control method, and the current tilt angle 0 plus the current angular velocity co multiplied by time t is equal to the tilt angle of the next moment, so as to control a motor driving module to reversely adjust the motor, and make responses in advance to realize active stabilization, thereby reducing hull swinging caused by waves.

According to the seakeeping unmanned ship with a water surface self-adaptive stabilizer, the suspension system includes a front suspension mechanism and a rear suspension mechanism; the front suspension mechanism includes a suspension frame, front shock absorbers, and the piston rods; the suspension frame is an I-shaped integral structure with a wide upper part and a narrow lower part; an upper horizontal bracket of the suspension frame is provided with a plurality of cylinders, and an in-cylinder spring is fixed in each cylinder; the in-cylinder spring is connected to the upper deck of the unmanned ship, so that the stability of the upper deck can be realized in the tilted state of the suspension frame; two ends of the upper horizontal bracket of the -3 -suspension frame each are provided with a front shock absorber; the front shock absorber can be retracted or stretched, restoring force is provided by a spring and a hydraulic device in the front shock absorber, and the front shock absorber returns to the original state after stretching and retracting, the other end of each of the two front shock absorbers is connected to a piston rod through a connecting rod, respectively; the upper ends of the two piston rods are hingedly connected to two ends of a lower horizontal bracket of the suspension frame through the first universal hinges, respectively, thereby realizing omni-directional rotation; the lower ends of the two piston rods are hingedly connected to the balance control mechanisms on the left and right floating bodies through second universal hinges, respectively, thereby realizing omni-directional rotation; the piston rods can be freely stretched or retracted in the maximum stroke range, and the change in the lengths of the piston rods is realized According to the seakeeping unmanned ship with a water surface self-adaptive stabilizer, the rear suspension mechanism includes I-shaped connecting rods which cannot be stretched or retracted and rear shock absorbers; one end of each I-shaped connecting rod is hingedly connected to the upper deck, and the other end is hingedly connected to the balance control mechanism on the floating body and rotates around a hinge point of the upper deck; the lower ends of the rear shock absorbers are connected to cross rods in the 1-shaped connecting rods, and the upper ends are hingedly connected to the upper deck, thereby limiting the rotating range of the connecting rods.

According to the seakeeping unmanned ship with a water surface self-adaptive stabilizer, there are four spherical rotating mechanisms which are provided at the front and rear positions of the left and right floating bodies, respectively; second universal hinges connected to the front suspension mechanism are provided on the spherical surfaces of the two spherical rotating mechanisms at the front parts of the left and right floating bodies, and the second universal hinges are configured to connect the two piston rods in the front suspension mechanism, respectively; spherical hinges connected to the rear suspension mechanism are provided on the spherical surfaces of the two spherical rotating mechanisms at the rear parts of the left and right floating bodies, and the spherical hinges are configured to connect two I-shaped connecting rods in the rear suspension mechanism, respectively.

According to the seakeeping unmanned ship with a water surface self-adaptive stabilizer, bows of the floating bodies are set as bulbous bows, so that ship generated waves of a ship in the moving process can be reduced.

According to the seakeeping unmanned ship with a water surface self-adaptive stabilizer, the upper deck is also provided with operating equipment and a communication antenna, and the operating equipment includes a winch provided below the communication antenna and an A-shaped frame used in cooperation with the winch and fixedly provided on the upper deck.

According to the seakeeping unmanned ship with a water surface self-adaptive stabilizer, the propelling devices are provided at sterns of the floating bodies.

According to the seakeeping unmanned ship with a water surface self-adaptive stabilizer, the material of the suspension frame is a stainless steel alloy square tube.

According to the seakeeping unmanned ship with a water surface self-adaptive stabilizer, the piston rods are free-type gas springs According to the seakeeping unmanned ship with a water surface self-adaptive stabilizer, there are four cylinders.

The present invention achi eves the following beneficial effects: (1) the present invention overcomes the defects that a conventional stabilizing means cannot be applied to small-size ships and is poor in stabilizing effects, a stabilization mechanical stnicture taking the suspension system as a core is adopted, and is light in weight and small in size, make rapid response to small and medium-scale waves, has a good stabilizing effect, and thus is very suitable for small and medium-size ships; (2) a self-adaptive stabilizer combining active and passive stabilizing means is adopted in the present invention; the upper deck is separated from the floating bodies, and the stability of the upper deck is improved by the suspension system; the control system can predict the orientation of the unmanned ship based on a HD control method, and makes responses in advance to realize active stabilization, thereby solving the problems that a single stabilizing means has poor stabilizing effects and is unreliable, and effectively reducing instability of the unmanned ship during navigation and swinging of the unmanned ship at rest; (3) the multi-degree-of-freedom stabilization is realized through a set of stabilizers in the present invention, the stabilizing effect is obvious, and the navigation safety and the stability of the unmanned ship under complex sea conditions are improved; and (4) the stabilizer generally adopts a metal pipe and a hydraulic mechanism, and thus is simple and reliable, and has large deadweight, thereby greatly improving the functionality of the unmanned ship.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of an overall structure of the presentinvention; FIG. 2 is a schematic structural diagram of a front suspension mechanism and a balance control mechanism 6; FIG. 3 is a schematic structural diagram of a rear suspension mechanism and the balance control mechanism 6; FIG 4 is a schematic structural diagram of brackets 65 at the rear of a floating body and a spherical rotating mechanism 61, FIG 5 is a schematic diagram of a stabilization operation of an unmanned ship on a pitch scale; FIG. 6 is a schematic diagram of a stabilization operation of the unmanned ship on roll and heave scales, and FIG. 7 is a block diagram of a PID algorithm of a control system.

The meanings of the reference numerals in the drawings are as follows: L Upper deck; 2. Communication antenna; 3. Operating equipment; 31. A-shaped frame; 32. Winch; 4. Front suspension mechanism; 41. Suspension frame; 42. Front shock absorber; 43. 1n-cylinder spring; 44. Piston rod; 45. First universal hinge; 5. Rear suspension mechanism; 51. I-shaped connecting rod; 52. Rear shock absorber; 6. Balance control mechanism; 61. Spherical rotating mechanism; 62. Second universal hinge; 63. Motor, 64. Speed reducer; 65. Bracket; 66. Spherical hinge; 7. Floating body; 8. Propelling device; 9. Bulbous bow.

DETAILED DESCRIPTION

The present invention is further descried below with reference to the accompanying drawings. The following embodiments are merely used for describing the technical solution of the present invention more cleady, but are not intended to limit the scope of protection of the present invention.

Referring to FIGs. 1-6, the seakeeping unmanned ship in the present invention adopts the catamaran type and includes an upper deck 1, floating bodies 7 separated from the upper deck 1, and a self-adaptive stabilizer. The floating bodies 7 provide buoyancy for the unmanned ship and are provided with propelling devices 8, and the floating bodies 7 are two symmetric floating bodies 7. A tilt angle sensor, an accelerometer, and a gyroscope are provided on the upper deck 1 and are configured to obtain the rotating angle, the angular acceleration prediction and trend of the upper deck 1, and transmit same to a control system in real time. The self-adaptive stabilizer includes a suspension system and balance control mechanisms 6. The suspension system is configured to connect the upper deck 1 and the floating bodies 7. The connecting structures of shock absorbers, piston rods 44, and first universal hinges 45 can rotate freely, thereby realizing the stability of the upper deck 1. Each balance control mechanism 6 includes a spherical rotating mechanism 61, the control system, and brackets 65 for connecting the balance control mechanism 6 and the floating body 7. The spherical rotating mechanism 61 rotates around a horizontal rotating shaft, and two ends of the horizontal rotating shaft are fixed on the brackets 65. One end of the horizontal rotating shaft is provided with a motor 63 and an encoder capable of detecting the rotating angle and the rotating speed. The rotating angle of the spherical rotating mechanism 61 is reversely adjusted under the control of the control system. The motor 63 is connected to the spherical rotating mechanism 61 through a speed reducer 64. Spherical hinges 66 connected to the suspension system are provided on the spherical surface of the spherical rotating mechanism 61. The brackets 65 are triangular, and the bottoms of the brackets 65 are fixed to the floating body 7. Two ends of the balance control mechanism 6 are fixed to the brackets 65. The brackets 65 support the balance control mechanism 6.

The control system receives an angle 0 measured by the tilt angle sensor and the angular acceleration prediction and trend measured by the accelerometer and the gyroscope on the upper deck 1, thereby determining the state of the unmanned ship. If the rotating angle 0 is less than a given tilt angle, the control system determines that the unmanned ship is basically stable and makes no response. If the 0 is greater than the given tilt angle, the system determines that the unmanned ship is in an unstable state and needs to be adjusted, a tilt angle of the next moment is predicted by adopting a Kalman filtering algorithm based on a PID feedback control method, and the current tilt angle 0 plus the current angular velocity co multiplied by time t is equal to the tilt angle of the next moment, so as to control a motor 63 driving module to reversely adjust the motor 63, and make responses in advance to realize active stabilization, thereby reducing hull swinging caused by waves.

The suspension system includes a front suspension mechanism 4 and a rear suspension mechanism 5. The front suspension mechanism 4 includes a suspension frame 41, front shock absorbers 42, and the piston rods 44. The suspension frame 41 is an I-shaped integral structure with a wide upper part and a narrow lower part. An upper horizontal bracket of the suspension frame 41 is provided with a plurality of cylinders, and an in-cylinder spring 43 is fixed in each cylinder. The in-cylinder spring 43 is connected to the upper deck 1 of the unmanned ship, so that the stability of the upper deck 1 can be realized in the tilted state of the suspension frame 41. -s -

Two ends of the upper horizontal bracket of the suspension frame 41 are provided with a front shock absorber 42, respectively. The front shock absorber 42 can be retracted or stretched, restoring force is provided by a spring and a hydraulic device in the front shock absorber 42, and the front shock absorber returns to the original state after stretching and retracting; the other end of each of the two front shock absorbers 42 is connected to a piston rod 44 through a connecting rod, respectively. The upper ends of the two piston rods 44 are hingedly connected to two ends of a lower horizontal bracket of the suspension frame 41 through the first universal hinges 45, respectively, thereby realizing omni-directional rotation. The lower ends of the two piston rods 44 are hingedly connected to the balance control mechanisms 6 on the left and right floating bodies through second universal hinges 62, respectively, thereby realizing omni-directional rotation. The piston rods 44 can be freely stretched or retracted in the maximum stroke range, and the change in the lengths of the piston rods 44 is realized.

The rear suspension mechanism 5 includes I-shaped connecting rods 51 which cannot be stretched or retracted and rear shock absorbers 52. One end of each I-shaped connecting rod 51 is hingedly connected to the upper deck 1, and the other end is hingedly connected to the balance control mechanism 6 on the floating body 7 and rotates around a hinge point of the upper deck 1. The lower ends of the rear shock absorbers 52 are connected to cross rods in the 1-shaped connecting rods 51, and the upper ends are hingedly connected to the upper deck 1, thereby limiting the rotating range of the connecting rods.

There are four spherical rotating mechanisms 61 which are provided at the front and rear positions of the left and right floating bodies, respectively. Second universal hinges 62 connected to the front suspension mechanism 4 are provided on the spherical surfaces of the two spherical rotating mechanisms 61 at the front parts of the left and right floating bodies, and the second universal hinges 62 are configured to connect two piston rods 44 in the front suspension mechanism 4, respectively. Spherical hinges 66 connected to the rear suspension mechanism 5 are provided on the spherical surfaces of two spherical rotating mechanisms 61 at the rear parts of the left and right floating bodies, and the spherical hinges 66 are configured to connect two I-shaped connecting rods 51 in the rear suspension mechanism 5, respectively. -9 -

It should be noted that the second universal hinges 62 are provided on the spherical surfaces of the two spherical rotating mechanisms 61 at the front parts of the left and right floating bodies, so as to realize three-dimensional unconstrained rotatory movement of the piston rods 44 around the universal hinges (the first universal hinge 45 and the second universal hinge 62) at the two ends thereof The spherical hinges 66 are provided on the spherical surfaces of the two spherical rotating mechanisms 61 at the rear parts of the left and right floating bodies, and can only realize planar rotary movement of the I-shaped connecting rods 51 in the rear suspension mechanism 5 around the spherical hinges 66 in a cross section (a plane shown in FIG. 3).

Further, bows of the floating bodies 7 are set as bulbous bows 9, so that ship generated waves of a ship in the moving process can be reduced.

Further, the upper deck 1 is also provided with operating equipment 3 and a communication antenna 2, and the operating equipment 3 includes a winch 32 provided below the communication antenna 2 and an A-shaped frame 31 used in cooperation with the winch 32 and fixedly provided on the upper deck 1.

Furthermore, the propelling devices 8 are provided at sterns of the floating bodies 7.

Preferably, the material of the suspension frame 41 is a stainless steel alloy square tube, the piston rods 44 are free-type gas springs, and there are four cylinders.

A stabilizing method for different degrees of freedom of the unmanned ship according to the present invention is as follows: pitch: waves travel along a longitudinal direction of a ship, resulting in different heights of the bow and stern of the ship, and thus forming a pitch. According to the seakeeping unmanned ship, the upper deck 1 is separated from the floating bodies 7, and the floating bodies 7 produce a pitch upon encountering waves. The relative stability of the upper deck 1 is ensured through the telescopic movement of the front suspension mechanism 4 and the -to -rear suspension mechanism 5. The balance control mechanism 6 enables the front suspension mechanism 4 and the rear suspension mechanism 5 to rotate with respect to the floating bodies so as to ensure that the upper deck 1 does not tilt. By means of passive adjusting devices such as the shock absorbers in the two suspension mechanisms and active adjusting devices in the balance control mechanisms 6, the floating bodies 7 are quickly restored to the original state, thereby realizing the purpose of stabilization on a pitch scale.

Roll and heave: waves come from a transverse direction of the ship, resulting in the hull tilted, and thus seriously influencing the navigation safety. The seakeeping unmanned ship adopts the catamaran type, and the stability moment is increased. The left and right floating bodies rotate with respect to the upper deck 1 through the two suspension mechanisms to produce independent heave motions. The upper deck 1 has a small magnitude of motion due to the damping action of the suspension system, thereby realizing the purpose of stabilization in roll and heave degrees of freedom.

The descriptions above are merely preferred embodiments of the present invention. It should be noted that for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as falling within the scope of protection of the present invention.

Claims

CLAIMS1. A seakeeping unmanned ship with a water surface self-adaptive stabilizer, wherein the unmanned ship adopts the catamaran type and comprises an upper deck, floating bodies separated from the upper deck, and a self-adaptive stabilizer; the floating bodies provide buoyancy for the unmanned ship and are provided with propelling devices; the floating bodies are two symmetric floating bodies; a tilt angle sensor, an accelerometer, and a gyroscope are provided on the upper deck and are configured to obtain the rotating angle, the angular acceleration prediction and trend of the upper deck, and transmit same to a control system in real time; the self-adaptive stabilizer comprises a suspension system and balance control mechanisms; the suspension system is configured to connect the upper deck and the floating bodies, and the connecting structures of shock absorbers, piston rods, and first universal hinges can rotate freely, thereby realizing the stability of the upper deck; each balance control mechanism comprises a spherical rotating mechanism, the control system, and brackets for connecting the balance control mechanism and the floating body; the spherical rotating mechanism rotates around a horizontal rotating shaft, and two ends of the horizontal rotating shaft are fixed on the brackets; one end of the horizontal rotating shaft is provided with a motor and an encoder capable of detecting the rotating angle and the rotating speed; the rotating angle of the spherical rotating mechanism is reversely adjusted under the control of the control system; the motor is connected to the spherical rotating mechanism through a speed reducer; spherical hinges connected to the suspension system are provided on the spherical surface of the spherical rotating mechanism; the control system receives an angle 0 measured by the tilt angle sensor and the angular acceleration prediction and trend measured by the accelerometer and the gyroscope on the upper deck, thereby determining the state of the unmanned ship; if the rotating angle 0 is less than a given tilt angle, the control system determines that the unmanned ship is basically stable and makes no response; if the 0 is greater than the given tilt angle, the system determines that the unmanned ship is in an unstable state and needs to be adjusted, predicts a tile angle of the next moment by adopting a Kalman filtering algorithm based on a PD feedback control method, and the current tilt angle 0 plus the current angular velocity of -U -multiplied by time t is equal to the tilt angle of the next moment, so as to control a motor driving module to reversely adjust the motor, and make responses in advance to realize active stabilization, thereby reducing hull swinging caused by waves.
2. The seakeeping unmanned ship with a water surface self-adaptive stabilizer according to claim 1, wherein the suspension system comprises a front suspension mechanism and a rear suspension mechanism; the front suspension mechanism comprises a suspension frame, front shock absorbers, and the piston rods, the suspension frame is an I-shaped integral structure with a wide upper part and a narrow lower part; an upper horizontal bracket of the suspension frame is provided with a plurality of cylinders, and an in-cylinder spring is fixed in each cylinder; the in-cylinder spring is connected to the upper deck of the unmanned ship, so that the stability of the upper deck can be realized in the tilted state of the suspension frame, two ends of the upper horizontal bracket of the suspension frame each are provided with a front shock absorber; the front shock absorber can be retracted or stretched, restoring force is provided by a spring and a hydraulic device in the front shock absorber, and the front shock absorber returns to the original state after stretching and retracting; the other end of each of the two front shock absorbers is connected to a piston rod through a connecting rod, respectively; the upper ends of the two piston rods are hingedly connected to two ends of a lower horizontal bracket of the suspension frame through the first universal hinges, respectively, thereby realizing omni-directional rotation; the lower ends of the two piston rods are hingedly connected to the balance control mechanisms on the left and right floating bodies through second universal hinges, respectively, thereby realizing omni-directional rotation; the piston rods can be freely stretched or retracted in the maximum stroke range, and the change in the lengths of the piston rods is realized.
3. The seakeeping unmanned ship with a water surface self-adaptive stabilizer according to claim 2, wherein the rear suspension mechanism comprises I-shaped connecting rods which cannot be stretched or retracted and rear shock absorbers, one end of each I-shaped connecting rod is hingedly connected to the upper deck, and the other end is hingedly connected to the balance control mechanism on the floating body and rotates around a hinge point of the upper deck; the lower ends of the rear shock absorbers are connected to cross rods in the I-shaped -13 -connecting rods, and the upper ends are h ngedly connected to the upper deck, thereby limiting the rotating range of the connecting rods.
4. The seakeeping unmanned ship with a water surface self-adaptive stabilizer according to claim 3, wherein there are four spherical rotating mechanisms which are provided at the front and rear positions of the left and right floating bodies, respectively; second universal hinges connected to the front suspension mechanism are provided on the spherical surfaces of the two spherical rotating mechanisms at the front parts of the left and right floating bodies, and the second universal hinges are configured to connect the two piston rods in the front suspension mechanism, respectively; spherical hinges connected to the rear suspension mechanism are provided on the spherical surfaces of the two spherical rotating mechanisms at the rear parts of the left and right floating bodies, and the spherical hinges are configured to connect two I-shaped connecting rods in the rear suspension mechanism, respectively.
5. The seakeeping unmanned ship with a water surface self-adaptive stabilizer according to claim 1, wherein bows of the floating bodies are set as bulbous bows, so that ship generated waves of a ship in the moving process can be reduced.
6. The seakeeping unmanned ship with a water surface self-adaptive stabilizer according to claim 1, wherein the upper deck is also provided with operating equipment and a communication antenna, and the operating equipment comprises a winch provided below the communication antenna and an A-shaped frame used in cooperation with the winch and fixedly provided on the upper deck.
7. The seakeeping unmanned ship with a water surface self-adaptive stabilizer according to claim 1, wherein the propelling devices are provided at sterns of the floating bodies 8. The seakeeping unmanned ship with a water surface self-adaptive stabilizer according to claim 2, wherein the material of the suspension frame is a stainless steel alloy square tube.
-N -
9. The seakeeping unmanned ship with a water surface self-adaptive stabilizer according to claim 2, wherein the piston rods are free-type gas springs.
10. The seakeeping unmanned ship with a water surface self-adaptive stabilizer according to claim 2, wherein there are four cylinders.