WO2018214489A1 - 一种适用于恶劣海况的自扶正无人船及其工作方式 - Google Patents

一种适用于恶劣海况的自扶正无人船及其工作方式 Download PDF

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Publication number
WO2018214489A1
WO2018214489A1 PCT/CN2017/117160 CN2017117160W WO2018214489A1 WO 2018214489 A1 WO2018214489 A1 WO 2018214489A1 CN 2017117160 W CN2017117160 W CN 2017117160W WO 2018214489 A1 WO2018214489 A1 WO 2018214489A1
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Prior art keywords
intake
self
righting
cover
pipe
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English (en)
French (fr)
Inventor
管官
叶超
林焰
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Dalian University of Technology
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Dalian University of Technology
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Publication of WO2018214489A1 publication Critical patent/WO2018214489A1/zh
Priority to US16/595,530 priority Critical patent/US11440630B2/en
Anticipated expiration legal-status Critical
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
    • B63B43/04—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving stability
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B43/02—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking
    • B63B43/10—Improving safety of vessels, e.g. damage control, not otherwise provided for reducing risk of capsizing or sinking by improving buoyancy
    • B63B43/16—Temporary equipment for stopping leaks, e.g. collision mats
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/32—Arrangements of propulsion power-unit exhaust uptakes; Funnels peculiar to vessels
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/58—Turn-sensitive devices without moving masses
    • G01C19/60—Electronic or nuclear magnetic resonance gyrometers
    • 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
    • B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B43/00—Improving safety of vessels, e.g. damage control, not otherwise provided for
    • B63B2043/006—Methods or installations specially adapted for detecting ingress of ambient water, e.g. leak detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means

Definitions

  • the invention relates to a self-righting unmanned ship suitable for severe sea conditions and a self-righting working mode thereof, and belongs to the field of unmanned ship equipment and technology.
  • the unmanned ship Compared with the small boat that is manned, the unmanned ship has weak ability to detect and react to wind waves under automatic control conditions, so its possibility of encountering extreme sea conditions and overturning ships is greatly increased.
  • the unmanned ship crosses more than a certain angle or overturns the ship, it may cause: the crankshaft of the main engine cannot contact the oil and fail; the water from the propeller causes a sudden increase in the speed and produces a "speeding" phenomenon; while the power is lost, the final shipwreck cannot be self-rightened. .
  • the present invention provides a self-righting unmanned ship suitable for a bad sea state and a self-righting working mode thereof, the unmanned ship
  • the watertight deck is used to make the hull self-righting function, which avoids the possibility of the unmanned ship itself turning over and does not need to be equipped with additional self-righting equipment.
  • its internal structure and equipment enable the unmanned ship to exceed the angle of heel at a certain angle. Automatically protects the propulsion system and effectively stops the operation, and the mechanism is simple and easy to operate; the unmanned ship can ensure that the unmanned ship can effectively work continuously when sailing at high speed in the deep sea. It is a reliable, economical and efficient unmanned ship. .
  • a self-righting unmanned ship suitable for harsh sea conditions which comprises a self-righting deck, equipment and pipeline masts, an air intake system and a smoke exhaust system, and also includes a main hull, a propeller, a radar And the radome and the host system;
  • the self-righting deck is a curved shape of the rear ridge of the streamline, located above the main hull and watertightly connected with the main hull;
  • the device and the pipeline mast are oblique rear shell structures, and Self-righting deck watertight connection, several antennas are arranged on the outer top, radar seat and mushroom-shaped air intake cover are arranged on the outer front part, hinged smoke exhaust cover is arranged on the outer rear part, and the air intake system and the smoke exhaust system are staggered inside;
  • the gas system is arranged inside the equipment and the pipeline mast with an intake cover connection spring, an intake solenoid built-in electromagnet, a flared intake pipeline, an intake mechanism, an intake pipeline waterproof ring and an intake mechanism
  • the metal piece of the air intake mechanism is adhered to the metal piece of the air intake mechanism, and the metal piece of the air intake mechanism is separated from the metal piece of the air intake mechanism of the built-in electromagnet of the intake pipe through the air inlet cover, and is connected with one end of the air intake mechanism.
  • the other end of the gas mechanism is directly connected with the mushroom-shaped air inlet cover;
  • the smoke exhaust system is arranged inside the equipment and the pipeline mast with a smoke exhaust cover connecting spring, an external electromagnet, a smoke exhausting pipe, a smoke exhausting mechanism and a smoke exhausting device.
  • the metal plate of the exhaust pipe is arranged to extend to the main exhaust pipe and is connected to the main exhaust pipe through a flange; the external electromagnet is fixedly suspended from the rear of the device and the inner side of the pipe mast, and One piece of smoke exhaust mechanism metal piece is attached, and the other piece of smoke exhaust mechanism metal piece is separated from the metal part of the smoke exhaust mechanism which is attached to the external electromagnet through the smoke exhaust cover connection spring, and is connected with one end of the smoke exhaust mechanism; the smoke exhaust mechanism The other end of the hinged lid exhaust is directly connected, said hinge is bonded within the chain cover exhaust pipe to exhaust waterproof ring.
  • the host of the host system sits on the base of the mainframe and is firmly connected, and the mainframe is connected to the propeller through a shaft; the main base is integrally connected with the internal structure of the main hull, and a digital gyroscope is arranged thereon.
  • the digital gyroscope When the unmanned ship is tilted to a certain angle, the digital gyroscope sends a signal, the main engine stops running, the electromagnet and the external electromagnet are built in the intake pipe, and the air intake system and the exhaust system are isolated from the external environment.
  • the unmanned ship is completely watertight.
  • the unmanned ship gradually self-righting, the digital gyroscope sends out a signal again, the electromagnet and the external electromagnet in the intake pipeline are powered off, the air intake system and the exhaust system are connected with the external environment, and the main engine starts to run;
  • the built-in electromagnet of the intake line is energized and attracts the metal piece of the intake mechanism, compresses the intake cover to connect the spring, and then draws the intake mechanism, so that the mushroom-shaped intake cover is closed;
  • the built-in electromagnet of the intake pipeline is powered off, and the intake cover connecting spring returns to a normal state, and the mushroom-shaped air intake cover is opened by the air intake mechanism;
  • the external electromagnet is energized and attracts the metal piece of the exhaust mechanism, the compressed exhaust cover is connected to the spring, and then the exhaust mechanism is pulled, so that the hinge type exhaust cover is closed;
  • the external electromagnet is powered off, and the exhaust cap connecting spring returns to a normal state, and the hinged exhaust cap is opened and rotated by the three-stage hinge of the exhaust mechanism.
  • the utility model has the beneficial effects that the self-righting unmanned ship suitable for the bad sea condition can realize the self-righting function, and mainly includes the main hull, the self-supporting deck, the equipment and the pipeline mast, the propeller, the radar and the radome, and the intake air.
  • the unmanned ship has a simple structure and consists of a closed watertight compartment consisting of a main hull and a self-righting deck, which is easy to manufacture and does not require additional self-righting equipment.
  • the equipment and pipeline mast fully consider the need of the radar and radome to receive signals and the function of the main system to automatically switch the intake system and the exhaust system during the self-righting process, making the mechanism easy to operate and implement.
  • the outlet design of the intake system and the exhaust system is designed with different structures in mind for different working modes of intake and exhaust to ensure intake efficiency, exhaust efficiency and host waterproofing.
  • the coordinated work flow of the air intake system, smoke exhaust system and main engine system ensures that the operation and stop of the main engine will not bring additional danger to the unmanned ship.
  • the special structure and mechanism design of the unmanned ship guarantees that it can sail under the harsh sea conditions compared with the traditional unmanned ship, and it is economical, efficient, simple and easy to operate and has strong engineering application.
  • Figure 1 is a first isometric view of a self-righting unmanned boat.
  • Figure 2 is a second isometric view of a self-righting unmanned boat.
  • Figure 3 is a front view of the self-righting unmanned boat.
  • Figure 4 is a right side view of the self-righting unmanned boat.
  • Figure 5 is a left side view of the self-righting unmanned boat.
  • Figure 6 is a cross-sectional view taken along line A-A of Figure 4.
  • Figure 7 is a cross-sectional view taken along line B-B of Figure 5;
  • Figure 8 is a first state of a partially enlarged view of Figure 6.
  • Figure 9 is a second state of a partially enlarged view of Figure 6.
  • Figure 10 is a first state of a partially enlarged view of Figure 7.
  • Figure 11 is a second state of a partially enlarged view of Figure 7.
  • Figure 12 is a schematic diagram of the self-righting principle of the self-righting unmanned ship.
  • Figure 13 is a flow chart of the self-righting function of the self-righting unmanned ship.
  • Figures 1 and 2 show an isometric view of a self-righting unmanned boat suitable for severe sea conditions.
  • the unmanned ship mainly includes a main hull 1, a self-righting deck 2, equipment and pipeline masts 3, a propeller 4, a radar and a radome 5, an air intake system 6, a smoke exhaust system 7, and a host system 8 eight parts.
  • the main hull 1 is a deep V-shaped line to reduce the navigational resistance, and is connected with the self-righting deck 2 and watertight;
  • the self-righting deck 2 is a streamlined structure with a middle and rear ridge, and the bulging part ensures the realization of the self-righting and the host
  • the equipment and pipeline mast 3 is a diagonally rear shell structure containing the main part of the intake system 6 and the exhaust system 7, externally connected with the antenna 3a and the radar seat 3b;
  • the propeller 4 is located behind the stern of the main hull It is connected to the main body 8a through the main hull 1 through the shaft; the radar and the radome 5 sit on the radar seat 3b and are connected to the radar seat 3b.
  • Figures 3, 4 and 5 show a front view, a right side view and a left side view of a self-righting unmanned boat suitable for use in severe sea conditions, further illustrating the spatial distribution of the various parts of Figures 1 and 2.
  • Figure 6 shows a cross-sectional view of Figure 4, the main system 8 is distributed in the middle and rear of the main hull 1 near the stern, the host 8a sits on the main frame 8f and is connected to the main hull 1 through the main frame 8f, the main intake pipe 8b is located below the nozzle of the flared intake line 6d with a certain interval to ensure that water droplets do not flow from the main unit intake pipe 8b when the water is accidentally entered, and the digital gyroscope 8e is connected to the main frame 8f for monitoring the unmanned ship.
  • the heel angle is given and the signal is given; the intake system 6 is primarily located inside the equipment and the pipe mast 3.
  • Figure 7 shows a cross-sectional view of Figure 5, the main exhaust pipe 8c extends from the side of the mainframe and is directly connected to the exhaust pipe 7d through the flange 8d; the exhaust system 7 is mainly located inside the equipment and the pipe mast 3 .
  • Figures 8 and 9 show two states of a partially enlarged view of Figure 6, corresponding to the closed and open states of the mushroom-shaped air intake cover 6a, respectively, when the digital gyroscope 8e signals that the electromagnets are built in the intake line (mutual lines).
  • the motor 6c is energized and sucks the intake mechanism metal piece 6g, thereby compressing the intake cover connecting spring 6b, and pulling the intake mechanism 6e so that the mushroom-shaped intake cover 6a is closed.
  • the mushroom-shaped air intake cover 6a is provided with an intake pipe waterproof ring 6f to prevent leakage of water when the mushroom-shaped air intake cover 6a is closed.
  • Figures 10 and 11 show two states of a partially enlarged view of Figure 7, respectively corresponding to the closed and open states of the hinge type smoke evacuation cover 7a, when the digital gyroscope 8e signals the external electromagnet (mutual linear motor) 7c energizes and attracts the smoke-dissipating mechanism metal piece 7f, thereby compressing the smoke-discharge cover connecting spring 7b, and pulling the smoke-discharging mechanism 7e so that the hinge-type smoke-discharging cover 7a is closed.
  • the hinge type smoke exhaust cover 7a is provided with a smoke exhaust pipe waterproof ring 6f, which prevents the water leakage when the hinge type smoke exhaust cover 7a is closed.
  • Figure 12 shows a schematic diagram of the self-righting principle of a self-righting unmanned ship suitable for severe sea conditions.
  • the buoyancy F B is balanced with the gravity F G ; when the unmanned ship crosses in any direction pour 0 ° - 90 °, the contrast produced mainly by a main hull buoyancy F B F G generated by the gravity torque and direction of unmanned vessel heel, heel continues to hinder unmanned boat; when the unmanned boat in any direction
  • the heel is 90°-180°
  • the buoyancy F B generated by the self-defense deck 2 and the equipment and the pipe mast 3 and the force generated by the gravity F G are opposite to the direction of the unmanned ship's heel, which hinders the unmanned ship from continuing to cross. Pour and self-righteous.
  • Figure 13 shows a flow chart of the self-righting function of a self-righting unmanned boat suitable for severe sea conditions.
  • This self-righting unmanned boat for self-righting functions, including main hull, self-supporting deck, equipment and pipeline masts, propellers, radar and radome, intake system, exhaust system and main engine Eight parts of the system.
  • the unmanned ship has a simple structure and consists of a closed watertight compartment consisting of a main hull and a self-righting deck, which is easy to manufacture and does not require additional self-righting equipment.
  • the equipment and pipeline mast fully consider the need of the radar and radome to receive signals and the function of the main system to automatically switch the intake system and the exhaust system during the self-righting process, making the mechanism easy to operate and implement.
  • the outlet design of the intake system and the exhaust system is designed with different structures in mind for different working modes of intake and exhaust to ensure intake efficiency, exhaust efficiency and host waterproofing.
  • the coordinated work flow of the air intake system, smoke exhaust system and main engine system ensures that the operation and stop of the main engine will not bring additional danger to the unmanned ship.
  • the special structure and mechanism design of the unmanned ship guarantees that it can sail under the harsh sea conditions compared with the traditional unmanned ship, and it is economical, efficient, simple and easy to operate and has strong engineering application.

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Exhaust Silencers (AREA)
  • Cleaning Or Clearing Of The Surface Of Open Water (AREA)

Abstract

一种适用于恶劣海况的自扶正无人船及其自扶正工作方式，属于无人船设备及技术领域。该无人船包括主船体、自扶正甲板、设备及管路桅杆、螺旋桨、雷达、进排气系统和主机系统。通过对水密甲板的设计，使得无人船船体具备自扶正功能，避免了无人船本身翻船的可能性，且不需要额外配备自扶正设备。同时，无人船内部的结构和自扶正工作方式使得船体能在横倾角超过一定角度的时候自动关闭主机、进排气系统，进而使全船水密。当船体的横倾角恢复较小角度时自动打开进排气系统和主机，机构易于操作且能实现保护推进系统的目的。本无人船保证了在深远海高速航行时能有效地持续工作，是一种可靠、经济、高效的无人船。

Description

一种适用于恶劣海况的自扶正无人船及其工作方式 技术领域
本发明涉及一种适用于恶劣海况的自扶正无人船及其自扶正工作方式，属于无人船设备及技术领域。
 背景技术
随着通导系统和控制系统技术的不断完善，以及对海底勘探和海上侦查的需求与日俱增，海上无人船的相关技术逐渐发展了起来。海上无人船可以使得海上侦查和海上勘探功能在远距离遥控或自动控制的条件下得以实现，有效地减少了人力成本并降低了人员操船时带来的风险。为了增加无人船在海上的操纵性，船体尺度相较于常规中高速艇而言很小。尽管无人船有效规避海上障碍物的能力得到提升，但是其抵抗风浪时的稳性却大大降低。随着无人船的侦查和勘探海域向深远海发展，其遇见极限海况的可能性大大增加。
 技术问题
相对于有人操船的小艇，无人船在自动控制条件下对风浪的侦查和反应能力较弱，故其遭遇极限海况并翻船的可能性也大大增加。当无人船横倾超过一定角度或翻船时，将可能导致：主机曲拐轴无法接触滑油而失效；螺旋桨出水导致转速突然增加并产生“飞车”现象；丧失动力的同时无法自扶正最终沉船。
 技术解决方案
为了克服现有无人船实现自扶正功能时设备复杂且对推进系统保护不足等问题，本发明提供了一种适用于恶劣海况的自扶正无人船及其自扶正工作方式，该无人船采用水密甲板，使船体具备自扶正功能，避免了无人船本身翻船的可能性，且不需要额外配备自扶正设备；同时，其内部的结构和设备使无人船能在横倾角超过一定角度的时候自动保护推进系统并有效停止运转，且机构简单易于操作；该无人船能保证无人船在深远海高速航行时能有效地持续工作，是一种可靠、经济、高效的无人船。
本发明采用的技术方案是：一种适用于恶劣海况的自扶正无人船，它包括自扶正甲板、设备及管路桅杆、进气系统和排烟系统，它还包括主船体、螺旋桨、雷达及雷达罩和主机系统；所述自扶正甲板为流线中后部隆起的曲面形状，位于主船体上方并与主船体水密连接；所述设备及管路桅杆为斜向后壳式结构，与自扶正甲板水密连接，外侧顶部布置数根天线，外侧前部布置雷达座和蘑菇形进气盖，外侧后部布置铰链式排烟盖，内部交错布置进气系统和排烟系统；所述进气系统在设备及管路桅杆内部布置有进气盖连接弹簧、进气管路内置电磁铁、喇叭形进气管路、进气机构、进气管路防水圈和进气机构金属片，所述进气管路防水圈内贴合于蘑菇形进气盖；所述喇叭形进气管路为上窄下宽的形状，由蘑菇形进气盖延伸至主机进气管上方并保持适当间隙；所述进气盖连接弹簧，进气管路内置电磁铁，进气机构和进气机构金属片都布置于喇叭形进气管路内部，其中进气管路内置电磁铁布置于喇叭形进气管路拐角处，与一片进气机构金属片贴合，另一片进气机构金属片通过进气盖连接弹簧与贴合进气管路内置电磁铁的进气机构金属片隔开，并与进气机构一端连接，进气机构的另一端与蘑菇形进气盖直接连接；所述排烟系统在设备及管路桅杆内部布置有排烟盖连接弹簧、外置电磁铁、排烟管路、排烟机构和排烟机构金属片；排烟管路由铰链式排烟盖延伸至主机排烟管并与主机排烟管通过法兰盘连接；所述外置电磁铁固定悬挂于设备及管路桅杆内侧后部，与一片排烟机构金属片贴合，另一片排烟机构金属片通过排烟盖连接弹簧与贴合外置电磁铁的排烟机构金属片隔开，并与排烟机构的一端连接；排烟机构的另一端与铰链式排烟盖直接连接，所述铰链式排烟盖上内贴合有排烟管路防水圈。
所述主机系统的主机坐于主机基座上并牢固连接，同时主机通过轴与螺旋桨连接；所述主机基座与主船体的内部结构连为一体，其上布置一个数字陀螺仪。
所述的一种适用于恶劣海况的自扶正无人船的自扶正的工作方式：
无人船横倾到一定角度，数字陀螺仪发出信号，主机停止运转，进气管路内置电磁铁和外置电磁铁通电，进气系统和排烟系统与外界环境隔绝，无人船完全水密，无人船逐渐自扶正，数字陀螺仪再次发出信号，进气管路内置电磁铁和外置电磁铁断电，进气系统和排烟系统与外界环境联通，主机开始运转；
所述的进气系统关闭的过程，进气管路内置电磁铁通电并吸引进气机构金属片，压缩进气盖连接弹簧，进而牵引进气机构，使得蘑菇形进气盖关闭；
所述的进气系统开启的过程，进气管路内置电磁铁断电，进气盖连接弹簧恢复正常状态，通过进气机构顶开蘑菇形进气盖；
所述的排烟系统关闭的过程，外置电磁铁通电并吸引排烟机构金属片，压缩排烟盖连接弹簧，进而牵引排烟机构，使得铰链式排烟盖关闭；
所述的排烟系统开启的过程，外置电磁铁断电，排烟盖连接弹簧恢复正常状态，通过排烟机构的三级铰链顶开并旋转铰链式排烟盖。
 有益效果
本发明的有益效果是：这种可实现自扶正功能的适用于恶劣海况的自扶正无人船，主要包括主船体、自扶正甲板、设备及管路桅杆、螺旋桨、雷达及雷达罩、进气系统、排烟系统和主机系统八部分。该无人船结构简单，由主船体和自扶正甲板组成封闭的水密舱室，易于制造，同时无需配备额外的自扶正设备。设备及管路桅杆充分考虑了雷达及雷达罩接受信号的需要和主机系统在自扶正过程中自动开关进气系统和排烟系统的功能，使得机构易于操作和实现。进气系统和排烟系统的出口设计考虑到进气和排烟不同的工作形式设计了不同的结构，以保证进气效率、排烟效率和主机防水。进气系统、排烟系统和主机系统的配合工作流程保证了主机的运转和停止不会给无人船带来额外的危险。无人船特殊的结构和机构设计相比于传统无人船保证了其能在恶劣海况下航行，同时具有经济高效、简单易操和工程应用性强等特点。
 附图说明
图1是自扶正无人船的第一轴测图。
图2是自扶正无人船的第二轴测图。
图3是自扶正无人船的主视图。
图4是自扶正无人船的右视图。
图5是自扶正无人船的左视图。
图6是图4中的A-A剖视图。
图7是图5中的B-B剖面图。
图8是图6中的局部放大图的第一状态。
图9是图6中的局部放大图的第二状态。
图10是图7中的局部放大图的第一状态。
图11是图7中的局部放大图的第二状态。
图12是自扶正无人船的自扶正原理示意图。
图13是自扶正无人船的自扶正功能流程图。
图中：1、主船体，2、自扶正甲板，3、设备及管路桅杆，3a、天线，3b、雷达座，4、螺旋桨，5、雷达及雷达罩，6、进气系统，6a、蘑菇形进气盖，6b、进气盖连接弹簧，6c、进气管路内置电磁铁（互直线电机），6d、喇叭形进气管路，6e、进气机构，6f、进气管路防水圈，6g、进气机构金属片，7、排烟系统，7a、铰链式排烟盖，7b、排烟盖连接弹簧，7c、外置电磁铁（互直线电机），7d、排烟管路，7e、排烟机构，7f、排烟管路防水圈，7g、排烟机构金属片，8、主机系统，8a、主机，8b、主机进气管，8c、主机排烟管，8d、法兰盘，8e、数字陀螺仪，8f、主机基座。
 本发明的最佳实施方式
在此处键入本发明的最佳实施方式描述段落。
 本发明的实施方式
以下参照附图对本发明的结构做进一步描述。
图1、2示出了一种适用于恶劣海况的自扶正无人船的轴测图。该无人船主要包括主船体1、自扶正甲板2、设备及管路桅杆3、螺旋桨4、雷达及雷达罩5、进气系统6、排烟系统7和主机系统8八部分。主船体1为深V形型线以减小航行阻力，与自扶正甲板2连接并做水密处理；自扶正甲板2为中后部隆起的流线型结构，隆起部分保证了自扶正的实现和主机的布放；设备及管路桅杆3为斜向后的壳结构，内包含进气系统6和排烟系统7的主要部分，外部连接有天线3a和雷达座3b；螺旋桨4位于主船体的船尾后方，通过轴穿过主船体1与主机8a相连接；雷达及雷达罩5坐于雷达座3b上并与雷达座3b连接。
图3、4、5示出了一种适用于恶劣海况的自扶正无人船的正视图、右视图和左视图，进一步说明了图1、2中各部分的空间分布关系。
图6示出了图4中的剖面图，主机系统8整体分布于主船体1靠近船尾的中后部，主机8a坐于主机座8f上并通过主机座8f与主船体1连接，主机进气管8b位于喇叭形进气管路6d的管口下方并有一定的间隔以保证意外进水时水滴不会从主机进气管8b流入，数字陀螺仪8e连接于主机座8f上，用于监测无人船横倾角度并给予信号；进气系统6主要位于设备及管路桅杆3内部。
图7示出了图5中的剖面图，主机排烟管8c从主机侧面外伸并通过法兰盘8d与排烟管路7d直接相连；排烟系统7主要位于设备及管路桅杆3内部。
图8、9示出了图6的局部放大图的两种状态，分别对应于蘑菇形进气盖6a的关闭和打开状态，当数字陀螺仪8e发出信号使进气管路内置电磁铁（互直线电机）6c通电并吸引进气机构金属片6g，进而压缩进气盖连接弹簧6b，牵引进气机构6e，使得蘑菇形进气盖6a关闭。蘑菇形进气盖6a内设有进气管路防水圈6f，在蘑菇形进气盖6a关闭时起到防止漏水的作用。当数字陀螺仪8e发出信号使进气管路内置电磁铁（互直线电机）6c断电时，进气盖连接弹簧6b恢复正常状态，通过进气机构6e顶开蘑菇形进气盖6a，使得空气流入。
图10、11示出了图7的局部放大图的两种状态，分别对应于铰链式排烟盖7a的关闭和打开状态，当数字陀螺仪8e发出信号使外置电磁铁（互直线电机）7c通电并并吸引排烟机构金属片7f，进而压缩排烟盖连接弹簧7b，牵引排烟机构7e，使得铰链式排烟盖7a关闭。铰链式排烟盖7a内设有排烟管路防水圈6f，在铰链式排烟盖7a关闭时起到防止漏水的作用。当数字陀螺仪8e发出信号使外置电磁铁（互直线电机）7c断电时，排烟盖连接弹簧7b恢复正常状态，通过排烟机构7e的三级铰链顶开并旋转铰链式排烟盖7a，使得燃烧废气排出。
图12示出了一种适用于恶劣海况的自扶正无人船的自扶正原理示意图，当无人船处于正浮状态时，浮力 F B与重力 F G平衡；当无人船往任意方向横倾0°- 90°时，主要由主船体1产生的浮力 F B与重力 F G产生的力矩与无人船横倾的方向相反，阻碍无人船继续横倾；当无人船往任意方向横倾90°- 180°时，主要由自扶正甲板2和设备及管路桅杆3产生的浮力 F B与重力 F G产生的力矩与无人船横倾的方向相反，阻碍无人船继续横倾并自扶正。
图13示出了一种适用于恶劣海况的自扶正无人船的自扶正功能流程图。
 工业实用性
这种可实现自扶正功能的适用于恶劣海况的自扶正无人船，主要包括主船体、自扶正甲板、设备及管路桅杆、螺旋桨、雷达及雷达罩、进气系统、排烟系统和主机系统八部分。该无人船结构简单，由主船体和自扶正甲板组成封闭的水密舱室，易于制造，同时无需配备额外的自扶正设备。设备及管路桅杆充分考虑了雷达及雷达罩接受信号的需要和主机系统在自扶正过程中自动开关进气系统和排烟系统的功能，使得机构易于操作和实现。进气系统和排烟系统的出口设计考虑到进气和排烟不同的工作形式设计了不同的结构，以保证进气效率、排烟效率和主机防水。进气系统、排烟系统和主机系统的配合工作流程保证了主机的运转和停止不会给无人船带来额外的危险。无人船特殊的结构和机构设计相比于传统无人船保证了其能在恶劣海况下航行，同时具有经济高效、简单易操和工程应用性强等特点。
 序列表自由内容
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Claims (3)

  1. 一种适用于恶劣海况的自扶正无人船，它包括自扶正甲板（2）、设备及管路桅杆（3）、进气系统（6）和排烟系统（7），其特征是：它还包括主船体（1）、螺旋桨（4）、雷达及雷达罩（5）和主机系统（8）；所述自扶正甲板（2）为流线中后部隆起的曲面形状，位于主船体（1）上方并与主船体（1）水密连接；所述设备及管路桅杆（3）为斜向后壳式结构，与自扶正甲板（2）水密连接，外侧顶部布置数根天线（3a），外侧前部布置雷达座（3b）和蘑菇形进气盖（6a），外侧后部布置铰链式排烟盖（7a），内部交错布置进气系统（6）和排烟系统（7）；所述进气系统（6）在设备及管路桅杆（3）内部布置有进气盖连接弹簧（6b）、进气管路内置电磁铁（6c）、喇叭形进气管路（6d）、进气机构（6e）、进气管路防水圈（6f）和进气机构金属片（6g），所述进气管路防水圈（6f）内贴合于蘑菇形进气盖（6a）；所述喇叭形进气管路（6d）为上窄下宽的形状，由蘑菇形进气盖（6a）延伸至主机进气管（8b）上方并保持适当间隙；所述进气盖连接弹簧（6b），进气管路内置电磁铁（6c），进气机构（6e）和进气机构金属片（6g）都布置于喇叭形进气管路（6d）内部，其中进气管路内置电磁铁（6c）布置于喇叭形进气管路（6d）拐角处，与一片进气机构金属片（6g）贴合，另一片进气机构金属片（6g）通过进气盖连接弹簧（6b）与贴合进气管路内置电磁铁（6c）的进气机构金属片（6g）隔开，并与进气机构（6e）一端连接，进气机构（6e）的另一端与蘑菇形进气盖（6a）直接连接；所述排烟系统（7）在设备及管路桅杆（3）内部布置有排烟盖连接弹簧（7b）、外置电磁铁（7c）、排烟管路（7d）、排烟机构（7e）和排烟机构金属片（7g）；排烟管路（7d）由铰链式排烟盖（7a）延伸至主机排烟管（8c）并与主机排烟管（8c）通过法兰盘（8d）连接；所述外置电磁铁（7c）固定悬挂于设备及管路桅杆（3）内侧后部，与一片排烟机构金属片（7g）贴合，另一片排烟机构金属片（7g）通过排烟盖连接弹簧（7b）与贴合外置电磁铁（7c）的排烟机构金属片（7g）隔开，并与排烟机构（7e）的一端连接；排烟机构（7e）的另一端与铰链式排烟盖（7a）直接连接，所述铰链式排烟盖（7a）上内贴合有排烟管路防水圈（7f）。
  2. 根据权利要求1所述的一种适用于恶劣海况的自扶正无人船，其特征是：所述主机系统（8）的主机（8a）坐于主机基座（8f）上并牢固连接，同时主机（8a）通过轴与螺旋桨（4）连接；所述主机基座（8f）与主船体（1）的内部结构连为一体，其上布置一个数字陀螺仪（8e）。
  3. 根据权利要求1所述的一种适用于恶劣海况的自扶正无人船的自扶正的工作方式，其特征是：
    无人船横倾到一定角度，数字陀螺仪（8e）发出信号，主机（8a）停止运转，进气管路内置电磁铁（6c）和外置电磁铁（7c）通电，进气系统（6）和排烟系统（7）与外界环境隔绝，无人船完全水密，无人船逐渐自扶正，数字陀螺仪（8e）再次发出信号，进气管路内置电磁铁（6c）和外置电磁铁（7c）断电，进气系统（6）和排烟系统（7）与外界环境联通，主机（8a）开始运转；
    所述的进气系统（6）关闭的过程，进气管路内置电磁铁（6c）通电并吸引进气机构金属片（6g），压缩进气盖连接弹簧（6b），进而牵引进气机构（6e），使得蘑菇形进气盖（6a）关闭；
    所述的进气系统（6）开启的过程，进气管路内置电磁铁（6c）断电，进气盖连接弹簧（6b）恢复正常状态，通过进气机构（6e）顶开蘑菇形进气盖（6a）；
    所述的排烟系统（7）关闭的过程，外置电磁铁（7c）通电并吸引排烟机构金属片（7g），压缩排烟盖连接弹簧（7b），进而牵引排烟机构（7e），使得铰链式排烟盖（7a）关闭；
    所述的排烟系统（7）开启的过程，外置电磁铁（7c）断电，排烟盖连接弹簧（7b）恢复正常状态，通过排烟机构（7e）的三级铰链顶开并旋转铰链式排烟盖（7a）。
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