CN115837961A - Cluster type unmanned submersible semi-submersible mother ship with folding bulwark - Google Patents
Cluster type unmanned submersible semi-submersible mother ship with folding bulwark Download PDFInfo
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Abstract
The invention relates to a cluster type unmanned submersible semi-submersible mother ship with a folding bulwark, which comprises: the semi-submersible mother ship body is provided with an open deck with the operation area matched with the number and size of the cluster type unmanned submersible vehicles, so that the semi-submersible mother ship has the capacity of carrying the cluster type unmanned submersible vehicles at one time; the foldable bulwark system closes the foldable bulwark structure body to be in a vertical state through the transmission device, and is locked through the closing position locking device to keep vertical fixation, so that the semi-submersible mother ship has wave blocking capacity; 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, and can sink the ship body to a water level required by self-navigation arrangement of the unmanned submersible vehicle; the special base for the submersible vehicle is matched with a propelling and positioning control system of the cluster type unmanned submersible vehicle, and after the unmanned submersible vehicle self-navigates into the special base for the submersible vehicle, the unmanned submersible vehicle can be automatically navigated forward to perform the unmanned recycling function on the cluster type unmanned submersible vehicle by means of the self-navigation forward inertial motion of the cluster type unmanned submersible vehicle.
Description
Technical Field
The invention relates to a cluster type unmanned submersible semi-submersible mother ship with a folding bulwark, and belongs to the field of unmanned submersible and ships.
Background
The semi-submersible mother ship has obvious advantages in the aspects of transportation, arrangement and recovery of the cluster type unmanned submersible vehicle, and is mainly embodied as follows:
(1) The open deck area is big, through setting up a large amount of special bases, can once only carry on and transport a large amount of unmanned submersible vehicle to open sea target sea area.
(2) The ballast water system and the dynamic positioning system are strong, the ship body of the mother ship can be quickly sunk to the water level required by the unmanned submersible vehicle in self-navigation, the relative position of the mother ship is kept, and the submersible vehicle is convenient to deploy and recover in self-navigation.
(3) The ship is large, and a plurality of unmanned submersible vehicles can be conveniently deployed on two sides to implement self-navigation laying or recovery operation.
(4) Compared with the folding and unfolding mode of the traditional hanging bracket and the tail slideway, the submersible vehicle is not suspended from the water surface all the time, is not easy to move and collide greatly, is not easy to cause the damage of precision instruments inside the submersible vehicle, and has low requirements on the laying and recycling operation sea conditions.
(5) In the self-navigation laying and recovering process of the submersible vehicle, fewer operation nodes needing direct participation of personnel are needed, the requirement on the operation experience of the personnel is low, and the unmanned submersible vehicle can be laid and recovered independently conveniently.
However, the semi-submersible mother ship still has technical problems in the process of transporting, laying and recovering the unmanned submersible vehicle, mainly as follows:
(1) During transportation, sea waves easily impact the weather deck of the semi-submersible mother ship, the slamming force is large, and the submersible body and internal precision instruments are easily damaged.
During the process of transporting the unmanned submersible vehicle to a far-sea target sea area, sea waves easily rush to the weather deck of the semi-submersible vehicle, so that the unmanned submersible vehicle is subjected to large slamming force, and the submersible vehicle body and internal precision instruments are easily damaged. However, in order to facilitate the self-navigation deployment and recovery of the unmanned submersible vehicle, it is difficult to provide fixed bulwarks for wave blocking on the side and the tail of the weather deck of the semi-submersible mother ship.
(2) In the distribution and recovery processes, the semi-submersible mother ship is low in navigation speed, and large in amplitude of heaving, rolling and pitching motions, so that the submersible vehicle is easy to collide with the mother ship and a base, and the submersible vehicle body and internal precision instruments are easy to damage.
The semi-submersible mother ship usually generates large-amplitude six-degree-of-freedom motion under the action of great wind waves in the open sea. And at zero and low navigational speed, the movement is more violent. Generally, the relative position of the semi-submersible mother ship can be maintained by arranging a dynamic positioning system to reduce the swaying, surging and yawing motions of the semi-submersible mother ship. However, an effective means for reducing the heaving, rolling and pitching motions of the semi-submersible mother ship in a zero and low-speed state is still lacked at present. When the unmanned submersible vehicle enters or leaves the weather deck of the semi-submersible mother ship or the special base in a self-propelled manner, the unmanned submersible vehicle is easy to collide with the mother ship and the base, so that the body of the unmanned submersible vehicle and internal precision instruments are damaged.
The problems become key technology elbow brakes for restricting the popularization and the application of the domestic cluster type unmanned submersible semi-submersible mother ship.
Disclosure of Invention
The technical problem to be solved by the invention is as follows:
(1) On the premise of not influencing the self-navigation laying and recovering functions of the unmanned submersible vehicle, the damage of sea waves to the unmanned submersible vehicle in the transportation process is reduced by preventing the sea waves from directly rushing to a weather deck.
(2) How to reduce the heaving, rolling and pitching motions of the zero-speed and low-speed semi-submersible mother ship under the action of the far sea storms and reduce the relative motion and collision risks of the unmanned submersible vehicle in the process of self-navigating into or out of an open deck or a special base of the semi-submersible mother ship.
Therefore, the invention provides a cluster type unmanned submersible semi-submersible mother ship with a folding bulwark.
In order to solve the technical problems, the technical scheme of the invention is as follows: a clustered unmanned submersible semi-submersible mother vessel with folding bulwarks, comprising:
the semi-submersible mother ship body is provided with an open deck with the operation area matched with the number and size of the cluster type unmanned submersible vehicles, so that the semi-submersible mother ship has the capacity of carrying the cluster type unmanned submersible vehicles at one time;
the foldable bulwark system is characterized in that in the transportation process, the foldable bulwark structure body is closed to be in a vertical state through the transmission device and locked through the locking device at the closing position to keep vertical fixation, so that the semi-submersible mother ship has wave blocking capability, sea waves are prevented from directly rushing into an open deck of the semi-submersible mother ship to damage the unmanned submersible vehicle, and the protection function of the clustered unmanned submersible vehicle in the transportation process is realized;
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 to meet self-navigation retraction conditions of the submersible vehicle;
the special submersible vehicle base is matched with a propelling and positioning control system of the cluster type unmanned submersible vehicle, and 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, so that the unmanned recovery function of the cluster type unmanned submersible vehicle is realized.
Further, the foldable bulwark system comprises a foldable bulwark structure body, a transmission device, a locking device, a supporting device, a hydraulic system and an electric control system; side upright posts are welded and fixed on weather decks at the left and right sides and the tail part of the semi-submersible mother ship body; the supporting device is welded and fixed on the hull surfaces of the left and right sides and the tail of the semi-submersible mother ship body; the transmission device and the locking device are hinged and mounted on the side upright post;
further, the foldable bulwark system structure body is hinged and installed on the supporting device and the transmission device; the hydraulic system is arranged in a cabin of the semi-submersible mother ship body; the electric control system is installed in a control room of the semi-submersible mother ship.
Further, the special submersible vehicle base is installed on a weather deck of the semi-submersible mother ship body; and the special base for the submersible vehicle is fixedly connected with the cluster type unmanned submersible vehicle.
Further, the ballast water system and the dynamic positioning system are arranged on the semi-submersible mother ship body; and a control room is arranged in an upper-layer building of the semi-submersible mother ship body.
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 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.
Further, the foldable bulwark system loosens the closing position locking device after the semi-submersible mother ship sinks and floats to a specified water level, the foldable bulwark structure body is opened to be in a horizontal state through the transmission device, the foldable bulwark structure body is kept horizontally fixed through the opening position locking device, and moves along with the semi-submersible mother ship body along with sea waves, so that damping is greatly increased, the semi-submersible mother ship has anti-rolling capacity, and the collision risk of an unmanned submersible vehicle and an open deck of the semi-submersible mother ship in the deployment process is reduced.
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 self-propelled out of the special base for the submersible vehicle by means of the self 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 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, the foldable bulwark structure body is adjusted to be in a vertical or horizontal state in the control room through an electric control system and a hydraulic system, the vacancy conditions, the pressure and the liquid level of special bases of all submersible vehicles on the semi-submersible mother ship body are monitored, the position parameters of the power positioning system and the mother ship body are monitored, the position parameters of the cluster type unmanned submersible vehicle are monitored, data transmission and collection work with the cluster type unmanned submersible vehicle is completed according to the monitored parameters, the cluster type unmanned submersible vehicle is guided to be folded and unfolded in real time, and the cluster type unmanned submersible vehicle is safely and quickly recovered by means of the power, the positioning control system and the special bases of the cluster type unmanned submersible vehicle.
Compared with the prior art, the invention has the following outstanding beneficial effects:
the invention provides a cluster type unmanned submersible vehicle semi-submersible mother ship with a folding bulwark, which can carry a 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; by means of the foldable bulwark system of the semi-submersible mother ship, sea waves can be prevented from rushing up to an open deck in a vertical (closed) state, the damage effect of the sea waves on the unmanned submersible vehicle in the transportation process is reduced, the heaving, rolling and pitching motions of the semi-submersible mother ship can be reduced in a horizontal (open) state, and the collision risk between the unmanned submersible vehicle and the mother ship in the self-navigation deployment process is greatly reduced; 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 water system and a dynamic positioning system, and the relative position of a mother ship is kept to meet the self-navigation deployment and retraction conditions of the submersible vehicle; 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.
Compared with the traditional semi-submersible ship, the folding bulwark structure body can prevent sea waves from rushing up to an open deck after being closed, and the unmanned submersible vehicle in the transportation process is protected from being damaged; the folding bulwark structure body does not influence the self-navigation laying and recovery of the cluster type unmanned submersible vehicle after being opened, and can reduce the heaving, rolling and pitching motions of the semi-submersible mother ship and reduce the collision risk between the unmanned submersible vehicle and the semi-submersible mother ship.
The invention provides a novel solution for transportation and deployment of a cluster type unmanned submersible vehicle in a high sea by using a cluster type unmanned submersible vehicle semi-submersible mother ship with a folding bulwark.
Drawings
FIG. 1 is a top plan view of a clustered unmanned submersible semi-submersible mother vessel of the present invention with folding bulwarks;
FIG. 2 is a side view of a cluster-based unmanned submersible semi-submersible mother vessel with folding bulwarks;
FIG. 3 is a schematic view of a closed state of the collapsible bulwark system;
FIG. 4 is a schematic view of an open state of the collapsible bulwark system;
FIG. 5 is a top view of a specialized base;
FIG. 6 is a mid-longitudinal 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, 10-side upright, 11-foldable bulwark system, 111-foldable bulwark structure body, 112-transmission device, 113-locking device, 114-supporting device, 115-hydraulic system, 116-electric control system, 1131-closed position locking device, 1132-open position locking device and 12-transverse hydraulic clamping module.
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 cluster-type unmanned submersible vehicle semi-submersible mother ship with folding bulwarks in the present embodiment includes a semi-submersible mother ship body 1, a weather 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, a bulwark upright 10, and a foldable bulwark system 11. The foldable bulwark system 11 includes a foldable bulwark structure body 111, an actuator 112, a locking device 113 (including a closed position locking device 1131 and an open position locking device 1132), a support device 114, a hydraulic system 115, an electrical control system 116, and the like. The side upright posts 10 are welded and fixed on the open decks at the left and right sides and the tail of the semi-submersible mother ship body 1; the supporting device 114 is welded and fixed on the hull surface of the port side, the starboard side and the tail part of the semi-submersible mother ship body 1; the transmission device 112 and the locking device 113 are hinged on the side upright post; the foldable bulwark system structure body 111 is hinged on the supporting device 114 and the transmission device 112; the hydraulic system 115 is arranged in a cabin of the semi-submersible mother ship body 1; the electrical control system 116 is installed in the control room 3; the special base 8 is arranged on the weather deck 2 of the semi-submersible mother ship body 1; the cluster unmanned submersible vehicle 9 is fastened on the 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.
As shown in fig. 3, in the transportation process, the foldable bulwark system 11 closes the foldable bulwark structure body 111 to be in a vertical state through the transmission device 112, and is locked through the closed position locking device 1131 to keep vertical fixation, so that the semi-submersible mother ship has wave blocking capability, prevents sea waves from directly rushing into the weather deck 2 of the semi-submersible mother ship to damage the unmanned submersible vehicle 9, and realizes the protection function of the clustered unmanned submersible vehicle in the transportation process.
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 arrangement of the unmanned submersible vehicle, and the posture and the relative position of the mother ship are kept.
As shown in fig. 3,4, after the semi-submersible mother ship sinks and floats to a specified water level, the foldable bulwark system 11 releases the closing position locking device 1131, opens the foldable bulwark structure body 111 to a horizontal state through the transmission device 112, keeps horizontal fixation through the opening position locking device 1132, moves along with the semi-submersible mother ship body 1 along with the sea waves, greatly increases damping, enables the semi-submersible mother ship to have anti-rolling capability, and reduces the collision risk between the unmanned submersible vehicle 9 and the semi-submersible mother ship open deck 2 in the deployment process.
The unmanned submersible vehicle 9 and the special base 8 are transversely arranged on the left side and the right side, the opening of the base faces the side, and after the foldable bulwark structure body 111 is opened to be in a horizontal state, the special base for the unmanned submersible vehicle is automatically navigated out by means of the power of the unmanned submersible vehicle, so that the unmanned submersible vehicle is concentrated and arranged at the same time. Compared with the mode of arranging the submersible vehicles one by one on the hanging and tail slide ways, the arrangement speed is high, and the consumed time is short; the semi-submersible mother ship is large in displacement, and the damping is increased after the foldable bulwark structure body 111 is opened, so that the semi-submersible mother ship is small in movement, and safe arrangement operation of the submersible vehicle is facilitated; 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, and can adjust the foldable bulwark structure body 111 to be in a vertical or horizontal state in real time by controlling the hydraulic system 115 through the electric control system 116, so that the protection function of the cluster type unmanned submersible vehicle 9 in the transportation process is realized, and the movement of the semi-submersible mother ship body 1 and the collision risk with the unmanned submersible vehicle 9 in the deployment process are reduced.
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 the unmanned submersible vehicles 9, monitor the vacancy condition, pressure and liquid level information of all the special bases 8, convert the real-time position information of all the special bases 8 in real time, send the information to the unmanned submersible vehicles 9 in real time, and command the unmanned submersible vehicles 9 to navigate to the designated special bases 8 during recovery.
As shown in 5,6, the interior of the special base 8 is flared according to the shape of the unmanned submersible vehicle 9, and is composed of U-shaped cross sections with different sizes, a large opening is close to the side of the board, so that the cluster type unmanned submersible vehicle can conveniently enter, a small opening is close to the inside of the board, and the clear width is consistent with the width of the cluster type unmanned submersible vehicle. The special base 8 is matched with a propelling and positioning control system of the unmanned submersible vehicle 9, after the unmanned submersible vehicle 9 self-navigates to the interior of the special base 8, the unmanned submersible vehicle 9 is clamped at a small opening and captured by the transverse hydraulic clamping module 12 by means of forward inertial motion of the unmanned submersible vehicle 9 self-navigated, so that an unmanned recovery function of the unmanned submersible vehicle 9 is realized, and the problem of safe and rapid recovery of the cluster type unmanned submersible vehicle at sea is solved.
Claims (10)
1. The utility model provides a parent ship of cluster formula unmanned submersible vehicle semi-submerged of bulwark is folded in area which characterized in that: the method comprises the following steps:
the semi-submersible mother ship body is provided with an open deck with the operation area matched with the number and size of the cluster type unmanned submersible vehicles, so that the semi-submersible mother ship has the capacity of carrying the cluster type unmanned submersible vehicles at one time;
the foldable bulwark system is characterized in that in the transportation process, the foldable bulwark structure body is closed to be in a vertical state through the transmission device and locked through the locking device at the closing position to keep vertical fixation, so that the semi-submersible mother ship has wave blocking capability, sea waves are prevented from directly rushing into an open deck of the semi-submersible mother ship to damage the unmanned submersible vehicle, and the protection function of the clustered unmanned submersible vehicle in the transportation process is realized;
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 a ship body to a water level required by self-navigation deployment of the unmanned submersible vehicle, and keeps the posture and relative position of the mother ship to meet self-navigation retraction conditions of the submersible vehicle;
the special submersible vehicle base is matched with a propelling and positioning control system of the cluster type unmanned submersible vehicle, and 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, so that the unmanned recovery function of the cluster type unmanned submersible vehicle is realized.
2. The clustered unmanned submersible semi-submersible mother vessel with folding bulwarks of claim 1, wherein: the foldable bulwark system comprises a foldable bulwark structure body, a transmission device, a locking device, a supporting device, a hydraulic system and an electric control system; side upright posts are welded and fixed on weather decks at the left and right sides and the tail part of the semi-submersible mother ship body; the supporting device is welded and fixed on the hull surfaces of the left and right sides and the tail of the semi-submersible mother ship body; and the transmission device and the locking device are hinged and arranged on the side upright post.
3. The clustered unmanned submersible semi-submersible mother vessel with folding bulwarks of claim 2, wherein: the foldable bulwark system structure body is hinged and arranged on the supporting device and the transmission device; the hydraulic system is arranged in a cabin of the semi-submersible mother ship body; the electric control system is installed in a control room of the semi-submersible mother ship.
4. The clustered unmanned submersible semi-submersible mother vessel with folding bulwarks of claim 1, wherein: the special submersible base is arranged on an open deck of the semi-submersible mother ship body; a cluster type unmanned submersible vehicle is fastened on the special base for the submersible vehicle.
5. The clustered unmanned submersible semi-submersible mother vessel with folding bulwarks of claim 1, wherein: the ballast water system and the dynamic positioning system are arranged on the semi-submersible mother ship body; and a control room is arranged in an upper-layer building of the semi-submersible mother ship body.
6. The clustered unmanned submersible semi-submersible mother vessel with folding bulwarks of 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.
7. The clustered unmanned submersible semi-submersible mother vessel with folding bulwarks of claim 1, wherein: the foldable bulwark system is characterized in that after the semi-submersible mother ship is floated to a specified water level, the closing position locking device is loosened, the foldable bulwark structure body is opened to be in a horizontal state through the transmission device, the foldable bulwark structure body is kept horizontally fixed through the opening position locking device and moves along with the semi-submersible mother ship body along with sea waves, damping is greatly increased, the semi-submersible mother ship has anti-rolling capacity, and the collision risk of an unmanned submersible vehicle and an open deck of the semi-submersible mother ship in the deployment process is reduced.
8. The clustered unmanned submersible semi-submersible mother vessel with folding bulwarks of 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.
9. The clustered unmanned submersible semi-submersible mother vessel with folding bulwarks of claim 1, wherein: the special base for the submersible vehicle is internally provided with 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 shipboard side, the cluster type unmanned submersible vehicle can conveniently enter, a small opening is close to the shipboard, 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 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.
10. The clustered unmanned submersible semi-submersible mother vessel with folding bulwarks of claim 5, wherein: the foldable bulwark structure body is adjusted to be in a vertical or horizontal state in the control room through an electric control system and a hydraulic system, the vacancy condition, the pressure and the liquid level of special bases of all submersible vehicles on a semi-submersible mother ship body are monitored, the parameters of the power positioning system and the mother ship body are monitored, the position parameters of the cluster type unmanned submersible vehicle are monitored, data transmission and collection work between the cluster type unmanned submersible vehicle and the cluster type unmanned submersible vehicle is completed according to the monitored parameters, the cluster type unmanned submersible vehicle is guided to be retracted and released in real time, and the safe and rapid recovery function of the cluster type unmanned submersible vehicle is achieved by means of the power, the positioning control system and the special bases of the cluster type unmanned submersible vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211350530.XA CN115837961A (en) | 2022-10-31 | 2022-10-31 | Cluster type unmanned submersible semi-submersible mother ship with folding bulwark |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116477010A (en) * | 2023-05-06 | 2023-07-25 | 上海船舶运输科学研究所有限公司 | Wave-absorbing and wave-reducing structure and system suitable for middle and high sea conditions and design method thereof |
| CN116812062A (en) * | 2023-06-28 | 2023-09-29 | 中国船舶科学研究中心 | A device for forming a sheltered area for catamaran submersible launch and its use method |
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2022
- 2022-10-31 CN CN202211350530.XA patent/CN115837961A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116477010A (en) * | 2023-05-06 | 2023-07-25 | 上海船舶运输科学研究所有限公司 | Wave-absorbing and wave-reducing structure and system suitable for middle and high sea conditions and design method thereof |
| CN116477010B (en) * | 2023-05-06 | 2024-02-02 | 上海船舶运输科学研究所有限公司 | A wave reduction structure, system and design method suitable for medium and high sea conditions |
| CN116812062A (en) * | 2023-06-28 | 2023-09-29 | 中国船舶科学研究中心 | A device for forming a sheltered area for catamaran submersible launch and its use method |
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