The invention discloses an omni-directional multi-body unmanned ship and a control method thereof, and the omni-directional multi-body unmanned ship comprises a central ship body which is provided with a control module; the at least three side hulls are arranged in a central symmetry manner by taking the central hull as the center; a steering mechanism and a steering encoder are arranged on the side ship body, and the steering encoder is used for detecting the actual angle of the side ship body; the side hulls are provided with propellers, and the propelling direction of the propellers is the same as the length direction of the side hulls. And all the steering mechanisms and all the propellers are electrically connected with the control module. The central ship body and the side ship bodies are connected through the steering mechanisms and the connecting rods, the orientation of the side ship bodies is adjusted through the steering mechanisms, omni-directional sailing is achieved, the side ship bodies do not need to adopt ship bodies with centrosymmetric patterns, but adopt streamline ship bodies, the water resistance borne by the side ship bodies is small, and the sailing speed cannot be reduced. Therefore, the omni-directional multi-body unmanned ship has the advantages that on the basis that omni-directional sailing is achieved, the resistance is small, and the sailing speed is high.
本发明公开了一种全向多体无人船及其控制方法,全向多体无人船包括:中央船体,设置有控制模块;至少3个侧船体,以中央船体为中心呈中心对称排布;侧船体上设置有转向机构和转向编码器,转向编码器用于检测侧船体的实际角度;侧船体设置有推进器,推进器的推进方向与侧船体的长度方向相同;各转向机构和各推进器均与控制模块电连接。通过转向机构和连接杆连接中央船体和侧船体,通过转向机构,调整各侧船体的朝向,实现全向航行,且侧船体并不需要采用中心对称图形的船体,而采用流线型船体,受到的水的阻力较小,并不会降低航行速度。因此,本申请的全向多体无人船在实现全向航行的基础上,还实现了阻力较小且航行速度较快。
Omnidirectional multi-body unmanned ship and control method thereof
一种全向多体无人船及其控制方法
2023-06-09
Patent
Elektronische Ressource
Chinesisch
IPC: | B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / B63H Schiffsantrieb oder Steuerung der Schiffe , MARINE PROPULSION OR STEERING / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
Power device of unmanned ship, ship body and unmanned ship
Europäisches Patentamt | 2021
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