CN113212084A - Ice-water amphibious unmanned ship suitable for polar region sea area - Google Patents

Abstract

The invention relates to an ice-water amphibious unmanned boat suitable for polar sea areas, which comprises a boat body, a propulsion system, a monitoring system, a communication system, a central control system and an electric power system, wherein retractable water wing plates are arranged on the boat body; the propulsion system comprises an underwater propeller device arranged at the tail part of the boat body, an air propeller and auxiliary power devices arranged at two sides of the boat body; the central control system is arranged in the upper-layer building of the boat body and is connected with the propulsion system, the monitoring system, the communication system and the power system, and data information is analyzed and processed to obtain a task instruction. The communication system exchanges data with the shore foundation station in real time, and the power system provides power for all equipment and carries on the solar panel simultaneously. The unmanned ship provided by the invention can switch sailing postures in a complex environment of polar region ice water mixing, so as to improve the maneuverability, the rapidity and the wave resistance of the ship body, and can accurately, real-timely and effectively complete the task of polar region marine environment monitoring.

Description

Ice-water amphibious unmanned ship suitable for polar region sea area

Technical Field

The invention belongs to the field of unmanned boats, and particularly relates to an ice-water amphibious unmanned boat suitable for polar sea areas.

Background

Unmanned vessels, which were first found in the target boats or minesweeping vessels that appeared in the fifies and sixties of the 20 th century, were limited to surface operations within the remote range of manned platforms. With the progress of satellite positioning and communication technology, autonomous navigation technology and intelligent planning and control technology, the application range of the unmanned ship serving as a sea surface task platform is expanded to a far sea area, even in north and south polar regions, the unmanned ship executes different tasks according to needs, uses various different task modules and carries different sensors or execution equipment, and then executes tasks such as marine surveying and mapping scientific investigation, marine monitoring reconnaissance, anti-thunderstorm battle, independent or cooperative anti-diving, anti-warship and the like.

To the unmanned ship among the prior art, mostly can only navigate in the surface of water, because the large tracts of land of polar region is covered by the ice sheet, this use flexibility and the range of application of restricting unmanned ship to a certain extent, chinese patent CN104626901A discloses a water ice amphibious scientific investigation ship, this unmanned ship is equipped with a pair of skates and auxiliary power device in the bottom of hull, adopt jet-propelled, similar sled navigates in the surface of ice, but this kind of hull structure when the surface of water navigation, has great navigation resistance, and wave resistance is relatively poor.

When an unmanned ship in the prior art is in a polar region, higher requirements are provided for the performances of structural design of a ship body, motion performance prediction, polar environment perception, autonomous control, system integration and the like.

Disclosure of Invention

Aiming at the problems of the unmanned ship and the technical defects, the invention provides an ice-water amphibious unmanned ship suitable for polar regions and sea areas, so as to adapt to the polar region complex marine environment with water surface, ice surface, snow land and ice-water mixed and meet the requirements of polar region development.

In order to achieve the purpose, the invention is realized by the following technical scheme:

the invention relates to an ice-water amphibious unmanned boat suitable for polar sea areas, which comprises a boat body, a propulsion system, a monitoring system, a communication system, a central control system and an electric power system, wherein the propulsion system is connected with the monitoring system through a power line; the boat body adopts a semi-channel planing boat body, and a retractable water wing plate is arranged on the boat body; the propulsion system comprises an underwater propeller arranged at the stern, an air propeller and auxiliary power devices arranged at two sides of the boat body; the monitoring system comprises a camera and a sensor array; the communication system comprises a signal transmitter and a signal receiver, and transmits data with a shore foundation station in real time; the central control system is arranged in the upper-layer building of the boat body, is connected with the propulsion system, the monitoring system, the communication system and the power system, and analyzes and processes data information to obtain a task command; the electric power system provides the power for all equipment, carries on solar panel simultaneously, increases unmanned ship duration.

The invention is further improved in that: the submarine body adopts an improved half-channel slide line type, the bottom structure of the submarine body comprises a central slide surface and two side slide surfaces, the central slide surface is transited to the two side slide surfaces by a transverse oblique angle with a certain size, the middle of the bottom plate of the submarine body is inwards sunken to form a channel, and a bow opening of the submarine is in a horn shape.

The invention is further improved in that: the retractable hydrofoil plate comprises a V-shaped front hydrofoil plate and a rear hydrofoil plate, the two front hydrofoil plates are symmetrically arranged on two sides of the boat body, the two front hydrofoil plates are respectively retracted and extended through two first hydraulic devices and can be placed on adeck 1 of the boat body, the front hydrofoil plates can be rotated through the extension and retraction of the first hydraulic devices, the rear hydrofoil plates are retracted and extended through a second hydraulic device, and the boat body can be embedded into the bottom storage cabin.

The invention is further improved in that: the propeller device includes screw, pillar, sets up steering mechanism and elevating system in the fixed cover that is located the boat tail under water, and the screw is connected with the lower extreme of pillar, and the upper end setting of pillar is in steering mechanism's inside, and the pillar is with steering mechanism's the mode of setting: the support column can move up and down in the steering mechanism, and the support column and the steering mechanism cannot rotate mutually; the lifting mechanism is two hydraulic lifting oil cylinders, one ends of the two lifting oil cylinders are respectively hinged to two sides of the support column, the other ends of the two lifting oil cylinders are fixed to the bottom of the steering mechanism, the steering mechanism realizes up-and-down stretching and steering of the propeller, the steering mechanism is arranged in a fixed sleeve located at the stern, the steering mechanism is provided with three pin supports along the circumferential direction, guide holes are formed in the two pin supports, one end of the locking pin axially moves along the guide holes, the other end of the locking pin is rotatably connected with the rotating shaft sleeve through a rotating connecting piece to form a crank block device, a driving oil cylinder is installed on the other pin support, a piston rod of the driving oil cylinder is rotatably connected with the rotating shaft sleeve through a rotating connecting piece to drive the rotating shaft sleeve to rotate, and the pin supports and the driving oil cylinders are respectively installed on the boat body through fixed plates.

The invention is further improved in that: the setting of two air propulsors symmetries is at the hull tail, air propulsor is including the air screw of locating the hull afterbody, the honeycomb duct support, air vane and driving motor, the air screw is installed in the honeycomb duct support of hull tail, the air vane transmission articulates in air screw rear side with the control direction, driving motor drives the rotation of air screw, auxiliary power device includes third hydraulic means, driving motor and sawtooth gyro wheel, third hydraulic means's one end articulates on the hull body, third hydraulic means's piston rod tip is driving motor, driving motor's output shaft and sawtooth gyro wheel are connected.

The invention is further improved in that: the monitoring system comprises a sensor array installed on a boat bow, an infrared camera arranged on an upper building and used for collecting sea ice distribution conditions, the sensor array comprises but is not limited to a water level sensor, a wave flow sensor, a wind speed and direction sensor, a temperature sensor and a humidity sensor, the communication system comprises a signal transmitter and a signal receiver, data are transmitted with a shore foundation station in real time, an electric power system provides a power supply for all equipment, the camera is used for collecting the sea ice distribution conditions, the monitoring system transmits environmental information indexes of polar sea areas to a control system, data are analyzed and processed, work of other systems carried by unmanned boats is adjusted, meanwhile, information can be transmitted to the shore foundation station through the communication system, and real-time monitoring is carried out on the sea areas.

The invention has the beneficial effects that:

(1) the unmanned ship provided by the invention combines the advantages of high speed of the hydroplane, good wave resistance and small wave making of the hydrofoil, and the sailing posture of the unmanned ship is switched by the control system, so that the unmanned ship can be used as the hydrofoil and the hydroplane, and can sail in water surface, ice area mixed with ice and water, ice surface and snowfield.

(2) When the unmanned ship sails on the basis of a hydrofoil boat, the underwater propeller propels the unmanned ship, and the unmanned ship is suitable for a water surface and ice water mixed ice crushing area; the hull leaves the surface of water when hydrofoil sails, provides lift by the receiving water pterygoid lamina of installation, and the hull can avoid simultaneously and collide the induced ice load that forms with sea ice, reduces the navigation resistance greatly.

(3) When the unmanned ship sails on the basis of the planing boat, the unmanned ship is propelled by air injection, and is suitable for sailing on ice and snow; it adopts the skimming boat line type, and the hull is the arc changeover portion at the bow, and the hull is straight section, inwards caves in along hull bottom plate middle and forms the channel, and both sides distribute has protruding side sliding surface, supports whole hull by two side sliding surfaces when navigating on ice surface and snowfield, because it is little with ground area of contact during the navigation to reduce frictional resistance greatly, adopt auxiliary power device simultaneously can provide an auxiliary power for unmanned ship, and prevent the effect that unmanned ship skidded at the ice surface in addition.

(4) The ice-water amphibious unmanned ship can realize navigation in various severe working condition environments in polar sea areas through an intelligent navigation system, namely, a control system based propulsion system, a monitoring system, a communication system and the like, and the environment monitoring range is expanded.

Drawings

Fig. 1 is a schematic structural diagram of the amphibious unmanned boat.

Fig. 2 is a schematic structural diagram of the bottom of the unmanned submarine.

Fig. 3 is a schematic view of a hydrofoil installation structure of the unmanned ship.

Fig. 4 is a schematic diagram of a front V-shaped front hydrofoil structure.

Fig. 5 is a schematic structural diagram of the tail of the unmanned boat.

Fig. 6 is a schematic view of the underwater propeller structure.

Fig. 7 is a schematic side structure view of the unmanned boat.

Fig. 8 is a schematic structural view of an auxiliary power unit.

Fig. 9 is a schematic structural view of the head of the unmanned submarine.

Fig. 10 is a schematic structural view of the sailing state of the hydrofoil of the unmanned boat.

Fig. 11 is a structural schematic diagram of an ice surface navigation state of the unmanned ship.

Wherein: 1, a boat body; 2 a propulsion system; 3, monitoring the system; 4 a communication system; 5, controlling the system; 6, a power system; 1-1 central sliding surface; 1-2 side sliding surfaces; 1-3, opening the boat bow; 1-4 front water wing plates; 1-5 rear hydrofoil plates; 1-4-1 cross section of front hydrofoil; 1-4-2 card slots; 1-4-3 hinge shaft sleeve; 1-4-4 a first hydraulic device; 1-4-5 of a support; 1-5-1 second hydraulic means; 1-5-2 storage compartments; 2-1 underwater propeller; 2-2 air mover; 2-2-1 air propeller; 2-2-2 air rudders; 2-2-3 honeycomb duct bracket; 2-2-4 driving the motor; 2-1-1 propeller; 2-1-2 struts; 2-1-3 lifting mechanisms; 2-1-4 steering mechanisms; 2-1-4-1 pin support; 2-1-4-2 rotating connecting pieces; 2-1-4-3 locking pins; 2-1-4-4 rotating shaft sleeves; 2-1-4-5 driving oil cylinders; 2-3 auxiliary power units; 2-3-1 a third hydraulic device; 2-3-2 drive motor; 2-3-3 sawtooth rollers; 3-1 sensor array; 3-2 cameras; 4-1 signal transmitter; 4-2 signal receiver.

Detailed Description

In the following description, for purposes of explanation, numerous implementation details are set forth in order to provide a thorough understanding of the embodiments of the invention. It should be understood, however, that these implementation details are not to be interpreted as limiting the invention. That is, in some embodiments of the invention, such implementation details are not necessary. In addition, some conventional structures and components are shown in simplified schematic form in the drawings.

As shown in fig. 1, the ice-water amphibious unmanned boat suitable for polar sea areas comprises aboat body 1, apropulsion system 2, amonitoring system 3, acommunication system 4, acentral control system 5 and anelectric power system 6.

As shown in fig. 2, theboat body 1 adopts a half-channel slide boat line type, the bottom structure of theboat body 1 comprises a central slide surface 1-1 and two side slide surfaces 1-2, the central slide surface 1-1 is transited to the two side slide surfaces 1-2 at a transverse inclination angle of about 5 degrees to 10 degrees, the middle of the bottom plate of theboat body 1 is sunken inwards to form a channel, and a boat opening 1-3 at the bow part of the boat body is in a horn shape.

As shown in fig. 3, the retractable hydrofoil comprises a V-shaped front hydrofoil 1-4 and a rear hydrofoil 1-5, two front hydrofoils 1-4 are symmetrically installed on two sides of the hull, a first hydraulic device 1-4-1 is arranged on thehull 1, a clamping groove 1-4-2 is arranged on the front hydrofoil 1-4, the first hydraulic device 1-4-1 is hinged with the clamping groove 1-4-2, one end of the front hydrofoil 1-4 is hinged on a support of thehull 1 through a shaft sleeve 1-3-1, the two front hydrofoils 1-4 are respectively retracted and extended through two first hydraulic devices 1-4-1 and can be placed on a deck of thehull 1, and the rotation of the front hydrofoil 1-4 can be realized through the extension and retraction of the first hydraulic devices 1-4-1, the submarine body is characterized in that a storage cabin 1-5-2 is arranged at the bottom of thesubmarine body 1, a second hydraulic device 1-5-1 is arranged between the interior of the storage cabin 1-5-2 and the rear hydrofoil plate 1-5, and the rear hydrofoil plate is folded and unfolded through the second hydraulic device and can be embedded into the storage cabin at the bottom of the submarine body.

As shown in figure 4, the cross section 1-4-1 of the front water wing plate is streamline, similar to a wing, a clamping groove 1-4-2 on the front water wing plate is hinged with a first hydraulic device 1-4-4, a hinged shaft sleeve 1-4-3 is hinged on a support 1-4-5 on the boat body, and the rotation of the front water wing plate 1-4 can be realized through the extension and contraction of the first hydraulic device 1-4-1.

As shown in fig. 5 and 7, thepropulsion system 2 comprises an underwater propeller device 2-1 installed at the tail of thehull 1, an air propeller 2-2 and an auxiliary power device 2-3 installed at both sides of thehull 1, the two air propellers 2-2 are symmetrically arranged at the stern, the air propeller 2-2 comprises an air propeller 2-2-1 installed at the tail of thehull 1, a draft tube bracket 2-2-3, an air rudder 2-2-2 and a driving motor 2-2-4, the air propeller 2-2-1 is installed in the draft tube bracket 2-2-3 of the stern, the air rudder 2-2-2 is drivingly hinged at the rear side of the air propeller 2-2-1 to control the direction, the driving motor 2-2-4 drives the air propeller 2-2-1 to rotate.

As shown in fig. 6, the underwater propeller device 2-1 includes a propeller 2-1-1, a strut 2-1-2, a steering mechanism 2-1-4 disposed in a fixing sleeve located at the stern of the boat, and a lifting mechanism 2-1-3, the propeller 2-1-1 is connected to the lower end of the strut 2-1-2, the upper end of the strut 2-1-2 is disposed inside the steering mechanism 2-1-4, and the strut 2-1-2 and the steering mechanism 2-1-4 are disposed in the following manner: the support column 2-1-2 can move up and down in the steering mechanism 2-1-4, but the support column 2-1-2 and the steering mechanism 2-1-4 can not rotate mutually, the steering mechanism 2-1-4 comprises a rotating shaft sleeve 2-1-4-4, the rotating shaft sleeve 2-1-4-4 is provided with three pin supports 2-1-4-1 along the circumferential direction, wherein guide holes are formed in the two pin supports 2-1-4-1, one end of a locking pin 2-1-4-3 moves axially along the guide holes, the other end of the locking pin 2-1-4-3 is rotationally connected with the rotating shaft sleeve 2-1-4-4 through a rotating connecting piece 2-1-4-2, a crank block device is formed, a driving oil cylinder 2-1-4-5 is arranged on the other pin support 2-1-4-1, a piston rod of the driving oil cylinder 2-1-4-5 is rotationally connected with the rotating shaft sleeve 2-1-4-4 through the rotating connecting piece 2-1-4-2 to drive the rotating shaft sleeve 2-1-4-4 to rotate, the pin support 2-1-4-1 and the driving oil cylinder 2-1-4-5 are respectively arranged on theboat body 1 through a fixing plate, the lifting mechanism 2-1-3 is two hydraulic lifting oil cylinders, one end of each of the two hydraulic lifting oil cylinders is respectively hinged on two sides of the support 2-1-2, the other ends of the two lifting hydraulic oil cylinders are fixed at the bottom of the steering mechanism 2-1-4, and the steering mechanism 2-1-4 and the lifting mechanism 2-1-3 realize the up-and-down extension and steering of the propeller 2-1-1.

As shown in fig. 7 and 8, the auxiliary power device 2-3 includes a third hydraulic device 2-3-1, a driving motor and a saw-tooth roller 2-3-3, one end of the third hydraulic device 2-3-1 is hinged on thehull 1, the end of a piston rod of the third hydraulic device 2-3-1 is the driving motor, and an output shaft of the driving motor is connected with the saw-tooth roller 2-3-3.

As shown in fig. 9, themonitoring system 3 comprises a sensor array 3-1 installed on the boat bow, an infrared camera 3-2 installed on the superstructure, the sensor array 3-1 including but not limited to a water level sensor, a wave flow sensor, a wind speed and direction sensor, a temperature sensor, a humidity sensor, the camera 3-2 for collecting sea ice distribution; themonitoring system 3 sends environmental information indexes of the polar region sea area to thecentral control system 5, analyzes and processes data, adjusts the work of thepropulsion system 2, thecommunication system 4 and thepower system 6 carried by the unmanned ship, transmits information to the shore foundation station through thecommunication system 4, and monitors the sea area in real time, wherein thecommunication system 4 comprises a signal transmitter 4-1 and a signal receiver 4-2 and exchanges data with the shore foundation station in real time, thepower system 6 provides power for all equipment, and simultaneously carries a solar panel, and the endurance time of the unmanned ship is prolonged.

As shown in fig. 10, when the unmanned surface vehicle sails on the basis of a hydrofoil craft, an underwater propeller 2-1 is propelled, and is suitable for an ice crushing area where water surface and ice water are mixed; when the hydrofoil sails, the boat body leaves the water surface, the lifting force is provided by the retractable front water wing plates 1-4 and the rear water wing plates 1-5, and meanwhile, the ice load formed by collision induction with sea ice can be avoided, so that the sailing resistance is greatly reduced.

As shown in fig. 11, when the unmanned boat is sailing on the basis of the planing boat, the air jet propels the air propeller 2-2, which is suitable for sailing on ice and snow; the novel ice-water hybrid boat adopts a sliding boat line type, the bow is an arc transition section, the body is a straight section, a channel is formed by inwards sinking along the middle of a bottom plate of theboat body 1, protruding side sliding surfaces are distributed on two sides of the bottom plate, the whole boat body is supported by the two side sliding surfaces when the boat is sailed on ice and snow, the contact area between the boat body and the ground is small during sailing, so that the friction resistance is greatly reduced, meanwhile, an auxiliary power device 2-3 is adopted to provide auxiliary power for the unmanned boat, and the effect of preventing the unmanned boat from slipping on the ice is achieved.

The working principle is as follows: when the ice-water amphibious unmanned ship provided by the invention is positioned on the water surface or in a polar region for breaking ice, the underwater propeller 2-1, the front water wing plate 1-4 and the rear water wing plate 1-5 are put down in water, and the unmanned ship sails similar to a hydrofoil ship. When the unmanned ship sails on the ice, the underwater propeller 2-1, the front water wing plate 1-4 and the rear water wing plate 1-5 are contracted, the unmanned ship slides on the ice similarly to a sledge, the jet propulsion 2-2 and the auxiliary power device 2-3 provide auxiliary power.

The unmanned ship provided by the invention can switch sailing postures in a complex environment of polar region ice water mixing, so as to improve the maneuverability, the rapidity and the wave resistance of the ship body, and can accurately, real-timely and effectively complete the task of polar region marine environment monitoring.

The above description is only an embodiment of the present invention, and is not intended to limit the present invention. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (9)

Translated fromChinese

1.一种适用于极地海域的冰水两栖无人艇，包括艇体(1)、推进系统(2)、监测系统(3)、通信系统(4)、中心控制系统(5)以及电力系统(6)，其特征在于：1. An ice-water amphibious unmanned boat suitable for polar sea areas, comprising a hull (1), a propulsion system (2), a monitoring system (3), a communication system (4), a central control system (5) and a power system (6), which is characterized in that:在所述艇体(1)上安装有可收放的水翼板；A retractable hydrofoil is installed on the hull (1);所述推进系统(2)包括安装在所述艇体(1)尾部的水下螺旋桨装置(2-1)、空气推进器(2-2)以及设于所述艇体(1)两侧的辅助动力装置(2-3)；The propulsion system (2) includes an underwater propeller device (2-1) installed at the tail of the boat body (1), an air propeller (2-2), and an underwater propeller device (2-2) arranged on both sides of the boat body (1). Auxiliary power unit (2-3);所述中心控制系统(5)布置于所述艇体(1)上层建筑内部且所述中心控制系统(5)与所述推进系统(2)、监测系统(3)、通信系统(4)以及电力系统(6)连接，分析处理数据信息以下达任务指令。The central control system (5) is arranged inside the superstructure of the hull (1) and the central control system (5) communicates with the propulsion system (2), monitoring system (3), communication system (4) and The power system (6) is connected to analyze and process data information to issue task instructions.2.根据权利要求1所述一种适用于极地海域的冰水两栖无人艇，其特征在于：所述艇体(1)采用半槽道滑行艇线型，所述艇体(1)底部结构包括一个中心滑行面(1-1)和两个侧滑行面(1-2)，所述中心滑行面(1-1)以一定大小的横向斜升角过渡到两个所述侧滑行面(1-2)，所述艇体(1)底板中间向内凹陷形成槽道，所述艇体艏部的艇艏开口(1-3)呈喇叭形状。2. A kind of ice-water amphibious unmanned boat suitable for polar sea area according to claim 1, it is characterized in that: described hull (1) adopts half-channel planing boat line type, and the bottom of described hull (1) The structure includes a central sliding surface (1-1) and two side sliding surfaces (1-2), and the central sliding surface (1-1) transitions to the two side sliding surfaces at a certain magnitude of a lateral ramp angle (1-2), the middle of the bottom plate of the hull (1) is recessed inward to form a channel, and the bow opening (1-3) of the bow of the hull is in the shape of a horn.3.根据权利要求1所述一种适用于极地海域的冰水两栖无人艇，其特征在于：所述可收放的水翼板包括V型前水翼板(1-4)和后水翼板(1-5)，两个所述前水翼板(1-4)对称安装在所述艇体两侧，在所述艇体(1)上设置有第一液压装置(1-4-4)，在所述前水翼板(1-4)上设置有卡槽(1-4-2)，所述第一液压装置(1-4-4)与所述卡槽(1-4-2)铰接，所述前水翼板(1-4)的一端通过轴套(1-3-1)铰接在所述艇体(1)的支座(1-4-5)上，在所述艇体(1)底部设置有收纳舱(1-5-2)，在所述收纳舱(1-5-2)的内部与所述后水翼板(1-5)之间设置有第二液压装置(1-5-1)。3. A kind of ice-water amphibious unmanned boat suitable for polar sea area according to claim 1, is characterized in that: described retractable hydrofoil plate comprises V-shaped front hydrofoil plate (1-4) and back water A wing plate (1-5), the two front hydrofoil plates (1-4) are symmetrically installed on both sides of the boat body, and a first hydraulic device (1-4) is provided on the boat body (1). -4), a card slot (1-4-2) is provided on the front hydrofoil plate (1-4), and the first hydraulic device (1-4-4) is connected to the card slot (1-4-4). 4-2) Hinged, one end of the front hydrofoil plate (1-4) is hinged on the support (1-4-5) of the hull (1) through the shaft sleeve (1-3-1), A storage compartment (1-5-2) is arranged at the bottom of the hull (1), and is arranged between the interior of the storage compartment (1-5-2) and the rear hydrofoil plate (1-5). There is a second hydraulic device (1-5-1).4.根据权利要求1所述一种适用于极地海域的冰水两栖无人艇，其特征在于：所述水下螺旋桨装置(2-1)包括螺旋桨(2-1-1)、支柱(2-1-2)、设置在位于艇尾的固定套中的转向机构(2-1-4)以及升降机构(2-1-3)，所述螺旋桨(2-1-1)与所述支柱(2-1-2)的下端相连接，所述支柱(2-1-2)的上端设置在所述转向机构(2-1-4)的内部且所述支柱(2-1-2)在所述转向机构(2-1-4)中上下移动，所述升降机构(2-1-3)为两个液压升降油缸，两个所述升降液压油缸的一端分别铰接在所述支柱(2-1-2)的两侧，两个所述升降液压油缸的另一端固定在所述转向机构(2-1-4)的底部，所述转向机构(2-1-4)、升降机构(2-1-3)实现所述螺旋桨(2-1-1)进行上下伸缩与转向。4. A kind of ice-water amphibious unmanned boat suitable for polar sea area according to claim 1, is characterized in that: described underwater propeller device (2-1) comprises propeller (2-1-1), strut (2) -1-2), a steering mechanism (2-1-4) and a lifting mechanism (2-1-3) arranged in a fixed sleeve at the stern, the propeller (2-1-1) and the strut The lower ends of (2-1-2) are connected, the upper ends of the struts (2-1-2) are provided inside the steering mechanism (2-1-4), and the struts (2-1-2) Move up and down in the steering mechanism (2-1-4), the lifting mechanism (2-1-3) is two hydraulic lifting cylinders, and one end of the two lifting hydraulic cylinders is hinged on the pillars ( 2-1-2) on both sides, the other ends of the two lifting hydraulic cylinders are fixed at the bottom of the steering mechanism (2-1-4), the steering mechanism (2-1-4), the lifting mechanism (2-1-3) The propeller (2-1-1) can be extended up and down and turned.5.根据权利要求4所述一种适用于极地海域的冰水两栖无人艇，其特征在于：所述转向机构(2-1-4)包括转动轴套(2-1-4-4)，所述转动轴套(2-1-4-4)沿周向设有三个销支座(2-1-4-1)，其中两个所述销支座(2-1-4-1)内开有导向孔，锁紧销(2-1-4-3)的一端沿所述导向孔轴向运动，所述锁紧销(2-1-4-3)的另一端通过转动连接件(2-1-4-2)与所述转动轴套(2-1-4-4)转动连接，构成曲柄滑块装置，另一个所述销支座(2-1-4-1)上安装有驱动油缸(2-1-4-5)，所述驱动油缸(2-1-4-5)的活塞杆通过所述转动连接件(2-1-4-2)与所述转动轴套(2-1-4-4)转动连接，驱动所述转动轴套(2-1-4-4)旋转，所述销支座(2-1-4-1)和所述驱动油缸(2-1-4-5)分别通过固定板安装在所述艇体(1)上。5. An ice-water amphibious unmanned boat suitable for polar sea areas according to claim 4, characterized in that: the steering mechanism (2-1-4) comprises a rotating shaft sleeve (2-1-4-4) , the rotating shaft sleeve (2-1-4-4) is provided with three pin supports (2-1-4-1) in the circumferential direction, two of which are inside the pin supports (2-1-4-1) A guide hole is opened, one end of the locking pin (2-1-4-3) moves axially along the guide hole, and the other end of the locking pin (2-1-4-3) is rotated through the connecting piece ( 2-1-4-2) is rotatably connected with the rotating shaft sleeve (2-1-4-4) to form a crank slider device, and the other one is installed on the pin support (2-1-4-1) There is a driving oil cylinder (2-1-4-5), and the piston rod of the driving oil cylinder (2-1-4-5) is connected to the rotating shaft sleeve through the rotating connecting piece (2-1-4-2) (2-1-4-4) Rotating connection, driving the rotating sleeve (2-1-4-4) to rotate, the pin support (2-1-4-1) and the driving oil cylinder (2) -1-4-5) are respectively mounted on the hull (1) through a fixing plate.6.根据权利要求1所述一种适用于极地海域的冰水两栖无人艇，其特征在于：两个所述空气推进器(2-2)对称的设置在艇尾，所述空气推进器(2-2)包括设于所述艇体(1)尾部的空气螺旋桨(2-2-1)、导流管支架(2-2-3)、空气舵(2-2-2)以及驱动电机(2-2-4)，所述空气螺旋桨(2-2-1)安装在艇尾的所述导流管支架(2-2-3)内，所述空气舵(2-2-2)传动铰接在所述空气螺旋桨(2-2-1)后侧以控制方向，所述驱动电机(2-2-4)带动所述空气螺旋桨(2-2-1)旋转。6. A kind of ice-water amphibious unmanned boat suitable for polar sea area according to claim 1, it is characterized in that: two described air thrusters (2-2) are symmetrically arranged at the stern of the boat, and described air thrusters (2-2) Including an air propeller (2-2-1), a guide tube bracket (2-2-3), an air rudder (2-2-2) and a drive provided at the tail of the hull (1) The motor (2-2-4), the air propeller (2-2-1) is installed in the guide tube bracket (2-2-3) at the stern of the boat, the air rudder (2-2-2) ) drive is hinged on the rear side of the air propeller (2-2-1) to control the direction, and the drive motor (2-2-4) drives the air propeller (2-2-1) to rotate.7.根据权利要求1所述一种适用于极地海域的冰水两栖无人艇，其特征在于：所述辅助动力装置(2-3)包括第三液压装置(2-3-1)、驱动马达(2-3-2)以及锯齿滚轮(2-3-3),所述第三液压装置(2-3-1)的一端铰接在所述艇体(1)上，所述第三液压装置(2-3-1)的活塞杆端部为所述驱动马达(2-3-2)，所述驱动马达(2-3-2)的输出轴与所述锯齿滚轮(2-3-3)连接。7. An ice-water amphibious unmanned boat suitable for polar sea areas according to claim 1, characterized in that: the auxiliary power device (2-3) comprises a third hydraulic device (2-3-1), a drive A motor (2-3-2) and a sawtooth roller (2-3-3), one end of the third hydraulic device (2-3-1) is hinged on the boat body (1), and the third hydraulic device (2-3-1) is hinged on the boat body (1). The end of the piston rod of the device (2-3-1) is the drive motor (2-3-2), the output shaft of the drive motor (2-3-2) and the sawtooth roller (2-3-2) 3) Connect.8.根据权利要求1所述一种适用于极地海域的冰水两栖无人艇，其特征在于：所述监测系统(3)包括安装在艇艏的传感器阵列(3-1)、设于上层建筑的用于采集海冰分布情况的红外摄像机(3-2)，所述传感器阵列(3-1)包括但不限于水位传感器、浪流传感器、风速风向传感器、温度传感器、湿度传感器，所述监测系统(3)将极地海域的环境信息指标发送给所述中心控制系统(5)，分析处理数据并调整无人艇搭载的推进系统(2)、通信系统(4)以及电力系统(6)的工作。8. An ice-water amphibious unmanned boat suitable for use in polar sea areas according to claim 1, characterized in that: the monitoring system (3) comprises a sensor array (3-1) installed on the bow of the boat, arranged on the upper floor A building's infrared camera (3-2) for collecting the distribution of sea ice, the sensor array (3-1) includes but is not limited to a water level sensor, a wave current sensor, a wind speed and direction sensor, a temperature sensor, and a humidity sensor. The monitoring system (3) sends the environmental information indicators of the polar sea area to the central control system (5), analyzes and processes the data, and adjusts the propulsion system (2), the communication system (4) and the power system (6) carried by the unmanned boat work.9.根据权利要求1所述一种适用于极地海域的冰水两栖无人艇，其特征在于：所述通信系统(4)包括信号发送器(4-1)、信号接收器(4-2)，实时与岸地基站传输数据。9. An ice-water amphibious unmanned boat suitable for polar sea areas according to claim 1, characterized in that: the communication system (4) comprises a signal transmitter (4-1), a signal receiver (4-2) ), transmit data with the shore base station in real time.

Images