WO2019174244A1

WO2019174244A1 - Remotely-controlled unmanned ship based on wind-driven straight-bladed propeller

Info

Publication number: WO2019174244A1
Application number: PCT/CN2018/112413
Authority: WO
Inventors: 吴家鸣; 梁严; 陈宇庆; 李林华
Original assignee: 华南理工大学; 广州市顺海造船有限公司
Priority date: 2018-03-13
Filing date: 2018-10-29
Publication date: 2019-09-19
Also published as: AU2018413663B2; CN108357638A; AU2018413663A1

Abstract

A remotely-controlled unmanned ship based on a wind-driven straight-bladed propeller. Multiple lift type blades (16) of a lift type vertical-axis rotor (1) are centered about a rotating spindle (19) and vertically arranged at intervals in the circumferential direction. Both the upper and lower ends of each lift type blade (16) are connected to the outer end of a connecting plate (17), and the inner end of the connecting plate (17) is connected to the rotating spindle (19). The rotating spindle (19) passes through a wind driven generator (18) and extends downwards to the input end of a gearbox (4). The output end of the gearbox (4) is connected to the front end of a transmission shaft (5), and the rear end of the transmission shaft (5) is connected to the input end of a straight-bladed propeller (6). According to the unmanned ship, the propeller is directly driven by wind power to rotate to propel the unmanned ship to sail, and an on-board storage battery (14) is charged by means of a solar cell panel (11) and the wind driven generator (18) installed on the ship so as to serve as a stored energy source, thereby theoretically achieving unlimited endurance of the unmanned ship.

Description

Wind driven straight wing propeller remote control unmanned ship

Technical field

The invention relates to a remote double-body unmanned ship, in particular to a wind-driven straight-wing propeller remote-controlled unmanned ship, which is a double-body unmanned ship using a wind driven ship for long-distance navigation.

Background technique

In the current stage of marine research and development, unmanned ships have been widely favored for their low operating costs and flexible task processing modes. However, due to the limitations of current technology, unmanned ships are gradually exposing their limitations in an increasingly complex mission environment. Among them, the shortcomings in terms of endurance are most prominent. Therefore, finding a technical means that can extend the voyage of unmanned ships has practical significance for the application and development of unmanned ships.

The mainstream unmanned ships in the market mostly use electric motors or internal combustion engines as the main engines of unmanned ships, and drive unmanned ships to sail by consuming batteries or fuel carried in the hull. It can be seen that the current range of unmanned ships is largely dependent on the storage of batteries or fuel. However, the limited main scale of unmanned ships is doomed to extend the endurance by increasing energy reserves. In this case, engineers in the industry have thought of using solar power and wave force to push the two forms to power the unmanned ship, but because of the relatively low energy density of the wave force, the solar hair electrode is susceptible to weather conditions. And there is a loss in the process of converting electric energy, so the effect on the endurance of the unmanned ship is not ideal. In summary, in order to improve the endurance of unmanned ships, how to use natural resources as a source of energy for unmanned ships while avoiding the limitations of natural energy has important technical value.

Summary of the invention

The purpose of the invention is to directly drive the unmanned ship propeller to rotate and propel the unmanned ship, and use the solar panel and the wind generator installed on the hull to charge the battery carried by the ship and use it as a reserve energy to realize the unmanned ship. In theory, the infinite endurance, maximize the range of the two-body unmanned ship.

The invention is achieved by the following technical means:

Remote control unmanned ship for wind driven straight wing propeller, including frame structure, lift type vertical axis wind wheel, ship sheet body, propeller propeller, gearbox, drive shaft, straight wing propeller, solar panel, battery, Wind and solar hybrid controller and control equipment;

The frame structure comprises a longitudinal sill, a rib and a longitudinal bone; a plurality of longitudinal bones are longitudinally spaced apart on both sides of the longitudinal sulcus, and the plurality of ribs are laterally spaced apart, connected to the longitudinal and longitudinal bones to form a grid structure, and the plurality of solar energy The panels are arranged on the grid; the two ship sheets are spaced apart at the lower ends of the frame structure;

The lift type vertical axis wind wheel is mainly composed of a plurality of lift type blades, a plurality of connecting plates, a wind power generator and a rotating main shaft; the rotating main shaft is vertically disposed at an upper middle end of the longitudinal sill, and the plurality of lifting type blades are rotated by a main shaft The center line is vertically spaced apart in the circumferential direction, and the upper and lower ends of each lift type blade are connected with the outer end of the connecting plate, and the inner end of the connecting plate is connected with the rotating main shaft; the connecting plate is a small outer end with a small outer end Type structure; the rotating main shaft extends downward through the wind power generator to the input end of the transmission; the output end of the transmission is connected to the front end of the transmission shaft, and the rear end of the transmission shaft is connected to the input end of the straight wing propeller; the transmission shaft is arranged in the longitudinal direction a lower end; a wind and light complementary controller and a control device are arranged on the frame structure;

The ship body comprises a hull, at least one longitudinal bulkhead, a plurality of transverse bulkheads and an inner bottom deck, the hull forming a cavity, the cavity being provided with at least one longitudinal bulkhead, a plurality of transverse bulkheads and a layer Insole; multiple transverse bulkhead spacing, connected to longitudinal bulkheads, longitudinal bulkheads and multiple transverse bulkheads on the inner bottom deck, dividing the upper surface area of the inner bottom deck into a meshed area, within the mesh area a plurality of batteries are placed; a propeller propeller is mounted at the lower end of each ship's tail;

After the plurality of solar panels are connected in parallel, the wind turbine is respectively connected with the input end of the wind and solar hybrid controller, and the output of the wind and solar hybrid controller is connected with the battery, and the battery is respectively connected with the servo motor of the control device, the propeller propeller and the straight wing propeller.

To further achieve the object of the present invention, preferably, the inner bottom deck, the longitudinal bulkhead and the transverse bulkhead are made of fiberglass material and have a thickness of 1 cm.

Preferably, the control device and the wind and solar hybrid controller are disposed in the control box; the control box is disposed at the upper end of the longitudinal tail, and the lower end of the longitudinal tail is provided with a straight wing thruster.

Preferably, the lift type blade is 5 pieces; the upper and lower ends of the lift type blade are connected with the outer end of the connecting plate by screws, and the inner side of the connecting plate is welded with the rotating main shaft.

Preferably, the lift type blade is made of FRP material, adopts NACA0018 airfoil, has a chord length of 30 cm and a wingspan of 3 m; the connecting plate is made of an aluminum alloy material, has a length of 2.1 m and a thickness of 2 cm.

Preferably, the transmission shaft is made of a stainless steel plate material having a diameter of 5 cm and a length of 2.7 m; the transmission has a gear ratio of 1:5, and the front and rear ends of the transmission are respectively welded to the longitudinal boring.

Preferably, the rotating main shaft, the longitudinal girders, the longitudinal ribs and the ribs are all made of an aluminum alloy material; the rotating main shaft has a diameter of 5 cm and a length of 2.4 m.

Preferably, the straight wing propeller adopts a ZYDJ-1 type straight wing propeller; the wind power generator selects a power generation driving dual-purpose motor, and the power generation power is 1 kw.

Preferably, the solar panel selects a 300 W photovoltaic power generation board; the control device selects an ARM embedded development control board TMS320C6657, which is integrated with a Huawei ME909S-120 Mini PCIe 4G wireless communication module; the wind and solar hybrid controller selects JW1230 Wind and solar hybrid controller.

Preferably, the longitudinal bulkheads are one; the longitudinal girders are preferably two, arranged in parallel; the two ship sheets are fixed to both ends of the longitudinal bones and the longitudinal girders by screws.

In summary, the present invention has the following technical advantages:

1) It can obtain relatively stable energy supplements from nature and has greater endurance. The wind-powered remote unmanned ship described in the present invention uses a combination of wind energy and solar energy as the energy that humans have been using at sea for a long time, and wind energy can ensure that unmanned ships are obtained under most weather and geographical conditions. A relatively stable source of energy, and solar energy as a supplement to energy, can provide more energy for unmanned ships under excellent meteorological conditions, and further expand the endurance of unmanned ships.

2) Using the wind to drive the lift-type vertical axis wind wheel and directly drive the straight wing thruster, higher energy utilization efficiency can be obtained. In the daily cruising state, the wind-powered remote unmanned ship of the present invention captures the wind on the sea surface through the lift-type vertical axis wind wheel mounted thereon and directly converts it into rotating mechanical energy, and this part of the energy passes through the lift type. The mechanical structure of the vertical shaft rotor rotating main shaft, the shifting gear box and the transmission shaft is directly transmitted to the straight wing propeller, which in turn drives the unmanned ship to sail. Compared with the previous form of using the wind power to charge the battery and then use the stored electric energy to drive, directly using the wind to drive can avoid the loss of wind power during power generation, charging and discharging, and maximize the conversion of the lift vertical axis wind wheel Wind energy is applied to propulsion, which in turn increases the utilization of wind energy.

3) The influence of the windward resistance of the lift-type vertical axis wind wheel on the navigation of the unmanned ship can be reduced to some extent. The wind power remote unmanned ship according to the present invention directly uses wind power to drive during cruise. In the case of windward sailing, the windward resistance of the lift type vertical axis wind wheel is offset by the propulsive force generated by the straight wing propeller. In part, the propulsive force generated by the straight wing propeller itself is also derived from wind energy, so the unmanned ship's own energy is not consumed in the process of reducing the windward resistance, and the stable speed can be ensured by the cooperation of the propeller propeller.

4) The design margin is large, the task adaptability is good, and it can meet the needs of diverse users. According to the design parameters, in the case of designing the waterline, the weight of the remote unmanned ship of the wind power can be removed, and nearly one ton of payload can be provided. Therefore, in the actual application process, the hull can be flexibly installed according to actual needs. The task module and the execution device are replaced, and the control device in the control box is replaced accordingly, so that the wind power remote unmanned ship according to the present invention can perform different tasks and improve the task adaptation performance.

5) The reserves are large, and the emergency risk aversion ability is significantly improved. First of all, the wind power remote unmanned ship of the present invention employs two independent propulsion devices, namely a straight wing propeller and a propeller propeller. The two sets of propulsion equipment are driven by the lift-type vertical axis wind wheel and the battery respectively, so that in the event of failure of one of the propulsion devices, another set of propulsion equipment can be used to return to the starting point. And in the case of using only the stored electric energy of the battery carried in the hull, the wind powered remote unmanned ship using the propeller can still sail for about 180 nautical miles, so that the wind power remote according to the present invention is even under extreme conditions. The unmanned ship still has a strong vitality and can safely return to the sea to reduce unnecessary losses.

6) The use of straight wing thrusters is a wind powered remote unmanned ship with more excellent maneuverability. At this stage, various ships use rudder as the main control equipment, but due to its working principle, at low speeds, the rudder blade can only produce a small steering torque, so the steering effect of the rudder at low speed Will be greatly discounted. In the case of a straight-wing propeller, the direction of the propulsive force can be changed by adjusting the angle of attack of the straight-wing propeller blades to directly steer the hull, and the thrust generated by the straight-wing propeller is only related to its own rotational angular velocity. It has nothing to do with the speed of the ship, so even at low speeds, the straight-wing propeller can provide a stable propulsive force and steering torque. The maximum designed speed of the wind powered remote unmanned ship described in the present invention is 4.5 knots, and it is understood that the straight wing thruster is more advantageous in the case of the present invention.

7) Complete a certain long-distance unmanned ship control at a lower cost. Through the 4G communication module integrated on the unmanned ship control board, the operator can use the 4G signal to complete the control of the unmanned ship and the data transmission with the unmanned ship. In this process, the existing mobile operator can be used. Ground base stations constructed on islands and coastal areas serve as relays for control and data transmission signals, extending the control distance to unmanned ships and reducing the costs associated with remote control of unmanned ships.

8) Adopt modular design ideas to facilitate manufacturing, use and maintenance. The wind power remote unmanned ship of the present invention itself is a hull platform formed by splicing different functional modules, and each part is relatively independent, and each plays its role. At the same time, each module is assembled from simple standardized parts, making it easy to manufacture and repair on a large scale.

DRAWINGS

Figure 1 is a schematic view showing the structure of a remotely controlled unmanned ship of a wind driven straight wing propeller.

2 is a top plan view of the remotely controlled unmanned vessel of the wind driven straight wing propeller of FIG. 1.

Figure 3 is a plan view of the interior of the vessel body of Figure 1.

4 is a schematic structural view of the lift type vertical axis wind wheel of FIG. 1.

Figure 5 is an energy distribution diagram of a remotely controlled unmanned ship of a wind driven straight wing propeller.

The figure shows: lift type vertical axis wind wheel 1, ship sheet 2, propeller propeller 3, gearbox 4, drive shaft 5, straight wing propeller 6, longitudinal gird 7, control box 8, rib 9, longitudinal bone 10, solar panel 11, longitudinal bulkhead 12, transverse bulkhead 13, battery 14, inner bottom deck 15, lift type vane 16, connecting plate 17, wind turbine 18, rotating main shaft 19, wind and solar hybrid controller 20, control Device 21.

detailed description

In order to better understand the present invention, the present invention will be further described below in conjunction with the accompanying drawings, but the embodiments of the present invention are not limited thereto.

As shown in Figures 1, 2, 3, 4, and 5, a wind-driven straight-wing propeller remote-controlled unmanned ship includes a frame structure, a lift-type vertical axis wind wheel 1, a ship body 2, and a propeller propeller 3. Gearbox 4, drive shaft 5, straight wing thruster 6, solar panel 11, battery 14, wind and solar hybrid controller 20 and control device 21;

As shown in Fig. 2, the frame structure comprises a longitudinal gird 7, a rib 9 and a longitudinal bone 10; a plurality of longitudinal bones 10 are longitudinally spaced apart on both sides of the longitudinal gird 7, a plurality of ribs 9 are laterally spaced apart, with a longitudinal sill 7 and a longitudinal The bones 10 are connected to form a grid structure, and a plurality of solar panels 11 are disposed on the grid; the two ship sheets 2 are spaced apart at the lower ends of the frame structure;

As shown in FIG. 4, the lift type vertical axis wind wheel 1 is mainly composed of a plurality of lift type blades 16, a plurality of connecting plates 17, a wind power generator 18 and a rotating main shaft 19; the rotating main shaft 19 is vertically disposed in the middle of the longitudinal sill 7 The upper end, the plurality of lift type blades 16 are centered on the rotating main shaft 19, and are vertically spaced apart in the circumferential direction. The upper and lower ends of each of the lift type blades 16 are connected to the outer end of the connecting plate 17, and the inner end of the connecting plate 17 is connected. Connected to the rotating main shaft 19; the connecting plate 17 is an airfoil structure having a small outer end and a small outer end; the rotating main shaft 19 extends downward through the wind generator 18 to the input end of the gearbox 4; the output end of the transmission 4 and the transmission shaft 5 The front end is connected, the rear end of the transmission shaft 5 is connected to the input end of the straight wing propeller 6; the transmission shaft 5 is disposed at the lower end of the longitudinal cymbal 7; the frame structure is provided with the wind and solar complementary controller 20 and the control device 21;

As shown in Fig. 3, the ship sheet 2 comprises a hull, at least one longitudinal bulkhead 12, a plurality of transverse bulkheads 13 and an inner bottom deck 15, the hull forming a cavity in which at least one longitudinal bulkhead 12 is disposed. a plurality of transverse bulkheads 13 and an inner bottom deck 15; a plurality of transverse bulkheads 13 spaced apart from the longitudinal bulkheads 12, the longitudinal bulkheads 12 and the plurality of transverse bulkheads 13 being disposed on the inner bottom deck 15, The upper surface area of the inner bottom deck 15 is divided into a mesh area, a plurality of batteries 14 are placed in the mesh area; two propellers 3 are mounted on the lower end of the tail of the ship sheet 2;

After the plurality of solar panels 11 are connected in parallel, the wind turbine generator 18 is connected to the input end of the wind and solar hybrid controller 20, and the output of the wind and solar hybrid controller 20 is connected to the battery 14. The battery 14 is respectively connected to the control device 21, the propeller 3 and the straight wing. The servo motor of the pusher 6 is connected.

Preferentially, the ship sheet 2 is made of FRP material, the sheet thickness is 1 cm; the ship sheet 2 is provided with 12 mesh regions, and a ship sheet 2 carries a total of 96 batteries, and each of the two batteries 14 is One group is connected in series and connected in parallel with other batteries to output 24V DC. The propeller propeller 3 is selected from the St. Johns 86 lb thruster; the inner bottom deck 15, the longitudinal bulkhead 12 and the transverse bulkhead 13 are made of FRP material, the thickness is 1 cm, and the shape is matched with the ship sheet 2; Mai 12V 100Ah.

Preferentially, the frame structure defines 12 grid-like regions for solar panel 11 to be mounted. The two ship sheets 2 are fixed to the longitudinal ends 10 and the longitudinal ends by screws; the longitudinal threads are preferably two, arranged in parallel; the two longitudinal jaws 7 in the center of the frame structure can serve as load-bearing structures, and the longitudinal sides are located on the rear side. The upper end of the tail 7 is welded with a control box 8 and the lower end is equipped with a straight wing propeller 6, and a control device 21 and a wind and solar hybrid controller 20 are placed in the control box 8.

Preferably, the lift type vane 16 is 5 pieces; preferably, the upper and lower ends of the lift type type vane 16 are screwed to the outer end of the connecting plate 17, and the inner side of the connecting plate 17 is welded to the rotating main shaft 19. Preferably, the lift type blade 16 is made of FRP material, adopts NACA0018 airfoil type, has a chord length of 30 cm and a wingspan of 3 m; the connecting plate 17 is made of an aluminum alloy material, has a length of 2.1 m, a thickness of 2 cm, and the inside and outside of the connecting plate 17 The size of the two ends is matched with the size of the lift type blade and the rotating main shaft 19; the wind power generator 18 selects a dual-purpose motor for power generation, and the power generation power is 1 kw; the rotating main shaft 19 is made of an aluminum alloy material, and has a diameter of 5 cm and a length of 2.4 m.

The gear ratio of the transmission 4 is preferably 1:5, and the front and rear ends of the transmission 4 are respectively welded to the longitudinal sill 7 to form a longitudinal beam structure of the hull. The drive shaft 5 is made of stainless steel plate material with a diameter of 5 cm and a length of 2.7 m. The straight wing propeller 6 is a ZYDJ-1 type straight wing propeller manufactured by Zhejiang Fengshen Marine Engineering Technology Co., Ltd.

The longitudinal 桁7 is made of aluminum alloy material, the main dimension is 2.9×0.3×0.2m; the longitudinal bone 10 is made of aluminum alloy material, the main dimension is 5.88×0.1×0.05m; the rib 9 is made of aluminum alloy material, the main The scale is 0.89×0.05×0.03m; the solar panel 11 selects 300W photovoltaic power generation board produced by Jinko Energy Company.

The control box 8 is made of aluminum alloy material, the main scale is 0.4×0.3×0.2m, the thickness of the box is 2mm, and the control device 21 carried inside is selected as the ARM embedded development control board TMS320C6657, which is integrated with Huawei ME909S- The 120Mini PCIe4G wireless communication module is used for signal and data transmission; the wind and solar hybrid controller 20 uses Deheng Optoelectronics JW1230 wind and solar hybrid controller.

The lift type vertical axis wind wheel 1 is connected to the wind turbine 18 and the gearbox 4 via a rotating main shaft 19, respectively; the gearbox 4 is connected to the straight wing propeller 6 via a transmission shaft 5. A total of 12 solar panels 11 are connected in parallel with the wind turbine 18 in series to the input end of the wind-solar complementary controller 20, and the output of the wind-solar complementary controller 20 is connected in series to the battery 14, and the battery 14 is respectively connected to the control device 21 and the propeller 3. The straight wing thruster 6 servo motor is connected to supply power to all three.

An energy distribution method for a wind powered remote unmanned ship is illustrated in conjunction with FIG. First, the lift type vertical axis wind wheel 1 and the solar panel 11 obtain wind energy and solar energy from nature. The lift type vertical axis wind wheel 1 converts wind energy into rotational mechanical energy, part of which is transmitted to the wind generator 18 for power generation, and the other part is transmitted to the straight wing propeller 6 for propelling the unmanned ship. Since the input power of the wind turbine 18 and the straight wing propeller 6 is 1 KW, the two mechanical energy sources are the same size. The wind turbine 18 flows with the current generated by the solar panel 11 to the wind and solar hybrid controller 20, and flows through it to the battery 14 for charging. The electric energy stored in the battery 14 mainly has three purposes: as a reserve energy, powering the propeller propeller 3 in a critical situation, helping the wind power remote unmanned vessel to escape the danger; supplying the electric energy required for the operation of the control device 21; being a straight wing propeller 6 Servo motor power supply, so that the straight wing thruster 6 can adjust the blade angle of attack as needed to change the direction of the propulsive force.

The following describes the navigation mode of the wind powered remote unmanned ship. In the case of excellent wind conditions, the wind powered remote unmanned ship provides propulsion and maneuvering force only through the straight wing propeller 6 during cruising. The electrical energy generated by the wind turbine 18 and the solar panel 11 is all used for charging.

The plurality of lift type blades 16 are subjected to the wind in the wind to rotate the lift type vertical axis wind wheel 1 to drive the wind power generator 18 sleeved on the rotating main shaft 19 to generate electricity externally, since the input power of the wind power generator 18 is less than the lift type vertical The conversion power of the shaft wind wheel 1, so that the remaining rotating mechanical energy converted by the lift type blade 16 is transmitted to the gearbox 4 through the rotating main shaft 19, and after the speed of the gearbox 4 is increased, the input speed of the straight wing propeller 6 is reached, by the gearbox The output end is transmitted to the transmission shaft 5, and the rotational mechanical energy is transmitted to the straight wing propeller 6 through the transmission shaft 5, so that the rotation work is started to push the unmanned ship to sail.

The electrical energy generated by the wind turbine 18 and the solar panel 11 is completely rectified by the wind and solar hybrid controller 20 and is used to fully charge the battery 14. The wind and solar hybrid controller 20 automatically adjusts the output power according to the power generated by the wind turbine 18 and the solar panel 11 to ensure the stability of the output power.

The propeller propeller is turned on under the following three conditions.

Working condition 1: When the mechanical failure of the lift type vertical axis wind wheel 1, the gearbox 4, the transmission shaft 5 and the straight wing propeller 6 occurs, the straight wing propeller 6 stops working, and the control device 21 outputs a signal to energize the propeller propeller 3 When the battery is turned on, the propeller propeller 6 is directly powered by the battery 14 to make it work normally to push the unmanned ship to sail. And the control device 21 can output a control signal according to the manipulation signal received by the control device to cause the two propellers 3 to generate a rotation speed difference, thereby realizing the unmanned ship's rotation.

Working condition 2: In case of emergency, in order to avoid danger as soon as possible, the straight wing propeller 6 provides propulsion and steering force as an auxiliary power for the unmanned ship under the driving of the lift type vertical axis wind wheel 1, and the control device 21 is based on The received command, the output signal causes the propeller propeller 3 to be powered on, and the unmanned vessel is quickly removed from the dangerous water area when the battery 14 directly supplies energy thereto.

Working condition 3: When the wind-powered remote unmanned ship sails in the wind, since the propulsion energy of the straight-wing propeller 6 is directly from the wind energy, it is impossible to complete the advancement of the unmanned ship at this time. In this case, the propulsive force generated by the straight wing propeller 6 is used to offset part of the windward resistance, and the control device 21 outputs a signal to energize the propeller propeller 3 to use the electric energy provided by the battery 14 to propel the unmanned ship.

Utilizing the power form of the present invention will bring higher energy utilization and better maneuverability to the wind powered remote unmanned ship. In the cruise state, the wind-powered remote unmanned vessel can obtain the propulsion and maneuvering force required for all navigation through the straight wing propeller 6. Moreover, the magnitude and direction of the propulsive force generated by the straight wing propeller 6 are only related to the angle of attack and the rotational speed of the blades of the straight wing propeller 6, and do not change with the speed of the unmanned ship. However, if the traditional rudder control method is adopted, not only the components will be increased, but also the control and structure will be complicated. At the low speed, the speed of the water flowing through the rudder will be higher due to the same speed movement of the rudder and the ship. Small, according to the relationship between the steering force of the rudder and the speed of the water flow, the rudder cannot provide an effective steering torque. The maximum designed speed of the wind-powered remote unmanned ship of the present invention in the cruise state is 4.5 knots, which is relatively small, so that the selection of the straight wing propeller 6 will achieve better steering effects.

Considering the use of wind energy to promote the unmanned ship navigation, those skilled in the art can easily think of using the existing mature wind power generation technology, using the wind power generator to generate electric energy to charge the battery, and then the battery is powered by the propeller to realize the wind energy drive. Unmanned boat. In this mode, the energy will eventually become the rotary mechanical energy of the straight wing propeller after the following 7 transformations, namely wind energy - wind wheel rotating mechanical energy - electrical energy - chemical energy - electrical energy - motor rotating mechanical energy - gearbox Rotating mechanical energy - the direct wing thruster rotates mechanical energy. Since the energy loss will be generated after each conversion, the more the number of conversions, the more the loss, of course, the certain line loss will also occur during the power transmission, and the value is small, which can be neglected. In summary, the use of wind power to promote unmanned ships is bound to produce large energy losses.

The invention utilizes the mode in which the wind energy directly drives the propeller, in which the energy is transformed into the rotary mechanical energy of the straight wing propeller through the following three transformations, that is, the wind energy - the rotational mechanical energy of the wind wheel - the rotational mechanical energy of the gearbox - the straight wing The propeller rotates mechanical energy. It can be seen that the use of wind energy directly driving the propeller can effectively reduce the number of energy conversions, thereby reducing the loss of energy due to conversion and achieving higher wind energy utilization efficiency.

In particular, the wind-powered remote unmanned ship of the present invention can not only offset the wind into a propulsive force, but also offset a part of the lift-type vertical axis during the windward sailing, compared to the way of using wind power to drive the unmanned ship. The windward resistance of the wind wheel 1 reduces the influence of the lift type vertical axis wind wheel 1 on the navigation of the unmanned ship, and can obtain a higher energy utilization effect. Firstly, in the process of wind power generation, the rotating mechanical energy of the lift type vertical axis wind wheel 1 cannot be fully converted into electric energy for the use of the wind power generator 18, and an energy loss of about 0.05-0.1 is generated in this step; The transmission line is short, so the line loss is neglected, then the second loss occurs during the charging of the battery 14, and an energy loss of about 0.05-0.2 is generated in this step; the battery 14 is also generated during the discharge process. A certain power loss, the loss of this link is maintained at about 0.1; the electrical energy generated by the electric motor generates about 0.26-0.06 of energy loss; and the gearbox generates mechanical transmission loss of about 0.05-0.1, so if The rotational mechanical energy of the fixed-lift vertical axis wind wheel 1 is W, and the energy finally transmitted to the thruster is at most:

0.95×0.95×0.9×0.94×0.95×W=0.725W

However, if the propulsion form of the present invention is employed, only a mechanical transmission loss of up to about 0.1 is produced in the transmission 4, so in the same case, the amount of energy that the propeller can obtain is at least:

0.9×W=0.9W

From this, it can be seen that the way in which the wind force is directly transmitted to the straight wing propeller 6 to obtain the propulsive force has a higher energy utilization rate.

Claims

A wind driven straight wing propeller remote control unmanned ship, characterized by comprising a frame structure, a lift type vertical axis wind wheel, a ship sheet body, a propeller propeller, a gearbox, a transmission shaft, a straight wing propeller, a solar battery Board, battery, wind and solar hybrid controller and control equipment;

The frame structure comprises a longitudinal sill, a rib and a longitudinal bone; a plurality of longitudinal bones are longitudinally spaced apart on both sides of the longitudinal sulcus, and the plurality of ribs are laterally spaced apart, connected to the longitudinal and longitudinal bones to form a grid structure, and the plurality of solar energy The panels are arranged on the grid; the two ship sheets are spaced apart at the lower ends of the frame structure;

The lift type vertical axis wind wheel is mainly composed of a plurality of lift type blades, a plurality of connecting plates, a wind power generator and a rotating main shaft; the rotating main shaft is vertically disposed at an upper middle end of the longitudinal sill, and the plurality of lifting type blades are rotated by a main shaft The center line is vertically spaced apart in the circumferential direction, and the upper and lower ends of each lift type blade are connected with the outer end of the connecting plate, and the inner end of the connecting plate is connected with the rotating main shaft; the connecting plate is a small outer end with a small outer end Type structure; the rotating main shaft extends downward through the wind power generator to the input end of the transmission; the output end of the transmission is connected to the front end of the transmission shaft, and the rear end of the transmission shaft is connected to the input end of the straight wing propeller; the transmission shaft is arranged in the longitudinal direction a lower end; a wind and light complementary controller and a control device are arranged on the frame structure;

The ship body comprises a hull, at least one longitudinal bulkhead, a plurality of transverse bulkheads and an inner bottom deck, the hull forming a cavity, the cavity being provided with at least one longitudinal bulkhead, a plurality of transverse bulkheads and a layer Insole; multiple transverse bulkhead spacing, connected to longitudinal bulkheads, longitudinal bulkheads and multiple transverse bulkheads on the inner bottom deck, dividing the upper surface area of the inner bottom deck into a meshed area, within the mesh area a plurality of batteries are placed; a propeller propeller is mounted at the lower end of each ship's tail;

After the plurality of solar panels are connected in parallel, the wind turbine is respectively connected with the input end of the wind and solar hybrid controller, and the output of the wind and solar hybrid controller is connected with the battery, and the battery is respectively connected with the servo motor of the control device, the propeller propeller and the straight wing propeller.
The wind driven straight wing propeller remotely controlled unmanned ship according to claim 1, wherein the inner bottom deck, the longitudinal bulkhead and the transverse bulkhead are made of fiberglass material and have a thickness of 1 cm.
The remotely controlled unmanned ship of a wind driven straight wing propeller according to claim 1, wherein the control device and the wind and solar hybrid controller are disposed in the control box; the control box is disposed at the upper end of the longitudinal tail, and the longitudinal tail portion The lower end is provided with a straight wing thruster.
The remotely controlled unmanned ship of the wind driven straight wing propeller according to claim 1, wherein the lift type blade is 5 pieces; the upper and lower ends of the lift type blade are connected with the outer end of the connecting plate by screws, and the connecting plate The inside is welded to the rotating spindle.
The remotely controlled unmanned vessel of a wind driven straight wing propeller according to claim 1, wherein the lift type blade is made of a FRP material, and the NACA0018 airfoil is selected, the chord length is 30 cm, and the wingspan is 3 m; The connecting plate is made of an aluminum alloy material and has a length of 2.1 m and a thickness of 2 cm.
The remotely controlled unmanned vessel of a wind driven straight wing propeller according to claim 1, wherein the transmission shaft is made of a stainless steel plate material having a diameter of 5 cm and a length of 2.7 m; and a gear ratio of the transmission. At 1:5, the front and rear ends of the gearbox are welded to the longitudinal boring.
The wind driven straight wing propeller remotely controlled unmanned ship according to claim 1, wherein the rotating main shaft, the longitudinal boring, the longitudinal ribs and the ribs are all made of an aluminum alloy material; the diameter of the rotating main shaft is 5cm, length is 2.4m.
The remote-controlled unmanned ship of a wind driven straight-wing propeller according to claim 1, wherein the straight-wing propeller adopts a ZYDJ-1 type straight-wing propeller; and the wind-driven generator selects a generator-driven dual-purpose motor. The power generation is 1kw.
The remote-controlled unmanned ship of a wind driven straight wing propeller according to claim 1, wherein the solar panel selects a 300 W photovoltaic power generation board; and the control device selects an ARM embedded development control board TMS320C6657, which is integrated thereon. There is Huawei ME909S-120Mini PCIe 4G wireless communication module; the wind and solar hybrid controller uses JW1230 wind and solar hybrid controller.
The remotely controlled unmanned vessel of a wind driven straight wing propeller according to claim 1, wherein the longitudinal bulkheads are one; the longitudinal girders are preferably two, arranged in parallel; the two ship bodies pass the screws Fixed at both ends of the longitudinals and mediastinum.