AU2018413663A1

AU2018413663A1 - Remote control unmanned surface vehicle with wind-driven cycloidal propeller

Info

Publication number: AU2018413663A1
Application number: AU2018413663A
Authority: AU
Inventors: Yuqing Chen; Linhua Li; Yan Liang; Jiaming Wu
Original assignee: GUANGZHOU SHUNHAI SHIPYARDS Ltd; South China University of Technology SCUT
Current assignee: GUANGZHOU SHUNHAI SHIPYARDS Ltd; South China University of Technology SCUT
Priority date: 2018-03-13
Filing date: 2018-10-29
Publication date: 2020-09-10
Anticipated expiration: 2038-10-29
Also published as: WO2019174244A1; AU2018413663B2; CN108357638A

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

Remote control unmanned surface vehicle with wind-driven cycloidal propeller

Technical Field

The invention relates to a remote twin-hull unmanned surface vehicle (USV), and in

particular to a remote control unmanned surface vehicle with a wind-driven cycloidal propeller,

which is a wind-driven twin-hull unmanned surface vehicle for remote navigation.

Background

In the present ocean research and development process, unmanned surface vehicles are

widely favored by people by virtue of its low operation cost and flexible task processing mode.

However, due to the limitations of prior art, disadvantages of unmanned surface vehicles are

also seen in complex environments, the most prominent one of which is endurance. Therefore,

developing a technical means for improving the endurance of the unmanned surface vehicle is

important to the application and development thereof.

Most unmanned surface vehicles in the market use a motor or an internal combustion

engine as a main engine and are driven by storage batteries or fuel carried by the boat.

Therefore, at present the endurance of the unmanned surface vehicle mainly depends on the

amount of the storage batteries or fuel. However, the limited scale of unmanned surface

vehicles prevents them from improving the endurance by increasing energy reserves. Under

such circumstances, engineers come out of an idea that the unmanned surface vehicle may be

powered by two forms including solar power and wave force. However, because the wave force

has a relatively low energy density, while solar power is very easily influenced by weather and

may be loss when converted to electric energy, their effect for improving the endurance of the

unmanned surface vehicle is not satisfying. In summary, in order to improve the endurance of

the unmanned surface vehicle, it is of important value to know how to utilize natural resources

as an energy source of the unmanned surface vehicle while avoiding the limitation of natural

energy.

Summary of Invention

The invention aims to directly rotate the propeller of an unmanned surface vehicle by wind

power to drive the unmanned surface vehicle, and charge storage batteries carried on the

unmanned surface vehicle through solar panels and a wind turbine generator arranged on the

boat body so that it may be used as a reserve energy source, thereby providing theoretically infinite power for the unmanned surface vehicle and improving the endurance of the unmanned twin-hull vehicle to the maximum.

The invention is realized by the following technical means:

A remote control unmanned surface vehicle with a wind-driven cycloidal propeller

comprises a frame, a lift type vertical axis rotor, demihulls, screw propellers, a gearbox, a

transmission shaft, a cycloidal propeller, solar panels, storage batteries, a wind-solar

complementary controller and a control device; wherein

the frame comprises longitudinal girders, ribs and longitudinals; a plurality of

longitudinals are longitudinally arranged at intervals on two sides of the longitudinal girders, a

plurality of ribs are transversely arranged at intervals and connected with the longitudinal

girders and the longitudinals to form a grid, and a plurality of solar panels are arranged on the

grid; and two demihulls are arranged at lower parts of two ends of the frame at intervals;

the lift type vertical axis rotor comprises a plurality of lift type blades, a plurality of

connecting plates, a wind turbine generator and a rotation main shaft; the rotation main shaft is

vertically arranged at an upper middle portion of the longitudinal girder, the plurality of lift type

blades are vertically arranged at intervals circumferentially around the rotation main shaft

which is treated as a central line; an upper end and a lower end of each of the lift type blade are

connected with an outer end of the connecting plate, and an inner end of the connecting plate is

connected with the rotation main shaft; the connecting plates are of an airfoil structure with a

smaller inner end and a larger outer end; the rotation main shaft penetrates through the wind

turbine generator and extends downwards to an input end of the gearbox; an output end of the

gearbox is connected with a front end of the transmission shaft, and a rear end of the

transmission shaft is connected with an input end of the cycloidal propeller; the transmission

shaft is arranged at a lower end of the longitudinal girders; the frame is provided with the

wind-solar complementary controller and the control device;

the demihulls comprise a boat body, at least one longitudinal bulkhead, a plurality of

transverse bulkheads and an inner bottom deck, wherein the boat body forms a cavity, and the at

least one longitudinal bulkhead, the plurality of transverse bulkheads and the inner bottom deck

are arranged in the cavity; the plurality of transverse bulkheads are arranged at intervals and

connected with the longitudinal bulkhead; the plurality of transverse bulkheads and the

longitudinal bulkhead are arranged on the inner bottom deck to divided an upper surface of the inner bottom deck into a net-shaped area, and a plurality of the storage batteries are placed on the net-shaped area; and a lower end of the tail of each of the demihulls is provided with a screw propeller; and an input end of the wind-solar complementary controller is connected with a plurality of the solar panels connected in parallel and a wind turbine generator respectively; an output end of the wind-solar complementary controller is connected with the storage batteries, and the storage batteries are connected with the control device, the screw propeller and a servo motor of the cycloidal propeller respectively. To further achieve the object of the present invention, preferably, the inner bottom deck, the longitudinal bulkhead and the transverse bulkheads are made of glass fiber reinforced plastic material and have a thickness of 1 cm. Preferably, the control device and the wind-solar complementary controller are arranged in a control box; the control box is arranged at an upper end of the tail of the longitudinal girders, and a lower end of the tail of the longitudinal girders is provided with the cycloidal propeller. Preferably, five lift type blades are provided; an upper end and a lower end of the lift type blades are connected with the outer end of the connecting plates through screws, and the inner end of the connecting plates is welded with the rotation shaft. Preferably, the lift type blade is made of glass fiber reinforced plastic, an NACA0018 airfoil is arranged, the chord length being 30cm and the wingspan being 3 m; the connecting plates are made of aluminum alloy, the length being 2.1m and the thickness being 2 cm. Preferably, the transmission shaft is made of stainless steel, the diameter being 5cm and the length being 2.7 m; the gear ratio of the gearbox is 1:5, and a front end and a rear end of the gearbox are respectively welded with the longitudinal girders. Preferably, the rotation main shaft, the longitudinal girders, the longitudinals and the ribs are made of aluminum alloy; the diameter of the rotation main shaft is 5cm, and the length of the rotation main shaft is 2.4 m. Preferably, the cycloidal propeller is a ZYDJ-1 type cycloidal propeller; the wind turbine generator is an integrated motor-generator, and the generated power is 1 kw. Preferably, the solar panels are 300W photovoltaic power generation panels; the control device is an ARM embedded development control board TMS320C6657, and is integrated with a Huawei ME909S-120 Mini PCIe 4G wireless communication module; the wind-solar complementary controller is a JW1230 wind-solar complementary controller.

Preferably, one longitudinal bulkhead is provided; preferably two longitudinal girders are

provided and are arranged in parallel at intervals; the two demihulls are fixed at two ends of the

longitudinals and the longitudinal girders through screws.

In summary, the present invention has the following advantages:

1) Relatively stable energy supply may be obtained from the nature so as to achieve higher

endurance. The wind-driven remote unmanned surface vehicle has a combined energy source of

wind energy and solar energy. As an energy used by human beings on the sea for a long time,

wind energy can ensure that the unmanned surface vehicle may have a relatively stable energy

source under most weather and geographic conditions, while solar energy is used as a

supplementary energy source, so that more available energy can be provided for the unmanned

surface vehicle under good weather conditions, further improving endurance of the unmanned

surface vehicle.

2) Wind power is utilized to drive the lift type vertical axis rotor, which in turn directly

drives the cycloidal propeller, so that higher energy utilization efficiency can be achieved.

During daily cruise, the wind-driven remote unmanned surface vehicle captures wind on the sea

through the lift type vertical axis rotor arranged on the wind-driven remote unmanned surface

vehicle and directly converts the wind into mechanical rotation energy, which is directly

transmitted to the cycloidal propeller through a mechanical structure comprising the rotation

main shaft of the lift type vertical axis rotor, the gearbox and the transmission shaft, so that the

unmanned surface vehicle is driven to sail. Compared with the prior art which charges the

storage batteries by wind power generation and then uses the stored electric energy for driving,

directly using wind power for driving may avoid loss of the wind power during power

generation, charging and discharging processes; the wind energy converted by the lift type

vertical axis rotor is maximally used for driving, and the utilization rate of the wind energy is

further improved.

3) The influence of the windward resistance towards the lift type vertical axis rotor on the

navigation of the unmanned surface vehicle can be reduced. The wind-driven remote unmanned

surface vehicle is directly driven by wind power during a voyage, then under the condition of

windward sailing, the windward resistance towards the lift type vertical axis rotor can be

partially offset by the propulsive force generated by the cycloidal propeller, which itself is also generated from wind energy, so that the energy of the unmanned surface vehicle is not consumed in the process of reducing windward resistance, and a stable sailing speed can be maintained with the help of the propeller.

4) Large design margin and good task adaptability allows for satisfaction of various user

requirements. According to the design parameters, regardless of the weight of the wind-driven

remote unmanned surface vehicle, an effective load of nearly one ton can be provided when

reaching the designed waterline, so that in practical application diversified task modules and

execution equipment can be flexibly installed on the boat body, and the control device in the

control box may be correspondingly replaced, thereby allowing the wind-driven remote

unmanned surface vehicle to achieve different tasks and improving task adaptability of the

wind-driven remote unmanned surface vehicle.

5) The reserve margin is large, and the ability to avoid emergency risk is obviously

improved. Firstly, the wind-driven remote unmanned surface vehicle of the subject invention

has two sets of independent propellers, namely a cycloidal propeller and a screw propeller. The

two sets of propellers are respectively driven by the lift type vertical axis rotor and the storage

batteries, so that when one set fails, the other set can still be used for returning to the starting

place. And when only the stored electric energy of the storage batteries carried in the boat body

is used, the wind-driven remote unmanned surface vehicle can still sail for about 180 nautical

miles driven by the screw propeller. So even under extreme conditions, the wind-driven remote

unmanned surface vehicle still exhibits strong vitality, which is able to safely return and reduce

unnecessary loss.

6) The cycloidal propeller allows the wind-driven remote unmanned surface vehicle to be

more readily manipulated. At present, various boats mostly uses a rudder as main operating

equipment, but due to the limitation of its working principle, the rudder blade may only

generate a small steering torque at low navigational speed, so the operating effect of the rudder

at low navigational speed is greatly reduced. But with the cycloidal propeller, the direction of

the propelling force can be changed by adjusting the attack angle of the blades of the cycloidal

propeller so as to directly steer the boat. Also, the propelling force generated by the cycloidal

propeller is only related to the rotation angular velocity of itself but not related to the boat speed,

so that the cycloidal propeller can provide stable and considerable propelling force and steering

torque even at low speed. The maximum design speed of the wind-driven remote unmanned surface vehicle is 4.5 knots, showing that the cycloidal propeller is more advantageous under the condition of the invention. 7) With a lower cost, remote control of unmanned surface vehicle may be achieved. Through the integrated 4G communication module on the unmanned surface vehicle control mainboard, a controller can utilize the 4G signal to control the unmanned surface vehicle and data transmission in the unmanned surface vehicle. In this process, the ground basic stations that mobile operators built on the island and coastal area can be used as relays of control and data transmission, which extends the control distance of the unmanned surface vehicle and reduces the cost of remote control of the unmanned surface vehicle. 8) Modular design is adopted, so that manufacturing, operation and maintenance are convenient. The wind-driven remote unmanned surface vehicle is combined by different functional modules, and each part is relatively independent and plays its role respectively. Meanwhile, each module consists of simple and standard components, so that large-scale manufacturing, maintenance and replacement are facilitated. Brief description of drawings Fig. 1 is a schematic structural diagram of a remote control unmanned surface vehicle with a wind-driven cycloidal propeller. Fig. 2 is a top view of the remote control unmanned surface vehicle with a wind-driven cycloidal propeller of Fig. 1. Fig. 3 shows the internal arrangement of the demihulls in Fig. 1. Fig. 4 is a schematic view of the lift type vertical axis rotor in Fig. 1. Fig. 5 is an energy distribution diagram of the remote control unmanned surface vehicle with a wind-driven cycloidal propeller. Wherein: lift type vertical axis rotor 1, demihull 2, screw propeller 3, gearbox 4, transmission shaft 5, cycloidal propeller 6, longitudinal girder 7, control box 8, ribs 9, longitudinal 10, solar cell panel 11, longitudinal bulkhead 12, transverse bulkhead 13, storage battery 14, inner bottom deck 15, lift type blades 16, connecting plate 17, wind turbine generator 18, rotation main shaft 19, wind-solar complementary controller 20, control device 21. Detailed description of embodiments In order to better understand the present invention, the present invention will be further described with reference to the accompanying drawings, but the embodiments of the present invention are not limited thereto.

As shown in Fig. 1, 2, 3, 4 and 5, a remote control unmanned surface vehicle with a

wind-driven cycloidal propeller comprises a frame, a lift type vertical axis rotor 1, demihulls 2,

a screw propeller 3, a gearbox 4, a transmission shaft 5, a cycloidal propeller 6, solar panels 11,

storage batteries 14, a wind-solar complementary controller 20 and a control device 21;

as shown in Fig. 2, the frame includes longitudinal girders 7, ribs 9, and longitudinals 10; a

plurality of longitudinals 10 are longitudinally arranged at intervals on two sides of the

longitudinal girders 7, a plurality of the ribs 9 are transversely arranged at intervals and

connected with the longitudinal girders 7 and the longitudinals 10 to form a grid; a plurality of

the solar panels 11 are arranged on the grid; and the two demihulls 2 are arranged at lower parts

of two ends of the frame at intervals;

as shown in Fig. 4, the lift type vertical axis rotor 1 mainly comprises a plurality of lift

type blades 16, a plurality of connecting plates 17, a wind turbine generator 18 and a rotation

main shaft 19; the rotation main shaft 19 is vertically arranged at an upper middle portion of the

longitudinal girders 7, the plurality of lift type blades 16 are vertically arranged at intervals

circumferentially around the rotation main shaft 19 as a central line, an upper end and a lower

end of each of the lift type blade 16 are connected with an outer end of the connecting plates 17,

and an inner end of the connecting plates 17 is connected with the rotation main shaft 19; the

connecting plates 17 are of an airfoil structure with a smaller inner end and a larger outer end;

the rotation main shaft 19 passes through the wind turbine generator 18 and extends downwards

to an input end of the gearbox 4; an output end of the gearbox 4 is connected with a front end of

the transmission shaft 5, and a rear end of the transmission shaft 5 is connected with an input

end of the cycloidal propeller 6; the transmission shaft 5 is arranged at a lower end of the

longitudinal girders 7; the frame is provided with the wind-solar complementary controller 20

and the control device 21;

as shown in Fig. 3, the demihulls 2 comprise a boat body, at least one longitudinal

bulkhead 12, a plurality of transverse bulkheads 13 and an inner bottom deck 15, wherein the

boat body forms a cavity, and the at least one longitudinal bulkhead 12, the plurality of

transverse bulkheads 13 and the inner bottom deck 15 are arranged in the cavity; the

longitudinal bulkheads 12 and the transverse bulkheads 13 are arranged on the inner bottom deck 15 to divided an upper surface of the inner bottom deck into a net-shaped area, and a plurality of storage batteries 14 are placed in the net-shaped area; and two screw propellers 3 are arranged at a lower end of the tail of the demihulls 2; an input end of the wind-solar complementary controller 20 is connected with a plurality of the solar panels 11 connected in parallel and a wind turbine generator 18 respectively; an output end of the wind-solar complementary controller 20 is connected with the storage batteries 14, and the storage batteries 14 are connected with the control device 21, the screw propellers 3 and a servo motor of the cycloidal propeller 6 respectively. Preferably, the demihulls 2 are made of glass fiber reinforced plastic, and the thickness is 1 cm; the demihulls 2 are provided with 12 net-shaped areas, 96 storage batteries are loaded in one demihull 2; every two storage batteries 14 are connected in series and are connected with other batteries in parallel, and then 24V direct current may be output. The screw propellers 3 are Sunelexe 86-pound propellers; the inner bottom deck 15, the longitudinal bulkheads 12 and the transverse bulkheads 13 are made of glass fiber reinforced plastic having a thickness of lcm and are matched with the demihulls 2 in shape; the storage batteries 14 are 12V 100 Ah batteries. Preferably, the frame structure is divided into 12 grid-like areas for mounting the solar panels 11. The two boat sheets 2 are fixed at two ends of the longitudinal frame 10 and the longitudinal girder through screws; the number of the longitudinal girders is preferably two, and the longitudinal girders are arranged in parallel at intervals; two longitudinal girders 7 in the center of the frame structure can be used as bearing structures, the upper end of the tail part of the longitudinal girder 7 at the rear side is welded with a control box 8, the lower end is provided with a straight wing propeller 6, and a control device 21 and a wind-solar complementary controller 20 are placed in the control box 8. Preferably, five lift type blades 16 are provided; preferably, the upper end and the lower end of the lift type blades 16 are connected with the outer end of the connecting plates 17 through screws, and the inner side of the connecting plates 17 is welded with the rotation main shaft 19. Preferably, the lift type blades 16 are made of glass fiber reinforced plastic having an NACA0018 airfoil, the chord length being 30cm and the wingspan being 3 m; the connecting plates 17 are made of aluminum alloy, the length being 2.1m and the thickness being 2cm; the sizes of the inner end and the outer end of the connecting plates 17 are matched with the sizes of the lift type blades and the rotation main shaft 19; the wind turbine generator 18 is an integrated motor-generator, and the generated power is 1 kw; and the rotation main shaft 19 is made of aluminum alloy, the diameter being 5cm and the length being 2.4 m. The gear ratio of the gearbox 4 is preferably 1:5, and a front end and a rear end of the gearbox 4 are respectively welded with the longitudinal girders 7 to form a longitudinal beam structure of the boat body. The transmission shaft 5 is made of stainless steel, the diameter being 5cm and the length being 2.7 m; the cycloidal propeller 6 is a ZYDJ-1 type cycloidal propeller manufactured by Zhejiang Fengshen ocean engineering technology Co., Limited. The longitudinal girders 7 are made of aluminum alloy, and the principal dimension thereof is 2.9 x.3x0.2m; the longitudinals 10 are made of aluminum alloy, and the principal dimension thereof is 5.88 x0.1x0.05m; the ribs 9 are made of aluminum alloy, and the principal dimension thereof is 0.89 x0.05x0.03m; the solar panels 11 are 300W photovoltaic power generation panels produced by JinkoSolar Holding Co., Ltd. The control box 8 is made of aluminum alloy, the principal dimension thereof is 0.4x0.3x0.2m, and the thickness of the box is 2mm; the control device 21 carried in the control box is an ARM embedded development control board TMS320C6657, and a Huawei ME909S-120 Mini PCIe 4G wireless communication module is integrated on the control box for transmitting signals and data; the wind-solar complementary controller 20 is a Dehengphotoelectric JW1230 wind-solar complementary controller. The lift type vertical axis rotor 1 is respectively connected with the wind turbine generator 18 and the gearbox 4 through the rotation main shaft 19; the gearbox 4 is connected with the cycloidal propeller 6 through the transmission shaft 5. The input end of the wind-solar complementary controller 20 is connected in series with 12 solar panels 11 in parallel and the wind turbine generator 18 respectively, the output end of the wind-solar complementary controller 20 is connected in series to the storage batteries 14, and the storage batteries 14 are respectively connected with the control device 21, the screw propeller 3 and the servo motor of the cycloidal propeller 6 to supply power for them. The energy distribution manner of the wind driven remote unmanned surface vehicle is described with reference to Fig. 5. Firstly, the lift type vertical axis rotor 1 and the solar panels 11 acquire wind energy and solar energy from the nature. The lift type vertical axis rotor 1 converts wind energy into mechanical rotation energy, then part of the mechanical energy is transmitted to the wind turbine generator 18 for power generation, and the rest of the mechanical energy is transmitted to the cycloidal propeller 6 for driving the unmanned surface vehicle to sail. Because both the input powers of the wind turbine generator 18 and the cycloidal propeller 6 are lkW, the two parts of mechanical energy are identical. The current generated by the wind turbine generator 18 and the solar panels 11 flow to the wind-solar complementary controller 20, and after being stabilized, the current flows to the storage batteries 14 for charging. There are three main uses of the electrical energy stored by the batteries 14: as a reserve energy source to supply power to the screw propeller 3 during an emergency to help the wind-driven remote unmanned surface vehicle escape from danger; supplying the control device 21 with electric energy required for operation; supplying electricity to the servo motor of the cycloidal propeller 6, so that the cycloidal propeller 6 can adjust the attack angle of the blades and change the direction of the propelling force.

The following describes a sailing mode of the wind-driven remote unmanned surface

vehicle. With excellent wind power the wind-driven remote unmanned surface vehicle only

produces propelling force and operating force through the cycloidal propeller 6 during a voyage.

The electric power generated by the wind turbine generator 18 and the solar panels 11 is all

used for charging.

The plurality of lift type blades 16 are driven by wind so that the lift type vertical axis

rotor 1 rotates and drives the wind turbine generator 18 sleeved on the rotation main shaft 19 to

supply electricity to external. Because the input power of the wind turbine generator 18 is

smaller than the conversion power of the lift type vertical axis rotor 1, the rest mechanical

rotation energy provided by the lift type blades 16 can be transmitted to the gearbox 4 through

the rotation main shaft 19. Then, the rotating speed is increased through the gearbox 4 to reach

the input rotating speed of the cycloidal propeller 6. The mechanical rotation energy is

transmitted to the transmission shaft 5 through the output end of the gearbox 4, and then to the

cycloidal propeller 6 through the transmission shaft 5, so that the cycloidal propeller 6 is rotated

to drive the unmanned surface vehicle.

The electric energy generated by the wind turbine generator 18 and the solar panels 11 is

all used for charging the storage batteries 14 after being rectified by the wind-solar

complementary controller 20. The wind-solar complementary controller 20 may automatically

adjust the output power according to the power generated by the wind turbine generator 18 and the solar panels 11, so as to ensure the stability of the output power.

Under the following three working conditions, the screw propeller would start working.

Working condition I: when the lift type vertical axis rotor 1, the gearbox 4, the

transmission shaft 5 and the cycloidal propeller 6 fail to function, and the cycloidal propeller 6

stops working, the control device 21 will output signals to start the screw propeller 3, while the

storage batteries 14 may directly supply energy to the screw propeller 3 so that it may drive the

unmanned surface vehicle to sail. Also, the control device 21 can output a control signal

according to the received operation signal to generate a rotation speed difference between the

two screw propellers 3, thereby changing the direction of the unmanned surface vehicle.

Working condition II: in case of emergency, in order to get rid of danger as soon as

possible, the cycloidal propeller 6 is driven by the lift type vertical axis rotor 1 to serve as

auxiliary power to provide propelling force and steering force for the unmanned surface vehicle.

Meantime the control device 21 outputs signals according to received operation instructions to

start the screw propeller 3 with energy directly provided by the storage batteries 14, and the

unmanned surface vehicle may be driven to rapidly leave a dangerous water area.

Working condition III: when the wind-driven remote unmanned surface vehicle sails

windward, since the propulsion energy of the cycloidal propeller 6 is directly from the wind

energy, the unmanned surface vehicle cannot be driven at the moment. In this situation, the

propulsion force generated by the cycloidal propeller 6 is used to offset part of the windward

resistance, and the control device 21 outputs a signal to start the screw propeller 3 with energy

provided by the storage batteries 14, so that the unmanned surface vehicle is driven to sail.

The power mode of the invention can achieve higher energy utilization rate and more

outstanding maneuverability to the wind-driven remote unmanned surface vehicle. In a cruising

state, all the necessary propulsive force and control force of the wind-driven remote unmanned

surface vehicle may be obtained through the cycloidal propeller 6. The magnitude and direction

of the propulsive force generated by the cycloidal propeller 6 are only related to the attack angle

and the rotating speed of the blades thereof, and do not change along with the navigation speed

of the unmanned surface vehicle. However, when operating by a traditional rudder, not only are

the number of components increased and the operation and structure become complicated, but

also the rudder cannot provide effective torque under low navigation speed because the rudder

control force is positively proportional to the water flow speed, and the speed of water flowing through the rudder is also low due to the fact that the rudder and the boat move at the same speed. The maximum designed navigation speed of the wind-driven remote unmanned surface vehicle in a cruising state is 4.5 knots, which is relatively small, so that a better control effect can be achieved by selecting the cycloidal propeller 6.

When using wind energy to drive an unmanned surface vehicle, those skilled in the art can

easily use the existing mature wind power generation technology, wherein a wind turbine

generator generates electric energy to charge the storage batteries, and then the storage batteries

supply power to the propeller to drive the unmanned surface vehicle by wind energy. In this

way the energy is converted into mechanical rotation energy of the cycloidal propeller finally

through the following 7 conversions, that is, wind energy - mechanical rotation energy of the

rotor - electric energy - chemical energy - electric energy - mechanical rotation energy of the

electric motor - mechanical rotation energy of the gearbox - mechanical rotation energy of the

cycloidal propeller. Because each conversion would result in energy loss, the more conversions

the more the loss is. There is also line loss during the electric energy transmission, but the value

is small and negligible. As seen above, driving the unmanned surface vehicle by wind energy

could result in great energy loss.

The invention directly drives the propeller by wind energy, under such way the energy can

be finally converted into the mechanical rotation energy of the straight wing propeller through

the following 3 times, namely wind energy - mechanical rotation energy of rotor - mechanical

rotation energy of the gearbox - mechanical rotation energy of the cycloidal propeller. Therefore,

by directly driving the propeller with wind energy the energy conversion times may be

effectively reduced, thereby reducing the energy loss caused by the conversions and achieving

higher wind energy utilization efficiency.

Specifically, compared with driving the unmanned surface vehicle to sail by wind power

generation, the wind-driven remote unmanned surface vehicle disclosed by the invention can

counteract part of the windward resistance experienced by the lift type vertical axis rotor 1

during windward sailing by converting wind power into propelling force. Then, the influence of

the lift type vertical axis rotor 1 on the sailing of the unmanned surface vehicle is reduced and

higher energy utilization efficiency may be achieved. Firstly, in the process of wind power

generation, the mechanical rotation energy of the lift type vertical axis rotor 1 cannot be

completely converted by the wind turbine generator 18 into electric energy, and about 0.05-0.1 of energy loss may happen in this process; despite of the line loss based on the fact that the electric energy transmission line in the unmanned surface vehicle is short, the second loss occurs in charging the storage batteries 14, which results in about 0.05-0.2 of energy loss; there is also electric energy loss during the discharging process of the storage batteries 14, which is about 0.1; when the electric energy converts to mechanical rotation energy through a motor, energy loss of about 0.26-0.06 may be generated; and the gearbox also contributes mechanical transmission loss of about 0.05-0.1. Let the mechanical rotation energy of the lift type vertical axis rotor 1 be W, the energy finally transmitted to the propeller is at most: 0.95 x 0.95 x 0.9 x 0.94 x 0.95 x W = 0.725W However, by using the driving mode of the present invention, only a mechanical transmission loss of approximately 0.1 at most may happen in the gearbox 4. Therefore, under the same circumstances, the propeller can obtain at least the following energy: 0.9 x W = 0.9W It can be seen that the method of directly transferring wind energy to the cycloidal propeller 6 to obtain propulsive force may achieve a higher energy utilization rate.

Claims

1. A remote control unmanned surface vehicle with a wind-driven cycloidal propeller,

comprising a frame, a lift type vertical axis rotor, demihulls, screw propellers, a gearbox, a

complementary controller and a control device; wherein

the frame comprises a longitudinal girder, ribs and longitudinals; a plurality of the

plurality of ribs are transversely arranged at intervals and connected with the longitudinal girder

and the longitudinals to form a grid, a plurality of solar panels being arranged on the grid; and

two demihulls are arranged at lower parts of two ends of the frame at intervals;

wind-solar complementary controller and the control device;

longitudinal bulkhead are arranged on the inner bottom deck to divided an upper surface of the

inner bottom deck into a net-shaped area, and a plurality of the storage batteries are placed on the net-shaped area; and a lower end of the tail of each of the demihulls is provided with a screw propeller; and an input end of the wind-solar complementary controller is connected with a plurality of the solar panels connected in parallel and a wind turbine generator respectively; an output end of the wind-solar complementary controller is connected with the storage batteries, and the storage batteries are connected with the control device, the screw propeller and a servo motor of the cycloidal propeller respectively.

2. The remote control unmanned surface vehicle with a wind-driven cycloidal propeller

according to claim 1, wherein the inner bottom deck, the longitudinal bulkhead and the

transverse bulkheads are made of glass fiber reinforced plastic and have a thickness of 1 cm.

3. The remote control unmanned surface vehicle with a wind-driven cycloidal propeller

according to claim 1, wherein the control device and the wind-solar complementary controller

are arranged in a control box; the control box is arranged at an upper end of the tail of the

longitudinal girders, and a lower end of the tail of the longitudinal girders is provided with the

cycloidal propeller.

4. The remote control unmanned surface vehicle with a wind-driven cycloidal propeller

according to claim 1, wherein five lift type blades are provided; an upper end and a lower end

of the lift type blades are connected with the outer end of the connecting plates through screws,

and the inner end of the connecting plates is welded with the rotation shaft.

5. The remote control unmanned surface vehicle with a wind-driven cycloidal propeller

according to claim 1, wherein the lift type blades are made of glass fiber reinforced plastic, an

NACA0018 airfoil is arranged, the chord length being 30cm and the wingspan being 3 m; and

the connecting plates are made of aluminum alloy, the length being 2.1m and the thickness

being 2 cm.

6. The remote control unmanned surface vehicle with a wind-driven cycloidal propeller

according to claim 1, wherein the transmission shaft is made of stainless steel, the diameter

being 5cm and the length being 2.7 m; the gear ratio of the gearbox is 1:5, and a front end and a

rear end of the gearbox are respectively welded with the longitudinal girders.

7. The remote control unmanned surface vehicle with a wind-driven cycloidal propeller

according to claim 1, wherein the rotation main shaft, the longitudinal girders, the longitudinals

and the ribs are made of aluminum alloy; the diameter of the rotation main shaft is 5cm, and the length of the rotation main shaft is 2.4 m.

8. The remote control unmanned surface vehicle with a wind-driven cycloidal propeller according to claim 1, wherein the cycloidal propeller is a ZYDJ-1 type cycloidal propeller; the wind turbine generator is an integrated motor-generator, and the generated power is 1 kw.

9. The remote control unmanned surface vehicle with a wind-driven cycloidal propeller according to claim 1, wherein the solar panels are 300W photovoltaic power generation panels; the control device is an ARM embedded development control board TMS320C6657 integrated with a Huawei ME909S-120 Mini PCIe 4G wireless communication module; and the wind-solar complementary controller is a JW1230 wind-solar complementary controller.

10. The remote control unmanned surface vehicle with a wind-driven cycloidal propeller according to claim 1, wherein one longitudinal bulkhead is provided; preferably two longitudinal girders are provided and are arranged in parallel at intervals; the two demihulls are fixed at two ends of the longitudinals and the longitudinal girders through screws.