CN106892076A - Intelligent unattended sailing boat and its control method - Google Patents
Intelligent unattended sailing boat and its control method Download PDFInfo
- Publication number
- CN106892076A CN106892076A CN201710111425.3A CN201710111425A CN106892076A CN 106892076 A CN106892076 A CN 106892076A CN 201710111425 A CN201710111425 A CN 201710111425A CN 106892076 A CN106892076 A CN 106892076A
- Authority
- CN
- China
- Prior art keywords
- sailing boat
- intelligent unattended
- dynamotor
- hull
- battery
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H9/00—Marine propulsion provided directly by wind power
- B63H9/04—Marine propulsion provided directly by wind power using sails or like wind-catching surfaces
- B63H9/06—Types of sail; Constructional features of sails; Arrangements thereof on vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/12—Use of propulsion power plant or units on vessels the vessels being motor-driven
- B63H21/17—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor
- B63H2021/171—Use of propulsion power plant or units on vessels the vessels being motor-driven by electric motor making use of photovoltaic energy conversion, e.g. using solar panels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H21/00—Use of propulsion power plant or units on vessels
- B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
- B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T70/00—Maritime or waterways transport
- Y02T70/50—Measures to reduce greenhouse gas emissions related to the propulsion system
- Y02T70/5218—Less carbon-intensive fuels, e.g. natural gas, biofuels
- Y02T70/5236—Renewable or hybrid-electric solutions
Abstract
The present invention provides a kind of Intelligent unattended sailing boat and its control method.Intelligent unattended sailing boat, including hull, mast and sail, also include active power system, the active power system includes photovoltaic power generation plate, dynamotor and battery, the photovoltaic power generation plate and the dynamotor are connected with the battery respectively, and the photovoltaic power generation plate is arranged on the hull, and the battery is sealingly mounted at the hull interior, the dynamotor is arranged on the bottom of the hull, and impeller is provided with the rotating shaft of the dynamotor；The Intelligent unattended sailing boat is additionally provided with air velocity transducer.Realize improving the energy-storage property of Intelligent unattended sailing boat, and improve its safety in utilization.
Description
Technical field
The present invention relates to sailing boat, more particularly to a kind of Intelligent unattended sailing boat and its control method.
Background technology
As society continues to develop with economic, in order to better profit from marine resources, people accelerate the spy to ocean
Survey, occur in that various marine unmanned vehicles that can carry marine detecting instrument.Traditional marine unmanned vehicles can
, as power, limited by the capacity of battery using using battery, the cruising time of unmanned vehicles is shorter.In order to increase nobody
In the cruising time of ROV, it is widely used using the unmanned sailing boat of wind drive, unmanned sailing boat is using wind-force as driving
Power carries out automatic running.China Patent No. 201511008940.6 disclose a kind of novel wind-solar complementary energy supply unmanned sailing boat and
Its control method, power is provided using wind drive and Driven by Solar Energy switching, and primary method of control is the band when wind speed is larger
Slurry motor is stopped, when wind-force is smaller, the electrical energy drive band slurry motor work of storage of solar energy.But, actually used
During find, when wind-force is excessive, by wind-force by wing sail produce onward impulse can produce excessive advance speed effect security,
Meanwhile, by the area effect of photovoltaic power generation plate, its charge storage ability is relatively low.How to design that a kind of energy-storage property is strong and safety in utilization
Unmanned sailing boat high is the technical problems to be solved by the invention.
The content of the invention
The technical problems to be solved by the invention are：A kind of Intelligent unattended sailing boat and its control method are provided, realize improving
The energy-storage property of Intelligent unattended sailing boat, and improve its safety in utilization.
The technical scheme that the present invention is provided is, a kind of Intelligent unattended sailing boat, including hull, mast and sail, also including actively
Dynamical system, the active power system includes photovoltaic power generation plate, dynamotor and battery, the photovoltaic power generation plate and institute
State dynamotor to be connected with the battery respectively, the photovoltaic power generation plate is arranged on the hull, and the battery is close
Envelope is arranged on the hull interior, and the dynamotor is arranged on the bottom of the hull, the rotating shaft of the dynamotor
On be provided with impeller；The Intelligent unattended sailing boat is additionally provided with air velocity transducer.
Further, transverse slat is additionally provided with the hull, the both ends of the transverse slat are respectively facing the right of the hull
Side outside is answered to extend, the end of the transverse slat is additionally provided with auxiliary float.
Further, it is also equipped with the photovoltaic power generation plate on the transverse slat.
Further, the bottom of the hull is additionally provided with direction stabilization plate.
Further, the dynamotor is arranged on the hull by elevating mechanism.
Further, the blade of the impeller is symmetrical airfoil structure.
The present invention also provides a kind of control method of Intelligent unattended sailing boat, and the Intelligent unattended sailing boat uses above-mentioned intelligent nothing
People's sailing boat, specific control method includes：When the air velocity transducer detects extraneous wind speed in setting range, sail rises,
Dynamotor is generated electricity and by power storage in battery；When the air velocity transducer detects extraneous wind speed in setting
When outside scope, sail winding, battery is powered driving wheel rotation to dynamotor.
Further, when the air velocity transducer detects extraneous wind speed in setting range, if extraneous wind speed is small
In setting generating air speed value, then elevating mechanism driving electric generator leaves the water surface, if extraneous wind speed is more than setting power generating wind
Speed is worth, then elevating mechanism driving electric generator submergence upstream face.
Intelligent unattended sailing boat and its control method that the present invention is provided, being capable of real-time monitoring external wind using air velocity transducer
Whether speed meets the requirement that wind-force is carried out advancing, and in the case where condition is met, wind-force carries out the electronic hair that advances and utilize simultaneously
Motor carries out generating power by water current, so, even if in the bad environment of light condition, being still able to ensure that battery can be stored and filling
The electric energy of foot, solar energy is being utilized with reference to photovoltaic power generation plate, the energy-storage property of Intelligent unattended sailing boat is greatly strengthen, in addition, sharp
Can also be switched to storage battery power supply to be driven by dynamotor and advanced in the case where wind speed is too high with air velocity transducer, this
Sample can greatly improve safety in utilization.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are this hairs
Some bright embodiments, for those of ordinary skill in the art, without having to pay creative labor, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the structural representation of Intelligent unattended sailing boat embodiment of the present invention.
Specific embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
A part of embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
As shown in figure 1, the present embodiment Intelligent unattended sailing boat, including hull 1, mast 2 and sail 3, also including active power system
System, the active power system includes photovoltaic power generation plate 4, dynamotor 5 and battery（It is not shown）, the photovoltaic power generation plate
4 and the dynamotor 5 be connected with the battery respectively, the photovoltaic power generation plate 4 is arranged on the hull 1, described
Battery is sealingly mounted inside the hull 1, and the dynamotor 5 is arranged on the bottom of the hull 1, the electronic hair
Impeller 6 is provided with the rotating shaft of motor 5；The Intelligent unattended sailing boat is additionally provided with air velocity transducer 7.
Specifically, the present embodiment Intelligent unattended sailing boat use dynamotor 5, dynamotor 5 have generator with
Two kinds of motor, according to different situations, control dynamotor 5 switches between generator and motor both of which, uses
Air velocity transducer 7 is capable of the wind speed size of real-time monitoring external environment, before extraneous wind speed meets Intelligent unattended sailing boat passive type
During row, sail 3 rises, and dynamotor 5 drives it to be generated electricity as generator by impeller 6；If conversely, extraneous wind speed is discontented with
When sufficient Intelligent unattended sailing boat passive type moves ahead, sail 3 is wound, and dynamotor 5 is rotated as motor-driven impeller 6, to realize
Intelligent unattended sailing boat is active to move ahead.When actually used, depending on the size of the setting of wind speed range according to hull 1, again not
In the case of doing specific limitation, the scope more than wind speed setting excessive for wind speed, the sail 3 in Intelligent unattended sailing boat winds,
Impeller 6 is driven to rotate by dynamotor 5, to realize the active peace for moving ahead, so may insure traveling of Intelligent unattended sailing boat
Quan Xing, it is to avoid wind speed is excessive and the situation of shipwreck occurs.In addition, in the case of bad for long-time light condition, battery
Still accumulation of energy can be carried out by dynamotor 5, so can effectively improve its energy storage capacity, meet making for varying environment
With requiring.And impeller 6 is for the requirement of the positive and negative efficient rotation of blade for meeting, the blade of the impeller 6 is symmetrical airfoil structure.
Preferably, dynamotor 5 passes through elevating mechanism（It is unmarked）On the hull 1, being capable of basis by elevating mechanism
Control dynamotor 5 is needed to enter into underwater or detached from water.
Further, transverse slat 11 is additionally provided with the hull 1, the both ends of the transverse slat 11 are respectively facing the hull
1 respective side outside extends, and the end of the transverse slat 11 is additionally provided with auxiliary float 12, using the energy of auxiliary float 12 of both sides
Enough operational reliabilitys for more effectively improving hull 1, it is to avoid rollover.Wherein, the photovoltaic hair is also equipped with the transverse slat 11
Electroplax 4, to improve the entire area of photovoltaic power generation plate 4, so that improve generating efficiency.In addition, the bottom of hull 1 is additionally provided with surely
To plate 13.
The present invention also provides a kind of control method of Intelligent unattended sailing boat, and the Intelligent unattended sailing boat uses above-mentioned intelligent nothing
People's sailing boat, specific control method includes：When the air velocity transducer detects extraneous wind speed in setting range, sail rises,
Dynamotor is generated electricity and by power storage in battery；When the air velocity transducer detects extraneous wind speed in setting
When outside scope, sail winding, battery is powered driving wheel rotation to dynamotor.Further, Intelligent unattended sailing boat by
In wind drive its running, if wind speed is relatively low, the water surface can be left by elevating mechanism driving electric generator, with
Resistance is reduced, when wind speed is higher, then upstream face can be submerged by elevating mechanism driving electric generator, gone forward side by side with improving resistance
Row generates electricity.
Intelligent unattended sailing boat and its control method that the present invention is provided, being capable of real-time monitoring external wind using air velocity transducer
Whether speed meets the requirement that wind-force is carried out advancing, and in the case where condition is met, wind-force carries out the electronic hair that advances and utilize simultaneously
Motor carries out generating power by water current, so, even if in the bad environment of light condition, being still able to ensure that battery can be stored and filling
The electric energy of foot, solar energy is being utilized with reference to photovoltaic power generation plate, the energy-storage property of Intelligent unattended sailing boat is greatly strengthen, in addition, sharp
Can also be switched to storage battery power supply to be driven by dynamotor and advanced in the case where wind speed is too high with air velocity transducer, this
Sample can greatly improve safety in utilization.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
The present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those within the art that：It still may be used
Modified with to the technical scheme described in foregoing embodiments, or equivalent is carried out to which part technical characteristic；
And these modification or replace, do not make appropriate technical solution essence depart from various embodiments of the present invention technical scheme spirit and
Scope.
Claims (8)
1. a kind of Intelligent unattended sailing boat, including hull, mast and sail, it is characterised in that also including active power system, the master
Dynamic dynamical system includes photovoltaic power generation plate, dynamotor and battery, the photovoltaic power generation plate and the dynamotor point
It is not connected with the battery, the photovoltaic power generation plate is arranged on the hull, the battery is sealingly mounted at the ship
Internal portion, the dynamotor is arranged on the bottom of the hull, impeller is provided with the rotating shaft of the dynamotor；Institute
State Intelligent unattended sailing boat and be additionally provided with air velocity transducer.
2. Intelligent unattended sailing boat according to claim 1, it is characterised in that transverse slat is additionally provided with the hull, it is described
The respective side outside that the both ends of transverse slat are respectively facing the hull extends, and the end of the transverse slat is additionally provided with auxiliary and floats
Body.
3. Intelligent unattended sailing boat according to claim 2, it is characterised in that the photovoltaic hair is also equipped with the transverse slat
Electroplax.
4. Intelligent unattended sailing boat according to claim 1, it is characterised in that the bottom of the hull be additionally provided with it is steady to
Plate.
5. Intelligent unattended sailing boat according to claim 1, it is characterised in that the blade of the impeller is symmetrical airfoil knot
Structure.
6. Intelligent unattended sailing boat according to claim 1, it is characterised in that the dynamotor is pacified by elevating mechanism
On the hull.
7. a kind of control method of Intelligent unattended sailing boat, it is characterised in that the Intelligent unattended sailing boat is using such as claim 1-6
Any described Intelligent unattended sailing boat, specific control method includes：When the air velocity transducer detects extraneous wind speed in setting
In the range of when, sail is risen, and dynamotor generated electricity and by power storage in battery；When air velocity transducer detection
To extraneous wind speed outside setting range when, sail winding, battery is powered driving wheel rotation to dynamotor.
8. Intelligent unattended sailing boat according to claim 7, it is characterised in that the control method includes：When the wind speed
When sensor detects extraneous wind speed in setting range, if extraneous wind speed is less than setting generating air speed value, elevating mechanism
Driving electric generator leaves the water surface, if extraneous wind speed is more than setting generating air speed value, elevating mechanism driving electric generates electricity
Machine submerges upstream face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710111425.3A CN106892076A (en) | 2017-02-28 | 2017-02-28 | Intelligent unattended sailing boat and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710111425.3A CN106892076A (en) | 2017-02-28 | 2017-02-28 | Intelligent unattended sailing boat and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106892076A true CN106892076A (en) | 2017-06-27 |
Family
ID=59184835
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710111425.3A Pending CN106892076A (en) | 2017-02-28 | 2017-02-28 | Intelligent unattended sailing boat and its control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106892076A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108082428A (en) * | 2017-10-30 | 2018-05-29 | 香港中文大学（深圳） | Unmanned sailing boat power and transfer and unmanned sailing boat |
| CN109263787A (en) * | 2018-10-08 | 2019-01-25 | 上海交通大学 | A kind of composite power unmanned boat |
| CN109426253A (en) * | 2017-08-30 | 2019-03-05 | 武汉理工大学 | A kind of control method and system for determining region sail unmanned boat at a distance |
| CN113565665A (en) * | 2021-08-11 | 2021-10-29 | 哈尔滨工程大学 | Towed nacelle propeller capable of generating power by utilizing tidal current energy |
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| JP2007500638A (en) * | 2003-07-31 | 2007-01-18 | ソーラー セーラー ピーティーワイ リミテッド | Unmanned marine boat |
| CN202557781U (en) * | 2012-05-08 | 2012-11-28 | 薛飞 | Movable sail hydraulic environmental-protection sailship |
| CN103523195A (en) * | 2013-10-23 | 2014-01-22 | 芜湖特源鑫复合材料科技有限公司 | Remote control sailing boat |
| CN103963950A (en) * | 2013-02-06 | 2014-08-06 | 上海交通大学 | Bidirectional solar sailing ship |
| JP2015009785A (en) * | 2013-07-02 | 2015-01-19 | スズキ株式会社 | Sailboat |
| CN105228893A (en) * | 2013-03-14 | 2016-01-06 | 无人风动力装置航行公司 | Autonomous sea-going ship |
| CN105644752A (en) * | 2015-12-27 | 2016-06-08 | 中山艾德克智能控制科技有限公司 | Novel wind-solar complementary power supply type unmanned sailing ship and control method thereof |
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6855016B1 (en) * | 2002-07-16 | 2005-02-15 | Patrick Lee Jansen | Electric watercycle with variable electronic gearing and human power amplification |
| JP2007500638A (en) * | 2003-07-31 | 2007-01-18 | ソーラー セーラー ピーティーワイ リミテッド | Unmanned marine boat |
| CN202557781U (en) * | 2012-05-08 | 2012-11-28 | 薛飞 | Movable sail hydraulic environmental-protection sailship |
| CN103963950A (en) * | 2013-02-06 | 2014-08-06 | 上海交通大学 | Bidirectional solar sailing ship |
| CN105228893A (en) * | 2013-03-14 | 2016-01-06 | 无人风动力装置航行公司 | Autonomous sea-going ship |
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| CN103523195A (en) * | 2013-10-23 | 2014-01-22 | 芜湖特源鑫复合材料科技有限公司 | Remote control sailing boat |
| CN105644752A (en) * | 2015-12-27 | 2016-06-08 | 中山艾德克智能控制科技有限公司 | Novel wind-solar complementary power supply type unmanned sailing ship and control method thereof |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109426253A (en) * | 2017-08-30 | 2019-03-05 | 武汉理工大学 | A kind of control method and system for determining region sail unmanned boat at a distance |
| CN108082428A (en) * | 2017-10-30 | 2018-05-29 | 香港中文大学（深圳） | Unmanned sailing boat power and transfer and unmanned sailing boat |
| CN109263787A (en) * | 2018-10-08 | 2019-01-25 | 上海交通大学 | A kind of composite power unmanned boat |
| CN113565665A (en) * | 2021-08-11 | 2021-10-29 | 哈尔滨工程大学 | Towed nacelle propeller capable of generating power by utilizing tidal current energy |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170627 |