CN109795610B - Hydrofoil type water rescue equipment - Google Patents
Hydrofoil type water rescue equipment Download PDFInfo
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- CN109795610B CN109795610B CN201910017566.8A CN201910017566A CN109795610B CN 109795610 B CN109795610 B CN 109795610B CN 201910017566 A CN201910017566 A CN 201910017566A CN 109795610 B CN109795610 B CN 109795610B
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Abstract
The invention provides hydrofoil type water rescue equipment, which comprises a hydrofoil structure arranged at the lower part of a cabin body, wherein the hydrofoil structure comprises a left hydrofoil and a right hydrofoil which can independently control the rotation angle, and a distance detection unit arranged at the rear part of the cabin body and used for detecting the distance between the cabin body and the water surface.
Description
Technical Field
The invention belongs to the technical field of water rescue equipment control, and particularly relates to hydrofoil type water rescue equipment.
Background
A conventional water rescue vessel is shown in fig. 1, and comprises a cabin 1-1 floating on the water surface and a propeller (such as a propeller) under the water, and for the water unmanned rescue equipment, the cruising ability is a very important technical parameter, and the energy consumption is a key factor for determining the cruising ability. The conventional hull structure generates a large resistance when navigating at a high speed, thereby causing a large energy consumption.
Meanwhile, the course of the traditional water rescue ship is adjusted by adding a turning rudder into a nozzle of a propeller, and the water flow speeds on two sides of the rudder are influenced by adjusting the angle of the rudder, so that the turning effect is achieved, but in the process, the water flow sprayed out of the nozzle collides and rubs with the rudder, and a part of energy is wasted.
Disclosure of Invention
The invention provides hydrofoil type water rescue equipment which comprises a cabin body and a hydrofoil structure. The hydrofoil structure sets up the lower bottom surface in the cabin body, the hydrofoil structure includes the perpendicular connecting rod of being connected with the lower bottom surface in the cabin body, perpendicular connecting rod middle part is still the level and is provided with the propeller, the lower extreme of perpendicular connecting rod is still the level and is provided with the horizontal connecting rod, the front end of horizontal connecting rod is provided with the steering gear mechanism of control hydrofoil angle, the hydrofoil is connected respectively to the left and right sides of steering gear mechanism, the hydrofoil is located under the surface of water, the rear end left and right sides of horizontal connecting rod is provided with the fin.
The hydrofoil is connected with the steering engine through a rotating shaft, the steering engine can drive the hydrofoil to rotate around the rotating shaft, and the rotating angles of the hydrofoil can be adjusted respectively by the two steering engines.
The steering engine is provided with a shell, a rotating shaft and a driving gear are arranged in the shell, one end of a connecting shaft is connected with the driving gear, and the other end of the connecting shaft is connected with the hydrofoil, so that the steering engine drives the hydrofoil to rotate through the driving gear and the connecting shaft.
The steering engine mechanism further comprises a hydrofoil angle detection unit, and the hydrofoil angle detection unit is used for respectively detecting the rotation angles of the left hydrofoil and the right hydrofoil.
Furthermore, the shell of the steering engine also comprises a driven gear, the driving gear is meshed with the driven gear, the ratio of the two gears is 1: 1, and the transmission shaft and the shell of the steering engine are sealed. The hydrofoil angle detection unit detects the hydrofoil rotation angle, namely the attitude angle of the hydrofoil, by detecting the rotation amount of the driven gear.
The hydrofoil type water rescue equipment further comprises a control unit, wherein the control unit is used for controlling the speed of a propeller motor, the rotating angle of a steering engine mechanism of the hydrofoil structure and the posture of the water rescue equipment so as to adjust the distance between a cabin body of the water rescue equipment and the water surface and the advancing direction and speed of the water rescue equipment.
The cabin body of the water rescue equipment is separated from the water surface, the hydrofoil is positioned below the water surface, the rear part of the cabin body is provided with a distance detection unit, and the distance detection unit is used for detecting the distance between the cabin body and the water surface.
The distance detecting unit comprises a rigid connecting rod, the rigid connecting rod can rotate around a connecting point with a cabin body and in a vertical plane where the vertical line and the rigid connecting rod are located, the connecting point is provided with an angle sensor, the angle sensor is used for measuring the rigid connecting rod rotates around an angle connected with the cabin body, the tail end of the rigid connecting rod is provided with a floating ball, the floating ball can float on the water surface, the rigid connecting rod can rotate around the connecting point due to the buoyancy of the floating ball and naturally form different angles theta along with the difference between the cabin body and the water surface height H, and the angle theta is the included angle between the vertical line and the rigid connecting rod. The length L of the rigid connecting rod is related to a target height value h of a cabin body and the water surface of the water rescue equipment. Preferably, the length of the rigid connecting rod is greater than the target height value h, and simultaneously satisfies: when the rigid connecting rod is vertical, the lowest end of the floating ball is higher than the upper surface of the horizontal connecting rod.
The angle value theta is measured by the angle sensor and sent to the control unit, and after the angle value theta is obtained by the control unit, the height H of the cabin of the water rescue equipment from the water surface can be obtained according to the following formula:
H＝L*cosθ (1)
further, the control unit adjusts and controls the height H between the cabin and the water surface by adopting PID adjustment, and the difference between the current height value H and the set target height H can be obtained by the following formula (2), so as to obtain Δ H as the feedback quantity of PID adjustment:
e(t)＝Δh＝h-H (2)
in the above formula (2), e (t) is an error value for each measurement, and t is a unit time interval of each acquired data in the discrete variable. The above equation (2) can be substituted into the following PID adjustment equation (3) to obtain the adjustment value u (t) of the height value H. In the following equation (3), Kp is a proportional coefficient, Ki is an integral coefficient, and Kd is a differential coefficient.
And after the height value u (t) required to be adjusted is obtained, the height value is converted into an angle value of the hydrofoil in the water, which is adjusted through the hydrofoil angle adjusting structure, so that the lift force is changed, and the cabin body reaches the target height value h.
The control unit adjusts the motor rotating speed of the driver through PWM control, so that the advancing speed of the water rescue equipment is controlled, and meanwhile, the control unit adjusts the rotating angle beta of the hydrofoil through controlling the steering engine mechanism, so that the control of the distance H between the cabin body and the water surface and the advancing direction of the water rescue equipment is realized.
Furthermore, the control unit can also adjust the inclination angle of the water rescue equipment by controlling the angle of the hydrofoil, so as to control the size of the turning radius of the water rescue equipment. The water rescue equipment is provided with an attitude detection unit, and the attitude detection unit is arranged on the cabin body and used for detecting the attitude angle of the cabin body and sending the attitude angle information to the control unit.
The invention provides hydrofoil type water rescue equipment, which comprises a hydrofoil structure arranged at the lower part of a cabin body, wherein the hydrofoil structure comprises a left hydrofoil and a right hydrofoil which can independently control the rotation angle, and a distance detection unit arranged at the rear part of the cabin body and used for detecting the distance between the cabin body and the water surface.
Drawings
FIG. 1 is a schematic view of a prior art unmanned rescue vessel on water;
fig. 2A is a schematic view of the hydrofoil-type water rescue apparatus of the present application;
fig. 2B is a schematic view of a hydrofoil portion of the hydrofoil-type water rescue apparatus of the present application;
fig. 2C is a steering engine housing diagram of the hydrofoil-type water rescue apparatus of the present application;
fig. 2D is a perspective view of a steering engine of the hydrofoil-type water rescue apparatus of the present application;
fig. 2E is a side view of the steering engine of the hydrofoil-type water rescue apparatus of the present application;
FIG. 3 is a schematic view of the operation of the hydrofoil of the present application in water;
4A-4C are schematic views of the hydrofoil of the present application at various angles;
fig. 5 is a schematic view of the hydrofoil type water rescue apparatus of the present application adjusting the height from the water surface;
fig. 6 is a schematic diagram illustrating the hydrofoil type water rescue apparatus of the present application adjusting the right hydrofoil to achieve left steering;
fig. 7 is a left turn transverse sectional view of the hydrofoil rescue apparatus control of the present application;
fig. 8 is a schematic diagram of the hydrofoil type water rescue apparatus of the present application adjusting the right hydrofoil to achieve right steering;
fig. 9 is a right-turning transverse sectional view of the hydrofoil type water rescue device control of the present application;
fig. 10 is a schematic view of a steering vector diagram and a track diagram of the hydrofoil type water rescue device of the present application at different inclination angles;
fig. 11 is a schematic view of the hydrofoil type water rescue apparatus of the present application adjusting the rotation angle of the left hydrofoil;
fig. 12 is a schematic view of the hydrofoil type water rescue device of the present application adjusting the rotation angle of the left and right hydrofoils simultaneously.
Detailed Description
The invention is further explained below with reference to specific embodiments and the attached drawings.
In one embodiment, referring to fig. 2A of the specification, the hydrofoil rescue apparatus of the present application includes a hull 2-4 and a hydrofoil structure. The hydrofoil structure is arranged on the lower bottom surface of the cabin body 2-4, and further refers to the attached figure 2B of the specification, the hydrofoil structure comprises a vertical connecting rod 2-5 connected with the lower bottom surface of the cabin body, a propeller 2-3 is horizontally arranged in the middle of the vertical connecting rod, a horizontal connecting rod 2-6 is horizontally arranged at the lower end of the vertical connecting rod, a steering engine mechanism 2-2 for controlling the angle of the hydrofoil is arranged at the front end of the horizontal connecting rod, the hydrofoil 2-1 is respectively connected to the left side and the right side of the steering engine mechanism, and the empennages 2-7 are arranged on the left side and the right side of the rear end.
The steering engine mechanism 2-2 comprises two steering engines, the hydrofoil is connected with the steering engines through a rotating shaft, the steering engines can drive the hydrofoil to rotate around the rotating shaft, the rotating angles of the hydrofoil can be adjusted respectively, the two steering engines can be shown in the attached drawings 2D and 2E in the specification, the two steering engines are internal structural diagrams of the steering engines, the hydrofoil is internally provided with a driven gear 2-2-2 and a driving gear 2-2-3, the rotating shaft 2-2-4 is connected with the driving gear 2-2-3, one end of a connecting shaft is connected with the driving gear, and the other end of the connecting shaft is connected with the hydrofoil, so that the hydrofoil is driven by the steering engines through the. Referring to the specification and the attached figure 2C, the steering engine is provided with a shell 2-2-1. The driving gear is meshed with the driven gear, preferably, the proportion relation of the two gears is 1: 1, and the transmission shaft 2-2-4 and the steering engine shell 2-2-1 can be sealed by adopting waterproof rings, oil seals and the like. The steering engine further comprises a synchronous belt, or a potentiometer is arranged on a motor shaft of the steering engine, the rotation angle of the hydrofoil, namely the attitude angle of the hydrofoil, can be measured by detecting the rotation amount of the driven gear 2-2-2, and meanwhile, the angle adjustment of the hydrofoil part can be completed by measuring the attitude angle of the hydrofoil so as to adjust the distance between the cabin body 2-4 of the water rescue equipment and the water surface.
Referring to fig. 3, which is a schematic view of the operation of the hydrofoil in water, according to the present invention, the hydrofoil 3-1 is entirely immersed in water, when the water flow 3-3 passes through the hydrofoil 3-1, the stroke of the water flowing through the upper surface of the hydrofoil 3-1 is greater than the stroke of the water flowing through the lower surface, and when the propeller drives the hydrofoil mechanism to advance below the water surface, the water flow velocity of the upper surface of the hydrofoil is higher than that of the lower surface, so that the water pressure of the lower surface of the hydrofoil is higher than that of the upper surface, thereby generating an upward pressure difference. The pressure difference creates a lifting force 3-2 by the hydrofoil. The lifting force can enable the cabin body of the rescue equipment to be away from the water surface and keep a certain distance from the water surface.
As shown in fig. 4A-4C, which are schematic views of the hydrofoil angle adjustment structure of the present invention, the hydrofoil shown in fig. 4A can be rotated upward by adjusting the angle, the hydrofoil shown in fig. 4B can also be rotated downward by adjusting the angle, and fig. 4C shows that the hydrofoil is kept in the horizontal direction. According to the invention, the lifting force generated by the hydrofoil can be changed by adjusting different hydrofoil angles, and the distance between the cabin body of the water rescue equipment and the water surface is kept or kept by matching different loads, so that the advancing speed of the whole water rescue equipment on water is increased.
In one embodiment, the hydrofoil type water rescue device further comprises a control unit, and the control unit is used for controlling the speed of the motor of the propeller, the rotation angle of the steering engine mechanism of the hydrofoil structure and the attitude of the water rescue device.
As shown in fig. 5, a cabin body 5-1 of the water rescue device is separated from the water surface, a hydrofoil 5-3 is positioned below a fluctuating water surface 5-2, a rigid connecting rod 5-6 is installed at the rear part of the cabin body 5-1, the rigid connecting rod 5-6 can rotate around a connecting point with the cabin body 5-1 in a vertical plane where a vertical line and the rigid connecting rod 5-6 are positioned, an angle sensor 5-4 is arranged at the connecting point, the angle sensor 5-4 is used for measuring the rotating angle of the rigid connecting rod 5-6 around the connecting point with the cabin body 5-1, a floating ball 5-5 is arranged at the tail end of the rigid connecting rod 5-6, the floating ball 5-5 can float on the water surface 5-2, and the height H of the cabin body 5-1 is different from the, the rigid connecting rod 5-6 can rotate around the connecting point by the buoyancy of the floating ball 5-5 to naturally form different angles theta, and the angles theta are the included angles between the vertical lines and the rigid connecting rod. The length of the rigid connecting rod is related to a target height value h of a cabin body and the water surface of the water rescue equipment. Preferably, the length of the rigid connecting rod is greater than the target height value h, and simultaneously satisfies: when the rigid connecting rod is vertical, the lowest end of the floating ball is higher than the upper surfaces of the horizontal connecting rods 2-6.
The invention adopts the floating ball type angle measurement structure to directly output the angle value, has the advantages of rapid measurement, low energy consumption and simple structure compared with other distance measurement modes, and does not have the interference problems of multiple reflection and the like generated by the distance measurement of an optical or acoustic distance measurement device on water. In addition, the adoption of the floating ball type angle measuring structure in the invention also has the additional technical effect that firstly, the floating ball has certain buoyancy, the measuring and controlling errors caused by the gravity of the rigid connecting rod can be counteracted, meanwhile, along with the change of the height value H of the cabin body away from the water surface, the volume of the floating ball immersed in the water also changes, when the height of the cabin body from the water surface becomes lower, the volume of the floating ball immersed in the water is increased, the buoyancy received by the floating ball is also increased, the upward additional supporting force of the whole cabin body is provided, when the height of the cabin body from the water surface is higher, and when the height of the floating ball from the water surface is too high, the volume of the floating ball immersed in the water is reduced, the buoyancy received by the floating ball is also reduced, the supporting force provided for the whole cabin body is reduced, and the height of the cabin body is favorably adjusted, meanwhile, the excessive pitching change of the cabin structure is prevented, and the stability of the whole cabin in the advancing process is favorably maintained.
In this embodiment, the height H between the cabin 5-1 and the water surface 5-2 can be adjusted by adjusting the rotation angle β of the hydrofoil. The height H is measured by using a floating ball and an angle sensor in the embodiment, because the rigid connecting rod 5-6 has a fixed length L, and the rigid connecting rod 5-6 forms a different angle θ with the cabin body 5-1 due to the buoyancy of the floating ball 5-5 along with the difference of the height of the water surface, the angle sensor can measure the angle value and send the angle value to the control unit, and the control unit can obtain the height H of the rescue boat body from the water surface according to the following formula after obtaining the angle θ:
H＝L*cosθ (1)
in this embodiment, the control unit adjusts and controls the height H between the cabin and the water surface by using PID adjustment, and other control algorithms may be used. In the embodiment, the difference between the target height H and the current height H is used as the feedback input amount, and the difference value fed back is calculated by using the PID algorithm to obtain the height that needs to be adjusted currently. Then the lifting force provided by the hydrofoil is changed by controlling and adjusting the rotation angle of the hydrofoil, so that the height between the current cabin body and the water surface is changed, and the current cabin body is closer to a target height value more and more through continuous adjustment.
After obtaining the current height value H, the difference between the current height value H and the set target height H can be obtained, and then Δ H is obtained as the feedback quantity of PID regulation according to the following formula (2):
e(t)＝Δh＝h-H (2)
in the above formula (2), e (t) is an error value for each measurement, and t is a unit time interval of each acquired data in the discrete variable. The above equation (2) can be substituted into the following PID adjustment equation (3) to obtain the adjustment value u (t) of the height value H. In the following equation (3), Kp is a proportional coefficient, Ki is an integral coefficient, and Kd is a differential coefficient. By setting the three coefficients, the rotation angle of the hydrofoil can be more stable and rapid in the adjustment process, so that overweight and weightlessness caused by height adjustment are reduced.
And after the height value u (t) required to be adjusted is obtained, the height value is converted into an angle value of the hydrofoil in the water, which is adjusted through the hydrofoil angle adjusting structure, so that the lift force is changed, and the cabin body reaches the target height value h.
In the present embodiment, the control unit adjusts the motor rotation speed of the drivers 2 to 3 through PWM control, thereby controlling the forward speed of the entire rescue apparatus. Meanwhile, the control unit adjusts the rotation angle beta of the hydrofoil by controlling the steering engine mechanism 2-2, so that the adjustment of the distance H from the cabin body 5-1 to the water surface is realized. As shown in fig. 5, the left drawing is a force diagram when the hydrofoil is in a horizontal state, and the right drawing is a diagram when the hydrofoil is controlled by the steering engine mechanism to rotate clockwise by an angle beta, namely when the hydrofoil is lifted upwards, the pressure difference between the upper and lower wing surfaces is increased, the lifting force is increased, and the distance H between the cabin body 5-1 and the water surface is increased. When the hydrofoil rotates anticlockwise by an angle beta, namely the hydrofoil rotates downwards, the lifting force is reduced, and the distance H from the cabin body 5-1 to the water surface is reduced.
In the embodiment, the control unit also controls the steering angle beta of the hydrofoil by controlling the steering engine mechanism 2-2, so that the advancing direction of the whole water rescue device is controlled.
As shown in figure 6, water flow 6-1 respectively flows through the left hydrofoil and the right hydrofoil, the control unit controls the right hydrofoil to rotate upwards, the elevation angle of the right hydrofoil is increased, the left hydrofoil is kept horizontal, the lifting force 6-2 of the right hydrofoil is increased and exceeds the lifting force 6-3 of the left hydrofoil, the generated lifting force is increased, and therefore the right hydrofoil is lifted, and the whole water rescue device is in a state of inclining leftwards. At this time, the stress condition of the whole water rescue device is shown in fig. 7, fig. 7 is a transverse cross-sectional view of the water rescue device, a cabin body 7-1 of the rescue device, the lifting force 7-2 of the right hydrofoil exceeds the lifting force 7-3 of the left hydrofoil, the lifting resultant force 7-5 has a component force 7-6 in the horizontal direction and a component force 7-7 in the vertical direction, and as can be seen from fig. 7, the vertical component force 7-7 can offset the gravity 7-4 of the rescue device, so that the water rescue device can turn left under the action of the horizontal component force 7-6.
The schematic diagram of turning to the right is shown in fig. 8, the water flow 8-1 respectively flows through the left hydrofoil and the right hydrofoil, the control unit controls the right hydrofoil to rotate downwards, the elevation angle of the right hydrofoil is reduced, the left hydrofoil is kept horizontal, the lifting force of the right hydrofoil is reduced, and therefore the left hydrofoil is lifted, and the whole platform is in a state of inclining to the right.
At this time, the stress condition of the whole water rescue device is shown in fig. 9, fig. 9 is a transverse cross-sectional view of the water rescue device, a cabin body 9-1 of the rescue device, the lifting force 9-2 of the right hydrofoil is smaller than the lifting force 9-3 of the left hydrofoil, the lifting resultant force 9-5 has a component force 9-6 in the horizontal direction and a component force 9-7 in the vertical direction, and as can be seen from fig. 9, the vertical component force 9-7 can offset the gravity 9-4 of the rescue device, so that the water rescue device can turn right under the action of the horizontal component force 9-6.
The control unit can also adjust the inclination angle of the water rescue equipment by controlling the angle of the hydrofoil, so as to control the size of the turning radius of the water rescue equipment. As shown in fig. 10, in one embodiment, in order to adapt to the control of the turning angular velocity under different conditions, the water rescue device of the present invention is provided with an attitude sensor, which is provided on the cabin, for detecting the attitude angle of the cabin and transmitting the attitude angle information to the control unit. The control unit adopts a closed-loop control algorithm, such as a PID closed-loop control method, and performs closed-loop control on the inclination angle of the water rescue equipment according to the attitude angle information sent by the attitude sensor.
In fig. 10, a solid arrow V1 represents the speed of the rescue apparatus when the rescue apparatus advances, a dashed arrow V2 and a solid arrow V3 represent a horizontal leftward speed generated under the influence of centripetal accelerations of different magnitudes, respectively, and the larger the centripetal acceleration, the larger the horizontal leftward speed generated. As shown in the left diagram of fig. 10, a dashed arrow V2 is a horizontal leftward speed generated under the influence of a large centripetal acceleration, a dashed curve L1 shown in the right diagram of fig. 10 is a turning track of the water rescue apparatus under the action of V2, R1 is a turning radius thereof, and γ 1 is an initial turning angle thereof. Therefore, under the influence of larger centripetal acceleration, the turning radius and the initial turning angle of the water rescue equipment are smaller.
The solid arrow V3 in the left diagram of fig. 10 is a horizontal leftward speed generated under the influence of a small centripetal acceleration, the solid curve L2 in the right diagram of fig. 10 is a turning track corresponding to the underwater rescue device under the action of V3, R2 is a turning radius of the water rescue device, and gamma 2 is an initial turning angle of the water rescue device. Therefore, under the action of smaller centripetal acceleration, the turning radius and the initial turning angle of the water rescue equipment are larger.
When the water rescue device turns, the centripetal force to which the water rescue device is subjected is related to the inclination of the water rescue device, and in the previous embodiment, the inclination of the water rescue device can be realized by adjusting the rotation angle of the hydrofoil. As shown in the left diagram of fig. 10, the greater the centripetal force applied to the water rescue device, the greater the turning acceleration, and therefore the greater the speed per unit time. Therefore, the control unit can realize the control of the turning angle and the turning speed by adjusting the turning angle of the hydrofoil and further adjusting the inclination angle of the water rescue equipment.
The above is only one embodiment of controlling the steering of the water rescue device by adjusting the right hydrofoil, when a turn to the left is needed, that is, the turn to the left can be realized by controlling the right hydrofoil to rotate upwards, or by controlling the left hydrofoil to rotate downwards (as shown in fig. 11), or by controlling the right hydrofoil to rotate upwards and the left hydrofoil to rotate downwards at the same time (as shown in fig. 12), and the control mode depends on the height H of the cabin from the water surface and the needed turning speed. When the height H of the cabin body from the water surface is too low, the lift force generated by the hydrofoils needs to be increased, so that when the left-side turning is needed, the control unit increases the lift force of the right hydrofoils in a mode of controlling the right hydrofoils to rotate upwards and keeping the left hydrofoils horizontal, the whole water rescue equipment turns left, and the height H of the cabin body from the water surface is increased; when the height H of the cabin body from the water surface is too high, the lift force generated by the hydrofoils needs to be reduced, so that when the left side of the cabin body needs to be turned, the control unit reduces the lift force of the left hydrofoils in a mode of controlling the left hydrofoils to rotate downwards and keeping the right hydrofoils horizontal, and the height H of the cabin body from the water surface is reduced while the whole water rescue equipment is turned left. If the height H of the cabin body from the water surface does not need to be adjusted, the control unit can realize turning to the left side by controlling the left hydrofoil to rotate downwards and the right hydrofoil to rotate upwards.
The above are only preferred embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can appreciate that the combination, the change or the substitution is included in the scope of the present invention within the technical scope of the present invention. Any combination of the above embodiments is also understood to be within the scope of the disclosure of the present application.
Claims (8)
1. A hydrofoil-type water rescue apparatus, characterized in that it comprises:
a hull located above the water surface;
a hydrofoil structure located below the water surface;
the propeller is used for providing forward power for the water rescue equipment;
the control unit controls the height of the cabin body from the water surface, the advancing direction and the turning radius by controlling the rotation angle of the hydrofoil;
the cabin body of the water rescue equipment is separated from the water surface, the hydrofoil is positioned below the water surface, and the rear part of the cabin body is provided with a distance detection unit which is used for detecting the distance between the cabin body and the water surface;
the distance detection unit comprises a rigid connecting rod, the rigid connecting rod can rotate around a connecting point with a cabin body and in a vertical plane where the vertical line and the rigid connecting rod are located, the connecting point is provided with an angle sensor, the angle sensor is used for measuring the angle of the rigid connecting rod around the connecting point with the cabin body, the tail end of the rigid connecting rod is provided with a floating ball, the floating ball can float on the water surface, the rigid connecting rod can rotate around the connecting point due to the buoyancy of the floating ball and naturally form different angles theta along with the difference between the cabin body and the water surface height H, the angle theta is an included angle between the vertical line and the rigid connecting rod, and the angle sensor measures the angle value theta and sends the angle.
2. The hydrofoil type water rescue equipment as claimed in claim 1, wherein the hydrofoil structure is arranged on the lower bottom surface of the cabin body, the hydrofoil structure comprises a vertical connecting rod connected with the lower bottom surface of the cabin body, the propeller is horizontally arranged in the middle of the vertical connecting rod, a horizontal connecting rod is horizontally arranged at the lower end of the vertical connecting rod, a steering engine mechanism for controlling the angle of the hydrofoil is arranged at the front end of the horizontal connecting rod, the hydrofoil is respectively connected to the left side and the right side of the steering engine mechanism, and the empennages are arranged on the left side and the right side of the rear end of the horizontal connecting rod.
3. The water rescue device of claim 2, wherein the steering gear mechanism comprises two steering gears, the hydrofoil is connected with the steering gears through a rotating shaft, the steering gears can drive the hydrofoil to rotate around the rotating shaft, and the two steering gears can respectively adjust the rotating angles of the left hydrofoil and the right hydrofoil.
4. The water rescue device of claim 3, wherein the steering gear comprises a housing, the housing comprises a rotating shaft and a driving gear inside, one end of the connecting shaft is connected with the driving gear, and the other end of the connecting shaft is connected with the hydrofoil, so that the steering gear drives the hydrofoil to rotate through the driving gear and the connecting shaft.
5. The water rescue apparatus of claim 3, wherein the steering engine mechanism further comprises a hydrofoil angle detection unit, and the hydrofoil angle detection unit is used for respectively detecting the rotation angles of the left and right hydrofoils.
6. The water rescue apparatus of claim 1, wherein the control unit, after obtaining the angle θ, can obtain a height H of the cabin of the water rescue apparatus from the water surface according to the following formula:
H＝L*cosθ (1)；
wherein, L is the length of rigid link.
7. Rescue apparatus as claimed in claim 6, characterized in that the rigid connecting rod has a length greater than the target height h, while satisfying: when the rigid connecting rod is vertical, the lowest end of the floating ball is higher than the upper surface of the horizontal connecting rod.
8. The water rescue apparatus of claim 7, wherein the control unit adjusts and controls the height H between the cabin and the water surface by using PID adjustment, and the difference between the current height H and the set target height H can be obtained by using the following formula (2), so as to obtain Δ H as the feedback amount of PID adjustment:
e(t)＝Δh＝h-H (2)：
in the above formula (2), e (t) is an error value of each measurement, t is a unit time interval of each acquired data in a discrete variable, and the above formula (2) can be substituted into the following PID adjusting formula (3) to obtain an adjusting value u (t) of the height value H; in the following formula (3), Kp is a proportionality coefficient, Ki is an integral coefficient, and Kd is a differential coefficient;
and after the height value u (t) required to be adjusted is obtained, the height value is converted into an angle value of the hydrofoil in the water, which is adjusted through the hydrofoil angle adjusting structure, so that the lift force is changed, and the cabin body reaches the target height value h.
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| CN201910017566.8A CN109795610B (en) | 2019-01-08 | 2019-01-08 | Hydrofoil type water rescue equipment |
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| CN201910017566.8A CN109795610B (en) | 2019-01-08 | 2019-01-08 | Hydrofoil type water rescue equipment |
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| US10597118B2 (en) | 2016-09-12 | 2020-03-24 | Kai Concepts, LLC | Watercraft device with hydrofoil and electric propeller system |
| CN113044156A (en) * | 2021-03-30 | 2021-06-29 | 四川摩比斯新能源水翼船有限责任公司 | Method and device for controlling inclination angle of hydrofoil |
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