Unmanned ship driven by natural energy fusion

Abstract

The invention discloses an unmanned ship driven by natural energy fusion, which comprises a ship body, the ship body is provided with a control unit, a storage battery, a solar power generation device, a wave energy power generation device and a propeller, the wave energy power generation device comprises a first power generator and a swing bracket, and the swing bracket comprises two side arms and a cross rod connected with the upper parts of the two side arms; the lower ends of the two side arms are connected with first floating bodies correspondingly, the first floating bodies make contact with the water surface, and water surface waves drive the first floating bodies to move so as to drive the swing support to swing. A driving shaft is fixedly connected to the middle of the cross rod, drives a rotor of the first generator to rotate in the same direction through a transmission mechanism to generate power, and then charges the storage battery through the control unit; the first generator is mounted on the ship body; the two first floating bodies are located on the two sides of the ship body respectively. Furthermore, a ship body swinging power generation device, a wind power generation device and an overturning recovery device are further arranged on the ship body. The cruising ability of the unmanned ship is effectively prolonged, and the navigation and control reliability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of power generation device manufacturing, in particular to an unmanned ship driven by natural energy fusion. Background Art

[0002] Existing unmanned ships usually use photovoltaic power generation to charge batteries, which are then used to power sensor communication electronic equipment; underwater traction devices and / or thrusters are then used to provide driving force for the hull to achieve autonomous navigation in the ocean or other waters. Related products have been widely used in many fields such as marine science and marine engineering.

[0003] However, the existing unmanned boat propulsion systems all need to rely on electricity to work. It is difficult to obtain a long endurance by relying solely on photovoltaic power generation, especially when it is cloudy or at night, it is difficult to charge the battery, and it cannot meet the propulsion system energy requirements. In particular, once the battery is out of power, the control unit will not work, and the unmanned boat is prone to loss of connection, affecting the reliability of control and navigation.

[0004] On the other hand, if an unmanned ship encounters large waves while sailing on the ocean and is overturned by the waves, it will not be able to continue sailing, which will also affect the reliability of navigation. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide an unmanned ship driven by the fusion of natural energy, which can effectively extend the endurance of the unmanned ship and improve the reliability of the navigation and control of the unmanned ship.

[0006] To achieve the above-mentioned purpose, the technical solution of the present invention is: an unmanned boat driven by natural energy fusion, including a hull, on which a control unit, a battery, a solar power generation device and an antenna for communication are installed. After the solar power generation device generates electricity, the battery is charged by the control unit. The external command system communicates bidirectionally with the control unit through the antenna. A propeller is installed at the rear of the hull, and the propeller provides electric energy through the battery to drive the hull to move. It also includes a wave energy power generation device, which includes a first generator and a swing bracket. The swing bracket includes two side arms and a cross bar connecting the upper parts of the two side arms. The lower ends of the two side arms are respectively connected to first buoys, and the first buoys are in contact with the water surface. The first buoys are driven to move by the waves on the water surface, thereby driving the swing bracket to swing; a drive shaft is fixedly connected to the middle of the cross bar, and the drive shaft drives the first generator rotor to rotate in the same direction through a transmission mechanism to generate electricity; the first generator is installed on the hull; after the first generator generates electricity, the battery is charged by the control unit.

[0007] Preferably, the transmission mechanism includes a seat body, which is fixedly connected to the hull, and the drive shaft is pivoted on the seat body. The seat body is also pivoted with an output shaft and an intermediate shaft parallel to the drive shaft. A first cylindrical gear and a second cylindrical gear are sleeved on the drive shaft. The first cylindrical gear is connected to the drive shaft through a first one-way bearing, and the second cylindrical gear is connected to the drive shaft through a second one-way bearing. The first one-way bearing and the second one-way bearing have opposite transmission directions. A third cylindrical gear is fixedly connected to the intermediate shaft, and a fourth cylindrical gear is fixedly connected to the output shaft. The third cylindrical gear is meshed with the second cylindrical gear and the fourth cylindrical gear at the same time. The fourth cylindrical gear is meshed with the first cylindrical gear and the third cylindrical gear at the same time. One end of the output shaft is connected to the first generator rotor and drives the first generator rotor to rotate. In this transmission mechanism, regardless of whether the swing bracket rotates forward or reversely, one end of the output shaft can drive the generator rotor to rotate in the same direction, which doubles the efficiency of wave energy utilization and can effectively increase the power generation.

[0008] As a further improvement, the two first buoys are respectively located on both sides of the hull. The arrangement of the two first buoys, together with the balancing effect of the swing bracket, can further prevent the hull from capsizing.

[0009] Furthermore, the two side arms are connected to the cross bar to form an inverted U shape; the lower ends of the two side arms are hinged to a first floating body through connecting pieces.

[0010] As a further improvement, the present invention also includes a hull swaying power generation device, which includes a second generator and a machine base. The machine base is fixedly connected to the hull, and the second generator is installed on the machine base or the hull. A movable component is installed on the machine base, and the movable component includes two rotating shafts pivoted on the machine base at intervals, the central axes of the two rotating shafts overlap, and the opposite ends of the two rotating shafts are respectively fixedly connected to one end of a crank arm, the two crank arms are parallel to each other, and a support shaft is fixedly connected between the other ends of the two crank arms, and the angle between the central axis of the support shaft and the central axis of any rotating shaft is less than 45°; the inner circumference of a circular ring is fixedly connected to the middle part of the supporting shaft through multiple supporting arms, and the outer circumference of the circular ring is connected to a limiting mechanism, and the limiting mechanism limits the swing position of the circular ring so that the two rotating shafts can only rotate in the same direction, and at least one rotating shaft drives a second generator rotor to rotate to achieve power generation, and the second generator charges the battery through the control unit after generating power. The hull swaying power generation device can be used to better charge the battery and improve the source of electric energy; and this hull swaying power generation device can also generate electricity when the hull swaying mechanical energy is small, further ensuring the reliability of power supply.

[0011] As a preferred embodiment, the limiting mechanism includes a sphere, the sphere is fixedly connected to the outer circumference of the ring by a connecting rod, and a circular arc groove is provided on the machine base, the circular arc groove is located below the circular ring, the central axis of the circular arc bottom surface of the circular arc groove is perpendicular to the central axis of the rotating shaft, the two inner side surfaces of the circular arc groove are parallel and parallel to the central axis of the rotating shaft, and the two inner side surfaces of the circular arc groove jointly limit the displacement direction of the sphere. This limiting mechanism further drives the ring to shake by the back and forth swing of the sphere, so that the two rotating shafts can more reliably rotate in the same direction, thereby improving the power generation efficiency.

[0012] As another preferred embodiment, the limiting mechanism includes a limiting annular body, and the front and rear sides of the outer circumference of the limiting annular body are respectively connected to one end of a first support column in the radial direction, and the other end of each first support column is connected to the machine base, so that the limiting annular body can rotate relative to the machine base, and the axial direction of each first support column is perpendicular to the axial direction of the rotating shaft; the upper and lower sides of the inner circumference of the limiting annular body are respectively connected to one end of a second support column in the radial direction, and the other ends of the two second support columns are respectively connected to the upper and lower sides of the outer circumference of the ring, so that the limiting annular body and the ring can rotate relative to each other. This limiting mechanism couples the limiting annular body with the ring, allowing the ring to shake reliably, so that the two rotating shafts can rotate reliably in the same direction.

[0013] Further improvement, the hull is also equipped with a capsize recovery device, the capsize recovery device includes a gas storage bottle and an air bag box, the gas storage bottle is installed on the hull, the air bag box is fixedly connected to the upper part of one side of the hull, an inflatable air bag is installed in the air bag box, the air bag box is provided with an upper opening, the air bag is provided with an air inlet, and the air inlet of the air bag is connected to the gas storage bottle through an air inlet pipe and an air inlet electromagnetic gate valve;

[0014] A position sensor is provided on the hull. After the unmanned boat capsizes, the position sensor is connected to the power supply of the air inlet electromagnetic gate valve through the first switch, the air inlet electromagnetic gate valve opens, and the gas cylinder inflates the airbag so that the airbag expands and extends out from the opening on the airbag box to contact the water surface, so that the center of gravity of the boat gradually rises and finally returns to the positive floating state. The capsizing and flipping recovery device can realize the flipping of the hull after capsizing, and realize the self-rescue function. In addition, this capsizing and flipping recovery device has a simple structure, is easy to control, and has high reliability in use.

[0015] Preferably, the position sensor comprises a circular tube body with closed ends, a movable gravity body is placed in the middle of the circular tube body, an upper ejector rod is arranged at the upper part of the circular tube body, one end of the upper ejector rod is fixedly connected to the upper part of the gravity body, and the other end of the upper ejector rod can be movably extended from the top of the circular tube body, an upper return spring is sleeved on the upper ejector rod, one end of the upper return spring abuts against the upper part of the gravity body, and the other end abuts against the top of the circular tube body; a lower ejector rod is arranged at the lower part of the circular tube body, one end of the lower ejector rod is fixedly connected to the lower part of the gravity body, and the other end of the lower ejector rod can be movably extended from the bottom of the circular tube body, a lower return spring is sleeved on the lower ejector rod, one end of the lower return spring abuts against the lower part of the gravity body, and the other end abuts against the bottom of the circular tube body;

[0016] The upper push rod cooperates with the first switch to drive the first switch to open or close, and the lower push rod cooperates with the second switch to drive the second switch to open or close. This position sensor has a relatively simple structure, can be operated only by gravity, and has high operation reliability.

[0017] Further improvement, the airbag is also provided with an exhaust port, and the exhaust port of the airbag is exhausted through an exhaust pipe and an exhaust electromagnetic gate valve; after the hull of the unmanned boat is reset, the position sensor disconnects the power supply of the air intake electromagnetic gate valve through the first switch, and the air intake electromagnetic gate valve is closed. At the same time, the position sensor connects the power supply of the exhaust electromagnetic gate valve through the second switch, and the exhaust electromagnetic gate valve is opened, and the airbag is exhausted through the exhaust pipe;

[0018] A reset sensor is provided at the exhaust port of the airbag, and a reset switch is provided on the power supply circuit of the exhaust solenoid gate valve. When the reset sensor detects that the pressure in the airbag is less than or equal to the set value, the reset switch is in the disconnected state; when the reset sensor detects that the pressure in the airbag is greater than the set value, the reset switch is in the connected state; the exhaust end of the exhaust solenoid gate valve is also connected to an exhaust vacuum pump through a pipeline, and the power supply of the exhaust vacuum pump motor is connected to the power supply circuit of the exhaust solenoid gate valve. When the exhaust solenoid gate valve is opened, the power supply of the exhaust vacuum pump is turned on to evacuate air.

[0019] In this way, the airbag can be exhausted in time after the hull of the unmanned boat is reset. On the one hand, the airbag can be reused, and on the other hand, the airbag can be prevented from affecting the normal driving of the unmanned boat; through the reset sensor and the reset switch, it can be ensured that when the pressure in the airbag is low, the power supply of the exhaust solenoid gate valve is disconnected to reduce power consumption; through the exhaust vacuum pump, when the unmanned boat returns to the positive floating state, the gas in the airbag can be quickly and reliably discharged.

[0020] A pressure sensor is provided at the air inlet of the airbag, and a pressure switch is provided on the power supply circuit of the air inlet electromagnetic gate valve. When the pressure sensor detects that the pressure in the airbag is less than or equal to the set value, the pressure switch is in a closed state; when the pressure sensor detects that the pressure in the airbag is greater than the set value, the pressure switch is in an open state; the upper opening of the airbag box is provided with a cover body that can be opened by the expansion of the airbag. This can better protect the airbag.

[0021] As a further improvement, the present invention also includes a wind power generation device and an underwater traction device, the underwater traction device is connected to the hull through a cable, the reaction force of the underwater traction device and the cable tension are combined into a forward driving force, and this forward driving force pushes the surface hull forward; the wind power generation device charges the battery through the control unit.

[0022] The hull is a single hull or the hull includes two second buoys spaced apart, the upper parts of the two second buoys are fixedly connected to a support frame, the control unit and the battery are installed in the middle of the support frame, the antenna is installed on the middle of the support frame, the propeller is installed on the rear of the support frame, and a vertical bracket is also installed on the rear of the support frame, and the wind power generation device is installed on the upper end of the vertical bracket.

[0023] In this way, the battery can be further charged through the wind power generation device to ensure sufficient electricity; and then the underwater traction device can provide forward driving force to reduce electricity consumption and effectively increase the cruising range of the unmanned ship.

[0024] The present invention also includes a wave energy power generation device, which includes a first generator and a swing bracket. The swing bracket includes two side arms and a cross bar connecting the upper parts of the two side arms. The lower ends of the two side arms are respectively connected to first floating bodies, and the first floating bodies are in contact with the water surface. The first floating bodies are driven by waves on the water surface to drive the swing bracket to swing. A driving shaft is fixedly connected to the middle part of the cross bar, and the driving shaft drives the first generator rotor to rotate in the same direction through a transmission mechanism to generate electricity. The first generator is installed on the hull. After the first generator generates electricity, the battery is charged through the control unit. In this way, the battery is effectively charged, the endurance of the unmanned ship is effectively extended, and the reliability of the control and navigation of the unmanned ship is improved.

[0025] The present invention further improves the power source through the hull swing power generation device and the wind power generation device to ensure the reliability of power supply; and then provides forward driving force through the underwater traction device to effectively improve the cruising range of the unmanned ship. And then the capsize recovery device can achieve self-rescue and improve the reliability of the unmanned ship. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a stereogram of the present invention;

[0027] Figure 2 It is a stereoscopic diagram of the present invention's hidden underwater traction device, part of the solar power generation device and part of the capsize recovery device;

[0028] Figure 3 yes Figure 2 Then hide a second floating stereogram;

[0029] Figure 4 It is a three-dimensional diagram of the hidden part of the base of the wave energy power generation device of the present invention;

[0030] Figure 5 yes Figure 4 A magnified image of point A;

[0031] Figure 6 This is a three-dimensional diagram of a hull swaying power generation device of the present invention;

[0032] Figure 7 yes Figure 6 A top view of a hull swaying power generation device;

[0033] Figure 8 yes Figure 7 BB cross-sectional view;

[0034] Fig. 9 yes Figure 6 A three-dimensional diagram of a ring of a ship swaying power generation device connected to a support shaft and a sphere;

[0035] Fig.10 It is a three-dimensional diagram of another hull swaying power generation device of the present invention;

[0036] Fig.11 yes Fig.10 Another stereoscopic view of a ring of a hull rocking power generation device connected to a support shaft and two second support columns;

[0037] Fig.12 yes Fig.10 Another stereoscopic diagram of a hull swaying power generation device with a limiting annular body connected to two first support columns;

[0038] Fig.13 It is a stereoscopic diagram of the present invention's hidden underwater traction device, solar power generation device, wind power generation device and wave power generation device;

[0039] Fig.14 yes Fig.13 Then hide the three-dimensional image of the airbag box cover;

[0040] Fig.15 Fig.14 Enlarged view of point C

[0041] Fig.16 The control principle diagram of the overturning recovery device;

[0042] Fig.17 is a schematic diagram of the structure of a position sensor of a rollover recovery device;

[0043] Fig.18 It is a schematic diagram of the wave energy power generation device of the present invention installed on a single hull. DETAILED DESCRIPTION

[0044] The present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0045] Figures 1 to 17As shown, an unmanned boat driven by natural energy fusion includes a hull 10, on which are mounted a control unit 20, a battery 30, a solar power generation device 40 and an antenna 50 for communication. After the solar power generation device 40 generates electricity, the battery 30 is charged through the control unit 20. An external command system performs two-way communication with the control unit 20 through the antenna 50. A propeller 60 is installed at the rear of the hull 10. The propeller 60 provides electrical energy through the battery 30 to drive the hull 10 to move.

[0046] The unmanned ship of this embodiment further includes a wave power generation device 70, a hull sway power generation device 80, a capsize recovery device 90, a wind power generation device 100 and an underwater traction device 110. The hull 10 is also equipped with a camera 120 and a laser radar 130. The first camera 120 and the laser radar 130 are electrically connected to the control unit 20. The underwater traction device 110 is connected to the hull 10 through a cable 1101. The reaction force of the underwater traction device 110 and the tension of the cable 1101 combine to form a forward driving force, which pushes the surface hull 10 forward.

[0047] The hull 10 includes two second floating bodies 101 arranged at intervals, the upper parts of the two second floating bodies 101 are fixedly connected to a support frame 102, the control unit 20 and the battery 30 are installed in the middle of the support frame 102, the antenna 50 is installed on the middle part of the support frame 102, the propeller 60 is installed at the rear of the support frame 102, and a vertical bracket 103 is also installed on the rear of the support frame 102. The wind power generation device 100 is installed on the upper end of the vertical bracket 103. After the wind power generation device 100 generates electricity, it charges the battery 30 through the control unit 20. The wind power generation device 100 is a prior art and will not be described in detail here.

[0048] Further integration Figure 2 , Figure 4 , Figure 5 As shown, the wave energy power generation device 70 includes a first generator 1 and a swing bracket 2. The swing bracket 2 includes two side arms 21 and a cross bar 22 connecting the upper parts of the two side arms 21. The two side arms 21 and the cross bar 22 are connected as a whole to form an inverted U shape. The lower ends of the two side arms 21 are respectively connected to a first floating body 3. Each first floating body 3 is in contact with the water surface. The first floating body 3 is driven to move by the waves on the water surface, thereby driving the swing bracket 2 to swing. A driving shaft 4 is fixedly connected to the middle of the cross bar 22. The driving shaft 4 drives the rotor 11 of the first generator 1 to rotate in the same direction through a transmission mechanism 5 to generate electricity. After the first generator 1 generates electricity, the battery 30 is charged through the control unit 20. The driving shaft 4 and the first generator 1 are installed on the hull 10. The two first floating bodies 3 are respectively located on both sides of the rear of the hull 10. The arrangement structure of the two first floating bodies 3, combined with the balancing effect of the swing bracket 2, can further prevent the hull 10 from capsizing.

[0049] Each of the first floating bodies 3 is substantially olive-shaped. A circular ring 31 is fixedly connected to the middle of each of the first floating bodies 3 , a connecting piece 32 is fixedly connected to the upper part of the circular ring 31 , and the connecting piece 32 is hinged to the lower end of one of the side arms 21 .

[0050] The transmission mechanism 5 includes a seat body 51, which is fixedly connected to the hull 10, and the drive shaft 4 is pivotally connected to the seat body 51. The seat body 51 is also pivotally connected with an output shaft 6 and an intermediate shaft 7 parallel to the drive shaft 4. A first cylindrical gear 41 and a second cylindrical gear 42 are sleeved on the drive shaft 4. The first cylindrical gear 41 is connected to the drive shaft 4 through a first one-way bearing 43, and the second cylindrical gear 42 is connected to the drive shaft 4 through a second one-way bearing 44. The transmission directions of the first one-way bearing 43 and the second one-way bearing 44 are opposite. For example, the drive shaft 4 can drive the second cylindrical gear 42 through the first one-way bearing 43. A cylindrical gear 41 rotates clockwise, and the driving shaft 4 can drive the second cylindrical gear 42 to rotate counterclockwise through the second one-way bearing 44; a third cylindrical gear 71 is sleeved and fixedly connected to the intermediate shaft 7, and a fourth cylindrical gear 61 is sleeved and fixedly connected to the output shaft 6. The third cylindrical gear 71 is meshed with the second cylindrical gear 42 and the fourth cylindrical gear 61 at the same time, and the fourth cylindrical gear 61 is meshed with the first cylindrical gear 41 and the third cylindrical gear 71 at the same time. One end of the output shaft 6 is connected to the rotor 11 of the first generator 1 through the coupling 62 and drives the rotor 11 of the first generator 1 to rotate.

[0051] The seat body 51 includes two L-shaped supports 511, and the two L-shaped supports 511 are arranged at intervals. The drive shaft 4, the output shaft 6 and the intermediate shaft 7 are pivotally connected to the two L-shaped supports 511. A detachable cylindrical cover body 512 is also connected between the two L-shaped supports 511. The cylindrical cover body 512 and the two L-shaped supports 511 cooperate to cover all the gears.

[0052] The output shaft 6 of the transmission mechanism 5 of this embodiment can also be connected to the rotor 11 of the first generator 1 through a reducer and drive the rotor 11 of the first generator 1 to rotate, so as to increase the rotational torque.

[0053] The working principle of the wave energy power generation device 70 of this embodiment is as follows: when the surface waves drive the swing bracket 2 to rotate clockwise through the first floating body 3, the swing bracket 2 drives the driving shaft 4 to rotate clockwise, the driving shaft 4 drives the first cylindrical gear 41 to rotate clockwise through the first one-way bearing 43, the second cylindrical gear 42 rotates idly, the first cylindrical gear 41 drives the fourth cylindrical gear 61 to rotate counterclockwise, the fourth cylindrical gear 61 drives the output shaft 6 to rotate counterclockwise, and the output shaft 6 drives the rotor 11 of the first generator 1 to rotate counterclockwise through the coupling 62 to generate electricity.

[0054] When the water surface waves drive the swing bracket 2 to rotate counterclockwise through the first floating body 3, the swing bracket 2 drives the driving shaft 4 to rotate counterclockwise, and the driving shaft 4 drives the second cylindrical gear 42 to rotate counterclockwise through the second one-way bearing 44. The first cylindrical gear 41 rotates idly, and the second cylindrical gear 42 drives the third cylindrical gear 71 to rotate clockwise, and the third cylindrical gear 71 drives the fourth cylindrical gear 61 to rotate counterclockwise. The fourth cylindrical gear 61 then drives the output shaft 6 to rotate counterclockwise, and the output shaft 6 also drives the rotor 11 of the first generator 1 to rotate counterclockwise through the coupling 62 to generate electricity.

[0055] Therefore, no matter whether the water surface waves drive the swing bracket 2 to rotate clockwise or counterclockwise, the rotor 11 of the first generator 1 can rotate counterclockwise to generate electricity, with high power generation efficiency and large power generation capacity, which can effectively charge the battery 30.

[0056] Further integration Figure 3 , Figures 6 to 9 As shown, a hull swaying power generation device 80 of the present invention includes a second generator 1a and a base 2a, wherein the base 2a is fixedly connected to the hull 10, and the second generator 1a is mounted on the base 2a. Specifically, the hull swaying power generation device 80 is installed in the second floating body 101 of the hull 10, and the base 2a is fixedly connected to the inner bottom surface of the second floating body 101. One set of the hull swaying power generation device 80 can be installed in each of the two second floating bodies 101.

[0057] A movable component 3a is installed on the machine base 2a, and the movable component 3a includes two rotating shafts 31a pivotally connected to the machine base 2a at an interval, and the central axes of the two rotating shafts 31a overlap, and the opposite ends of the two rotating shafts 31a are respectively fixedly connected to one end of a crank arm 32a, each rotating shaft 31a is connected as a whole with a crank arm 32a connected thereto, and the two crank arms 32a are parallel to each other, and a support shaft 33a is fixedly connected between the other ends of the two crank arms 32a, and the angle a between the central axis of the support shaft 33a and the central axis of any rotating shaft 31a is less than 45°, and the angle a is further preferably 20°-30°, and the preferred angle a in this embodiment is 22.5°.

[0058] The inner circumference of a circular ring 34a is fixedly connected to the middle of the support shaft 33a through four support arms 35a of the same length and shape. The angle between two adjacent support arms 35a is the same. In this embodiment, the angle between two adjacent support arms 35a is 90°. The circular ring 34a is connected to the support shaft 33a through the four support arms 35a. The outer circumference of the circular ring 34a is connected to a limiting mechanism 4a. The limiting mechanism 4a limits the swing position of the circular ring 34a so that the two rotating shafts 31a can only rotate in the same direction. One rotating shaft 31a drives a second generator 1a rotor 11a to rotate to generate electricity. After the second generator 1a generates electricity, it charges the battery 30 through the control unit 20.

[0059] The rotating shaft 31a driving the rotor 11a of the second generator 1a to rotate is first connected to an input shaft of a reducer 5a, and the output shaft of the reducer 5a is then connected to the rotor 11a of the second generator 1a.

[0060] One end of the rotating shaft 31a driving the rotor 11a of the second generator 1a is connected to the input shaft of the reducer 5a through a first coupling 6a, and the output shaft of the reducer 5a is connected to the rotor 11a of the second generator 1a through a second coupling 7a.

[0061] The support shaft 33a has a cylindrical body 331a in the middle, and a truncated cone 332a is formed on the left and right sides of the cylindrical body 331a. The diameter of the truncated cone 332a gradually decreases from the middle of the support shaft 33a to the end. The small end of each truncated cone 332a forms a connecting part 333a, and the connecting part 333a is fixedly connected to the other end of a crank arm 32a. The support shaft 33 of this structure is more conducive to the shaking of the ring 34a.

[0062] The two rotating shafts 31a are pivotally connected to the base 2a through the one-way bearings 30a, so as to further improve the reliability of the two rotating shafts 31a rotating in the same direction and prevent the two rotating shafts 31a from rotating in the opposite direction or failing to rotate.

[0063] The limiting mechanism 4a includes a sphere 41a, which is fixedly connected to the outer circumferential surface of the ring 34a by a connecting rod 42a. The axial direction of the connecting rod 42a is arranged along the radial direction of the ring 34a. An arc groove 21a is provided on the machine base 2a. The arc groove 21a is located below the ring 34a. The central axis of the arc bottom surface 211a of the arc groove 21a is perpendicular to the central axis of the rotating shaft 31a. The two inner side surfaces 212a of the arc groove 21a are parallel to each other and parallel to the central axis of the rotating shaft 31a. The two inner side surfaces 212a of the arc groove 21a jointly limit the displacement direction of the sphere 41a.

[0064] The working principle of the hull swaying power generation device 80 is as follows: when the hull 10 is traveling on the sea or on a water surface with waves, it will sway due to the influence of the waves. Since the base 2a is fixedly connected to the hull 10, the base 2a will sway, which will drive the ring 34a to sway. Since the swaying of the ring 34a is limited by the limiting mechanism 4a, that is, the ball 41a can only swing back and forth along the arc groove 21a, the swaying position and shape of the ring 34a can be determined, and the swinging back and forth of the ball 41a further drives the ring 34a to sway. In combination with two one-way bearings 30a, the two rotating shafts 31a can reliably rotate in the same direction. In this embodiment, the swaying of the ring 34a drives the two rotating shafts 31a to rotate counterclockwise through the support shaft 33a and the two crank arms 32a, and then the torque of one rotating shaft 31a increases after passing through the reducer 5a, and then drives the second generator 1a rotor 11a to rotate to achieve power generation. After the second generator 1a generates electricity, it charges the battery 30 through the control unit 20. When the shaking energy of the ring 34a is relatively large, the two rotating shafts 31a can also respectively drive the two second generator 1a rotors 11a to rotate to generate electricity, thereby improving the power generation efficiency.

[0065] Further integration Figures 10 to 12 As shown, another hull swaying power generation device 80 of the present invention can replace the above-mentioned Figures 6 to 9 The hull swaying power generation device 80 shown is installed on the hull 10, and the installation position and installation method are the same. Figures 6 to 9 The difference between the hull swaying power generation device 80 shown in the figure is that the limiting mechanism 4a is different. The limiting mechanism 4a includes a limiting annular body 8a. The front and rear sides of the outer circumference of the limiting annular body 8a are radially connected to one end of a first support column 81a respectively. The other end of each first support column 81a is connected to the base 2a, so that the limiting annular body 8a can rotate relative to the base 2a. The axial direction of each first support column 81a is perpendicular to the axial direction of the rotating shaft 31a. The limiting annular body 8a and the two The specific connection method of the first support columns 81a is as follows: one end of the two first support columns 81a is respectively fixedly connected to the front and rear sides of the outer circumference of the limiting annular body 8a, and the other end of each first support column 81a is pivotally connected to the machine base 2a; the upper and lower sides of the inner circumference of the limiting annular body 8a are radially connected to one end of a second support column 82a, and the other ends of the two second support columns 82a are respectively connected to the upper and lower sides of the outer circumference of the ring 34a, so that the limiting annular body 8a and the ring 34a can rotate relative to each other. The specific connection method is: the other ends of the two second support columns 82a are respectively fixedly connected to the upper and lower sides of the outer circumference of the ring 34a, and the upper and lower sides of the inner circumference of the limiting annular body 8a are respectively hinged with one end of a second support column 82a. The specific structure is that the upper and lower sides of the inner circumference of the limiting annular body 8a are respectively provided with cylindrical grooves 83a, and one end of each second support column 82a can be rotatably inserted into a cylindrical groove 83a to form a hinge.

[0066] The working principle of the hull swaying power generation device 80 is as follows: when the hull is traveling on the sea or on a water surface with waves, it will sway due to the influence of the waves. Since the base 2a is fixedly connected to the hull, the base 2a will sway, which will drive the ring 34a to sway. The swaying of the ring 34a is limited by the limiting mechanism 4a, that is, the ring 34a can only sway along the central axis of the second support column 82a and the central axis of the first support column 81a, and the swaying position and shape of the ring 34a can be determined, so the two shafts 31a can rotate in the same direction. In this embodiment, the swaying of the ring 34a drives the two shafts 31a to rotate counterclockwise through the support shaft 33a and the two crank arms 32a, and then the torque of one shaft 31a increases after passing through the reducer 5a, driving the second generator 1a rotor 11a to rotate to achieve power generation. When the swaying energy of the ring 34a is large, the two shafts 31a can also drive the two second generators 1a rotors 11a to rotate to achieve power generation.

[0067] Further integration Figures 13 to 17 As shown, the hull 10 is also equipped with a capsize recovery device 90, which includes a power supply unit 1b composed of a battery 30 and a control unit 20, a gas cylinder 2b, and an airbag box 3b. The gas cylinder 2b is installed on the hull 10, and the airbag box 3b is fixedly connected to the upper part of one side of the hull 10. An inflatable airbag 4b is installed in the airbag box. Specifically, the bottom of the airbag box 3b is fixedly connected to the middle of the upper end surface of a second float 101 and close to the outer edge, and the gas cylinder 2b is installed in the middle of the support frame 102.

[0068] The airbag box 3b is provided with an upper opening 31b, and the upper opening 31b of the airbag box 3b is equipped with a cover body 5b which can be pushed open by the expansion of the airbag 4b. The airbag 4b is provided with an air inlet and an exhaust port. The air inlet of the airbag 4b is connected to the gas storage bottle 2b through an air inlet pipe 41b and an air inlet electromagnetic gate valve 42b, and the exhaust port of the airbag 4b is exhausted through an exhaust pipe 43b and an exhaust electromagnetic gate valve 44b; the exhaust end of the exhaust electromagnetic gate valve 44b is also connected to an exhaust vacuum pump 6b through a pipe, and the power supply of the exhaust vacuum pump 6b motor is connected to the power supply circuit of the exhaust electromagnetic gate valve 44b. When the exhaust electromagnetic gate valve 44b is opened, the power supply of the exhaust vacuum pump 6b is turned on to exhaust air.

[0069] A reset sensor 9b is provided at the exhaust port of the airbag 4b, and a reset switch 91b is provided on the power supply circuit of the exhaust solenoid gate valve 44b. When the reset sensor 9b detects that the pressure in the airbag 4b is less than or equal to the set value, the reset switch 91b is in an off state, the power supply of the exhaust solenoid gate valve 44b is disconnected, and the exhaust solenoid gate valve 44b is closed, ensuring that the exhaust solenoid gate valve 44b does not consume electricity in the normal closed state; when the reset sensor 9b detects that the pressure in the airbag 4b is greater than the set value, the reset switch 91b is in an on state, that is, only in this state can the power supply of the exhaust solenoid gate valve 44b be connected, and the exhaust solenoid gate valve 44b can be opened.

[0070] A position sensor 7b is provided on the hull 10. After the hull 10 of the unmanned boat capsizes, the position sensor 7b is actuated to connect the power supply of the air intake solenoid gate valve 42b through the first switch 77b, and the air intake solenoid gate valve 42b is opened. At the same time, the position sensor 7b disconnects the power supply of the exhaust solenoid gate valve 44b through the second switch 78b, and the exhaust solenoid gate valve 44b is closed. The gas storage bottle 2b inflates the airbag 4b so that the airbag 4b expands and pushes open the cover body 5b, extending from the opening 31b on the airbag box 3b to contact the water surface, so that the center of gravity of the hull 10 gradually rises and finally flips over to return to the upright floating state.

[0071] After the hull 10 of the unmanned boat is reset, the position sensor 7b is activated again to disconnect the power supply of the air intake electromagnetic gate valve 42b through the first switch 77b, and the air intake electromagnetic gate valve 42b is closed to stop air intake; the position sensor 7b simultaneously connects the power supply of the exhaust electromagnetic gate valve 44b through the second switch 78b, and the exhaust electromagnetic gate valve 44b is opened, and the airbag 4b is exhausted through the exhaust pipe 43b. At this time, the exhaust vacuum pump 6b is powered on to evacuate air, and the gas in the airbag 4b can be quickly exhausted.

[0072] The position sensor 7b of the present embodiment includes a circular tube 71b with closed ends, a movable gravity body 72b is placed in the middle of the circular tube 71b, an upper push rod 73b is installed in the upper part of the circular tube 71b, one end of the upper push rod 73b is fixedly connected to the upper part of the gravity body 72b, and the other end of the upper push rod 73b is movable and extends from the top of the circular tube 71b, and an upper return spring 74b is sleeved on the upper push rod 73b. One end of the lower push rod 75b is against the upper part of the gravity body 72b, and the other end is against the top of the circular tube body 71b; a lower push rod 75b is installed in the lower part of the circular tube body 71b, one end of the lower push rod 75b is fixedly connected to the lower part of the gravity body 72b, and the other end of the lower push rod 75b can be movably extended from the bottom of the circular tube body 71b, and a lower return spring 76b is sleeved on the lower push rod 75b, and one end of the lower return spring 76b is against the lower part of the gravity body 72b, and the other end is against the bottom of the circular tube body 71b;

[0073] The upper push rod 73b cooperates with the first switch 77b to close or open the first switch 77b when the position sensor 7b changes position; the lower push rod 75b cooperates with the second switch 78b to close or open the second switch 78b when the position sensor 7b changes position.

[0074] A pressure sensor 8b is provided at the air inlet of the airbag 4b, and a pressure switch 81b is provided on the power supply circuit of the air intake electromagnetic gate valve 42b. When the pressure sensor 8b detects that the pressure in the airbag 4b is less than or equal to the set value, the pressure switch 81b is in the on state; when the pressure sensor 8b detects that the pressure in the airbag 4b is greater than the set value, the pressure switch 81b is in the off state. This ensures that when the pressure in the airbag 4b reaches the set value, the power supply of the air intake electromagnetic gate valve 42b is disconnected, and the air intake electromagnetic gate valve 42b is closed to stop air intake, effectively protecting the airbag 4b.

[0075] The cover body 5b of this embodiment includes a left cover body 51b and a right cover body 52b. The left side of the left cover body 51b is pivoted to the left side of the upper end of the airbag box 3b and the left torsion spring allows the left cover body 51b to cover the upper end of the airbag box 3b. The right side of the right cover body 52b is pivoted to the right side of the upper end of the airbag box 3b and the right torsion spring allows the right cover body 52b to cover the upper end of the airbag box 3b. The right side of the left cover body 51b cooperates with the left side of the right cover body 52b so that the left cover body 51b and the right cover body 52b together cover the upper opening 31b of the airbag box 3b.

[0076] The working principle of this embodiment is as follows:

[0077] During normal sailing of the unmanned ship at sea, the hull 10 is in a positive floating state, the position sensor 7b is in a normal position state, the first switch 77b is disconnected, the second switch 78b is closed, the reset switch 91b is disconnected, the pressure switch 81b is closed, the power supply of the air intake solenoid gate valve 42b is disconnected, and the air intake solenoid gate valve 42b is in a closed state, and the power supply of the exhaust solenoid gate valve 44b is also disconnected, and the exhaust solenoid gate valve 44b is in a closed state.

[0078] If the unmanned boat is overturned by the waves and can no longer travel, the position sensor 7b will flip about 180 degrees, and the upper push rod 73b will move outward under the drive of the gravity body 72b to drive the first switch 77b to close. At the same time, the lower push rod 75b will shrink into the circular tube 71b under the drive of the gravity body 72b, thereby driving the second switch 78b to open, the exhaust electromagnetic gate valve 44b is powered off, the exhaust electromagnetic gate valve 44b is in a closed state, the intake electromagnetic gate valve 42b is powered on, the intake electromagnetic gate valve 42b is opened, and the gas storage bottle 2b fills the airbag 4b. The air causes the airbag 4b to expand, push open the cover 5b, and extend from the upper opening 31b of the airbag box 3b to contact the water surface. As the airbag 4b continues to expand, since the airbag 4b is on one side of the hull 10, the center of gravity of the hull 10 can be gradually raised and eventually flipped over to return to a positive floating state. During the inflation process, if the pressure sensor 8b detects that the pressure in the airbag 4b is greater than the set value, the pressure switch 81b is disconnected, so that the power supply of the air intake solenoid gate valve 42b is disconnected, and the air intake solenoid gate valve 42b is closed to stop the air intake, so as to prevent the airbag 4b from being ruptured.

[0079] When the hull 10 returns to the upright floating state, the position sensor 7b returns to the normal position state, the first switch 77b is disconnected, and the second switch 78b is closed. At this time, since the reset sensor 9b detects that the pressure in the airbag 4b is greater than the set value, the reset switch 91b is turned on, the exhaust solenoid gate valve 44b is powered on, and the exhaust solenoid gate valve 44b is opened for exhaust. At this time, the exhaust vacuum pump 6b is also powered on for exhaust, which can discharge the gas in the airbag 4b more quickly and retract the airbag 4b into the airbag box 3b; and the left cover body 51b returns to its original position under the action of the left torsion spring, and the right cover body 52b returns to its original position under the action of the right torsion spring and then covers the opening 31b on the airbag box 3b together, returning to a normal state.

[0080] This embodiment integrates the solar power generation device 40, the wave power generation device 70, the hull swaying power generation device 80, and the wind power generation device 100 to generate electricity and then charge the battery 30 through the control unit 20 to ensure that the battery 30 is in a charged state, effectively meeting the power supply requirements of the propeller 60 and related electronic equipment.

[0081] Fig.18 As shown, the wave power generation device 70 of the present invention can also be installed on a single hull 10. The first generator 1 is installed in the middle position of the upper end of the hull 10, and the two first floating bodies 3 are respectively located on both sides of the middle part of the hull. The shape of the first floating body 3 is different from that of the first floating body 3 of the wave power generation device 70 described above. It is generally a boat-shaped body with pointed front and rear ends. A hinge seat 33 is provided in the middle position of the upper end of the first floating body 3. The two first floating bodies 3 are respectively hinged to the lower ends of the two side arms 21 of the swing bracket 2 through the hinge seat 33. The arrangement structure of the two first floating bodies 3 of this wave power generation device 70, combined with the balancing effect of the swing bracket 2, can better prevent the hull 10 from capsizing.

[0082] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, it should be understood by those skilled in the art that various changes may be made to the present invention in form and details without departing from the spirit and scope of the present invention as defined by the appended claims, all of which are within the scope of protection of the present invention.

Claims

1. An unmanned ship driven by natural energy fusion, comprising a hull, a control unit, a battery, a solar power generation device and a communication antenna installed on the hull, the solar power generation device charges the battery through the control unit after generating electricity, an external command system performs two-way communication with the control unit through the antenna, a propeller is installed at the rear of the hull, and the propeller provides electric energy through the battery to drive the hull to move, characterized in that: It also includes a wave energy power generation device, which includes a first generator and a swing bracket. The swing bracket includes two side arms and a cross bar connecting the upper parts of the two side arms. The lower ends of the two side arms are respectively connected to first floating bodies, and the first floating bodies are in contact with the water surface. The first floating bodies are driven by the waves on the water surface to drive the swing bracket to swing. A driving shaft is fixedly connected to the middle part of the cross bar, and the driving shaft drives the rotor of the first generator to rotate in the same direction through a transmission mechanism to generate electricity. The first generator is installed on the hull. After the first generator generates electricity, the battery is charged through the control unit.

2. The unmanned ship driven by natural energy fusion according to claim 1, characterized in that: The transmission mechanism includes a seat body, which is fixedly connected to the hull. The drive shaft is pivotally connected to the seat body. An output shaft and an intermediate shaft parallel to the drive shaft are also pivotally connected to the seat body. A first cylindrical gear and a second cylindrical gear are sleeved on the drive shaft. The first cylindrical gear is connected to the drive shaft through a first one-way bearing, and the second cylindrical gear is connected to the drive shaft through a second one-way bearing. The first one-way bearing and the second one-way bearing have opposite transmission directions. A third cylindrical gear is fixedly connected to the intermediate shaft, and a fourth cylindrical gear is fixedly connected to the output shaft. The third cylindrical gear is meshed with the second cylindrical gear and the fourth cylindrical gear at the same time. The fourth cylindrical gear is meshed with the first cylindrical gear and the third cylindrical gear at the same time. One end of the output shaft is connected to the first generator rotor and drives the first generator rotor to rotate.

3. The unmanned ship driven by natural energy fusion according to claim 1, characterized in that: The two first buoys are respectively located on both sides of the hull.

4. The unmanned ship driven by natural energy fusion according to claim 1, characterized in that: It also includes a hull swaying power generation device, which includes a second generator and a machine base. The machine base is fixedly connected to the hull, and the second generator is installed on the machine base or the hull. A movable component is installed on the machine base, and the movable component includes two rotating shafts pivoted on the machine base at intervals, the central axes of the two rotating shafts overlap, and the opposite ends of the two rotating shafts are respectively fixedly connected to one end of a crank arm, the two crank arms are parallel to each other, and a supporting shaft is fixedly connected between the other ends of the two crank arms, and the angle between the central axis of the supporting shaft and the central axis of any rotating shaft is less than 45°; the inner circumference of a circular ring is fixedly connected to the middle part of the supporting shaft through multiple supporting arms, and the outer circumference of the circular ring is connected to a limiting mechanism. The limiting mechanism limits the swinging position of the circular ring so that the two rotating shafts can only rotate in the same direction, and at least one rotating shaft drives a second generator rotor to rotate to achieve power generation. After the second generator generates power, the battery is charged through the control unit.

5. The unmanned ship driven by natural energy fusion according to claim 4, characterized in that: The limiting mechanism includes a sphere, which is fixedly connected to the outer circumferential surface of the ring by a connecting rod. An arc groove is provided on the machine base, and the arc groove is located below the ring. The central axis of the arc bottom surface of the arc groove is perpendicular to the central axis of the rotating shaft, and the two inner side surfaces of the arc groove are parallel to each other and parallel to the central axis of the rotating shaft. The two inner side surfaces of the arc groove jointly limit the displacement direction of the sphere.

6. The unmanned ship driven by natural energy fusion according to claim 4, characterized in that: The limiting mechanism includes a limiting annular body, and the front and rear sides of the outer circumference of the limiting annular body are respectively connected to one end of a first support column along the radial direction, and the other end of each first support column is connected to the machine base, so that the limiting annular body can rotate relative to the machine base, and the axial direction of each first support column is perpendicular to the axial direction of the rotating shaft; the upper and lower sides of the inner circumference of the limiting annular body are respectively connected to one end of a second support column along the radial direction, and the other ends of the two second support columns are respectively connected to the upper and lower sides of the outer circumferential surface of the ring, so that the limiting annular body and the ring can rotate relative to each other.

7. The unmanned ship driven by natural energy fusion according to claim 1, characterized in that: The hull is also provided with a capsize recovery device, which includes a gas storage bottle and an air bag box. The gas storage bottle is installed on the hull, and the air bag box is fixedly connected to the upper part of one side of the hull. An inflatable air bag is installed in the air bag box. The air bag box is provided with an upper opening, and the air bag is provided with an air inlet. The air inlet of the air bag is connected to the gas storage bottle through an air inlet pipe and an air inlet electromagnetic gate valve. A position sensor is provided on the hull. After the unmanned boat capsizes, the position sensor connects the power supply of the air intake solenoid valve through the first switch. The air intake solenoid valve opens, and the gas cylinder inflates the airbag so that the airbag expands and extends out from the opening on the airbag box to contact the water surface, so that the center of gravity of the hull gradually rises and finally returns to a positive floating state.

8. The unmanned ship driven by natural energy fusion according to claim 7, characterized in that: The position sensor comprises a circular tube body with closed ends, a movable gravity body is placed in the middle of the circular tube body, an upper ejector rod is arranged at the upper part of the circular tube body, one end of the upper ejector rod is fixedly connected to the upper part of the gravity body, the other end of the upper ejector rod can be movably extended from the top of the circular tube body, an upper return spring is sleeved on the upper ejector rod, one end of the upper return spring abuts against the upper part of the gravity body, and the other end abuts against the top of the circular tube body; a lower ejector rod is arranged at the lower part of the circular tube body, one end of the lower ejector rod is fixedly connected to the lower part of the gravity body, the other end of the lower ejector rod can be movably extended from the bottom of the circular tube body, a lower return spring is sleeved on the lower ejector rod, one end of the lower return spring abuts against the lower part of the gravity body, and the other end abuts against the bottom of the circular tube body; The upper push rod cooperates with the first switch to drive the first switch to open or close, and the lower push rod cooperates with the second switch to drive the second switch to open or close.

9. The unmanned ship driven by natural energy fusion according to claim 7, characterized in that: The airbag is also provided with an exhaust port, and the exhaust port of the airbag is exhausted through an exhaust pipe and an exhaust electromagnetic gate valve; after the hull of the unmanned ship is reset, the position sensor disconnects the power supply of the air intake electromagnetic gate valve through the first switch, and the air intake electromagnetic gate valve is closed. At the same time, the position sensor connects the power supply of the exhaust electromagnetic gate valve through the second switch, and the exhaust electromagnetic gate valve is opened, and the airbag is exhausted through the exhaust pipe; A reset sensor is provided at the exhaust port of the airbag, and a reset switch is provided on the power supply circuit of the exhaust electromagnetic gate valve. When the reset sensor detects that the pressure in the airbag is less than or equal to the set value, the reset switch is in an off state; when the reset sensor detects that the pressure in the airbag is greater than the set value, the reset switch is in an on state; the exhaust end of the exhaust electromagnetic gate valve is also connected to an exhaust vacuum pump through a pipeline, and the power supply of the exhaust vacuum pump motor is connected to the power supply circuit of the exhaust electromagnetic gate valve. When the exhaust electromagnetic gate valve is opened, the power supply of the exhaust vacuum pump is turned on to evacuate air; A pressure sensor is provided at the air inlet of the airbag, and a pressure switch is provided on the power supply circuit of the air inlet electromagnetic gate valve. When the pressure sensor detects that the pressure in the airbag is less than or equal to the set value, the pressure switch is in a closed state; when the pressure sensor detects that the pressure in the airbag is greater than the set value, the pressure switch is in an open state; The upper opening of the airbag box is provided with a cover body which can be pushed open by the expansion of the airbag.

10. An unmanned ship driven by natural energy fusion according to any one of claims 1 to 9, characterized in that: It also includes a wind power generation device and an underwater traction device. The underwater traction device is connected to the hull through a cable. The reaction force of the underwater traction device and the cable tension combine to form a forward driving force, which pushes the surface hull forward. The wind power generation device charges the battery through the control unit. The hull is a single hull; or the hull includes two second floating bodies spaced apart, the upper parts of the two second floating bodies are fixedly connected to a support frame, the control unit and the battery are installed in the middle of the support frame, the antenna is installed on the middle part of the support frame, the propeller is installed on the rear part of the support frame, and a vertical bracket is also installed on the rear part of the support frame, and the wind power generation device is installed on the upper end of the vertical bracket.

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