Wind-light wave hybrid driven unmanned ship

Abstract

The invention discloses a wind-light wave hybrid drive unmanned ship which comprises a ship body, a sail propelling device, a propeller propelling device, a wave drive device, a solar power supply system and a control module. A solar panel is installed on the ship body and can convert solar energy into electric energy to be stored in a battery. The sail propelling device provides main propelling force for the unmanned ship by means of wind energy; the wave driving device generates propulsive force by utilizing wave energy and has a course control function; the propeller propelling device serves as auxiliary power and provides thrust under specific working conditions. The control module intelligently regulates and controls the working modes of the propelling devices according to the sea condition information based on a reinforcement learning energy management algorithm, and multi-energy cooperative driving is achieved; the unmanned ship solves the problems of single energy dependence, insufficient navigational speed and maneuverability and tedious deployment and recovery of the existing unmanned ship, has the advantages of long endurance, high maneuverability, environmental protection and easy operation, and is suitable for various tasks of ocean observation, scientific research monitoring and military reconnaissance.

Description

Technical Field

[0001] This invention belongs to the field of unmanned vessel technology, specifically relating to a wind-solar-wave hybrid-driven unmanned vessel. Background Technology

[0002] Unmanned surface vessels (USVs), as a product of the integration of modern unmanned technology and technologies from multiple fields, are playing an increasingly important role in areas such as marine development, environmental monitoring, and military reconnaissance. Traditional ships are mostly driven by internal combustion engines to propel propellers or jet propulsion. Although they have the characteristics of high speed and good maneuverability, they are extremely dependent on fuel, which not only results in high operating costs but also causes environmental pollution, and their endurance is limited.

[0003] To reduce reliance on fuel and extend endurance, the industry has gradually developed unmanned surface vessels (USVs) powered by renewable energy. However, existing USVs powered by renewable energy have several drawbacks: First, they rely on a single energy source, resulting in low energy efficiency. Currently, USVs on the market rely on relatively single propulsion sources. If a single propulsion method fails, the entire vessel can hardly continue to operate reliably. For example, USVs powered solely by wind power will become stationary and unable to complete their missions when there is no wind or low wind speed; USVs powered solely by solar power will struggle to obtain sufficient energy on cloudy days or at night. Second, they lack speed and maneuverability. USVs propelled by a single sail or wave typically have low cruising speeds. When encountering obstacles and needing to avoid them, they lack sufficient thrust and steering maneuverability, making it difficult to meet the high speed and maneuverability requirements of tasks such as rapid cruising, deployment, or temporary patrols. Third, deployment and recovery are cumbersome. Launching and recovering unmanned vessels propelled by a single sail or wave often requires large cranes and multiple personnel, making operation complex, unsafe, costly, and inefficient, thus limiting their application in various scenarios.

[0004] Therefore, developing an unmanned vessel that can comprehensively utilize multiple renewable energy sources, possesses high speed and maneuverability, and is easy to deploy and recover has become an urgent technical problem to be solved in this field. Summary of the Invention

[0005] In view of the above-mentioned shortcomings of the existing technology, the purpose of this invention is to provide a wind-solar-wave hybrid driven unmanned vessel to solve the problems of existing unmanned vessels such as reliance on a single energy source, insufficient speed and maneuverability, and cumbersome deployment and recovery.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A wind-solar-wave hybrid-driven unmanned surface vessel (USV) includes a hull (1), a sail propulsion device, a propeller propulsion device (3), a wave drive device, a solar power supply system, and a control module. The solar power supply system converts solar energy into electrical energy and stores it in batteries to provide power to various electrical devices on the USV. The control module is connected to the sail propulsion device, the propeller propulsion device (3), the wave drive device, and the solar power supply system, and is used to control the working status of each functional device according to sea condition information.

[0008] In a preferred embodiment of the present invention, the solar power supply system includes a first solar panel (102) and a second solar panel (201). The first solar panel (102) is disposed on the hull (1), and the second solar panel (201) is embedded in the sail wing plate (2) of the sail propulsion device.

[0009] In a preferred embodiment of the present invention, the sail propulsion device is installed in the middle of the hull (1) and includes a sail blade (2), a mast (202), a cam (203), an elastic element (204), an adjusting device (205), a supporting device (206), a sail base (207), a rolling bearing (208), a tie rod (209), and a fixed shaft (210); the bottom of the sail blade (2) is connected to the upper end of the mast (202), and the lower end of the mast (202) is inserted into the center keyway of the cam (203). 03) The outer edge is in rolling contact with the rolling bearing (208), and the inner ring of the rolling bearing (208) is pressed into the top of the tie rod (209); one end of the tie rod (209) is pivotally connected to the sail base (207) by a fixed shaft (210), and the other end is connected to the adjusting device (205) through a ball head; an elastic element (204) is sleeved on the adjusting device (205), and the supporting device (206) is installed on the sail base (207), and the sail base (207) is fixed to the base mounting position (104) of the hull (1).

[0010] In a preferred embodiment of the present invention, a propeller propulsion device (3) is installed on the hull (1) and includes a propeller thruster, a fairing (311), a connecting block (304), a base (305), a first connecting bracket (301), a second connecting bracket (302), a conical locking end cap (307), propeller blades (308), a propeller shaft (309), and a ring-type clamping seat (310). The propeller thruster fairing (311) is coaxially fitted and fixed along the motor housing of the propeller thruster. The propeller shaft (309) extends from the tail end of the conical locking end cap (307). The blade (308) is locked to the coupling by a lock nut, the connecting block (304) slides into the base (305) and is positioned, the base (305) is docked with the propeller base (109) of the hull (1); the first connecting bracket (301) and the second connecting bracket (302) form a curved bracket to transmit thrust, the base (305) is connected to the motor housing through the first connecting bracket (301) and the second connecting bracket (302), the ring clamping seat (310) covers the outer edge of the conical locking end cap (307) and clamps it, and the power supply and signal lines are connected to the control module through the cable threading hole (303).

[0011] In a preferred embodiment of the present invention, the wave drive device is installed at the stern of the hull (1) and includes a wave plate (4), a cover (401), a rudder (402), a rudder housing (404), a rudder sealing cover (405), a clamping plate (406), an upper flange (407), an upper connecting plate (408), a threaded connecting post (409), a lower connecting plate (410), a clamping plate (411), a rotating shaft (412), a mounting bracket (414), a fairing (415), a mid-mounted flange (417), a fixed bracket plate (418), and a cable interface (403). The rudder is housed in the internal cavity of the rudder housing (404) and is securely sealed by the rudder sealing cover (405). The cable interface (403) passes through a pre-drilled hole in the housing and connects to the internal circuitry and the rudder. Below the rudder housing (404) is... The tail rudder shaft is connected to the tail rudder (402). The clamping plate (406) clamps the servo housing (404) and the servo sealing cover (405) and fixes them to the upper flange (407). The upper connecting plate (408) and the lower connecting plate (410) are rigidly connected by the threaded connecting column (409). The lower connecting plate (410) has a middle flange (417) installed in the center. The upper part of the fixed bracket plate (418) is connected to the lower connecting plate (410). The outer side is enclosed by the cover (401) and the fairing (415). The lower end of the fixed bracket plate (418) is connected to the mounting bracket (414) and reinforced by the clamping plate (411). The rotating shaft (412) extends from the mounting bracket (414) and the end is connected to the wave plate (4) and locked by screws. The rotating shaft (412) has a maximum rotation angle limit.

[0012] In a preferred embodiment of the present invention, the sail wing plate (2) is a two-piece symmetrical structure. After the solar panel (201) is installed, they are joined together along the center line and spliced ​​together by positioning pins and screws to form an integral sail unit. The insert at the bottom of the sail unit is pressed onto the mast (202) and locked diagonally by bolts. The sail unit can rotate around its own axis with the mast (202).

[0013] In a preferred embodiment of the present invention, the adjusting device (205) can manually change the preload of the elastic element (204) to set the automatic return stiffness of the sail.

[0014] In a preferred embodiment of the present invention, the wave plate (4) can swing freely around the rotation axis (412), and generate forward thrust through a special hydrodynamic structure under the action of waves, and the tail rudder (402) achieves heading control under the drive of the rudder.

[0015] In a preferred embodiment of the present invention, the propeller propulsion device (3) is a vector propeller propulsion device, which can realize flexible adjustment of the thrust direction.

[0016] In a preferred embodiment of the present invention, the control module employs a reinforcement learning energy management algorithm to evaluate the efficiency of each propulsion device in real time and dynamically switch between dual-source collaborative, three-source parallel, and pure electric propulsion modes.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) Multi-energy complementarity and high reliability: The present invention adopts a three-drive fusion architecture of "wind-solar-wave". By utilizing the temporal and spatial complementarity of wind, wave and light, when any energy fails or is inefficient, the other energy can take over immediately, avoiding "single point failure", significantly improving the reliability and endurance of the unmanned vessel, and enabling all-weather safe operation and long-term continuous monitoring.

[0019] (2) Improved Speed ​​and Maneuverability: Through a hybrid propulsion architecture supplemented by a vector propeller and a reinforcement learning energy management algorithm, the sail provides greater thrust in medium to high wind speeds, the wave drive mechanism can still output thrust in low wind speeds, and the vector propeller responds quickly in calm conditions or when avoiding obstacles. The composite propulsion can superimpose thrust when the wind and waves are favorable, providing a higher combined cruise speed than a single system; the vector propeller, in conjunction with the tail rudder, can meet the requirements for obstacle avoidance and sharp turns, significantly enhancing overall maneuverability and meeting the high speed and maneuverability requirements of tasks such as ocean observation, scientific research monitoring, or military reconnaissance.

[0020] (3) Convenient deployment and recovery, and good economic efficiency: The three types of propulsion are modularly laid out in the hull, with no complicated external attachments, making the unmanned vessel compact, simple, small in size, and light in weight. The lightweight and modular structure lowers the threshold for launching and recovery, and a small number of personnel can complete the operation on a non-dedicated platform, reducing the cost of going to sea, while improving deployment capabilities and operational safety.

[0021] (4) Green and environmentally friendly: It makes comprehensive use of renewable energy sources such as wind energy, wave energy and solar energy, without relying on fuel oil, achieving green zero-emission operation, which is conducive to protecting the marine environment. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments or prior art, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure of a wind-solar-wave hybrid-driven unmanned surface vessel provided in an embodiment of this application.

[0024] Figure 2 This is a top view of a wind-solar-wave hybrid-driven unmanned surface vessel provided in an embodiment of this application.

[0025] Figure 3 A bottom view of a wind-solar-wave hybrid-driven unmanned surface vessel provided in an embodiment of this application.

[0026] Figure 4 This is a schematic diagram of a sail propulsion device provided in an embodiment of this application.

[0027] Figure 5 This is a schematic diagram of a propeller propulsion device provided in an embodiment of this application.

[0028] Figure 6 This is a schematic diagram of the structure of a wave-driven device provided in an embodiment of this application. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The terms "upper," "lower," "front," "rear," "left," and "right," etc., used when describing the installation position or direction of the structure or components in this embodiment are based on the orientation shown in the accompanying drawings. They are merely for convenience of description, used to distinguish the relative positions of various components or directions, and do not represent the orientation of the system or functional components in this embodiment during use.

[0030] like Figures 1-6 As shown, this embodiment of the invention provides a wind-solar-wave hybrid-driven unmanned surface vessel (USV), including a hull 1, a sail propulsion device, a propeller propulsion device 3, a wave drive device, a solar power supply system, and a control module. The solar power supply system converts solar energy into electrical energy and stores it in batteries to provide power to various electrical devices on the USV. The propeller propulsion device 3 is a vector propeller propulsion device, capable of flexible adjustment of the thrust direction. The control module is connected to the sail propulsion device, propeller propulsion device 3, wave drive device, and solar power supply system, respectively, and is used to control the working status of each functional device according to sea state information, ensuring propulsion reliability and efficiency. The control module employs a reinforcement learning energy management algorithm to evaluate the efficiency of each propulsion device in real time and dynamically switch between dual-source collaborative, three-source parallel, and pure electric propulsion modes.

[0031] like Figure 2 and Figure 3 As shown, the hull 1 is equipped with a first handle 101 and a second handle 103 for easy handling. The hull 1 includes a floating compartment 103, a base mounting position 104, a control box compartment 105, an upper wave propeller base 106, a solar panel wiring module mounting slot 107, a plug-in interface 108, a propeller propeller base 109, and a lower wave propeller base 110, providing a foundation for the installation of each device.

[0032] The control module is installed in the control box compartment 105 of the hull 1, and is connected to the sail propulsion device, propeller propulsion device 3, wave drive device, and solar power system. It receives status information from each device and sea state information collected by sensors, analyzes and processes the information based on a reinforcement learning energy management algorithm, and controls the working status of each device. For example, when the wind speed is high, the control module adjusts the angle of the sail propulsion device to obtain maximum thrust, and at the same time controls the wave drive device to work in coordination according to the wave conditions, while the solar panel powers the control circuits and sensors; when the wind speed decreases but the waves are large, the output of the wave drive device is increased, and the sail propulsion device assists in adjusting the course; when there is no wind or waves or when emergency obstacle avoidance is required, the propeller propulsion device 3 is activated to quickly provide thrust for maneuvering.

[0033] The solar power system includes a first solar panel 102 and a second solar panel 201. The first solar panel 102 is mounted on the hull 1, and the second solar panel 201 is embedded in the sail blade 2 of the sail propulsion device. The first solar panel 102 and the second solar panel 201 convert solar energy into electrical energy and store it in batteries.

[0034] like Figure 1 and Figure 4 As shown, the sail propulsion device is installed in the middle of the hull 1 and includes a sail blade 2, a mast 202, a cam 203, an elastic element 204, an adjustment device 205, a support device 206, a sail base 207, a rolling bearing 208, a tie rod 209, and a fixed shaft 210. A second solar panel 201 is embedded in the sail blade 2, which can fully utilize space to receive solar energy. The bottom of the sail blade 2 is connected to the upper end of the mast 202, and the lower end of the mast 202 is inserted into the central keyway of the cam 203 to ensure synchronous rotation. The outer edge of the cam 203 is in rolling contact with the rolling bearing 208, and the inner ring of the rolling bearing 208 is pressed into the top of the tie rod 209. When the wind acts on the sail, the mast 202 drives the cam 203 to rotate. Due to the change in the rim radius of the cam 203, it generates a reciprocating push-pull motion on the tie rod 209. One end of the tie rod 209 is pivotally connected to the sail base 207 via a fixed shaft 210, and the other end is connected to the adjusting device 205 via a ball joint. An elastic element 204 is fitted onto the adjusting device 205. The adjusting device 205 allows manual adjustment of the preload of the elastic element 204, thereby setting the automatic self-aligning stiffness of the sail. A support device 206 is installed on the sail base 207, providing vertical support and vibration damping for the tie rod 209. The sail base 207 is fixed to the base mounting position 104 of the hull 1.

[0035] In this embodiment, the sail flap 2 consists of two symmetrical structures. After the solar panel 201 is installed, they are aligned along the centerline and spliced ​​together by positioning pins and screws to form an integral sail unit. The insert at the bottom of the sail unit is press-fitted to the mast 202 and locked diagonally with bolts. The sail can rotate around its own axis with the mast 202. The adjustment device 205 can manually change the preload of the elastic element 204 to set the automatic self-aligning stiffness of the sail.

[0036] like Figure 1 and Figure 5 As shown, the propeller propulsion device 3 is installed on the hull 1 as an auxiliary propeller. The propeller propulsion device 3 includes a propeller, a fairing 311, a connecting block 304, a base 305, a first connecting bracket 301, a second connecting bracket 302, a conical locking end cap 307, propeller blades 308, a propeller shaft 309, and a ring-type clamping seat 310. The propeller fairing 311 is coaxially fitted and fixed along the motor housing of the propeller. The propeller shaft 309 extends from the tail end of the conical locking end cap 307. After checking the coaxiality, the propeller blades 308 are locked to the coupling by lock nuts. The connecting block 304 slides into the base 305 and is positioned, preferably using a wedge key and double set screws for positioning. The base 305 is mated with the propeller propeller base 109 of the hull 1; the first connecting bracket 301 and the second connecting bracket 302 form a curved support to transmit thrust. The base 305 is connected to the motor housing via a first connecting bracket 301 and a second connecting bracket 302, transmitting the motor thrust to the hull 1. A ring-shaped clamping seat 310 covers and clamps the outer edge of the conical locking end cap 307, secured with screws and nuts. Power and signal lines are connected to the control module via cable threading holes 303, allowing external commands to control the device and provide thrust at low speeds and during emergency maneuvers. Thrust is also provided in calm conditions or when precise maneuvers are required.

[0037] like Figure 1 and Figure 6 As shown, the wave drive device is installed at the stern of the hull 1 and includes a wave plate 4, a cover 401, a stern rudder 402, a rudder housing 404, a rudder sealing cover 405, a clamping plate 406, an upper flange 407, an upper connecting plate 408, a threaded connecting column 409, a lower connecting plate 410, a clamping plate 411, a rotating shaft 412, a mounting bracket 414, a fairing 415, a midship flange 417, a fixed bracket plate 418, and a cable interface 403.

[0038] The servo motor is housed within the cavity of the servo motor housing 404 and secured by a servo motor sealing cover 405, forming a waterproof and sealed structure. A cable interface 403 passes through a pre-drilled hole in the housing and connects to the internal circuitry and the servo motor, providing power to the servo motor and receiving control signals. The tail rudder shaft below the servo motor housing 404 is connected to the tail rudder 402; the servo motor drives the shaft to rotate, controlling the deflection angle of the tail rudder 402 to achieve heading control. A clamping plate 406 clamps the servo motor housing 404 to the servo motor sealing cover 405 and is fixed to the upper flange 407. The upper connecting plate 408 and the lower connecting plate 410 are rigidly connected by threaded connecting posts 409, forming a stable cage-like frame to ensure a constant distance between the upper and lower connecting plates. A central flange 417 is installed at the center of the lower connecting plate 410 to enhance structural rigidity and connection. The upper part of the fixed support plate 418 is connected to the lower connecting plate 410, and the outer side is enclosed by the cover 401 and the fairing 415 to reduce water flow resistance and protect the internal structure. The lower end of the fixed support plate 418 is connected to the mounting bracket 414 and reinforced by the clamping plate 411. The rotating shaft 412 extends from the mounting bracket 414, and its end is connected to the wave plate 4 and locked with screws. The rotating shaft 412 has a maximum rotation angle limit to prevent the device from being damaged by excessive rotation angle of the wave plate 4. When the unmanned vessel is sailing in waves, the undulating motion of the hull 1 will cause the wave plates 4 on both sides to swing back and forth under the action of the waves, generating forward thrust through a special hydrodynamic structure. Especially when the wave conditions are suitable, it can effectively reduce the energy consumption of the propeller and other active power systems. In this embodiment, the wave plate 4 can swing freely around the rotating shaft 412, generating forward thrust through a special hydrodynamic structure under the action of the waves. The tail rudder 402 realizes heading control under the drive of the servo motor.

[0039] The installation and functional implementation of the wave-driven and tail rudder assembly are precise and complex, with its core function being to provide heading control and utilize wave energy. First, the servo motor is precisely installed within the internal cavity of the servo motor housing 404, and then secured with a servo motor sealing cover 405 and several screws. This not only fixes the servo motor but also forms a waterproof seal to protect the internal precision electronic components. The cable interface 403 passes through a pre-drilled hole in the housing and connects to the internal circuitry and servo motor, providing stable power to the servo motor and receiving control signals. Below the servo motor housing 404 is a tail rudder shaft directly connected to the tail rudder 402. When the servo motor is powered on, it drives the shaft to rotate, thereby precisely controlling the deflection angle of the tail rudder 402 and achieving heading control of the unmanned vessel. The entire servo motor and tail rudder assembly are connected to the hull via a robust and symmetrical frame structure. The specific connection method is as follows: using two symmetrical clamping plates 406, the assembled servo housing 404 and servo sealing cover 405 are clamped together and then fixed to the upper flange 407. The core support frame of this assembly consists of an upper connecting plate 408 and a lower connecting plate 410, which are rigidly connected by several threaded connecting posts 409 with precision internal threads. These connecting posts provide structural support and ensure a constant distance between the upper and lower connecting plates, forming a stable cage-like frame. A central flange 417 is installed at the center of the lower connecting plate 410 to enhance structural rigidity and connection. The fixed support plate 418, as the main load-bearing component, is connected to the lower connecting plate 410 at the top, and its outer side is secured by two covers 401 and a fairing 415 using screws and nuts. Its main function is to reduce water flow resistance and protect the internal structure. On both sides of the support frame, wave energy capture mechanisms are symmetrically arranged: the lowest end of the fixed bracket plate 418 is connected to the mounting bracket 414 by screws and is reinforced by the clamping plate 411; the rotating shaft 412 extends out from the mounting bracket 414, and its end is firmly connected to the wave plate 4 and locked by screws passing through the fixing hole 413, ensuring that the wave plate 4 can swing freely around the rotating shaft 412. The rotating shaft 412 has a maximum rotation angle limit through a unique structure to prevent the wave plate 4 from rotating too much and damaging the wave drive device.

[0040] The overall function of this invention is reflected in two aspects: First, it is an active tail rudder system that receives commands to control the servo motor and precisely manipulates the tail rudder 402, providing the unmanned surface vessel (USV) with steering capability and heading stability. Second, it is a passive wave energy capture system. When the USV navigates in waves, the undulating motion of the hull causes the wave plates 4 on both sides to oscillate back and forth relative to the water. Thanks to its unique hydrodynamic structure, this oscillation can directly generate forward thrust in the water, providing propulsion for the vessel. Especially under suitable wave conditions, it can effectively reduce the energy consumption of active propulsion systems such as propellers. Therefore, this device ingeniously integrates heading control and wave energy-based biomimetic propulsion into one device.

[0041] After all functional devices are assembled, the entire vessel is assembled: the propeller propulsion unit base 305 is bolted to the propeller thruster base 109 at the stern of the hull; the sail propulsion unit sail base 207 is installed and fixed on the sail base mounting position 104 on the hull deck; finally, the assembled wave drive and rudder assembly is precisely aligned and securely connected to the upper wave propeller base 106 and lower wave propeller base 110 at the bottom of the hull via its upper connecting plate 408 and lower connecting plate 410, respectively. At this point, the hardware integration of the entire wind-solar-wave hybrid-drive unmanned surface vessel is complete. This invention's wind-solar-wave hybrid-drive unmanned surface vessel effectively solves many problems of existing unmanned surface vessels through multi-energy fusion, intelligent control, and modular design, and has broad application prospects.

[0042] The present invention also provides a method for using the above-mentioned wind-solar-wave hybrid-driven unmanned surface vessel, comprising the following steps:

[0043] S1: Assemble the unmanned vessel by installing the sail propulsion device, propeller propulsion device 3, wave drive device, and solar power supply system onto the hull 1 according to the corresponding installation method, and complete the connection between each device and the control module.

[0044] Specifically, before the formal launch and testing of the entire vessel, the assembly and commissioning of the wind-solar-wave hybrid-driven unmanned surface vessel need to be completed according to the attached diagram. First, two symmetrical solar panels 201 are respectively embedded into the wing surface grooves of the left and right sail wing plates 2, using clips and waterproof sealing gaskets to achieve mechanical fixation and electrical connection; then, the left and right wing plates are aligned along the centerline and firmly spliced ​​together with positioning pins and several screws to form an integral wing sail unit. The insert at the bottom of the wing sail is pressed onto the mast 202, and after being locked diagonally with bolts, the wing sail can rotate freely around its own axis at a certain angle with the mast. The lower end of the mast is inserted into the center keyway of the cam 203 to ensure synchronous rotation; the outer edge of the cam continuously rolls into contact with the rolling bearing 208, and the inner ring of the bearing is pressed into the top of the tie rod 209. When wind acts on the sail, the mast drives the cam to rotate. Due to the change in the radius of the cam rim, a reciprocating push-pull action is generated on the tie rod. One end of the tie rod is pivotally connected to the sail base 207 via a fixed shaft 210, and the other end is connected to the adjustment device 205 via a ball joint, and fitted with an adjustable elastic element 204. The adjustment device can manually change the preload of the elastic element, thereby setting the automatic self-aligning stiffness of the sail. The support device 206 is installed on the base 207, providing vertical support and vibration damping for the tie rod, and securely locking the sail base 207 at the base mounting position 104.

[0045] The installation steps of the electric propulsion system are as follows: First, the propeller fairing 311 is coaxially fitted onto the motor housing and secured circumferentially with self-tapping screws. Then, the propeller shaft 309 extends from the tail end of the conical locking end cap 307. After checking the coaxiality, the propeller blades 308 are locked to the coupling using lock nuts. Next, the connecting block 304 is slid into the base 305 along the rectangular groove and positioned using wedge keys and double set screws. The base 305 is bolted to the hull propeller base 109, and the curved support formed by the connecting brackets 301 and 302 and the base 306 transmits the motor thrust to the hull through this structure. The ring-shaped clamping seat 310 at the tail end of the thruster finally covers the outer edge of the conical locking end cap 307 and is clamped with screws and nuts; the power supply and signal lines are connected to the control box through the cable threading hole 303, which can simultaneously complete power supply and data communication, and control the device by sending external commands, so that the unmanned ship can provide thrust at low speeds and during emergency maneuvers.

[0046] S2: Deploy the unmanned surface vessel (USV) into the water, initialize the parameters of each device through the control module, and set the mission objectives. In this embodiment, the USV is deployed into the water. Because the USV adopts a lightweight and modular structure, a small number of personnel can complete the operation on a non-dedicated platform without the need for large cranes. After deployment, the parameters of each device are initialized through the control module, and mission objectives, such as navigation routes and monitoring areas, are set.

[0047] S3: The control module collects sea state information in real time, including wind speed, wave height, and light intensity. In this embodiment, the control module collects sea state information in real time, including wind speed, wind direction, wave height, wave period, and light intensity, which can be obtained through sensors installed on the unmanned surface vessel or external meteorological and oceanographic data.

[0048] S4: Based on the collected sea state information, the control module evaluates the efficiency of each propulsion device using a reinforcement learning energy management algorithm and selects a suitable operating mode. In this embodiment, based on the collected sea state information, the control module evaluates the efficiency of each propulsion device using a reinforcement learning energy management algorithm and selects a suitable operating mode. For example, when the wind speed is in the medium to high range, the sail propulsion device is the primary power source, the wave drive device is secondary, and the solar power system supplies power to the equipment; when the wind speed is low but the wave conditions are suitable, the wave drive device is the primary power source, the sail propulsion device is secondary, and the solar power system supplies power to the equipment; when there is no wind or waves or precise maneuvering is required, the propeller propulsion device 3 is activated, and the solar power system supplies power to it.

[0049] S5: During navigation, the control module dynamically adjusts the operating status of each propulsion device according to changes in sea state. When a certain energy source is inefficient or fails, it switches to other energy sources or a cooperative working mode. In this embodiment, during navigation, the control module dynamically adjusts the operating status of each propulsion device according to changes in sea state. When a certain energy source is inefficient or fails, such as when wind force weakens, it automatically increases the output of the wave drive device or starts the propeller propulsion device 3 to supplement it; when encountering obstacles that need to be avoided, the control module controls the propeller propulsion device 3 to respond quickly and cooperate with the tail rudder 402 to achieve steering maneuvering, ensuring the safe navigation of the unmanned vessel.

[0050] S6: After completing the mission, the unmanned vessel is controlled to return to the recovery point via the control module. Once there, the recovery operation can be completed by a small number of personnel without the need for complex equipment.

[0051] Preferably, in step S4, the operating modes include: when the wind speed is in the medium-high range, the sail propulsion device is the main component, the wave drive device is the auxiliary component, and the solar power supply system supplies power to the equipment; when the wind speed is low but the wave conditions are suitable, the wave drive device is the main component, the sail propulsion device is the auxiliary component, and the solar power supply system supplies power to the equipment; when there is no wind or waves or precise maneuvering is required, the propeller propulsion device 3 is activated, and the solar power supply system supplies power to it. In step S5, when encountering an obstacle that needs to be avoided, the control module controls the propeller propulsion device 3 to respond quickly and cooperate with the tail rudder 402 to achieve steering maneuvering. In step S1, when assembling the sail propulsion device, the solar panel 201 is first embedded into the wing surface groove of the sail wing plate 2, then the left and right wing plates are joined together to form an integral wing sail unit, then the wing sail unit is assembled with the mast 202, and finally the sail base 207 is fixed to the hull 1.

[0052] In response to the existing unmanned surface vessels' reliance on a single energy source and poor reliability, this invention integrates wind, solar, and wave propulsion, combining sails, wave propulsion, and solar panels into a single system, utilizing multiple energy sources for propulsion. Leveraging the temporal and spatial complementarity of wind, waves, and solar energy, when any one energy source fails or becomes inefficient, the remaining energy sources immediately take over, avoiding "single point of failure." Technical advantages: Using sails and waves for propulsion, and solar energy to power the onboard equipment, this system offers advantages such as multi-energy complementarity for long-endurance operation, all-weather safe operation, large-scale ocean coverage, long-term continuous monitoring, green zero-emission operation, and all-sea-state adaptive propulsion.

[0053] Unmanned surface vessels (USVs) propelled by a single energy source often exhibit low average cruising speed and poor maneuverability, revealing shortcomings under complex and ever-changing sea conditions and mission requirements. This makes them unsuitable for tasks demanding high speed and maneuverability, such as ocean observation, scientific research monitoring, or military reconnaissance. This invention addresses these shortcomings by employing a hybrid "wind-solar-wave" propulsion architecture, supplemented by a vector propeller and a reinforcement learning energy management algorithm, to comprehensively improve propulsion reliability and speed / maneuverability. The sail provides thrust in medium to high wind speeds, while the wave-driven mechanism continues to output thrust even in low wind speeds. The vector propeller responds quickly in calm conditions or when avoiding obstacles. Intelligent energy management continuously assesses the efficiency of each propulsion system and dynamically switches between "dual-source synergy," "triple-source parallel operation," and "pure electric propulsion" modes, balancing endurance and maneuverability. This allows for simultaneous solutions to energy dependence and speed / maneuverability challenges in long-endurance, high-speed patrol, and complex sea-state missions. Technical benefits: The hybrid propulsion system can amplify thrust in favorable winds and waves, providing a higher combined cruising speed than a single system; the vector propeller's rapid response meets obstacle avoidance and sharp turn requirements, significantly enhancing overall maneuverability.

[0054] Addressing the challenges of complex deployment and recovery operations for existing unmanned surface vessels (USVs), which rely on large vessels and lifting equipment, resulting in bulky, heavy equipment, low deployment efficiency, and poor economic viability. This invention modularly integrates three types of propulsion units into the hull. Compared to other types of USVs, it eliminates the need for complex external attachments, offering advantages such as compact design, small size, and light weight. By modularly integrating the three propulsion units onto the hull—with a sail and vector propeller positioned in the midsection and a wave drive device at the stern—the propulsion units can be externally installed without disassembling the hull. This unique design effectively reduces the weight and simplifies the structure of the USV. Technical benefits: The lightweight, modular structure lowers the barriers to launching and recovery, allowing operations to be performed by a small team on a non-dedicated platform. This reduces deployment costs while increasing deployment capabilities, significantly improving economic efficiency and operational safety.

[0055] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wind-solar-wave hybrid driven unmanned surface vessel, characterized in that, It includes a hull (1), a sail propulsion device, a propeller propulsion device (3), a wave drive device, a solar power supply system, and a control module; the solar power supply system converts solar energy into electrical energy and stores it in batteries to provide power to various electrical devices on the unmanned vessel; the control module is connected to the sail propulsion device, the propeller propulsion device (3), the wave drive device, and the solar power supply system respectively, and is used to control the working status of each functional device according to sea condition information.

2. The wind-solar-wave hybrid-driven unmanned surface vessel according to claim 1, characterized in that, The solar power system includes a first solar panel (102) and a second solar panel (201). The first solar panel (102) is mounted on the hull (1), and the second solar panel (201) is embedded in the sail wing plate (2) of the sail propulsion device.

3. The wind-solar-wave hybrid-driven unmanned surface vessel according to claim 2, characterized in that, The sail propulsion device is installed in the middle of the hull (1) and includes a sail blade (2), a mast (202), a cam (203), an elastic element (204), an adjustment device (205), a support device (206), a sail base (207), a rolling bearing (208), a tie rod (209), and a fixed shaft (210); the bottom of the sail blade (2) is connected to the upper end of the mast (202), the lower end of the mast (202) is inserted into the center keyway of the cam (203), and the outer edge of the cam (203) The inner ring of the rolling bearing (208) is pressed into the top of the tie rod (209) by rolling contact with the rolling bearing (208); one end of the tie rod (209) is pivotally connected to the sail base (207) by a fixed shaft (210), and the other end is connected to the adjusting device (205) through a ball head; an elastic element (204) is sleeved on the adjusting device (205), and the supporting device (206) is installed on the sail base (207), and the sail base (207) is fixed to the base mounting position (104) of the hull (1).

4. The wind-solar-wave hybrid-driven unmanned surface vessel according to claim 3, characterized in that, The propeller propulsion device (3) is installed on the hull (1) and includes a propeller thruster, a fairing (311), a connecting block (304), a base (305), a first connecting bracket (301), a second connecting bracket (302), a conical locking end cap (307), propeller blades (308), a propeller shaft (309), and a ring clamping seat (310). The propeller thruster fairing (311) is coaxially fitted and fixed along the motor housing of the propeller thruster. The propeller shaft (309) extends from the tail end of the conical locking end cap (307). The propeller blades (308), the first connecting bracket (301), the second connecting bracket (302), the third connecting bracket (304), the fourth connecting bracket (305), the fifth connecting bracket (306), the sixth connecting bracket (307), the seventh connecting bracket (308), the eighth connecting bracket (309), the ninth connecting bracket (309), the elliptical ... 8) The connecting block (304) is locked to the coupling by the lock nut and slid into the base (305) and positioned. The base (305) is connected to the propeller base (109) of the hull (1). The first connecting bracket (301) and the second connecting bracket (302) form a curved bracket to transmit thrust. The base (305) is connected to the motor housing through the first connecting bracket (301) and the second connecting bracket (302). The ring clamping seat (310) covers the outer edge of the conical locking end cap (307) and clamps it. The power supply and signal lines are connected to the control module through the cable threading hole (303).

5. The wind-solar-wave hybrid-driven unmanned surface vessel according to claim 4, characterized in that, The wave drive unit is installed at the stern of the hull (1) and includes a wave plate (4), a cover (401), a stern rudder (402), a rudder housing (404), a rudder sealing cover (405), a clamping plate (406), an upper flange (407), an upper connecting plate (408), a threaded connecting post (409), a lower connecting plate (410), a clamping plate (411), a rotating shaft (412), a mounting bracket (414), a fairing (415), a mid-section flange (417), a fixed bracket plate (418), and a cable interface (403). The rudder is housed in the cavity inside the rudder housing (404) and is securely sealed by the rudder sealing cover (405). The cable interface (403) passes through a pre-drilled hole in the housing and connects to the internal circuitry and the rudder. The stern rudder shaft below the rudder housing (404) is connected to the rudder. The tail rudder (402) is connected, and the clamping plate (406) clamps the servo housing (404) and the servo sealing cover (405) and fixes them to the upper flange (407); the upper connecting plate (408) and the lower connecting plate (410) are rigidly connected by the threaded connecting column (409), and the lower connecting plate (410) has a middle flange (417) installed in the center; the upper part of the fixed bracket plate (418) is connected to the lower connecting plate (410), and the outer side is enclosed by the cover (401) and the fairing (415). The lower end of the fixed bracket plate (418) is connected to the mounting bracket (414) and reinforced by the clamping plate (411). The rotating shaft (412) extends from the mounting bracket (414), and the end is connected to the wave plate (4) and locked by screws. The rotating shaft (412) has a maximum rotation angle limit.

6. The wind-solar-wave hybrid-driven unmanned surface vessel according to claim 2, characterized in that, The sail wing plate (2) consists of two symmetrical structures. After the solar panel (201) is installed, they are joined together along the center line and spliced ​​together by positioning pins and screws to form an integral sail unit. The insert at the bottom of the sail unit is pressed onto the mast (202) and locked diagonally by bolts. The sail unit can rotate around its own axis with the mast (202).

7. The wind-solar-wave hybrid-driven unmanned surface vessel according to claim 2, characterized in that, The adjustment device (205) can manually change the preload of the elastic element (204) to set the automatic return stiffness of the sail.

8. A wind-solar-wave hybrid-driven unmanned surface vessel according to claim 5, characterized in that, The wave plate (4) can swing freely around the rotation axis (412), and generate forward thrust through a special hydrodynamic structure under the action of waves. The tail rudder (402) achieves heading control under the drive of the rudder.

9. The wind-solar-wave hybrid-driven unmanned surface vessel according to claim 1, characterized in that, The propeller propulsion device (3) is a vector propeller propulsion device, which can flexibly adjust the thrust direction.

10. A wind-solar-wave hybrid-driven unmanned surface vessel according to claim 1, characterized in that, The control module employs a reinforcement learning energy management algorithm to evaluate the efficiency of each propulsion device in real time and dynamically switch between dual-source coordinated, three-source parallel, and pure electric motor modes.

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