Differential steering hybrid unmanned surface vehicle and steering control method thereof

Abstract

The application discloses a differential steering hybrid unmanned ship and a steering control method thereof. The unmanned ship comprises a ship body, the ship body comprises two elongated floats, the two floats are arranged in a horizontal direction and parallel to each other, and the tail of each float is provided with a propeller; a solar cell panel support plate is arranged above the ship body, and a solar cell panel is fixedly arranged on the solar cell panel support plate; a sail comprises a left sail and a right sail, the left sail is arranged at the front of one of the floats through a rotating shaft, the right sail is arranged at the rear of the other float through a rotating shaft, the top and bottom of the rotating shaft are rotationally connected with the solar cell panel support plate and the float respectively; a driving device is fixedly arranged at the upper end of the rotating shaft and used for controlling the rotation angle of the rotating shaft; and a control system is used for collecting the direction of the sail, the wind direction, the latitude and longitude of the unmanned ship, the pointing data of the ship body of the unmanned ship, and performing steering control of the unmanned ship based on the collected data.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hybrid unmanned surface vehicle, and particularly relates to a differential steering hybrid unmanned surface vehicle and a steering control method thereof. BACKGROUND

[0002] At present, there are solar unmanned surface vehicle, wind energy unmanned surface vehicle and wave energy unmanned surface vehicle, which are driven by solar energy, wind energy and wave energy respectively. In order to enhance the driving ability and improve the sailing speed, solar and wind hybrid boats and solar and wave hybrid boats appear.

[0003] Patent CN114013581A discloses a variable structure type wind, light and wave energy hybrid driven unmanned surface vehicle for drag reduction and collision avoidance, which can fully capture wind energy, solar energy and wave energy in the marine environment, and has the ability of variable structure. On the one hand, it can adjust the water entry and exit of the wave beating string water wing according to the sea state level, ensure full absorption of wave energy under high sea state, and good resistance performance of the boat body under low sea state; on the other hand, when the unmanned surface vehicle is berthed, the solar sail can be lowered, and the solar panels outside the boat body can be retracted, avoiding the collision of the solar panels and the solar panels when the unmanned surface vehicle is berthed, and having good safety and reliability.

[0004] Patent CN106741782A discloses an unmanned ship based on wind energy driving, which comprises a ship body, a rudder arranged at the tail of the ship body, a navigation control system arranged in the ship body, a solar power supply system, an environment sensing device and a positioning device; the solar power supply system comprises a solar cell panel and an energy storage device, the output ends of the energy storage device are connected with the environment sensing device, the positioning device and the navigation control system respectively; the navigation control system comprises a shipboard processor for planning a path according to the information collected by the environment sensing device, the real-time positioning information of the positioning device and the preset task focus position, and a PID controller for controlling the angle between the main sail, the front sail and the wind direction and the rudder angle according to the result of the shipboard processor. The patent uses wind energy as driving force, realizes zero emission of pollutants, and can ensure long time endurance. By adjusting the position and angle of the sail, the unmanned ship can sail smoothly even in adverse wind conditions.

[0005] The patent CN109263787A discloses a composite power unmanned boat, comprising, unmanned boat body, the unmanned boat body comprises a main hull and a pair of sheet bodies symmetrical on both sides of the main hull, the main hull has a slender bow; a connecting bridge for connecting the main hull and the pair of sheet bodies; a deck for connecting the connecting bridge, the main hull upper deck, the upper part of the pair of sheet bodies into an installation plane; a sail, which is a wing sail structure, comprises a mast and a sail base, the mast is connected with the sail base through a flange, the sail base is fixedly installed on the longitudinal girder in the middle of the bottom of the main hull; an electric power system, a propulsion system and a control system arranged on the unmanned boat body. The composite power unmanned boat of the present application is a wave-piercing trimaran with a slender bow, which can switch between wind energy, electric energy and fossil energy, and has good seakeeping performance and high navigability.

[0006] However, the prior art needs to use a rudder to turn, and marine floating objects are easy to hang on the unmanned boat, which reduces the sailing speed and even cannot sail. SUMMARY

[0007] The present application aims to provide a differential steering hybrid unmanned boat and a steering control method thereof to solve the problems raised in the background art.

[0008] To achieve the above-mentioned purpose, the present application provides a differential steering hybrid unmanned boat, comprising: a hull, the hull comprising two elongated pontoons, the two pontoons being arranged in a horizontal direction and parallel to each other, the tail of each of the pontoons being provided with a propeller, the tail of each of the two pontoons being provided with a first motor, the two first motors being respectively used to drive the two propellers; a solar panel support plate arranged above the hull, the solar panel support plate being fixedly provided with a solar panel; a sail, the sail comprising a left sail and a right sail, the left sail being arranged at the front of one of the pontoons through a rotating shaft, the right sail being arranged at the rear of the other of the pontoons through a rotating shaft, the top and bottom of the rotating shaft being rotatably connected with the solar panel support plate and the pontoon respectively; a driving device fixedly arranged at the upper end of the rotating shaft, used to control the rotation angle of the rotating shaft, and drive the left sail and the right sail to rotate to a set direction through the rotating shaft respectively; and a control system used to collect the direction of the sail, the wind direction, the latitude and longitude of the unmanned boat, and the pointing data of the unmanned boat body, and perform steering control of the unmanned boat based on the collected data.

[0009] In a preferred embodiment, the left sail and the right sail have the same size, and the distance from the left sail to the head of the pontoon is the same as the distance from the right sail to the tail of the pontoon, and the rotating shaft is located at the middle of the left sail and the right sail respectively.

[0010] In a preferred embodiment, the driving device comprises a worm gear, a worm and a second motor, wherein the worm gear is arranged on the rotating shaft, the worm is engaged with the worm gear, and the second motor is connected with the worm to drive the worm to rotate.

[0011] In a preferred embodiment, the control system comprises a first direction sensor, a second direction sensor, a processor, a wind direction sensor, a pointing sensor and a GPS locator, the first direction sensor and the second direction sensor are connected with the screw rods of the two driving devices respectively, the angles of rotation of the two rotating shafts are inversely calculated by the number of turns of the corresponding worms, the wind direction sensor is fixedly arranged above the middle part of the solar panel, the pointing sensor is arranged on the side of the solar panel supporting plate for giving the direction of the unmanned ship body, the wind direction sensor, the pointing sensor, the first direction sensor, the second direction sensor, the GPS locator, the first motor and the second motor are signal-connected with the processor respectively.

[0012] In a preferred embodiment, the middle part of the buoy is provided with a water tank, the water tank is provided with a water inlet electric valve and a water pump on the side, and the volume of the solar panel supporting plate is 2 times the volume of the water tank.

[0013] The application also provides a steering control method of the differential steering hybrid unmanned ship.

[0014] S1, the processor reads the direction data of the sail, the wind direction data, the latitude and longitude data of the unmanned ship and the pointing data of the unmanned ship body respectively;

[0015] S2, the heading of the unmanned ship is calculated;

[0016] S3, the sail setting direction during sailing is calculated;

[0017] S4, the sail is controlled to turn to the setting direction, and the steering control is performed by controlling the two first motors to make the unmanned ship body point to the heading; or the steering control is performed by controlling the angles of the left sail and the right sail to make the unmanned ship body point to the heading;

[0018] S5, returning to step S1;

[0019] In step S4, the sail is controlled to turn to the setting direction, and the steering control is performed by controlling the two first motors, comprising: S41, the sail is controlled to turn to the setting direction by the driving device, S42, the two first motors are controlled to reach different rotating speeds respectively to generate left and right thrust differences to make the unmanned ship turn;

[0020] The steering control is performed by controlling the angles of the left sail and the right sail to make the unmanned ship body point to the heading, comprising: S43, the left sail is controlled to turn to the setting direction by the driving device, S44, the right sail is controlled to turn to the setting direction by the driving device, the left and right rotating torques generated by the fact that the included angles of the left sail and the right sail with the wind direction are inconsistent are not equal, so as to make the unmanned ship body point to the heading, if the pointing direction of the unmanned ship is consistent with the heading, this step is skipped; S45, the directions of the left sail and the right sail are controlled to be the same and thrusts are generated.

[0021] In a preferred embodiment, in step S1, the processor reads the direction data of the left and right sails from the first and second direction sensors respectively, reads the wind direction data from the wind direction sensor, reads the latitude and longitude data of the USV from the GPS locator, and calculates the heading using the two time points of longitude and latitude, and reads the pointing data of the USV body from the pointing sensor.

[0022] In a preferred embodiment, reading the latitude and longitude data of the USV from the GPS locator and calculating the heading using the two time points of longitude and latitude includes: (1) calculating the longitude difference and latitude difference between the current point and the end point to obtain the heading angle; (2) calculating the longitude difference and latitude difference between the current point and the previous point to obtain the actual heading angle; (3) calculating the difference DA between the heading angle and the actual heading angle, DA determines the turning of the USV, if the heading angle is greater than the actual heading angle, i.e. DA>0, the USV needs to turn left, if the heading angle is less than the actual heading angle, i.e. DA<0, the USV needs to turn right.

[0023] In a preferred embodiment, the turning control is achieved by controlling the speed of the two first motors, and the control amount is:

[0024] DD=k1×DA+k2(DA-DA1) / (t1-t2)

[0025] where k1 and k2 are control coefficients obtained through debugging experiments, DA is the difference between the heading angle and the actual heading angle at time t2, DA1 is the difference between the heading angle and the actual heading angle at time t1, t1 and t2 are adjacent two time points, and the control amounts sent to the two first motors are DD and -DD respectively.

[0026] In a preferred embodiment, when the turning control is achieved by controlling the angles of the left and right sails, the control amount is:

[0027] DDD=kk1×DA+kk2(DA-DA1) / (t1-t2)

[0028] where kk1 and kk2 are control coefficients obtained through debugging experiments, DA is the difference between the heading angle and the actual heading angle at time t2, DA1 is the difference between the heading angle and the actual heading angle at time t1, t1 and t2 are adjacent two time points, and the control amounts sent to the two second motors are DDD and -DDD respectively.

[0029] In a preferred embodiment, further comprising: when the unmanned ship encounters strong wind, such as wind speed greater than or equal to 20 m / s, opening the water inlet electric valve, the water tank is filled with water, the buoyancy of the buoy is reduced, and the unmanned ship sinks; when the wind speed decreases, the water in the water tank is discharged by the water pump, and the unmanned ship floats up, wherein the volume of the solar cell panel support plate is 2 times the volume of the water tank, and when the unmanned ship sinks, the upper half of the solar cell panel support plate remains above the water surface, ensuring that the solar cell panel is always above the water surface.

[0030] Compared with the prior art, the beneficial effects of the present application are: the present application can adopt motor propeller differential or sail power differential steering or a combination of the two, which can eliminate the rudder, thereby reducing the mechanical structure, improving the reliability, and reducing the possibility of hanging floating objects at sea, thereby preventing the problem of reducing the sailing speed or even being unable to sail due to hanging floating objects. The redundancy of the unmanned ship is improved, and the unmanned ship can still sail when one of the powers fails. The present application sets the solar cell panel above the sail, so that the solar cell panel is not blocked by the sail, and the sail is clamped between the solar cell panel support plate and the water, thereby increasing the aerodynamic stability of the sail. The present application also sets the water tank, the water inlet electric valve and the water pump, so that the sail can sink with the ship, thereby avoiding the damage of wind force to the sail and the unmanned ship in strong wind, and improving the safety. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 It is a schematic view of the elevation structure of the differential steering hybrid power unmanned ship of an embodiment of the present application;

[0032] Figure 2 It is a schematic view of the left turning of the sail of an embodiment of the present application; Figure 1 It is a top view along the A-A direction;

[0033] Figure 3 It is a schematic view of the right turning of the sail of an embodiment of the present application;

[0034] Figure 4 It is a schematic view of the right turning of the sail of an embodiment of the present application;

[0035] Figure 5 It is a schematic view of the right turning of the sail of an embodiment of the present application;

[0036] Figure 6 It is a schematic view of the right turning of the sail of an embodiment of the present application;

[0037] Figure 7 It is a schematic view of the right turning of the sail of an embodiment of the present application;

[0038] Figure 8This is a schematic diagram of an unmanned surface vessel according to an embodiment of the present invention, with a sail angle of -145 degrees when it is sailing in a direction of -135 degrees.

[0039] Figure 9 This is a schematic diagram of an unmanned surface vessel (USV) according to one embodiment of the present invention, with the sail angle at 145 degrees when it is sailing in a 135-degree direction.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1-Float, 2-Propeller, 3-Solar panel support plate, 4-Left sail, 5-Right sail, 6-Shaft, 7-Worm gear, 8-Worm, 9-Second motor, 10-First direction sensor, 11-Second direction sensor, 12-Processor, 13-Wind direction sensor, 14-Pointing sensor, 15-GPS locator, 16-Water tank, 17-Inlet electric valve, 18-Drain pump, 19-Forward limit switch, 20-Reverse limit switch, 21-Support rod. Detailed Implementation

[0042] The technical solutions in the embodiments of the present invention will be clearly and completely described below. All other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present invention.

[0043] Example 1

[0044] like Figures 1-5 As shown, the differential steering hybrid unmanned surface vessel (USV) of this embodiment includes: a hull, a solar panel support plate 3, sails, a drive unit, and a control system. The hull includes two elongated pontoons 1, which are horizontally aligned and parallel to each other. Each pontoon 1 has a propeller 2 at its stern, and the two pontoons 1 are identical in size. The solar panel support plate 3 is positioned above the hull, and solar panels are fixedly mounted on it. The sails include a left sail 4 and a right sail 5. The left sail 4 is mounted at the front of one of the pontoons 1 via a pivot 6, and the right sail 5 is mounted at the rear of the other pontoon 1 via the pivot 6. The top and bottom of the pivot 6 are rotatably connected to bushings on the solar panel support plate 3 and the pontoons 1, respectively. The drive unit is fixedly mounted on the upper end of the pivot 6 and is used to control the rotation angle of the pivot 6, driving the left sail 4 and right sail 5 to a set direction via the two pivots 6. The control system is used to collect data on the direction of the sails, wind direction, latitude and longitude of the unmanned surface vessel (USV), and orientation of the USV hull, and to perform steering control of the USV based on the collected data.

[0045] Further, the tail of each of the two floats 1 is provided with a first motor, and the first motor on the left and the first motor on the right are respectively used to drive the two propellers 2, and the left and right thrust difference is generated by setting different rotating speeds of the left and right first motors, so that the unmanned ship is turned.

[0046] Further, the left sail 4 and the right sail 5 are of the same size, the distance from the left sail 4 to the head of the float 1 is the same as the distance from the right sail 5 to the tail of the float 1, and the rotating shaft 6 is located at the middle part of the left sail 4 and the right sail 5 respectively. The driving device comprises a worm gear 7, a worm 8 and a second motor 9, wherein the worm gear 7 is arranged on the rotating shaft 6, the worm 8 is engaged with the worm gear 7, and the second motor 9 is connected with the worm 8 to drive the worm 8 to rotate, and the driving device is further provided with a forward limit switch 19 and a reverse limit switch 20.

[0047] The solar cell panel of the present application provides power supply for motors and electrical appliances. The first motor drives the propeller to rotate to form one of the propelling forces of the unmanned ship, and the sail is also one of the power sources of the unmanned ship. The propelling force formed by the first motor driving the propeller to rotate and the propelling force formed by the sail together push the unmanned ship to move forward. The unmanned ship can also be pushed to move forward by the propelling force formed by the first motor driving the propeller to rotate alone, or the unmanned ship can also be pushed to move forward by the propelling force formed by the sail alone.

[0048] Further, the control system comprises a first direction sensor 10, a second direction sensor 11, a processor 12, a wind direction sensor 13, a pointing sensor 14 and a GPS locator 15. The first direction sensor 10 and the second direction sensor 11 are respectively connected with the screw 8 of the driving device on the two rotating shafts, and the angle of rotation of the two rotating shafts 6 is respectively calculated by using the number of turns of the corresponding worm. The wind direction sensor 13 is fixedly arranged above the middle part of the solar cell panel, and the pointing sensor 14 is arranged on the side of the solar cell panel supporting plate 3 to give the direction of the unmanned ship body. The wind direction sensor 13, the pointing sensor 14, the first direction sensor 10, the second direction sensor 11, the GPS locator 15, the first motor and the second motor 9 are respectively signal-connected with the processor 12.

[0049] It should be noted that the lower part of the solar cell panel supporting plate 3 of the present application is further provided with two support rods 21 corresponding to the positions of the rotating shafts 6, so as to keep the solar cell panel supporting plate 3 stable.

[0050] Embodiment 2

[0051] The present embodiment provides a steering control method of a differential steering hybrid unmanned ship, comprising the following steps:

[0052] Step S1, the processor reads the direction data of the sail, the wind direction data, the latitude and longitude data of the unmanned ship, and the pointing data of the unmanned ship body.

[0053] Step S2, calculating the heading of the unmanned ship;

[0054] Step S3, calculating the set direction of the sailing wind sail;

[0055] Step S4, controlling the wind sail to turn to the set direction, and turning the unmanned ship by controlling the two first motors;

[0056] Step S5, returning to Step S1.

[0057] In Step S4, controlling the wind sail to turn to the set direction, and turning the unmanned ship by controlling the two first motors, includes: S41, controlling the wind sail to turn to the set direction by the driving device, and S42, generating left and right thrust difference by controlling the two first motors to different rotating speeds, so as to turn the unmanned ship.

[0058] Further, in Step S1, the processor 12 reads the direction data of the left wind sail 4 and the right wind sail 5 from the first direction sensor 10 and the second direction sensor 11 respectively, reads the wind direction data from the wind direction sensor 13, reads the longitude and latitude data of the unmanned ship from the GPS locator 15, and calculates the heading by using the longitude and latitude of two time points, and reads the pointing data of the unmanned ship from the pointing sensor.

[0059] Specifically, reading the longitude and latitude data of the unmanned ship from the GPS locator 15, and calculating the heading by using the longitude and latitude of two time points includes: (1) calculating the longitude difference and the latitude difference between the current point and the end point to obtain the heading angle; (2) calculating the longitude difference and the latitude difference between the current point and the previous point to obtain the actual heading angle; and (3) calculating the difference DA between the heading angle and the actual heading angle, and DA determines the turning of the unmanned ship. If the heading angle is greater than the actual heading angle, i.e. DA>0, the unmanned ship needs to turn left, and if the heading angle is less than the actual heading angle, i.e. DA<0, the unmanned ship needs to turn right.

[0060] In a preferred embodiment, the turning control is realized by controlling the rotating speeds of the two first motors, and the control amount is:

[0061] DD=k1×DA+k2(DA-DA1) / (t1-t2)

[0062] Wherein, k1 and k2 are control coefficients, which are obtained by debugging test, DA is the difference between the heading angle and the actual heading angle at t2, DA1 is the difference between the heading angle and the actual heading angle at t1, t1 and t2 are two adjacent time points, and the control amounts sent to the two first motors are DD and -DD respectively.

[0063] Example 3

[0064] The embodiment provides a steering control method of a differential steering hybrid unmanned ship, and comprises the following steps.

[0065] In step S1, the processor reads direction data of the sails, wind direction data, latitude and longitude data of the unmanned ship, and pointing data of the unmanned ship body respectively.

[0066] In step S2, the heading of the unmanned ship is calculated.

[0067] In step S3, the sail setting direction during sailing is calculated.

[0068] In step S4, the steering control is performed by controlling the angles of the left sail and the right sail, so that the unmanned ship body points to the heading.

[0069] In step S5, the process returns to step S1.

[0070] In step S4, the steering control is performed by controlling the angles of the left sail and the right sail, so that the unmanned ship body points to the heading, comprising: S43, the left sail is controlled to turn to the setting direction by the driving device; S44, the right sail is controlled to turn to the setting direction by the driving device; the left and right rotation torques generated by the fact that the included angles of the left sail and the right sail and the wind direction are inconsistent are not equal, so that the unmanned ship body points to the heading; if the pointing direction of the unmanned ship is consistent with the heading, the step is skipped; S45, the directions of the left sail and the right sail are controlled to be the same, and thrust is generated.

[0071] Further, in step S1, the processor 12 reads the direction data of the left sail 4 and the right sail 5 from the first direction sensor 10 and the second direction sensor 11 respectively, reads the wind direction data from the wind direction sensor 13, reads the latitude and longitude data of the unmanned ship from the GPS locator 15, and calculates the heading by using the longitude and latitude at two time points, and reads the pointing data of the unmanned ship body from the pointing sensor.

[0072] Specifically, the latitude and longitude data of the unmanned ship are read from the GPS locator 15, and the heading is calculated by using the longitude and latitude at two time points, comprising: (1) calculating the longitude difference and the latitude difference between the current point and the terminal point to obtain the heading angle; (2) calculating the longitude difference and the latitude difference between the current point and the previous point to obtain the actual heading angle; (3) calculating the difference DA between the heading angle and the actual heading angle, DA determines the steering of the unmanned ship, if the heading angle is greater than the actual heading angle, i.e. DA>0, the unmanned ship needs to turn left, if the heading angle is less than the actual heading angle, i.e. DA<0, the unmanned ship needs to turn right.

[0073] When the steering control is performed by controlling the angles of the left sail 4 and the right sail 5, the control amount is:

[0074] DDD= kk1×DA+kk2(DA-DA1) / (t1-t2)

[0075] Wherein, kk1 and kk2 are control coefficients, obtained through debugging and testing; DA is the difference between the heading angle and the actual heading angle at time t2; DA1 is the difference between the heading angle and the actual heading angle at time t1; t1 and t2 are two adjacent times; and the control quantities sent to the two second motors are DDD and -DDD, respectively.

[0076] Example 4

[0077] In this embodiment, a water tank 16 is located in the middle of the float 1. An electric inlet valve 17 and a drain pump 18 are located on the side of the water tank 16. A wind speed sensor is located above the unmanned surface vessel (USV). When the USV is sailing, four-fifths of the float's volume is submerged in water, while the sail and solar panels are above the water surface. This minimizes water resistance and allows for higher speeds. When the USV encounters strong winds, such as wind speeds of 20 m / s or higher, the electric inlet valve 17 is opened, water enters the water tank 16, the buoyancy of the float 1 decreases, and the USV sinks. This minimizes the wind's impact on the USV, increasing its wind resistance. The volume of the solar panel support plate 3 is designed to be twice the volume of the water tank. When the USV sinks, the upper part of the solar panel support plate remains above the water surface, ensuring the solar panels are always above water, while the lower part remains submerged. When the wind speed decreases, the drain pump 18 is activated to drain the water from the water tank 16, allowing the USV to float again.

[0078] Example 5

[0079] The following describes an example of sail angle selection according to the present invention. For ease of description, the wind direction is taken as the reference direction (zero degrees). Figure 7 As shown, when the unmanned surface vessel's heading is greater than 135 degrees and less than -135 degrees, it must follow a zigzag path. For example, if the heading is 180 degrees, it must travel a distance L in the -135 degree direction, then travel twice L in the 135 degree direction, and then twice L again in the -135 degree direction. This cycle continues until the destination is reached. When traveling in the -135 degree direction, the sail angle must be less than -135 degrees, such as -145 degrees. Figure 8 As shown; when sailing in a 135-degree direction, the sail angle is greater than 135 degrees, such as 145 degrees, etc. Figure 9 As shown. When the unmanned surface vessel's heading is less than 135 degrees and greater than -135 degrees, it can travel in a straight line along its heading. For example, if the heading is 90 degrees, the unmanned surface vessel points at 90 degrees, and the sail angle is 100 degrees.

[0080] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A differential steering hybrid unmanned surface vessel, characterized in that: The differential steering hybrid unmanned surface vessel includes: The hull includes two slender pontoons (1), which are arranged horizontally and parallel to each other. Each pontoon (1) is equipped with a propeller (2) at its tail and a first motor at its tail. The two first motors are used to drive the two propellers (2) respectively. A solar panel support plate (3) is disposed above the hull of the boat, and a solar panel is fixedly disposed on the solar panel support plate (3); The sail includes a left sail (4) and a right sail (5). The left sail (4) is set at the front of the left float (1) via a pivot (6). The right sail (5) is set at the rear of the right float (1) via a pivot (6). The top and bottom of the pivot (6) are rotatably connected to the solar panel support plate (3) and the float (1) respectively. The left sail (4) and the right sail (5) are the same size. The distance between the left sail (4) and the head of the float (1) is the same as the distance between the right sail (5) and the tail of the float (1). The pivot (6) is located in the middle of the left sail (4) and the right sail (5) respectively. A drive unit, which is fixedly mounted on the upper end of the rotating shaft (6), is used to control the rotation angle of the rotating shaft (6) and drive the left sail (4) and right sail (5) to rotate to a set direction through the rotating shaft (6); and The control system is used to collect the direction of the sail, wind direction, latitude and longitude of the unmanned boat, and the direction data of the unmanned boat hull, and to perform steering control of the unmanned boat based on the collected data. The control system includes a first direction sensor (10), a second direction sensor (11), a processor (12), a wind direction sensor (13), a direction sensor (14), and a GPS locator (15). The first direction sensor (10) and the second direction sensor (11) are respectively connected to the screws (8) of the two drive devices. The rotation angle of the two rotating shafts (6) is calculated by using the number of turns of the corresponding worm gear. The wind direction sensor (13) is fixedly installed above the middle of the solar panel. The direction sensor (14) is installed on the side of the solar panel support plate (3) and is used to give the direction of the unmanned boat hull. The wind direction sensor (13), the direction sensor (14), the first direction sensor (10), the second direction sensor (11), the GPS locator (15), the first motor, and the second motor (9) are respectively connected to the processor (12) by signal. The unmanned surface vessel (USV) is configured for steering without a rudder. It controls the sails to turn in a set direction and controls the two first motors to achieve different speeds, generating a difference in thrust between the left and right sides, thus making the USV point in the course. Alternatively, it controls the left and right sails to be at different angles to the wind direction, resulting in unequal left and right rotational torques, thus making the USV point in the course.

2. The differential steering hybrid unmanned surface vessel according to claim 1, characterized in that: The driving device includes a worm wheel (7), a worm (8), and a second motor (9). The worm wheel (7) is mounted on a rotating shaft (6), the worm (8) meshes with the worm wheel (7), and the second motor (9) is connected to the worm (8) to drive the worm (8) to rotate.

3. The differential steering hybrid unmanned surface vessel according to claim 2, characterized in that: A water tank (16) is provided in the middle of the float. An electric inlet valve (17) and a drain pump (18) are provided on the side of the water tank (16). The volume of the solar panel support plate (3) is twice the volume of the water tank (16).

4. A steering control method for a differential steering hybrid unmanned surface vessel as described in any one of claims 1-3, characterized in that: Includes the following steps: S1. The processor reads the sail direction data, wind direction data, latitude and longitude data of the unmanned surface vessel (USV), and orientation data of the USV hull, respectively. S2, Calculate the heading of the unmanned surface vessel; S3. Calculate the sail setting direction during navigation; S4. Control the sails to turn to the set direction, and control the two first motors to make the unmanned surface vessel (USV) point to the course; or control the angles of the left and right sails to make the USV point to the course. S5. Return to step S1; In step S4, the sail is controlled to turn to a set direction, and the two first motors are controlled to turn the unmanned boat. This includes: S41, controlling the sail to turn to a set direction through a drive device; S42, controlling the two first motors to reach different speeds to generate a left-right thrust difference, thereby turning the unmanned boat. Steering is achieved by controlling the angles of the left and right sails to align the unmanned surface vessel (USV) with the course, including: S43, controlling the left sail to rotate to the set direction via the drive mechanism; S44, controlling the right sail to rotate to the set direction via the drive mechanism; the left and right rotational torques generated by the inconsistent angles between the left and right sails and the wind direction are unequal, thus aligning the USV with the course. If the USV is aligned with the course, this step is skipped; S45, controlling the left and right sails to be in the same direction and generating thrust. Steering control is achieved by controlling the speed of the two first motors; the control quantity is: DD = k1 × DA + k2(DA - DA1) / (t1 - t2) Where k1 and k2 are control coefficients, obtained through debugging and testing; DA is the difference between the heading angle and the actual heading angle at time t2; DA1 is the difference between the heading angle and the actual heading angle at time t1; t1 and t2 are two adjacent times; and the control quantities sent to the two first motors are DD and -DD, respectively. When steering is controlled by adjusting the angles of the left and right sails, the control parameters are: DDD= kk1×DA+kk2(DA-DA1) / (t1-t2) Wherein, kk1 and kk2 are control coefficients, obtained through debugging and testing; DA is the difference between the heading angle and the actual heading angle at time t2; DA1 is the difference between the heading angle and the actual heading angle at time t1; t1 and t2 are two adjacent times; and the control quantities sent to the two second motors are DDD and -DDD, respectively.

5. The steering control method for a differential steering hybrid unmanned surface vessel as described in claim 4, characterized in that: In step S1, the processor reads the direction data of the left sail and right sail from the first direction sensor and the second direction sensor respectively, reads the wind direction data from the wind direction sensor, reads the latitude and longitude data of the unmanned boat from the GPS locator, calculates the heading using the longitude and latitude at two times, and reads the pointing data of the unmanned boat hull from the pointing sensor. The process of reading the latitude and longitude data of the unmanned surface vessel from the GPS locator and calculating the heading using the latitude and longitude at two times includes: (1) calculating the difference in longitude and latitude between the current point and the destination point to obtain the heading angle; (2) calculating the difference in longitude and latitude between the current point and the previous point to obtain the actual heading angle; (3) calculating the difference DA between the heading angle and the actual heading angle. DA determines the turning of the unmanned surface vessel. If the heading angle is greater than the actual heading angle, i.e., DA>0, the unmanned surface vessel needs to turn left. If the heading angle is less than the actual heading angle, i.e., DA<0, the unmanned surface vessel needs to turn right.

6. The steering control method for a differential steering hybrid unmanned surface vessel as described in claim 5, characterized in that: Also includes: When the unmanned surface vessel (USV) encounters strong winds, such as wind speeds of 20 m / s or higher, the electric inlet valve opens, water enters the water tank, the buoyancy of the floats decreases, and the USV sinks. When the wind speed decreases, the drainage pump is activated to drain the water from the water tank, and the USV floats up. The volume of the solar panel support plate is twice the volume of the water tank. When the USV sinks, the upper part of the solar panel support plate remains above the water surface, ensuring that the solar panels are always above the water surface.

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