A composite hydrofoil and a mobile platform using the composite hydrofoil

Abstract

The present invention discloses a composite hydrofoil and a mobile platform using the composite hydrofoil. The composite hydrofoil includes a shell body. The front and rear ends of the side walls of the shell body are formed with a first notch and a second notch that are relatively arranged. The inner cavity of the shell body is connected to the outside through the first notch and the second notch respectively. Blades are rotatably connected in the inner cavity of the shell body through a rotating shaft. A plurality of blades are axially spaced and stacked horizontally. The rotating shaft is close to the first notch and deviates from the geometric center of the blades. When the shell body is placed under the water surface, water flows in from the first notch and is discharged from the second notch under the action of wave energy to provide horizontal mechanical kinetic energy. The mobile platform includes a floating platform control room, a drive unit, and at least one composite hydrofoil as described above. The present invention uses wave energy and wind energy as the main energy source and photovoltaic power generation as the auxiliary energy source to provide hybrid power for the mobile platform, thereby realizing autonomous positioning, anchoring, and autonomous mobile return of the mobile platform.

Description

Technical Field

[0001] The present invention relates to the technical field of offshore equipment, in particular to a composite hydrofoil and a mobile platform using the composite hydrofoil. Background Art

[0002] Ocean buoys are observation equipment anchored at sea by mechanical anchor chains, and are widely used in meteorology, environmental testing, petroleum, aquaculture, scientific investigation, etc. Traditional buoys have disadvantages such as difficult construction and maintenance due to harsh working environment, high risk of loss, and high comprehensive use cost.

[0003] In production practice, electricity is often in short supply in the marine environment. It is unrealistic to rely solely on stored electricity to achieve long-term autonomous positioning and anchoring, and autonomous movement and return of ocean buoys. Although the energy in the form of ocean wave energy, wind energy, etc. is huge, there are problems of difficulty in control and utilization. Therefore, there is an urgent need for a solution that can efficiently convert wave energy, wind energy, etc. into controllable mechanical kinetic energy. Summary of the invention

[0004] The present invention discloses a composite hydrofoil and a mobile platform using the composite hydrofoil, which solves the technical problems of difficult anchoring, difficult maintenance and high use cost of ocean buoys in the prior art, and has a reasonable structure, mainly uses wave energy and wind energy, and photovoltaic power generation as an auxiliary to provide hybrid power for the mobile platform, and realizes the technical effects of autonomous positioning, anchoring and autonomous mobile return of the mobile platform. The adopted technical scheme is as follows:

[0005] A composite hydrofoil comprises a shell body, wherein a first notch and a second notch are formed at the front and rear ends of the side wall of the shell body and are arranged opposite to each other, the inner cavity of the shell body is connected to the outside through the first notch and the second notch respectively, a blade is rotatably connected in the inner cavity of the shell body through a rotating shaft, and the rotating shaft is arranged close to the first notch and deviated from the geometric center of the blade, and when the shell body is placed under the water surface, water flows into the first notch and is discharged from the second notch under the action of wave energy.

[0006] On the basis of the above technical solution, the blades can swing around the rotating axis within a range of 0 to 45 degrees up and down based on the horizontal plane.

[0007] On the basis of the above technical solution, the rotating shaft of the blade is rotatably connected to the shell body through a torsion spring, so that the blade is reset to a horizontal state in the absence of external force.

[0008] Based on the above technical solution, there are multiple blades which are horizontally stacked at intervals along the axial direction of the shell body.

[0009] On the basis of the above technical solution, the width of the blade decreases towards both ends of the rotation axis, and the outer edge of the blade is adapted to the inner wall surface of the shell body.

[0010] A mobile platform comprises a floating platform control room, a driving unit and at least one composite hydrofoil as described above, wherein the floating platform control room is a hollow structure including an inner cavity, and the driving unit is fixed in the floating platform control room and can transmit rotational motion to the composite hydrofoil.

[0011] On the basis of the above technical solution, the output shaft of the driving unit transmits the rotational motion to the shell body through a universal flexible shaft.

[0012] On the basis of the above technical solution, it also includes two retainers and a main shaft, the main shaft is fixedly connected to the floating platform control room upward, the main shaft passes through the two retainers and is fixedly connected to the retainers, the composite hydrofoil has three and is arranged around the central axis of the floating platform control room, the composite hydrofoil is connected to an upper shaft rod and a lower shaft rod, the upper shaft rod and the lower shaft rod are coaxial with the shell body and are respectively rotatably connected to the retainer. Preferably, the main shaft is a hollow structure formed with a counterweight cavity, and by filling it with heavy objects such as lead blocks, it can effectively provide counterweight for the mobile platform.

[0013] Preferably, each composite hydrofoil is also provided with an electric-controlled propeller in a one-to-one correspondence, so that the propulsion direction of the electric-controlled propeller is consistent with the propulsion direction of the composite hydrofoil, and when the wave energy or wind energy is insufficient, the electric-controlled propeller can supplement the power for the mobile platform to move forward. The electric-controlled propeller rotates synchronously with the shell body of the composite hydrofoil, and when the driving unit drives the shell body to rotate, the electric propeller rotates synchronously.

[0014] On the basis of the above technical solution, a sail control system is provided on the floating platform control room, and the sail control system includes a sail motor and a reel, one side of the sail is fixed on the reel, and the other side of the sail is movably arranged, and the sail motor is fixed on the floating platform and can transmit the rotational motion to the reel to retract the sail. Preferably, two pull lines are connected to the movable end of the other side of the sail, and two threading tubes are fixed on the floating platform on both sides of the reel, and a pulley is provided on the top of the threading tube, one end of the pull line is connected to the sail, the pull line passes through the threading tube, and the other end thereof is reeled on the reel, when the sail motor drives the reel to reel the sail, the reel releases the pull line, and when the sail motor drives the reel to release the sail, the reel reels the pull line, which is conducive to keeping the sail in a tensioned state, and has achieved the effect of retracting and releasing the sail.

[0015] On the basis of the above technical solution, it also includes a controller, a positioning unit, a wind speed monitoring unit and a wind direction monitoring unit. The positioning unit, the wind speed monitoring unit and the wind direction monitoring unit are electrically connected to the controller respectively. The positioning unit, the wind speed monitoring unit and the wind direction monitoring unit can send signals to the controller. The controller can adjust the directions of the first notch and the second notch in the composite hydrofoil through the driving unit to make the mobile platform move along the set direction as a whole.

[0016] Preferably, it also includes a photovoltaic energy storage system, and the controller can read the lithium battery power information and photovoltaic power generation information through the photovoltaic energy storage system. The positioning unit includes a Beidou positioning module, and the geographical location information is read in real time through the Beidou positioning module; it also includes a posture sensor electrically connected to the controller, which reads real-time posture data through the posture sensor, communicates with the host computer console software through the 4G / Beidou short message communication module, adjusts the angle of the composite hydrofoil through the drive unit, reads wind speed and direction information through the wind speed monitoring unit and the wind direction monitoring unit, and retracts and releases the sail through the sail control system, thereby making full and reasonable use of wave energy, wind energy, and solar energy, controlling and adjusting the movement direction and angle of the mobile platform, and realizing the positioning, anchoring and directional movement of the mobile platform.

[0017] Beneficial Effects

[0018] In the present invention, the electrical components are arranged in the floating platform control room, which is sealed and waterproof and plays a good protective role. The buoyancy of the floating platform control room and the counterweight of the main shaft enable the mobile platform to follow the wave amplitude in the vertical direction, providing conditions for the composite hydrofoil to convert wave energy into mechanical kinetic energy, thereby greatly improving the conversion efficiency of wave energy.

[0019] In the present invention, when the composite hydrofoil is placed under the water surface and moves up and down under the action of wave energy, the composite hydrofoil generates a relative speed in the vertical direction relative to the water body. Due to the resistance of the blade, the water body generates a pressure difference between the upper and lower surfaces of the blade. Because the rotation axis deviates from the geometric center of the blade, the pressure difference causes the blade to deflect around the rotation axis. Regardless of whether the composite hydrofoil moves upward or downward, the pressure difference between the upper and lower surfaces of the blade generates a pressure component in the horizontal direction, and the direction points to the first notch, so that the composite hydrofoil obtains continuous propulsion force, and the water body inside the composite hydrofoil simultaneously undergoes relative displacement, generating a relative water flow.

[0020] In the present invention, due to the gathering effect of the shell body, water flows in from the first notch and out from the second notch. According to the action force and reaction force, the force direction of the composite hydrofoil is horizontally from the second notch to the first notch, which greatly improves the mechanical energy conversion efficiency.

[0021] In the present invention, when the blade is deflected, the shaft torsion spring is deformed to store elastic potential energy. When the speed of the composite hydrofoil relative to the water body decreases in the vertical direction, the elastic potential energy of the shaft torsion spring is released, playing a buffering hysteresis role, extending the time and distance of the force, thereby improving the mechanical energy conversion efficiency.

[0022] In the present invention, a plurality of blades are arranged axially along the shell body. Since the forces and movements are consistent, a consistent horizontal propulsion force is generated, and the direction is directed from the second notch to the first notch, thereby providing sufficient power.

[0023] In the present invention, due to the hollow structure of the composite hydrofoil, water flows in from the first notch and flows out from the second notch, and the resistance encountered by the water is very small. Also, because the width of the blade decreases toward both ends of the rotation axis, and the outer edge of the blade is matched with the inner wall surface of the shell body, the cross-section of the shell body is streamlined, like a water droplet, which is very consistent with the fluid dynamics characteristics, so that the composite hydrofoil has extremely low water resistance in the horizontal direction.

[0024] When the composite hydrofoil in the present invention moves up and down relative to the water body in the vertical direction, it can generate horizontal propulsion force, the direction of which is directed from the second notch to the first notch, and the resistance in the horizontal forward direction is extremely low, and the wave energy conversion efficiency is extremely high.

[0025] The multi-axis composite hydrofoil in the present invention can generate a resultant force and a torque centered on the main axis. By adjusting the angles of each composite hydrofoil, the size and direction of the resultant force and the size and direction of the torque can be adjusted, so that the mobile platform has sufficient propulsion force and good controllability. At the same time, the angle adjustment of the composite hydrofoil consumes very low electrical energy, thereby providing the mobile platform with controllable driving force with extremely low power consumption.

[0026] The present invention can also be provided with a positioning unit and an attitude sensor. The positioning unit includes a Beidou positioning module. The geographical location information is read in real time through the Beidou positioning module, and the attitude data is read in real time through the attitude sensor. Combined with the controllable ability of the multi-axis composite hydrofoil, directional movement can be achieved by overcoming water resistance, staying still in place by overcoming water flow, and adjusting the attitude by self-spin, so that the mobile platform has flexible speed and attitude adjustment capabilities.

[0027] In the present invention, the wind speed and direction information is read by a wind speed monitoring unit and a wind direction monitoring unit, and the angle of the sail is adjusted by adjusting the angle of the mobile platform, so that the sail is located on the bisector of the angle between the moving direction of the mobile platform and the wind direction. The wind pressure on the sail produces a component in the forward direction, while the side component and the water resistance of the side wall of the composite hydrofoil are offset, so that the mobile platform obtains controllable propulsion force and effectively combines wind energy and wave energy.

[0028] In the present invention, the electric-controlled propeller rotates synchronously with the composite hydrofoil. When the wave energy is insufficient, the electric-controlled propeller serves as a supplement, so that photovoltaic power and wave energy are effectively combined.

[0029] The present invention can also be equipped with a photovoltaic energy storage device, which can read the lithium battery power information and photovoltaic power generation information through the photovoltaic energy storage system, combine wind speed and direction information, and positioning information to reasonably allocate limited photovoltaic power and make full use of wave energy and wind energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0031] Figure 1 : Schematic diagram of the three-dimensional structure of the composite hydrofoil;

[0032] Figure 2 : Schematic diagram of the three-dimensional structure of the mobile platform; DETAILED DESCRIPTION

[0033] The following description and accompanying drawings fully illustrate the specific embodiments of this article so that those skilled in the art can practice them. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. The scope of the embodiments of this article includes the entire scope of the claims, as well as all available equivalents of the claims. Herein, the terms "first", "second", etc. are only used to distinguish one element from another, without requiring or implying any actual relationship or order between these elements. In fact, the first element can also be called the second element, and vice versa. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the structure, device or equipment including a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also include elements inherent to such structure, device or equipment. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the structure, device or equipment including the elements. Each embodiment is described in a progressive manner herein, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other.

[0034] The terms "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. in this document indicate the orientation or position relationship based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing this document and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the description of this document, unless otherwise specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a mechanical connection or an electrical connection, it can also be the internal communication of two elements, it can be a direct connection, or it can be an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0035] As used herein, the term "plurality" means two or more than two, unless otherwise specified.

[0036] In this document, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B means: A or B.

[0037] In this article, the term "and / or" is a description of the association relationship between objects, indicating that three relationships may exist. For example, A and / or B means: A or B, or, A and B.

[0038] like Figure 1 A composite hydrofoil 2 is shown, comprising a shell body 21. In the present embodiment, the shell body 21 is a hollow structure with a length of 40 cm and a width of 30 cm and a round front and a pointed rear, and extends axially to 200 cm. The shell body 21 comprises an inner cavity. Two oppositely arranged notches are formed at the front and rear ends of the side walls of the shell body 21. The round front end of the water drop shape is a first notch 22, and the pointed rear end of the water drop shape is a second notch 23. The first notch 22 and the second notch 23 extend along the axial direction of the shell body 21, wherein the first notch 22 and the second notch 23 are slit-shaped relative to the inner cavity of the shell body 21.

[0039] The inner cavity of the shell body 21 is connected to the outside through the first notch 22 and the second notch 23. The inner cavity of the shell body 21 is rotatably connected with a blade 24 through a rotating shaft 25. Figure 1 As shown, the shaft 25 deviates from the geometric center of the blade 24 and is arranged close to the first notch 22. The planes where the two notches are located are parallel to the axis of the shaft 25. In this embodiment, the two notch surfaces are respectively one-third of the vertical maximum cross-sectional area of ​​the shell body 21, that is, the two notches are rectangles with a width of 10 cm and a height of 200 cm.

[0040] In addition, both ends of the rotating shaft 25 of the blade 24 are rotatably connected to the shell body 21 through bearings and torsion springs, so that the blade 24 always has a tendency to return to a horizontal state. In this embodiment, the blade 24 can rotate around the rotating shaft within a range of 0-30° up and down with the horizontal plane as the reference.

[0041] In this way, when the composite hydrofoil 2 is placed under the water surface and moves up and down, a relative speed is generated in the vertical direction relative to the water body. Due to the resistance of the blade 24, the water body generates a pressure difference between the upper and lower surfaces of the blade 24. Because the rotating shaft 25 deviates from the geometric center of the blade 24, the pressure difference causes the blade 24 to deflect around the rotating shaft 25. At the same time, the torsion spring of the rotating shaft 25 is deformed to store part of the elastic potential energy. Because the blade 24 is deflected and tilted, the pressure difference between the upper and lower surfaces generates a pressure component in the horizontal direction. Regardless of whether the composite hydrofoil 2 moves upward or downward, due to the gathering effect of the shell body 21, this horizontal pressure component is horizontally directed from the second notch 23 to the first notch 22. When the speed of the composite hydrofoil 2 relative to the water body in the vertical direction decreases, the elastic potential energy of the torsion spring of the rotating shaft 25 is released, which plays a buffering and hysteresis role, thereby improving the mechanical energy conversion efficiency. Figure 1 As shown, multiple blades 24 are arranged axially along the shell body 21. Since the force and movement are consistent, a consistent horizontal propulsion force is generated. In the horizontal direction, due to the hollow structure of the composite hydrofoil 2, water flows in from the first notch 22 and flows out from the second notch 23, and the resistance of the water is very small. In addition, because the cross-section of the shell body 21 is a water drop shape, it is very consistent with the fluid dynamics characteristics, so that the composite hydrofoil 2 has extremely low water resistance in the horizontal direction. Therefore, when the composite hydrofoil 2 moves up and down relative to the water body in the vertical direction, it can generate a horizontal propulsion force, and the direction is from the second notch 23 to the first notch 22, and the resistance in the horizontal forward direction is extremely low.

[0042] like Figure 2 A mobile platform shown includes a floating platform control room 1, a three-composite hydrofoil 2, a sail control system, and an electrically controlled propeller (not shown).

[0043] like Figure 2 As shown, the floating platform control room 1 is a hemisphere made of carbon fiber with a diameter of 200 cm. The hollow structure includes an inner cavity, a circular arc bottom and a flat top. Photovoltaic panels are laid on the top, and cables are introduced into the solar controller in the floating platform control room 1 to charge and store energy for the lithium battery pack. The floating platform control room 1 is strictly waterproof and sealed to protect the electrical unit. The floating platform control room 1 provides sufficient buoyancy for the mobile platform.

[0044] like Figure 2 As shown, the arc bottom surface of the floating platform control room 1 is fixedly connected to a main shaft 5 with a length of 400 cm and a diameter of 5 cm. In this embodiment, the main shaft 5 is a hollow structure formed with a counterweight cavity, and lead blocks are filled into the cavity to provide appropriate counterweight for the mobile platform.

[0045] In this embodiment, a three-composite hydrofoil 2 solution is adopted. The three-composite hydrofoil 2 is arranged below the floating platform control room 1 and is evenly arranged around the central axis of the floating platform control room 1. The main shaft 5 passes through two retainers 6 and is fixed to the retainers 6. The retainer 6 is a triangular frame structure. The composite hydrofoil 2 is connected with an upper shaft rod 7 and a lower shaft rod 8. The upper shaft rod 7, the lower shaft rod 8 and the shell body 21 are coaxial. The upper shaft rod 7 and the lower shaft rod 8 are respectively rotatably connected to the retainer 6 through a sealed bearing coupling. In this way, the three-composite hydrofoil 2 maintains synchronization through the retainer 6. The retainer 6 is an equilateral triangle frame structure, with ceramic bearings inlaid on the triangular ends and expansion sleeves inlaid in the center. The main shaft 5 passes through the center sleeves of the two retainers 6 and is fixedly connected to the retainer 6. The upper shaft rod 7 and the lower shaft rod 8 are respectively connected to the ceramic bearings at the corresponding triangular ends of the two retainers 6, so that the three-composite hydrofoil 2 is parallel to the main shaft 5, remains fixed in position relative to the mobile platform, and rotates freely. The positions of the two retainers 6 are adjusted so that the three-axis composite hydrofoil is located 200 cm below the floating platform control room, that is, 200 cm below the water surface; this structure is convenient for installation, disassembly and replacement of accessories.

[0046] In this embodiment, the driving unit is arranged in the floating platform control room 1 and includes three absolute position closed-loop motors, and the absolute position closed-loop motors are respectively arranged in a one-to-one correspondence with the composite hydrofoils 2, such as Figure 2 As shown, the shaft rod 7 on the three-composite hydrofoil 2 is connected to the output shafts of the three absolute position closed-loop motors in the floating platform control room 1 through the universal flexible shaft 4, so that the absolute position closed-loop motors can drive the composite hydrofoil to rotate respectively, thereby adjusting the direction of the propulsion force. This structural design is reasonable and practical, solves the coaxiality problem, and is simple and reliable to install. By adjusting the direction of the notch of the composite hydrofoil, the three-composite hydrofoil can generate three propulsion forces of equal size and different directions in the horizontal direction. The three generate a resultant force and a torque centered on the main shaft 5. Therefore, by adjusting the angle of the three-composite hydrofoil, the purpose of adjusting the size and direction of the resultant force and the size and direction of the torque is achieved, so that the propulsion force of the mobile platform has good controllability.

[0047] In the embodiment, an electronically controlled propeller (not shown) is fixed on the output shafts of the three absolute position closed-loop motors. The propulsion direction of the electronically controlled propeller is consistent with the propulsion direction of the composite hydrofoil. The cable of the electronically controlled propeller is introduced into the floating platform control room 1 and connected to the three speed closed-loop drivers respectively. The cable has a margin for one rotation of itself. When the wave energy is insufficient, the electronically controlled propeller is controlled to supplement the power of the composite hydrofoil.

[0048] like Figure 2As shown, it also includes a controller, which is electrically connected to a positioning unit, a communication unit, a wind speed monitoring unit and a wind direction monitoring unit, respectively. The positioning unit, the communication unit, the wind speed monitoring unit and the risk monitoring unit can send signals to the controller. The positioning unit includes a Beidou positioning communication module, and the communication unit includes a 4G communication module. All of them are prior art and will not be repeated here.

[0049] In this embodiment, the wind speed monitoring unit and the wind direction monitoring unit are an integrated structure, including a monitoring ring 11, which includes an annular circular tube, which is fixed on the floating platform through four circumferentially arranged support tubes 12, and the annular circular tube is circumferentially arranged with a plurality of circular holes, each of which is embedded with a wind pressure sensor, which is connected to the wind speed and wind direction circuit main board in the floating platform through wires, and the real-time wind direction and wind speed are obtained by collecting the air dynamic pressure and static pressure data obtained by several wind pressure sensors on the annular circular tube, and using filtering and vector interpolation algorithms to obtain real-time wind direction and wind speed, thereby controlling the reeling or release of the sail 9, as well as the release degree of the sail 9 when it is released. In other embodiments of the present invention, the wind speed monitoring unit and the wind direction monitoring unit can also be adapted to the mobile platform using existing modules.

[0050] like Figure 2 As shown, two pulling lines are connected to the two corners of the movable end of the sail 9, and two threading tubes are fixedly provided on the floating platforms on both sides of the reel 10, and a pulley is provided on the top of the threading tube. One end of the pulling line is connected to the corner of the sail 9, the pulling line passes through the threading tube, and the other end thereof is wound on the winding roller. When the sail motor drives the reel 10 to wind up the sail, the rotational motion can be transmitted to the winding roller, so that the winding roller releases the pulling line. When the sail motor drives the reel 10 to release the sail, the winding roller winds up the pulling line, which is conducive to freely winding up the sail 9, and when the sail 9 is opened, the tension state of the sail 9 can be maintained, so that it can effectively utilize wind energy.

[0051] In addition, a posture sensor electrically connected to the controller is also provided in the floating platform control room 1. Since the floating platform control room 1, the main shaft 5, the retaining frame 6, and the three-composite hydrofoil 2 are an integral whole, the posture sensor reflects the overall posture information. Therefore, the controller reads the posture sensor data and adjusts the three-composite hydrofoil 2 through the driving unit, thereby achieving the purpose of adjusting the tilt angle, rotation angle and other motion postures of the mobile platform. Among them, the posture sensor, such as a gyroscope sensor, is a prior art and will not be described in detail here.

[0052] In addition, an energy storage unit and a photovoltaic energy storage system are also provided in the floating platform control room 1. A photovoltaic panel (not shown) is also provided on the floating platform control room 1. The photovoltaic panel can convert solar energy into electrical energy and store it in the energy storage unit. The power information of the energy storage unit and the photovoltaic power generation information are read through the photovoltaic energy storage system. The energy storage unit provides power for electrical components such as the controller.

[0053] Working process:

[0054] The controller receives movement instructions from the upper computer system management software through the communication unit. The instructions contain the target geographic coordinate information (latitude and longitude data). The current geographic coordinate information (latitude and longitude data) is read through the positioning unit. The controller calculates the heading angle based on the target geographic coordinates and the current coordinate data, reads the current heading angle through the attitude sensor, and adjusts the moving direction and attitude of the composite hydrofoil through the drive unit. The closed-loop control algorithm is used to continuously iterate and correct the deviation until the destination is reached, thereby achieving the purpose of directional movement.

[0055] After the mobile platform reaches the positioning position, the deviation distance error is calculated by the target coordinates and the current coordinates. The moving direction and posture of the composite hydrofoil are adjusted through the driving unit, so that the mobile platform can overcome the water flow and be anchored statically within a controllable range.

[0056] During the operation of the mobile platform, the wind speed and direction information is read through the wind speed monitoring unit and the wind direction monitoring unit. When the wind direction and speed meet the preset values, the sail is raised through the sail control system to adjust the posture of the mobile platform, thereby adjusting the windward angle of the sail to provide driving force for the mobile platform.

[0057] During the operation of the mobile platform, when the wind energy and wave energy are insufficient, causing the mobile platform to exceed the preset threshold, the electronically controlled thruster is started for power compensation.

[0058] During the operation of the mobile platform, the controller communicates with the host computer management software through the communication unit, uploads location information, power supply, solar power generation, power consumption, and user data collection information in real time, and receives and sends instructions and data at the same time, so as to realize remote monitoring of the mobile platform.

[0059] The present invention is described above by way of examples, but the present invention is not limited to the above specific embodiments, and any changes or modifications made based on the present invention belong to the scope of protection claimed by the present invention.

Claims

1. A composite hydrofoil (2), characterized in that: The shell body (21) comprises a shell body (21), wherein a first notch (22) and a second notch (23) are formed at the front and rear ends of the side wall of the shell body (21), and are arranged opposite to each other; the inner cavity of the shell body (21) is connected to the outside through the first notch (22) and the second notch (23), respectively; a blade (24) is rotatably connected to the inner cavity of the shell body (21) through a rotating shaft (25), and the rotating shaft (25) is arranged close to the first notch (22) and offset from the geometric center of the blade (24); when the shell body (21) is placed under the water surface, water flows into the first notch (22) and is discharged from the second notch (23) under the action of wave energy, so as to provide horizontal mechanical kinetic energy; The width of the blade (24) decreases from the rotation axis (25) toward both ends, and the outer edge of the blade (24) is adapted to the inner wall surface of the shell body (21).

2. The composite hydrofoil according to claim 1, characterized in that: The rotating shaft (25) of the blade (24) is rotatably connected to the shell body (21) via a torsion spring, so that the blade has a tendency to return to a horizontal state.

3. The composite hydrofoil according to claim 2, characterized in that: The blade (24) can swing around the rotation axis (25) within a range of 0 to 45 degrees up and down with the horizontal plane as a reference.

4. The composite hydrofoil according to claim 1, characterized in that: There are a plurality of blades (24) which are stacked horizontally and spaced apart along the axial direction of the shell body (21).

5. A mobile platform, characterized in that: It comprises a floating platform control room (1), a drive unit and at least one composite hydrofoil (2) as described in any one of claims 1 to 4 above, wherein the floating platform control room (1) is a hollow structure and comprises an inner cavity, and the drive unit is fixed in the floating platform control room (1) and can transmit rotational motion to the composite hydrofoil (2).

6. The mobile platform according to claim 5, characterized in that: The output shaft (3) of the drive unit transmits the rotational motion to the shell body (21) via the universal flexible shaft (4).

7. The mobile platform according to claim 6, characterized in that: It also includes two retaining frames (6) and a main shaft (5), wherein the main shaft (5) is fixedly connected to the floating platform control chamber (1) upwards, and the main shaft (5) passes through the two retaining frames (6) and is fixedly connected to the retaining frames (6). The composite hydrofoils (2) have three components and are arranged around the central axis of the floating platform control chamber (1). The composite hydrofoils (2) are connected to an upper shaft rod (7) and a lower shaft rod (8), and the upper shaft rod (7) and the lower shaft rod (8) are coaxial with the shell body (21) and are respectively rotatably connected to the retaining frames (6).

8. The mobile platform according to claim 7, characterized in that: The floating platform control room (1) is provided with a sail control system, the sail control system comprising a sail (9) and a sail drive, the sail drive comprising a sail motor and a reel (10), one side of the sail (9) being fixed on the reel (10), and the other side of the sail (9) being movably arranged, the sail motor being fixed on the floating platform control room (1) and being able to transmit a rotational motion to the reel (10) so as to retract and unfold the sail (9).

9. The mobile platform according to any one of claims 6 to 8, characterized in that: The invention also comprises a controller, a positioning unit, a wind speed monitoring unit and a wind direction monitoring unit. The positioning unit, the wind speed monitoring unit and the wind direction monitoring unit are respectively electrically connected to the controller. The positioning unit, the wind speed monitoring unit and the wind direction monitoring unit can send signals to the controller. The controller adjusts the orientation of the first notch (22) and the second notch (23) in the composite hydrofoil (2) through a driving unit, so that the mobile platform as a whole moves along a set direction.

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