Unmanned sailboat sail control system based on steering engine

Abstract

The invention provides an unmanned sailboat sail control system based on a steering engine, which comprises an unmanned sailboat sail mechanical structure and an electric control system, and is characterized in that the electric control system is connected with each part of the unmanned sailboat sail mechanical structure through a wire and a signal line, and is used for controlling the accurate position of a hard sail unmanned sailboat sail and pushing the unmanned sailboat to sail by utilizing wind energy; meanwhile, the sail fluttering function is achieved, and the resistance of wind to the sail during upwind is reduced. According to the unmanned sailboat sail control system based on the steering engine, the electric control system can control the precise position of the sail of the unmanned sailboat with the hard sail in the downwind process, and the unmanned sailboat is pushed to sail through wind energy; when against the wind, the electric control system controls the electromagnetic clutch to be powered off, the sail can freely rotate along with the wind, the sail fluttering action is achieved, and the resistance of the wind to the sail when against the wind is reduced as much as possible; meanwhile, the steering engine is powered off and disable, the power consumption of the system is reduced, and the cruising distance of the unmanned sailboat can be increased under the same condition.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned sailboat sail control, and in particular to an unmanned sailboat sail control system based on a steering gear. Background Art

[0002] Modern unmanned sailboats use wind energy as their main power source, so they are green and environmentally friendly, and have long endurance. Like conventional powered unmanned boats, unmanned sailboats are also affected by wind, waves, and currents. However, the difference is that due to the complex force and torque of the wind on the sails, the force of the wind on the sails does not always push the unmanned sailboat forward, and sometimes even becomes a resistance to the unmanned sailboat's progress. How to maximize the use of wind energy to propel the boat when the wind is favorable, how to minimize the resistance of the wind to the boat when the wind is against the wind, and how to reduce the energy consumption caused by controlling the sails are important research topics in the field of sail control of unmanned sailboats. Summary of the invention

[0003] In order to realize automatic control of the sail of an unmanned sailboat, make full use of wind energy to propel the unmanned sailboat and reduce energy loss in sail control, the present invention designs an unmanned sailboat sail control system based on a servo. The system can realize precise position control of the sail of a hard-sail unmanned sailboat to make full use of wind energy to propel the boat to sail; at the same time, an electromagnetic clutch is provided in the system, which can realize the floating sail function to minimize the resistance of wind to the sail when sailing against the wind; under the same conditions, the cruising range of the unmanned sailboat can be increased.

[0004] The technical means adopted by the present invention are as follows:

[0005] An unmanned sailboat sail control system based on a steering gear comprises: an unmanned sailboat sail mechanical structure and an electric control system, wherein:

[0006] The electronic control system connects the various components of the mechanical structure of the unmanned sailboat sail through wires and signal lines, and is used to control the precise position of the hard-sail unmanned sailboat sail, using wind energy to propel the unmanned sailboat to sail; at the same time, it realizes the floating sail function to reduce the resistance of the wind to the sail when facing against the wind.

[0007] Furthermore, the mechanical structure of the sail of the unmanned sailboat includes: a wind speed and direction sensor, a steering gear, an active synchronous pulley, a synchronous belt, a driven synchronous pulley, a spindle, an electromagnetic clutch, an active bevel gear, a driven bevel gear, an absolute encoder and a sail mast, wherein:

[0008] The wind speed and direction sensor is installed on the bow of the unmanned sailboat to obtain wind speed and direction information.

[0009] The steering gear, as a power source, is used to provide rotational power and holding torque for the sail of the unmanned sailboat;

[0010] The synchronous belt is driven by a driving synchronous pulley and a driven synchronous pulley, and is respectively a power transmission medium between the steering gear and the spindle;

[0011] The electromagnetic clutch is used to control the separation and closing of the spindle and the sail mast to achieve the sailing action of the sail mast;

[0012] The driving bevel gear and the driven bevel gear are respectively connected to the sail mast and the input shaft of the absolute encoder, and are used to transmit the angle information of the sail mast to the absolute encoder in real time;

[0013] The absolute encoder is used to measure the real-time angle of the sail mast;

[0014] The sail mast is used to fix the sail body, and the connection between the sail body and the sail mast is a hard connection, and the angle of the sail mast is the angle of the sail.

[0015] Furthermore, the gear ratio between the driving synchronous pulley and the driven synchronous pulley is 1:1, that is, the angle change of the servo will be the same as the angle change of the spindle.

[0016] Furthermore, the transmission ratio of the driving bevel gear and the driven bevel gear is 1:1, which is used to transmit the angle information of the sail mast to the absolute encoder in real time in a 1:1 manner.

[0017] Furthermore, the mechanical structure of the sail of the unmanned sailboat also includes: a steering gear bracket, a tensioning bolt and a support, wherein:

[0018] The steering gear bracket and the tensioning bolt constitute a tensioning mechanism of the synchronous belt, which is used to adjust the tightness of the synchronous belt;

[0019] The support is used to provide an installation position for the steering gear, the steering gear bracket, the tensioning bolt, the driving synchronous pulley, the synchronous belt, the driven synchronous pulley, the spindle, and the electromagnetic clutch.

[0020] Furthermore, the unmanned sailboat sail mechanical structure further comprises: a short double-bearing bearing seat and a long double-bearing bearing seat, wherein:

[0021] A short double bearing housing is used to provide support for the spindle;

[0022] Long double bearing housings are used to provide support for sail masts.

[0023] Furthermore, the unmanned sailboat sail mechanical structure also includes an encoder bracket for fixing an absolute value encoder.

[0024] Furthermore, the electric control system includes a main control chip, which is connected to various components of the mechanical structure of the sail of the unmanned sailboat through wires and signal lines, wherein:

[0025] The output signal of the absolute encoder is in RS485 format, and the main control chip communicates with the absolute encoder through the RS485 & serial port signal conversion module;

[0026] The working voltage of the electromagnetic clutch is 24V, and the main control chip controls the power gain and loss of the electromagnetic clutch by controlling the relay;

[0027] The operating voltage of the servo is 5-9V, and the control signal is PWM wave. The main control chip directly controls the servo through the PWM wave signal.

[0028] Furthermore, the main control chip realizes real-time adjustment of the sail angle, and the specific control logic is as follows:

[0029] When the system is not powered on, the electromagnetic clutch is in a disengaged state, the sail mast and the spindle are in a disengaged state, and the sail can rotate freely;

[0030] After the system is powered on, the electromagnetic clutch and servo are both enabled, the sail position remains fixed, and the main control chip reads the wind speed and direction information obtained by the wind speed and direction sensor, and determines whether to perform the sail floating operation by judging the wind direction and wind speed;

[0031] If the sail is to be floated, the electromagnetic clutch loses power, the sail mast and the spindle are separated, and the sail can rotate freely with the wind to achieve the sail floating action. At the same time, the steering gear is powered off and disabled to reduce the power consumption of the system.

[0032] During the sailing process, the main control chip reads the wind speed and direction information obtained by the wind speed and direction sensor in real time to determine whether the sailing needs to be stopped. When the wind speed and direction conditions for stopping the sailing are met, the electromagnetic clutch is energized, the steering gear is powered on and maintained, the sail mast is connected to the spindle, the sail position is fixed, and the sailing operation is stopped;

[0033] When the sailing operation is stopped, the main control chip determines the current angle of the sail by reading the sail angle position information obtained by the absolute encoder, and judges whether the current sail angle needs to be adjusted in combination with the wind speed and direction information. If no adjustment is needed, the wind speed and direction information will continue to be monitored and the cycle will be entered; if adjustment is needed, the current angle of the servo will be judged whether it can meet the sail adjustment requirements and whether the initial angle position of the servo needs to be adjusted.

[0034] If the initial angle position of the servo does not need to be adjusted, the angle of the sail can be adjusted directly; if the initial angle position of the servo needs to be adjusted, the electromagnetic clutch needs to be disabled and separated first, the servo adjusts the initial angle, and then the electromagnetic clutch is closed to adjust the initial angle of the servo;

[0035] After the initial angle adjustment of the servo is completed, the sail angle is adjusted. During the adjustment process, the sail angle information is continuously read to determine whether it is adjusted in place. If not, continue to adjust until the end of the voyage.

[0036] Compared with the prior art, the present invention has the following advantages:

[0037] The present invention provides a steering gear-based unmanned sailboat sail control system. When the wind is favorable, the electronic control system controls the precise position of the sail of the hard-sail unmanned sailboat, and uses wind energy to propel the unmanned sailboat to sail; when the wind is against the wind, the electronic control system controls the power failure of the electromagnetic clutch, and the sail can rotate freely with the wind to achieve a floating sail action, thereby minimizing the resistance of the wind to the sail when the wind is against the wind; at the same time, the steering gear is powered off and disabled, thereby reducing the system's power consumption, and under the same conditions, the cruising range of the unmanned sailboat can be increased.

[0038] Based on the above reasons, the present invention can be widely promoted in the fields of unmanned sailboat sail control and the like. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 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 description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0040] Figure 1 The three-dimensional diagram of the mechanical structure of the unmanned sailboat of the present invention.

[0041] Figure 2 Schematic diagram of the connection of the electronic control system of the present invention.

[0042] Figure 3 It is a control logic block diagram of the electric control system of the present invention.

[0043] In the figure: 1. servo; 2. servo bracket; 3. tensioning bolt; 4. support; 5. driving synchronous pulley; 6. synchronous belt; 7. driven synchronous pulley; 8. spindle; 9. short double-bearing bearing seat; 10. electromagnetic clutch; 11. driving bevel gear; 12. driven bevel gear; 13. absolute encoder; 14. encoder bracket; 15. long double-bearing bearing seat; 16. sail mast. DETAILED DESCRIPTION

[0044] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0045] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0047] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, the numerical expressions and numerical values ​​do not limit the scope of the present invention. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0048] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0049] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0050] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0051] The present invention provides a sail control system for an unmanned sailboat based on a steering gear, comprising: a sail mechanical structure for an unmanned sailboat and an electric control system, wherein:

[0052] The electronic control system connects the various components of the mechanical structure of the unmanned sailboat sail through wires and signal lines, and is used to control the precise position of the hard-sail unmanned sailboat sail, using wind energy to propel the unmanned sailboat to sail; at the same time, it realizes the floating sail function to reduce the resistance of the wind to the sail when facing against the wind.

[0053] When specifically implemented, as a preferred embodiment of the present invention, Figure 1 As shown, the mechanical structure of the sail of the unmanned sailboat includes: a wind speed and direction sensor, a steering gear 1, an active synchronous pulley 5, a synchronous belt 6, a driven synchronous pulley 7, a spindle 8, an electromagnetic clutch 10, an active bevel gear 11, a driven bevel gear 12, an absolute encoder 13 and a sail mast 16, wherein:

[0054] The wind speed and direction sensor is installed on the bow of the unmanned sailboat to obtain wind speed and direction information.

[0055] The steering gear 1, as a power source, is used to provide rotational power and holding torque for the sail of the unmanned sailboat;

[0056] The synchronous belt 6 is driven by the active synchronous pulley 5 and the driven synchronous pulley 7, and is respectively a power transmission medium between the steering gear 1 and the spindle 8. In this embodiment, due to the toughness of the synchronous belt, a buffer can be provided for the steering gear to prevent the impact on the sail from being directly transmitted to the steering gear and causing damage to the steering gear.

[0057] The electromagnetic clutch 10 is used to control the separation and closing of the spindle 8 and the sail mast 16 to achieve the sailing action of the sail mast 16;

[0058] The driving bevel gear 11 and the driven bevel gear 12 are respectively connected to the sail mast 16 and the input shaft of the absolute encoder 13, and are used to transmit the angle information of the sail mast 16 to the absolute encoder 13 in real time;

[0059] The absolute encoder 13 is used to measure the real-time angle of the sail mast 16. In this embodiment, the absolute encoder 13 can still record the angle change after power failure, so the accurate position of the sail mast 16 can still be measured after power failure and then power on again.

[0060] Said sail mast 16 is used to fix the sail body, and the connection between the sail body and the sail mast 16 is hard connection, and the angle of the sail mast 16 is the angle of the sail. Therefore, the function of the unmanned sailboat sail control system based on the steering gear is essentially to control the movement of the sail mast 16.

[0061] In specific implementation, as a preferred embodiment of the present invention, the gear ratio between the driving synchronous pulley 5 and the driven synchronous pulley 7 is 1:1, that is, the angle change of the servo 1 will be the same as the angle change of the spindle 8.

[0062] In specific implementation, as a preferred embodiment of the present invention, the transmission ratio of the active bevel gear 11 and the driven bevel gear 12 is 1:1, which is used to transmit the angle information of the sail mast 16 to the absolute encoder 13 in real time in a 1:1 manner.

[0063] When implementing the invention, as a preferred embodiment of the invention, see Figure 1 The mechanical structure of the unmanned sailboat sail also includes: a steering gear bracket 2, a tensioning bolt 3 and a support 4, wherein:

[0064] The steering gear bracket 2 and the tensioning bolt 3 constitute a tensioning mechanism of the synchronous belt 6, which is used to adjust the tightness of the synchronous belt 6;

[0065] The support 4 is used to provide an installation position for the steering gear 1, the steering gear bracket 2, the tensioning bolt 3, the driving synchronous pulley 5, the synchronous belt 6, the driven synchronous pulley 7, the spindle 8, and the electromagnetic clutch 10.

[0066] When implementing the invention, as a preferred embodiment of the invention, see Figure 1 The unmanned sailboat sail mechanical structure also includes: a short double-bearing bearing seat 9 and a long double-bearing bearing seat 15, wherein:

[0067] The short double-bearing bearing seat 9 is used to provide support for the spindle 8. In this embodiment, since the spindle 8 has only one bearing seat, the short double-bearing bearing seat 9, in order to ensure the stability of the spindle 8, a 30mm long double-bearing bearing seat is used. At the same time, in order to have better stability of the bearing seat after installation, the following is used here: Figure 1 Inverted installation shown.

[0068] The long double-bearing bearing seat 15 is used to provide support for the sail mast 16. In this embodiment, like the spindle 8, the sail mast 16 is also supported by only one bearing seat, so a double-bearing bearing seat is required for the stability of the sail mast 16. Since the length of the sail mast 16 is much longer than the length of the spindle 8, a 50mm long double-bearing bearing seat is used.

[0069] When implementing the invention, as a preferred embodiment of the invention, see Figure 1 The unmanned sailboat sail mechanical structure also includes an encoder bracket 14 for fixing the absolute value encoder 13.

[0070] When specifically implemented, as a preferred embodiment of the present invention, Figure 2 As shown, the electric control system includes a main control chip. In this embodiment, STM32F103C8T6 is used as the main control chip. The main control chip is connected to various components of the mechanical structure of the sail of the unmanned sailboat through wires and signal lines, wherein:

[0071] The output signal of the absolute encoder 13 is in RS485 format, and the main control chip communicates with the absolute encoder 13 through the RS485 & serial port signal conversion module;

[0072] The working voltage of the electromagnetic clutch is 24V, and the main control chip controls the power supply and loss of the electromagnetic clutch 10 by controlling the relay;

[0073] The working voltage of the steering gear 1 is 5-9V, and the control signal is a PWM wave. The main control chip directly controls the steering gear 1 through the PWM wave signal. In this embodiment, since the angle range of the steering gear is 0-360°, the steering gear 1 cannot rotate beyond the 360° line. Therefore, in the case of some sail adjustment, the angle that the steering gear 1 can rotate cannot meet the demand. At this time, the electromagnetic clutch 10 needs to be disconnected first, and then the electromagnetic clutch (10) is powered on and closed after the steering gear 1 adjusts the initial position, and then the steering gear 1 can adjust the angle of the sail.

[0074] When specifically implemented, as a preferred embodiment of the present invention, Figure 3 As shown, the main control chip realizes real-time adjustment of the sail angle, and the specific control logic is as follows:

[0075] When the system is not powered on, the electromagnetic clutch 10 is in a disengaged state, the sail mast 16 and the spindle 8 are in a disengaged state, and the sail can rotate freely;

[0076] After the system is powered on, the electromagnetic clutch 10 and the steering gear 1 are both in the enabled state, the sail position remains fixed, and the main control chip reads the wind speed and direction information obtained by the wind speed and direction sensor, and determines whether to perform the sail floating operation by judging the wind direction and wind speed;

[0077] If the sailing operation is required, the electromagnetic clutch 10 loses power, the sail mast 16 and the spindle 8 are separated, and the sail can rotate freely with the wind to achieve the sailing action. At the same time, the steering gear 1 is powered off and disabled to reduce the power consumption of the system;

[0078] During the sailing process, the main control chip reads the wind speed and direction information obtained by the wind speed and direction sensor in real time to determine whether the sailing needs to be stopped. When the wind speed and direction conditions for stopping the sailing are met, the electromagnetic clutch 10 is powered on, the steering gear 1 is powered on and maintained, the sail mast 16 is connected to the spindle 8, the sail position is fixed, and the sailing operation is stopped;

[0079] When the sailing operation is stopped, the main control chip determines the current angle of the sail by reading the sail angle position information obtained by the absolute encoder 13, and judges whether the current sail angle needs to be adjusted in combination with the wind speed and direction information. If no adjustment is needed, the wind speed and direction information will continue to be monitored and the cycle will be entered; if adjustment is needed, it will be judged whether the current angle of the servo 1 can meet the sail adjustment requirements and whether the initial angle position of the servo 1 needs to be adjusted;

[0080] If the initial angle position of the steering gear 1 does not need to be adjusted, the angle of the sail is adjusted directly; if the initial angle position of the steering gear 1 needs to be adjusted, the electromagnetic clutch 10 needs to be disabled and separated first, the steering gear 1 adjusts the initial angle, and then the electromagnetic clutch 10 is closed to adjust the initial angle of the steering gear 1;

[0081] After the initial angle adjustment of the servo 1 is completed, the sail angle is adjusted. During the adjustment process, the sail angle information is continuously read to determine whether it is adjusted in place. If it is not adjusted in place, the adjustment is continued until the voyage ends.

[0082] The present invention is an independent and complete unmanned sailboat sail control system, which can be directly deployed on many types of unmanned sailboats. It only needs to set up a suitable base on the ship, and the whole system can be easily migrated and used. In addition, the system can replace the servos 1 with different torques and the electromagnetic clutches 10 with different powers to adapt to the sail control of unmanned sailboats of different sizes. In addition, the non-standard structural parts of the control system of the present invention are all made of aluminum alloy, which has higher rigidity and lower weight, and is more conducive to the motion control of the system.

[0083] In summary, the present invention provides a servo-based unmanned sailboat sail control system that can operate continuously at a relatively low power, and can also realize the automatic sailing function of the unmanned sailboat, greatly reducing the resistance of the unmanned sailboat when sailing against the wind. The energy-saving design of the sail control system during operation and the realization of the sailing action can greatly reduce the energy loss of the unmanned sailboat during navigation, and can effectively extend the endurance of the unmanned sailboat.

[0084] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A sail control system for an unmanned sailboat based on a steering gear, characterized in that: include: The mechanical structure and electronic control system of the sail of an unmanned sailboat, including: The electronic control system connects the various components of the mechanical structure of the unmanned sailboat sail through wires and signal lines, and is used to control the precise position of the hard-sail unmanned sailboat sail, using wind energy to propel the unmanned sailboat to sail; at the same time, it realizes the floating sail function to reduce the resistance of the wind to the sail when facing against the wind.

2. The unmanned sailboat sail control system based on a steering gear according to claim 1, characterized in that: The mechanical structure of the sail of the unmanned sailboat comprises: a wind speed and direction sensor, a steering gear (1), an active synchronous pulley (5), a synchronous belt (6), a driven synchronous pulley (7), a spindle (8), an electromagnetic clutch (10), an active bevel gear (11), a driven bevel gear (12), an absolute encoder (13) and a sail mast (16), wherein: The wind speed and direction sensor is installed on the bow of the unmanned sailboat to obtain wind speed and direction information. The steering gear (1) is used as a power source to provide rotational power and holding torque for the sail of the unmanned sailboat; The synchronous belt (6) is driven by the driving synchronous pulley (5) and the driven synchronous pulley (7), and is respectively a power transmission medium between the steering gear (1) and the spindle (8); The electromagnetic clutch (10) is used to control the separation and closing of the spindle (8) and the sail mast (16) to achieve the sailing action of the sail mast (16); The driving bevel gear (11) and the driven bevel gear (12) are respectively connected to the sail mast (16) and the input shaft of the absolute encoder (13), and are used to transmit the angle information of the sail mast (16) to the absolute encoder (13) in real time; The absolute value encoder (13) is used to measure the real-time angle of the sail mast (16); The sail mast (16) is used to fix the sail body. The connection between the sail body and the sail mast (16) is a hard connection. The angle of the sail mast (16) is the angle of the sail.

3. The unmanned sailboat sail control system based on a steering gear according to claim 2, characterized in that: The gear ratio between the driving synchronous pulley (5) and the driven synchronous pulley (7) is 1:1, that is, the angle change of the steering gear (1) will be the same as the angle change of the spindle (8).

4. The unmanned sailboat sail control system based on a steering gear according to claim 2, characterized in that: The transmission ratio of the active bevel gear (11) and the driven bevel gear (12) is 1:1, and is used to transmit the angle information of the sail mast (16) to the absolute value encoder (13) in real time in a 1:1 manner.

5. The unmanned sailboat sail control system based on a steering gear according to claim 1, characterized in that: The unmanned sailboat sail mechanical structure further comprises: a steering gear bracket (2), a tensioning bolt (3) and a support (4), wherein: The steering gear bracket (2) and the tensioning bolt (3) constitute a tensioning mechanism of the synchronous belt (6) and are used to adjust the tightness of the synchronous belt (6); The support (4) is used to provide an installation position for the steering gear (1), the steering gear bracket (2), the tensioning bolt (3), the driving synchronous pulley (5), the synchronous belt (6), the driven synchronous pulley (7), the spindle (8), and the electromagnetic clutch (10).

6. The unmanned sailboat sail control system based on a steering gear according to claim 1, characterized in that: The unmanned sailboat sail mechanical structure further comprises: a short double-bearing bearing seat (9) and a long double-bearing bearing seat (15), wherein: The short double bearing housing (9) is used to provide support for the spindle (8); The long double bearing housing (15) is used to provide support for the sail mast (16).

7. The unmanned sailboat sail control system based on a steering gear according to claim 1, characterized in that: The unmanned sailboat sail mechanical structure also includes an encoder bracket (14) for fixing the absolute value encoder (13).

8. The unmanned sailboat sail control system based on a steering gear according to claim 1, characterized in that: The electric control system includes a main control chip, which is connected to various components of the mechanical structure of the sail of the unmanned sailboat through wires and signal lines, wherein: The output signal of the absolute encoder (13) is in RS485 format, and the main control chip realizes communication with the absolute encoder (13) through the RS485 & serial port signal conversion module; The working voltage of the electromagnetic clutch is 24V, and the main control chip controls the power on and off of the electromagnetic clutch (10) by controlling the relay; The operating voltage of the servo (1) is 5-9V, and the control signal is a PWM wave. The main control chip directly controls the servo (1) through the PWM wave signal.

9. The unmanned sailboat sail control system based on a steering gear according to claim 8, characterized in that: The main control chip realizes real-time adjustment of the sail angle. The specific control logic is as follows: When the system is not powered on, the electromagnetic clutch (10) is in a disengaged state, the sail mast (16) and the spindle (8) are in a disengaged state, and the sail can rotate freely; After the system is powered on, the electromagnetic clutch (10) and the steering gear (1) are both in an enabled state, the sail position remains fixed, and the main control chip reads the wind speed and direction information obtained by the wind speed and direction sensor, and determines whether to perform the sail floating operation by judging the wind direction and wind speed; If the sailing operation is required, the electromagnetic clutch (10) loses power, the sail mast (16) and the spindle (8) are separated, and the sail can rotate freely with the wind to achieve the sailing action. At the same time, the steering gear (1) is powered off and disabled, reducing the power consumption of the system; During the sailing process, the main control chip reads the wind speed and direction information obtained by the wind speed and direction sensor in real time to determine whether the sailing needs to be stopped. When the wind speed and direction conditions for stopping the sailing are met, the electromagnetic clutch (10) is powered on, the steering gear (1) is powered on and maintained, the sail mast (16) is connected to the spindle (8), the sail position is fixed, and the sailing operation is stopped; When the sailing operation is stopped, the main control chip determines the current angle of the sail by reading the sail angle position information obtained by the absolute encoder (13), and judges whether the current sail angle needs to be adjusted in combination with the wind speed and wind direction information. If adjustment is not required, the wind speed and wind direction information is continuously monitored to enter a loop; if adjustment is required, it is judged whether the current angle of the steering gear (1) can meet the sail adjustment requirement, and whether the initial angle position of the steering gear (1) needs to be adjusted; If the initial angle position of the steering gear (1) does not need to be adjusted, the angle of the sail is directly adjusted; if the initial angle position of the steering gear (1) needs to be adjusted, the electromagnetic clutch (10) needs to be disabled and separated first, the steering gear (1) adjusts the initial angle, and then the electromagnetic clutch (10) is closed to adjust the initial angle of the steering gear (1); After the initial angle adjustment of the steering gear (1) is completed, the sail angle is adjusted. During the adjustment process, the sail angle information is continuously read to determine whether the adjustment is in place. If it is not in place, the adjustment is continued until the voyage is completed.

Images