Hydrofoil ship and hydrofoil ship control method

Abstract

The invention discloses a hydrofoil ship and a hydrofoil ship control method.The hydrofoil ship comprises a ship body, a hydrofoil mechanism and a propelling mechanism, the propelling mechanism is used for providing power for the ship body, the hydrofoil mechanism further comprises a supporting column, a telescopic driving part arranged above the supporting column, a main wing and a flap, and the main wing and the flap are arranged below the supporting column; the main wing is fixedly connected with the supporting column and symmetrically extends out of the two sides of the supporting column, the telescopic driving part is in transmission connection with the flap, one side of the flap is hinged to the main wing, and the telescopic driving part can drive the flap to swing around the main wing so as to change the posture and / or position of the ship body. The hydrofoil ship control method is used for controlling the hydrofoil ship. By means of the method, the ship posture can be rapidly adjusted, and the ship body can be rapidly balanced.

Description

Technical Field

[0001] The present invention relates to the technical field of hydrofoil vessels, and in particular to a hydrofoil vessel and a hydrofoil vessel control method. Background Art

[0002] A hydrofoil boat is a high-speed boat that uses a hydrofoil installed at the bottom of the hull to propel the boat out of the water, thereby reducing water resistance and increasing the speed of navigation. Existing hydrofoil boats usually use U-shaped hydrofoils. When the boat is sailing at high speed, part of the hydrofoil is immersed in the water, and part of it cuts through the water surface and emerges in the air. However, after the hydrofoil emerges from the water, the part that is exposed to the water surface is easily affected by wind and waves. Under the combined action of wind, waves and currents, the hull will produce six-degree-of-freedom movement in three directions, which can easily cause the hull to bump. The existing hydrofoil has a simple structure and can only provide steering and lift-changing functions. In the case of an unstable hull, the boat can only rely on the lift generated by one side of the hydrofoil being lifted out of the water to reduce the lift, while the other side of the hydrofoil generates a greater lift, and the restoring torque generated by this is used to straighten the hull. This structure and hull balancing method are not stable enough and are not conducive to quickly balancing the hull. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a hydrofoil boat which can quickly adjust the boat's posture and make the boat body quickly reach balance.

[0004] In order to solve the above technical problems, the present invention provides a hydrofoil vessel, comprising a hull, a hydrofoil mechanism and a propulsion mechanism, at least one of the hydrofoil mechanisms is arranged at the front end of the hull, at least one of the hydrofoil mechanisms is arranged on the left side of the rear end of the hull, and at least one of the hydrofoil mechanisms is arranged on the right side of the rear end of the hull, and the propulsion mechanism is respectively connected to the hydrofoil mechanisms on the left and right sides of the rear end of the hull to provide power for the hull.

[0005] The hydrofoil mechanism also includes a pillar, a telescopic driving member arranged above the pillar, and a main wing and a flap arranged below the pillar, the main wing is fixedly connected to the pillar and extends symmetrically from both sides of the pillar, the telescopic driving member is transmission-connected to the flap, one side of the flap is hinged to the main wing, and the telescopic driving member can drive the flap to swing around the main wing to change the attitude and / or position of the hull.

[0006] As an improvement of the above scheme, the main wing is obliquely connected to the pillar, the angle of attack of the main wing is greater than zero, the pillar is vertically arranged and hollow inside, and the hydrofoil mechanism also includes a connecting rod, one end of the connecting rod is connected to the movable end of the telescopic driving member, and the other end of the connecting rod is hinged to the flap, and the telescopic driving member can drive the flap to swing up and down around the main wing through the connecting rod.

[0007] As an improvement of the above solution, an avoidance gap is provided in the pillar, and the avoidance gap is provided at the intersection of the pillar and the flap. The avoidance gap is in a "V" shape, and the flap can swing up and down in the avoidance gap.

[0008] As an improvement of the above-mentioned scheme, the hydrofoil mechanism also includes a rotating driving member, which is transmission-connected to the telescopic driving member, and can drive the movable end of the telescopic driving member to telescope; a hinge block is provided between the connecting rod and the flap, one end of the hinge block is hinged to the bottom of the connecting rod, and the other end of the hinge block is connected to the flap.

[0009] As an improvement of the above scheme, the propulsion mechanism includes a propeller and a propeller, the propeller is fixed under the main wing, the propeller is transmission-connected to the propeller, the propeller can drive the propeller to rotate, and the propeller is located obliquely below the flap.

[0010] The present invention also provides a hydrofoil craft control method for controlling the hydrofoil craft as described above, comprising the following steps: when sailing, detecting the spatial posture of the hull in real time, and driving the propeller and / or the front hydrofoil mechanism located at the front end of the hull and / or the left hydrofoil mechanism located at the left side of the rear end of the hull and / or the right hydrofoil mechanism located at the right side of the rear end of the hull according to the navigation instructions and the spatial posture of the hull to adjust the posture and / or position of the hull.

[0011] As an improvement of the above scheme, the real-time detection of the hull's spatial posture also includes the following steps: using a posture sensor and / or GPS and / or an ultrasonic ranging sensor to detect the hull's spatial posture; wherein the posture sensor detects the hull's pitch motion and / or roll motion and / or yaw motion and / or surge motion and / or sway motion and / or heave motion to determine the hull's posture; the GPS detects the position of the hull; and the ultrasonic ranging sensor detects the distance between the hull and the water surface.

[0012] As an improvement of the above-mentioned scheme, the adjustment of the posture and / or position of the hull also includes the following steps: when the navigation instruction is to change from a floating state to a wing navigation state, the distance between the hull and the water surface is detected, and if the distance between the hull and the water surface is less than a set distance, the propeller is driven to increase the rotation speed of the propeller, and the flaps of the front hydrofoil mechanism and / or the flaps of the left hydrofoil mechanism and / or the flaps of the right hydrofoil mechanism are driven to swing upward to increase the lift of the hull; when the navigation instruction is to change from the wing navigation state to the floating state, the distance between the hull and the water surface is detected, and if the distance between the hull and the water surface is greater than a set distance, the propeller is driven to reduce the rotation speed of the propeller, and the flaps of the front hydrofoil mechanism and / or the flaps of the left hydrofoil mechanism and / or the flaps of the right hydrofoil mechanism are driven to swing downward to reduce the lift of the hull.

[0013] As an improvement of the above-mentioned scheme, the adjustment of the posture and / or position of the hull also includes the following steps: when the navigation instruction is to turn left, the propeller located at the left hydrofoil mechanism is driven to reduce the speed of the propeller and / or the propeller located at the right hydrofoil mechanism is driven to increase the speed of the propeller; when the navigation instruction is to turn right, the propeller located at the right hydrofoil mechanism is driven to reduce the speed of the propeller and / or the propeller located at the left hydrofoil mechanism is driven to increase the speed of the propeller.

[0014] As an improvement of the above-mentioned scheme, the adjustment of the posture and / or position of the hull also includes the following steps: when the forward tilt angle of the hull is greater than a first preset angle, the flaps of the front hydrofoil mechanism are driven to swing upward and / or the flaps of the rear hydrofoil mechanism are driven to swing downward; when the stern tilt angle of the hull is greater than a second preset angle, the flaps of the rear hydrofoil mechanism are driven to swing upward and / or the flaps of the front hydrofoil mechanism are driven to swing downward; when the left tilt angle of the hull is greater than a third preset angle, the flaps of the left hydrofoil mechanism are driven to swing upward and / or the flaps of the rear hydrofoil mechanism are driven to swing downward; when the right tilt angle of the hull is greater than a fourth preset angle, the flaps of the right hydrofoil mechanism are driven to swing upward and / or the flaps of the left hydrofoil mechanism are driven to swing downward.

[0015] The implementation of the present invention has the following beneficial effects:

[0016] The hydrofoil boat of the present invention is provided with a hull, a hydrofoil mechanism and a propulsion mechanism, wherein at least one of the hydrofoil mechanisms is provided at the front end of the hull, at least one of the hydrofoil mechanisms is provided at the left side of the rear end of the hull, and at least one of the hydrofoil mechanisms is provided at the right side of the rear end of the hull, and the hydrofoil mechanisms at the three locations are all used to adjust the posture of the hull, and the hydrofoil mechanism comprises a pillar, a telescopic driving component provided above the pillar, and a main wing and a flap provided below the pillar, the main wing is fixedly connected to the pillar and extends symmetrically from both sides of the pillar, and the main wing is helpful to maintain the balance of the hull when underwater, and when the ship's posture needs to be adjusted, the telescopic driving component can drive the flap to swing around the main wing, and cooperate with the propulsion mechanism to change the posture and / or position of the hull, so that the hull can change the ship's posture from three positions, and then quickly adjust the ship's posture, so that the hull can quickly reach balance. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of the hydrofoil vessel of the present invention;

[0018] Figure 2 It is a structural schematic diagram of the hydrofoil mechanism of the present invention;

[0019] Figure 3 It is a partial cross-sectional structural schematic diagram of the hydrofoil mechanism of the present invention;

[0020] Figure 4 It is a flow chart of the hydrofoil craft control method of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings. It is hereby stated that the directional terms such as up, down, left, right, front, back, inside, outside, etc. that appear or will appear in the text of the present invention are only based on the accompanying drawings of the present invention, and are not specific limitations of the present invention.

[0022] See also Figure 1 and Figure 2The embodiment of the present invention discloses a hydrofoil boat, comprising a hull 10, a hydrofoil mechanism 20 and a propulsion mechanism 30, wherein at least one hydrofoil mechanism 20 is arranged at the front end of the hull 10, at least one hydrofoil mechanism 20 is arranged at the left side of the rear end of the hull 10, and at least one hydrofoil mechanism 20 is arranged at the right side of the rear end of the hull 10, and the propulsion mechanism 30 is respectively connected to the hydrofoil mechanisms 20 at the left and right sides of the rear end of the hull 10, so as to provide power for the hull 10. In the embodiment of the present invention, three hydrofoil mechanisms 20 are arranged at the bottom of the hull 10, wherein one hydrofoil mechanism 20 is arranged at the front end of the hull 10, which is a front hydrofoil mechanism 201, and two hydrofoil mechanisms 20 are arranged at the rear end of the hull 10, the one located at the left side of the rear end is a left hydrofoil mechanism 202, and the one located at the right side of the rear end is a right hydrofoil mechanism 203. The front hydrofoil mechanism 201, the left hydrofoil mechanism 202 and the right hydrofoil mechanism 203 jointly participate in adjusting the posture of the hull 10, forming a multi-point adjustment structure. The propulsion mechanism 30 can not only provide power for the hull 10 , but also cooperate with the front hydrofoil mechanism 201 , the left hydrofoil mechanism 202 and the right hydrofoil mechanism 203 to adjust the ship's posture.

[0023] The hydrofoil mechanism 20 further comprises a pillar 21, a telescopic driving member 22 arranged above the pillar 21, and a main wing 23 and a flap 24 arranged below the pillar 21. The pillar 21 is fixed to the side of the hull 10 and is a fixed body, and the main wing 23 is fixedly connected to the pillar 21 and extends symmetrically from both sides of the pillar 21. The symmetrical arrangement of the main wing 23 is beneficial to the balance of the hydrofoil mechanism 20 underwater, and the telescopic driving member 22 is transmission-connected to the flap 24, one side of the flap 24 is hinged to the main wing 23. When adjusting the posture of the hull 10, the telescopic driving member 22 can drive the flap 24 to swing around the main wing 23, and the flap 24 can change the angle of attack. On the one hand, it can control the direction and buoyancy and diving. On the other hand, the flaps 24 of the hydrofoil mechanism 20 at different positions cooperate with each other to change the posture of the hull 10, so the posture and / or position of the hull 10 can be changed in cooperation with the propulsion mechanism 30.

[0024] For example, when the forward tilt angle of the hull 10 is greater than the first preset angle, the flaps 24 of the front hydrofoil mechanism 201 swing upward, and the flaps 24 of the rear hydrofoil mechanism 20 swing downward, thereby adjusting the posture of the hull 10. Further, when the stern tilt angle of the hull 10 is greater than the second preset angle, the flaps 24 of the rear hydrofoil mechanism 20 swing upward, and the flaps 24 of the front hydrofoil mechanism 201 swing downward, ensuring the balance of the hull 10. In this way, the hydrofoil boat of the present invention can remain stable under various navigation conditions, thereby improving navigation safety and comfort.

[0025] The beneficial effects of the embodiments of the present invention are as follows:

[0026] The hydrofoil boat of the embodiment of the present invention is provided with a hull 10, a hydrofoil mechanism 20 and a propulsion mechanism 30, wherein at least one of the hydrofoil mechanisms 20 is provided at the front end of the hull 10, at least one of the hydrofoil mechanisms 20 is provided at the left side of the rear end of the hull 10, and at least one of the hydrofoil mechanisms 20 is provided at the right side of the rear end of the hull 10, and the hydrofoil mechanisms 20 at the three locations are all used to adjust the posture of the hull 10, and the hydrofoil mechanism 20 includes a pillar 21, a telescopic driving member 22 provided above the pillar 21, and a propulsion mechanism 30 provided below the pillar 21. The main wing 23 and the flap 24, the main wing 23 is fixedly connected to the pillar 21 and extends symmetrically from both sides of the pillar 21. When underwater, the main wing 23 is conducive to maintaining the balance of the hull 10. When the ship's posture needs to be adjusted, the telescopic drive member 22 can drive the flap 24 to swing around the main wing 23, and cooperate with the propulsion mechanism 30 to change the posture and / or position of the hull 10, so that the hull 10 can change the ship's posture from three positions, and then quickly adjust the ship's posture, so that the hull 10 can quickly reach balance.

[0027] Specifically, the main wing 23 is obliquely connected to the pillar 21, and the angle of attack of the main wing 23 is greater than zero. During normal navigation, the main wing 23 has a certain lift. The pillar 21 is vertically arranged and hollow inside, and can accommodate components such as electronic wires. The hydrofoil mechanism 20 also includes a connecting rod 25, one end of the connecting rod 25 is connected to the movable end of the telescopic drive member 22, and the other end of the connecting rod 25 is hinged to the flap 24. The telescopic drive member 22 can drive the flap 24 to swing up and down around the main wing 23 through the connecting rod 25, and the pillar 21 provides space for the movement of the connecting rod 25.

[0028] At the same time, the pillar 21 is provided with an avoidance notch 211, which is provided at the intersection of the pillar 21 and the flap 24, and the avoidance notch 211 is in a "V" shape, and the flap 24 can swing up and down in the avoidance notch 211. The design of the V-shaped notch helps to optimize the flow path of the fluid when passing through the hydrofoil mechanism 20, reduce the generation of turbulence and eddy currents, thereby reducing resistance and improving the overall performance of the hydrofoil ship.

[0029] The hydrofoil mechanism 20 further includes a rotary drive member 26, which is in transmission connection with the telescopic drive member 22. A ball screw is provided between the rotary drive member 26 and the telescopic drive member 22, which can convert the rotary motion of the rotary drive member 26 into the linear motion of the telescopic drive member 22, so that the rotary drive member 26 can drive the movable end of the telescopic drive member 22 to telescope. The rotary drive member 26 is preferably a servo motor, which has higher precision to accurately control the swing angle of the flap 24. Compared with the prior art, the present invention can improve the control accuracy and response speed of the hydrofoil boat, enhance the stability of the hull 10, and reduce the bumping problem caused by the influence of wind and waves on the hull 10 during navigation. The telescopic drive member 22 is preferably an electric cylinder.

[0030] join Figure 3 Since the flap 24 drives the connecting rod 25 to swing back and forth when it swings, in order to reduce the movement range of the connecting rod 25, a hinge block 27 is provided between the connecting rod 25 and the flap 24, one end of the hinge block 27 is hinged to the bottom of the connecting rod 25, and the other end of the hinge block 27 is connected to the flap 24. By adding the hinge block 27, part of the displacement is transferred to the hinge block 27, so that the action distance of the flap 24 on the connecting rod 25 is reduced, thereby reducing the movement range of the connecting rod 25.

[0031] In addition, the propulsion mechanism 30 includes a thruster 301 and a propeller 302. The thruster 301 is fixed below the main wing 23. The propeller 302 is transmission-connected to the thruster 301. The thruster 301 can drive the propeller 302 to rotate, thereby providing power for the hull 10 to move and accelerating the speed of adjusting the ship's posture. The propeller 302 is located obliquely below the flap 24. By arranging the propeller 302 obliquely below the flap 24, the movable range of the propeller 302 and the flap 24 can be staggered to prevent mutual interference.

[0032] join Figure 4 The embodiment of the present invention further discloses a hydrofoil boat control method, which is used to control the hydrofoil boat as described above, and comprises the following steps:

[0033] S01, during navigation, real-time detection of the spatial posture of the hull 10;

[0034] S02, according to the navigation instructions and the spatial posture of the hull 10, drives the propeller 30 and / or the front hydrofoil mechanism 201 located at the front end of the hull 10 and / or the left hydrofoil mechanism 202 located at the left side of the rear end of the hull 10 and / or the right hydrofoil mechanism 203 located at the right side of the rear end of the hull 10 to adjust the posture and / or position of the hull 10.

[0035] It should be noted that the spatial attitude of the hull 10 can be detected in real time using devices such as attitude sensors, GPS and ultrasonic ranging sensors. The navigation instruction refers to the action instruction sent by the controller to the hydrofoil vessel, such as entering the wing navigation state (when the hydrofoil vessel is sailing at high speed on the water surface, the hydrofoil will generate enough lift to lift the hull 10 off the water surface, which is the wing navigation state), entering the floating state (when the hydrofoil vessel is sailing at a low speed, the hull 10 is in contact with the water surface and mainly relies on buoyancy for support, which is the floating state), turning, etc. The navigation instruction can be sent by manually manipulating the hull 10 joystick, by the remote control function of the remote control device, by the route planning function of the automatic driving, etc.

[0036] The hydrofoil boat of the present invention forms a multi-point adjustment structure by respectively setting the hydrofoil mechanism 20 at the front end, the left side of the rear end and the right side of the rear end of the hull 10. By adjusting the hydrofoil mechanism 20 at different positions, the corresponding ship attitude adjustment effect can be obtained. For example, when the forward tilt angle of the hull 10 is greater than the first preset angle, the flap 24 of the front hydrofoil mechanism 201 swings upward, and the flap 24 of the rear hydrofoil mechanism 20 swings downward, thereby adjusting the attitude of the hull 10. Further, when the stern tilt angle of the hull 10 is greater than the second preset angle, the flap 24 of the rear hydrofoil mechanism 20 swings upward, and the flap 24 of the front hydrofoil mechanism 201 swings downward, ensuring the balance of the hull 10. In this way, the hydrofoil boat of the present invention can remain stable under various navigation conditions, thereby improving navigation safety and comfort.

[0037] The real-time detection of the spatial posture of the hull 10 also includes the following steps:

[0038] Use attitude sensor and / or GPS and / or ultrasonic ranging sensor to detect the spatial attitude of the hull 10;

[0039] The attitude sensor detects the pitch motion and / or the roll motion and / or the yaw motion and / or the surge motion and / or the sway motion and / or the heave motion of the hull 10 to determine the attitude of the hull 10;

[0040] GPS detects the position of the hull 10;

[0041] The ultrasonic distance measuring sensor detects the distance between the hull 10 and the water surface.

[0042] The attitude sensor is used to detect various motion states of the hull 10, including pitch, roll, bow, surge, sway and heave motion, to help determine the attitude of the hull 10; GPS is used to detect the specific position of the hull 10 and provide accurate geographic positioning information; ultrasonic ranging sensors are used to detect the distance between the hull 10 and the water surface to ensure the relative height information between the hull 10 and the water surface. These sensors work together to monitor the attitude and position of the hull 10 in real time, ensuring that the hull 10 can obtain accurate attitude information during navigation, thereby providing reliable data support for subsequent attitude adjustments.

[0043] Among them, pitch roll refers to the rotational oscillation motion of the hull 10 around its transverse axis (the axis perpendicular to the front and rear direction of the hull 10); roll refers to the rotational oscillation motion of the hull 10 around its longitudinal axis (the axis perpendicular to the left and right direction of the hull 10); yaw roll refers to the rotational oscillation motion of the hull 10 around its vertical axis (the axis perpendicular to the water surface); surge refers to the horizontal linear oscillation motion of the hull 10 along its longest extension direction (usually the front and rear direction of the hull 10); sway refers to the horizontal linear oscillation motion of the hull 10 in a direction perpendicular to the surge direction (usually the left and right direction of the hull 10); heave refers to the reciprocating motion of the hull 10 along its vertical axis (the axis perpendicular to the upward baseline of the hull 10).

[0044] Specifically, the attitude sensor can use an inertial measurement unit (IMU), including an accelerometer and a gyroscope, to detect the six-degree-of-freedom motion of the hull 10. The GPS module can use a high-precision differential GPS system, which can calculate the navigation speed of the hydrofoil boat in conjunction with time. Ultrasonic ranging sensors can be installed at multiple locations on the hull 10 to measure the distance between the hull 10 and the water surface in real time, and can also be processed through a data fusion algorithm to improve the accuracy of the measurement.

[0045] The adjustment of the posture and / or position of the hull 10 further comprises the following steps:

[0046] When the navigation instruction is to change from the floating state to the wing navigation state, the distance between the hull 10 and the water surface is detected. If the distance between the hull 10 and the water surface is less than the set distance, the propeller 301 is driven to increase the rotation speed of the propeller 302, and the flap 24 of the front hydrofoil mechanism 201 and / or the flap 24 of the left hydrofoil mechanism 202 and / or the flap 24 of the right hydrofoil mechanism 203 are driven to swing downward to increase the lift of the hull 10;

[0047] When the navigation instruction is to change from the wing navigation state to the floating state, the distance between the hull 10 and the water surface is detected. If the distance between the hull 10 and the water surface is greater than the set distance, the propeller 301 is driven to reduce the rotation speed of the propeller 302, and the flaps 24 of the front hydrofoil mechanism 201 and / or the flaps 24 of the left hydrofoil mechanism 202 and / or the flaps 24 of the right hydrofoil mechanism 203 are driven to swing upward to reduce the lift of the hull 10.

[0048] When the navigation instruction is to change from the floating state to the wing navigation state, the hydrofoil mechanism 20 needs to float up, and the lift needs to be increased at this time. First, the distance between the hull 10 and the water surface is detected to determine whether it has floated to the right position. If the distance between the hull 10 and the water surface is less than the set distance, it is necessary to continue to float. At this time, the propeller 301 is driven to increase the rotation speed of the propeller 302, and the speed of the hydrofoil mechanism 20 is increased, driving the flaps 24 of the front hydrofoil mechanism 201 and / or the flaps 24 of the left hydrofoil mechanism 202 and / or the flaps 24 of the right hydrofoil mechanism 203 to swing downward. Since the flaps 24 of the front hydrofoil mechanism 201 and / or the flaps 24 of the left hydrofoil mechanism 202 and / or the flaps 24 of the right hydrofoil mechanism 203 are arranged backward, the flaps 24 of the current hydrofoil mechanism 201 and / or the flaps 24 of the left hydrofoil mechanism 202 and / or the flaps 24 of the right hydrofoil mechanism 203 swing downward, and the force of the water body on the flaps 24 has an upward component, thereby pushing the hydrofoil mechanism 20 to rise, so that the hull 10 changes from a floating state to a wing navigation state.

[0049] When the navigation instruction is to change from the wing navigation state to the floating state, the hydrofoil mechanism 20 needs to sink, and the lift needs to be reduced. If the distance between the hull 10 and the water surface is greater than the set distance, the distance to the water surface needs to be reduced. At this time, the propeller 301 is driven to reduce the rotation speed of the propeller 302. After the rotation speed is reduced, the lift of the hydrofoil mechanism 20 is reduced. At the same time, the flaps 24 of the front hydrofoil mechanism 201 and / or the flaps 24 of the left hydrofoil mechanism 202 and / or the flaps 24 of the right hydrofoil mechanism 203 are driven to swing upward. The force of the water body on the flaps 24 has a downward component. Combined with the deceleration, the hydrofoil mechanism 20 can be quickly lowered, thereby changing the hull 10 from the wing navigation state to the floating state.

[0050] The adjustment of the posture and / or position of the hull 10 further comprises the following steps:

[0051] When the navigation instruction is to turn left, the propeller 301 located at the left hydrofoil mechanism 202 is driven to reduce the rotation speed of the propeller 302 and / or the propeller 301 located at the right hydrofoil mechanism 203 is driven to increase the rotation speed of the propeller 302;

[0052] When the navigation instruction is to turn right, the propeller 301 located at the right hydrofoil mechanism 203 is driven to reduce the rotation speed of the propeller 302 and / or the propeller 301 located at the left hydrofoil mechanism 202 is driven to increase the rotation speed of the propeller 302.

[0053] When the navigation instruction is to turn left, the left hydrofoil mechanism 202 is decelerated, while the right hydrofoil mechanism 203 maintains or increases the speed, so that the hull 10 can turn left. When the navigation instruction is to turn right, the right hydrofoil mechanism 203 is decelerated, while the left hydrofoil mechanism 202 maintains or increases the speed, so that the hull 10 can turn right.

[0054] The adjustment of the posture and / or position of the hull 10 further comprises the following steps:

[0055] When the forward tilt angle of the hull 10 is greater than a first preset angle, the flap 24 of the front hydrofoil mechanism 201 is driven to swing upward and / or the flap 24 of the rear hydrofoil mechanism 20 is driven to swing downward;

[0056] When the stern inclination angle of the hull 10 is greater than a second preset angle, the flap 24 of the rear hydrofoil mechanism 20 is driven to swing upward and / or the flap 24 of the front hydrofoil mechanism 201 is driven to swing downward;

[0057] When the left tilt angle of the hull 10 is greater than a third preset angle, the flap 24 of the left hydrofoil mechanism 202 is driven to swing upward and / or the flap 24 of the rear hydrofoil mechanism 20 is driven to swing downward;

[0058] When the right tilt angle of the hull 10 is greater than a fourth preset angle, the flap 24 of the right hydrofoil mechanism 203 is driven to swing upward and / or the flap 24 of the left hydrofoil mechanism 202 is driven to swing downward.

[0059] When the hull 10 tilts forward too much, the lift at the front end of the hull 10 is increased by driving the flap 24 of the front hydrofoil mechanism 201 to swing upward, and the flap 24 of the rear hydrofoil mechanism 20 can also be swung downward at the same time to reduce the lift at the rear end of the hull 10, so that the hull 10 generates a pitch restoring moment to reduce the tilt.

[0060] When the stern trim of the hull 10 is too large, the lift at the rear end of the hull 10 is increased by driving the flaps 24 of the rear hydrofoil mechanism 20 to swing upwards, and the flaps 24 of the front hydrofoil mechanism 201 can also be coordinated to swing downwards to reduce the lift at the front end of the hull 10, so that the hull 10 generates a pitch restoring moment to reduce the stern trim.

[0061] When the left tilt of the hull 10 is too large, the flap 24 of the left hydrofoil mechanism 202 is driven to swing upward to increase the lift on the left side of the rear end of the hull 10. The flap 24 of the right hydrofoil mechanism 203 can also be driven to swing downward to reduce the lift on the right side of the rear end of the hull 10. This generates a roll restoring moment for the hull 10 to reduce the left tilt.

[0062] When the right tilt of the hull 10 is too large, the flap 24 of the right hydrofoil mechanism 203 is driven to swing upward to increase the lift on the right side of the rear end of the hull 10. The flap 24 of the left hydrofoil mechanism 202 can also be coordinated to swing downward to reduce the lift on the left side of the rear end of the hull 10. This generates a roll restoring moment for the hull 10 to reduce the right tilt.

[0063] The above are preferred embodiments of the present invention. It should be noted that, for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A hydrofoil vessel, characterized in that: The invention comprises a hull, a hydrofoil mechanism and a propulsion mechanism, wherein at least one hydrofoil mechanism is arranged at the front end of the hull, at least one hydrofoil mechanism is arranged at the left side of the rear end of the hull, and at least one hydrofoil mechanism is arranged at the right side of the rear end of the hull, and the propulsion mechanism is respectively connected to the hydrofoil mechanisms on the left and right sides of the rear end of the hull to provide power for the hull; The hydrofoil mechanism also includes a pillar, a telescopic driving member arranged above the pillar, and a main wing and a flap arranged below the pillar, the main wing is fixedly connected to the pillar and extends symmetrically from both sides of the pillar, the telescopic driving member is transmission-connected to the flap, one side of the flap is hinged to the main wing, and the telescopic driving member can drive the flap to swing around the main wing to change the attitude and / or position of the hull.

2. The hydrofoil vessel according to claim 1, characterized in that: The main wing is obliquely connected to the pillar, the angle of attack of the main wing is greater than zero, the pillar is vertically arranged and hollow inside, the hydrofoil mechanism also includes a connecting rod, one end of the connecting rod is connected to the movable end of the telescopic driving member, and the other end of the connecting rod is hinged to the flap, and the telescopic driving member can drive the flap to swing up and down around the main wing through the connecting rod.

3. The hydrofoil vessel according to claim 1, characterized in that: An avoidance gap is provided in the pillar, and the avoidance gap is provided at the intersection of the pillar and the flap. The avoidance gap is in a "V" shape, and the flap can swing up and down in the avoidance gap.

4. The hydrofoil vessel according to claim 2, characterized in that: The hydrofoil mechanism further comprises a rotating driving member, which is in transmission connection with the telescopic driving member, and the rotating driving member can drive the movable end of the telescopic driving member to telescope; A hinge block is provided between the connecting rod and the flap, one end of the hinge block is hinged to the bottom of the connecting rod, and the other end of the hinge block is connected to the flap.

5. The hydrofoil vessel according to claim 1, characterized in that: The propulsion mechanism comprises a propeller and a propeller, wherein the propeller is fixed below the main wing, the propeller is transmission-connected to the propeller, the propeller can drive the propeller to rotate, and the propeller is located obliquely below the flap.

6. A hydrofoil vessel control method, characterized in that: Used to control a hydrofoil craft as claimed in any one of claims 1 to 5, comprising the following steps: During navigation, the spatial posture of the hull is detected in real time, and according to the navigation instructions and the spatial posture of the hull, the propeller and / or the front hydrofoil mechanism at the front end of the hull and / or the left hydrofoil mechanism at the left end of the rear end of the hull and / or the right hydrofoil mechanism at the right end of the rear end of the hull are driven to adjust the posture and / or position of the hull.

7. The hydrofoil boat control method according to claim 6, characterized in that: The real-time detection of the hull space posture also includes the following steps: Use attitude sensors and / or GPS and / or ultrasonic ranging sensors to detect the spatial attitude of the hull; The attitude sensor detects the pitch motion and / or the roll motion and / or the yaw motion and / or the surge motion and / or the sway motion and / or the heave motion of the hull to determine the attitude of the hull; GPS detects the position of the hull; The ultrasonic ranging sensor detects the distance between the hull and the water surface.

8. The hydrofoil boat control method according to claim 6, characterized in that: The adjustment of the posture and / or position of the hull also includes the following steps: When the navigation instruction is to change from the floating state to the wing navigation state, the distance between the hull and the water surface is detected. If the distance between the hull and the water surface is less than the set distance, the propeller is driven to increase the rotation speed of the propeller, and the flaps of the front hydrofoil mechanism and / or the flaps of the left hydrofoil mechanism and / or the flaps of the right hydrofoil mechanism are driven to swing downward to increase the lift of the hull; When the navigation instruction is to change from the wing-sailing state to the floating state, the distance between the hull and the water surface is detected. If the distance between the hull and the water surface is greater than the set distance, the propeller is driven to reduce the rotation speed of the propeller, and the flaps of the front hydrofoil mechanism and / or the flaps of the left hydrofoil mechanism and / or the flaps of the right hydrofoil mechanism are driven to swing upward to reduce the lift of the hull.

9. The hydrofoil boat control method according to claim 6, characterized in that: The adjustment of the posture and / or position of the hull also includes the following steps: When the navigation instruction is to turn left, the propeller located at the left hydrofoil mechanism is driven to reduce the rotation speed of the propeller and / or the propeller located at the right hydrofoil mechanism is driven to increase the rotation speed of the propeller; When the navigation instruction is to turn right, the propeller located at the right hydrofoil mechanism is driven to reduce the rotation speed of the propeller and / or the propeller located at the left hydrofoil mechanism is driven to increase the rotation speed of the propeller.

10. The hydrofoil craft control method according to claim 6, characterized in that: The adjustment of the posture and / or position of the hull also includes the following steps: When the forward tilt angle of the hull is greater than a first preset angle, the flaps of the front hydrofoil mechanism are driven to swing upward and / or the flaps of the rear hydrofoil mechanism are driven to swing downward; When the stern inclination angle of the hull is greater than a second preset angle, the flaps of the rear hydrofoil mechanism are driven to swing upward and / or the flaps of the front hydrofoil mechanism are driven to swing downward; When the left tilt angle of the hull is greater than a third preset angle, the flap of the left hydrofoil mechanism is driven to swing upward and / or the flap of the rear hydrofoil mechanism is driven to swing downward; When the right tilt angle of the hull is greater than a fourth preset angle, the flap of the right hydrofoil mechanism is driven to swing upward and / or the flap of the left hydrofoil mechanism is driven to swing downward.

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