Folding hydrofoil type wave energy power generation device for charging unmanned vehicle and test method

Abstract

The invention discloses a folding hydrofoil type wave energy power generation device for charging an unmanned vehicle and a test method, and belongs to the technical field of follow-up power generation devices. Comprising a variable-length hydrofoil, a hydrofoil mounting piece, a hydrofoil swinging piece, a blade type hydraulic swinging cylinder, a swinging hydraulic cylinder rocker arm and a structural dimension shell. The variable-length hydrofoil and the hydrofoil installation part are provided with installation holes with different heights and connected through bolts, the hydrofoil installation part is installed on the hydrofoil swing part, the hydrofoil swing part is connected to the swing hydraulic cylinder rocker arm, the swing hydraulic cylinder rocker arm is installed on a magnetic head of the blade type hydraulic swing cylinder, and the blade type hydraulic swing cylinder is connected with the variable-length hydrofoil. And the blade type hydraulic oscillating cylinder is mounted in the structure dimension shell. The wave power generation device reciprocates under excitation of waves, kinetic energy of the waves is directly input into the hydraulic PTO for power generation through the blade type swing hydraulic cylinders directly connected through hinges, transmission devices such as connecting rods and gears are not used, and the wave energy conversion efficiency is further improved.

Description

Technical Field

[0001] The invention belongs to the technical field of appendage power generation devices, and particularly relates to a folding hydrofoil type wave energy power generation device for charging an unmanned vehicle and a test method thereof. Background Art

[0002] The ocean accounts for about 71% of the earth's area, which contains rich resources and renewable energy. In the context of the increasingly depleted land resources, the development of the deep sea and the far sea is of great significance. China has a long coastline, and the development of the deep sea and the far sea is constantly advancing. In the fields of scientific and technological environmental resource exploration and collection, the application demand of autonomous underwater vehicles (AUVs) is increasing continuously, and the demand for new types of autonomous underwater vehicles with multiple functions, long endurance, and high intelligence is increasing day by day. An autonomous underwater vehicle is an unmanned marine robot that can navigate autonomously underwater without a mooring cable, and has the advantages of autonomous route planning, task execution, low operating cost, and the ability to operate in the deep sea and dangerous areas. The increase in the number of actuators, processors, and sensors brought about by the diversification of AUV functions has led to a synchronous increase in the power consumption and power consumption of AUVs. Limited by the batteries or fuel carried, the operation range of AUVs is limited, and the endurance time is short. It is necessary to return for salvage, replace the batteries, and replenish the fuel, which affects the operation efficiency.

[0003] The working range of AUVs has abundant environmental energy reserves, such as wind energy, solar energy, temperature difference energy, tidal energy, and wave energy, etc. Among them, wave energy has significant characteristics such as wide time and space distribution and high energy density, and is the best choice for AUVs to utilize environmental energy for power supply.

[0004] For the use of wave energy to supplement energy for unmanned marine equipment (unmanned ships, buoys, surface vehicles, underwater vehicles, etc.), researchers have proposed some solutions to extract and absorb wave kinetic energy and convert it into electrical energy to power unmanned marine equipment. Patent document CN113148074A externally mounts a device on an AUV vehicle that captures wave kinetic energy through two symmetrically arranged hydrofoils, and transmits the wave excitation motion to a generator through mechanical transmission devices such as gears for power generation; Patent document CN118030350A utilizes the motion inertia of a marine robot under wave excitation, and cooperates with a folding structure and a pull plate mechanism to drive an engine for power generation. Patent document CN115822850A designs a swinging hydrofoil to swing up and down following the waves, collects wave energy, and uses a mechanical transmission mechanism to transmit the kinetic energy to a power generation device in a receiving cavity for power generation, so as to improve the endurance time of a marine vehicle and increase the operation radius. Some existing related in-situ power generation structures use mechanical PTOs. Under the periodic motion of wave energy, metal parts will suffer fatigue damage due to frequent commutation and wave impact force, resulting in a decrease in the overall reliability; in the high-salt fog environment of the ocean, the risk of corrosion and rust of metal parts is high, and it is easy to cause part failure. Summary of the Invention

[0005] In view of the deficiencies of existing solutions for AUVs to utilize wave energy to provide electrical energy, the present invention proposes a folding hydrofoil type wave energy power generation device and test method for charging unmanned vehicles, which is a wave energy follow-up power generation device for AUVs based on a hydraulic PTO, and a scaled-down model experiment is carried out.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A folding hydrofoil type wave energy power generation device for charging unmanned vehicles includes a main body sealed cabin, a foldable hydrofoil assembly installed outside the main body sealed cabin, a driving oil circuit installed inside the main body sealed cabin, a hydraulic PTO system, and a power generation system; the driving oil circuit is connected to the foldable hydrofoil assembly and can drive the foldable hydrofoil assembly to unfold and fold, and the foldable hydrofoil assembly is connected to the power generation system through the hydraulic PTO system to convert the mechanical energy of the foldable hydrofoil assembly into electrical energy.

[0008] A test method for a folding hydrofoil type wave energy power generation device for charging unmanned vehicles includes the following steps:

[0009] S1. Initialization of the scaled-down model;

[0010] S2. Joint debugging of the simulation input experiment sensors while being charged;

[0011] S3. Conduct an airtightness test;

[0012] S4. Start the experiment.

[0013] The present invention has the following beneficial effects compared with the prior art:

[0014] 1. The foldable hydrofoil assembly in the present invention makes a reciprocating motion under the excitation of waves, and directly inputs the kinetic energy of the waves into the hydraulic PTO for power generation through a vane type oscillating hydraulic cylinder directly connected by a hinge, without using transmission devices such as connecting rods and gears, further improving the conversion efficiency of wave energy.

[0015] 2. The hydraulic PTO system of the present invention has an energy rectification effect. For two or more input elements, through the rectification circuit designed by the present invention, hydraulic oil is transferred and transported through fixed hydraulic through-wall joints, and the hydraulic motor can always rotate forward under any motion state. Multiple input elements do not interfere with each other, and regardless of whether the input element moves forward or backward, a single rotation of the hydraulic motor can be achieved. This design method saves the space inside the sealed cabin and does not involve the dynamic motion sealing of the sealed cabin, having good integration and sealing performance.

[0016] 3. The wave energy power generation device based on the hydraulic PTO of the present invention avoids the fatigue strength damage of mechanical structures and erosion in the marine salt spray environment, has good reliability in the marine environment. Compared with the wave energy power generation device with mechanical PTO, the hydraulic wave energy power generation device has a higher energy efficiency ratio and is convenient for size enlargement and reduction. The hydraulic device built in the AUV can be compatible with more hydraulic actuators and can also be compatible with the buoyancy-changing oil bladder, which is convenient for integration with the original hydraulic circuit. The original hydraulic circuit can also supplement the oil volume for the closed circuit of the wave energy conversion device, improving the continuous stability of the overall system. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0018] Figure 2 is a schematic diagram of the main hydraulic hatch cover of the present invention;

[0019] Wherein: 1. Variable-length hydrofoil; 2. Hydrofoil mounting part; 3. Hydrofoil pendulum; 4. Vane type swing hydraulic cylinder; 5. Swing cylinder mounting bracket; 6. Swing hydraulic cylinder rocker arm; 7. Structural shell; 8. Angle sensor base; 9. Drainage buoyancy material; 10. Fiberglass silo; 11. Main hydraulic hatch cover; 12. Silicone pad; 13. Hydraulic through-wall joint; 14. Accumulator charging joint; 15. Cable joint female head A; 16. Cable joint female head B; 17. Main upper frame; 18. Hydraulic electromagnetic cut-off valve; 19. Hydraulic cylinder inlet oil pipeline; 20. Built-in micro check valve; 21. Digital display pressure sensor; 22. Low-pressure return oil manifold; 23. High-pressure inlet oil manifold; 24. Main lower frame; 25. High-pressure overflow valve; 26. Accumulator mounting clamp; 27. Accumulator; 28. Accumulator bottom plate; 29. Accumulator four-way oil pipe; 30. Hydraulic motor I; 31. Hydraulic motor support; 32. Integrated mounting plate; 33. Torque and speed sensor; 34. Torque and speed sensor bracket; 35. DC permanent magnet generator; 36. Generator support base; 37. Main tail hatch cover; 38. Leakage sensor; 39. Charging joint and pressure gauge; 40. Counterweight hanger. DETAILED DESCRIPTION OF THE INVENTION

[0020] In order to better understand the purpose, structure and function of the present invention, the following further detailed description of the present invention is made in conjunction with the drawings.

[0021] As Figure 1 、 Figure 2As shown in the figure, the present invention provides a foldable hydrofoil wave energy power generation device for charging an unmanned vehicle, which includes a main body sealed cabin, a foldable hydrofoil assembly installed outside the main body sealed cabin, a drive oil circuit installed inside the main body sealed cabin, a hydraulic PTO system, and a power generation system; the drive oil circuit is connected to the foldable hydrofoil assembly and can drive the foldable hydrofoil assembly to unfold and fold, and the foldable hydrofoil assembly is connected to the power generation system through the hydraulic PTO system to convert the mechanical energy of the foldable hydrofoil assembly into electrical energy.

[0022] There are two foldable hydrofoil assemblies, which are symmetrically arranged above and below the outside of the main body sealed cabin. In the working state, the two side foldable hydrofoil assemblies are closed to form a complete outer circle with the main body sealed cabin, reducing the hydrodynamic resistance in the non-power generation working state.

[0023] Each foldable hydrofoil assembly includes a variable-length hydrofoil 1, a hydrofoil mounting part 2, a hydrofoil pendulum 3, a vane-type oscillating hydraulic cylinder 4, an oscillating hydraulic cylinder rocker arm 6, a structural shell 7, drainage buoyancy material 9, and an angle sensor; both the variable-length hydrofoil 1 and the hydrofoil mounting part 2 are provided with mounting holes of different heights and are connected by bolts. The hydrofoil mounting part 2 is installed on the hydrofoil pendulum 3, the hydrofoil pendulum 3 is connected to the oscillating hydraulic cylinder rocker arm 6, the oscillating hydraulic cylinder rocker arm 6 is installed on the magnetic head of the vane-type oscillating hydraulic cylinder 4, the vane-type oscillating hydraulic cylinder 4 is installed in the structural shell 7 through an oscillating cylinder mounting bracket 5, the angle sensor is installed on the magnetic head of the vane-type oscillating hydraulic cylinder 4 through an angle sensor base 8, and a drainage buoyancy material 9 is connected between the vane-type oscillating hydraulic cylinder 4 and the main body sealed cabin.

[0024] The variable-length hydrofoil 1 is composed of a fiberglass fiber outer shell with internal reinforcing ribs. Through the mounting holes on the reinforcing ribs, it is bolt-connected to the hydrofoil mounting part 2. When it is necessary to conduct an experiment on the parameter change of the hydrofoil length, the hydrofoil length can be adjusted by changing the mounting hole position to conduct a scale-down experiment under different lengths.

[0025] The hydrofoil pendulum 3 provides a mounting space and a welding seam for the hydrofoil mounting part 2. The hydrofoil pendulum 3 and the oscillating hydraulic cylinder rocker arm 6 are connected by a chamfer in the shape of a turning tool, with high strength and small clearance, and can withstand large wave forces.

[0026] The vane-type oscillating hydraulic cylinder 4 is arranged with a double-vane structure and is connected to the hydrofoil composed of the variable-length hydrofoil 1, the hydrofoil mounting part 2, and the hydrofoil pendulum 3 through the oscillating hydraulic cylinder rocker arm 6. Under the excitation of waves, the wave excitation force is transmitted to the vane-type oscillating hydraulic cylinder 4, and the vane-type oscillating hydraulic cylinder 4 pushes the hydraulic oil to convert the mechanical energy of the waves into hydraulic energy and transmit it to the hydraulic power generation circuit system in the main body sealed cabin.

[0027] The swing cylinder mounting bracket 5 has a mounting hole with a specific machined offset angle, and is installed in conjunction with the blade-type swing hydraulic cylinder 4 to achieve a predetermined expansion and closing angle position.

[0028] The rocker arm 6 of the swing hydraulic cylinder has symmetrical openings, on which is installed an angle sensor head coaxial with the blade-type swing hydraulic cylinder 4. By working together with the angle sensor, the axial angle of the blade-type swing hydraulic cylinder 4 can be read in real time, which is also the relative angle of the hydrofoil composed of the variable-length hydrofoil 1, the hydrofoil mounting part 2, the hydrofoil pendulum 3, and the blade-type swing hydraulic cylinder 4 relative to the main sealed cabin.

[0029] The structural shell 7 is made of ABS plastic 3D printing and is connected to the swing cylinder mounting bracket 5, making the experimental device rounded and making the fluid dynamics performance of the main body in the wave excitation experiment more accurate;

[0030] The structural shell 7 is equipped with an angle sensor base 8, which works together with the magnetic head on the swing hydraulic cylinder rocker arm 6 to read the angle of the rotary mechanism composed of the variable length hydrofoil 1, the hydrofoil mounting part 2, the hydrofoil pendulum 3, and the swing hydraulic cylinder rocker arm 6 relative to the main sealing chamber.

[0031] The angle sensor base 8 itself adopts a waterproof design with a waterproof grade of IP68 and can be used when immersed in water;

[0032] The angle sensor is powered by DC12V. The change in magnetic field drives the voltage of the Hall element to change, and then the corresponding angle is calculated. The equal range is converted into a current signal and transmitted to the host computer for reading.

[0033] The drainage buoyancy material 9 is made of epoxy glass beads and is installed on the swing cylinder mounting bracket 5. While increasing the displacement, the arc-shaped outer curve shape forms a complete AUV main body hydrodynamic streamline structure, making the experimental results more accurate; the hydraulic hose with a 316 stainless steel joint is protected inside, and the cloth material is reinforced with a layer of steel wire. According to the design diameter, the maximum pressure resistance is 10MPa.

[0034] The blade-type swing hydraulic cylinder 4 is connected to the hydraulic wall connector 13 to input the hydraulic oil into the hydraulic power generation circuit system of the main sealed compartment.

[0035] The main sealed cabin includes a fiberglass silo 10, a main hydraulic hatch cover 11, a main tail hatch cover 37, a leakage sensor 38, an inflation connector and a pressure gauge 39, and a counterweight mount 40; the main hydraulic hatch cover 11 and the main tail hatch cover 37 are respectively installed at the head and tail ends of the fiberglass silo 10, the main hydraulic hatch cover 11 is connected to the drainage buoyancy material 9, the main tail hatch cover 37 has a built-in leakage sensor 38, and the main tail hatch cover 37 is installed with an inflation connector and a pressure gauge 39 and a counterweight mount 40.

[0036] The fiberglass silo 10 is integrally formed by a disposable wooden mold, embedded with aluminum alloy embedded parts. Threaded holes are processed on the embedded parts, and wire thread inserts are used for reinforcement. At the connection corner of the embedded parts and the outer wall of the silo, waterproof glue is applied to prevent liquid and gas leakage.

[0037] The main hydraulic hatch 11 is provided with a silo installation hole, and is connected to the fiberglass silo 10 through countersunk bolts. A silicone gasket 12 is used for sealing between the two; on the main hydraulic hatch 11, there are hydraulic through-plate joint installation holes for installing hydraulic through-wall joints 13; there are accumulator inflation port installation holes for installing accumulator inflation joints 14; there are 4 installation holes with diameters of 13mm and 11mm for installing female cable connectors A15 and female cable connectors B16.

[0038] The silicone gasket 12 is cut from silicone rubber, with a hardness of 50 and the treatment of reducing the force-bearing area, and is installed between the fiberglass silo 10 and the main hydraulic hatch 11.

[0039] The fiberglass silo 10 is internally provided with a main frame composed of a main upper frame 17 and a main lower frame 24. The main upper frame 17 and the main lower frame 24 are respectively sealed and connected to the main hydraulic hatch 11 and the main tail hatch 37 through bolts and combined gaskets, forming the skeleton and support of the main sealed silo end.

[0040] The main upper frame 17 is composed of a combination of stainless steel sheet metal and angle steel, forming a support structure inside the main sealed silo with the main lower frame 24, increasing the structural stiffness and reducing the impact and vibration caused by movement; the main upper frame 17 is connected to the accumulator installation clamp 26 to lift the accumulator 27 to make it stable and not move up and down with the main frame.

[0041] The main lower frame 24 acts as the frame of the overall structure, connecting the high-pressure overflow valve 25, the accumulator installation clamp 26, the accumulator bottom plate 28, the integrated mounting plate 32, and the DC permanent magnet generator 35, and forming a complete main support structure with the main upper frame 17 to improve the rigidity and strength of the main structure;

[0042] The main tail hatch 37 is connected to the main lower frame 24 through bolts and combined gaskets, and is connected to the fiberglass silo 10 through countersunk bolts and silicone gaskets 12 to form the main sealed silo.

[0043] The liquid leakage sensor 38 is installed inside the main tail hatch 37, and there is a battery for its power supply inside. When water leaks in the main sealed silo, since the main sealed silo is placed vertically, the leaked water can flow back to the main tail hatch 37. After the leaked water is detected by the liquid leakage sensor 38, the liquid leakage sensor 38 will give an alarm and notify the upper computer to immediately stop the test.

[0044] An inflation connector and a pressure gauge 39 are installed on the rear hatch 37 of the main body and communicate with the space inside the compartment. After the main body's sealed compartment is installed, use an air pump to inflate the compartment through the inflation connector and observe the pressure change inside the compartment through the pressure gauge. When the pressure change inside the compartment reaches the designed test pressure, immediately stop inflating.

[0045] A counterweight mount 40 is installed on the rear hatch 37 of the main body through bolts. Before launching, install the counterweight mount 40 (counterweight block) on the screw rod to adjust the overall center of gravity and buoyancy center to meet the experimental design requirements.

[0046] Four hydraulic through-wall joint mounting holes are opened on the main body hydraulic hatch 11 for installing four hydraulic through-wall joints 13; two accumulator inflation port mounting holes are opened for installing two accumulator inflation connectors 14; four mounting holes are opened for installing two cable joint female heads A15 and two cable joint female heads B16.

[0047] The hydraulic through-wall joint 13 uses a double-sided A-type hydraulic joint and cooperates with an O-ring for joint hydraulic sealing; it is hermetically connected to the main body hydraulic hatch 11 using a combined washer and a nut.

[0048] The accumulator inflation connector 14 consists of an adapter component, an accumulator inflation valve core, and an inflation valve core protection cover, which is a prior art. First, connect the accumulator inflation valve core to the adapter component, and use a copper gasket for deformation sealing; then use a nut and an O-ring to connect to the main body hydraulic hatch 11. In the experiment, the gas pressure in the accumulator 27 can be changed through the accumulator inflation connector 14 to conduct a control experiment.

[0049] The cable joint female head A15 is a 16-core watertight cable joint female head. It is connected to the main body hydraulic hatch 11 using a sealing ring and a nut. When not connecting the watertight cable, connect a 16-core watertight joint plug male to the 16-core watertight cable joint female head and use a protective plastic nut for connection to protect the reliability of the joint connection. When in use, remove the 16-core watertight cable plug male, connect the watertight cable, and tighten the plastic protective nut for data acquisition and control.

[0050] The cable joint female head B16 is a 4-core water cable joint female head. It is connected to the main body hydraulic hatch 11 using a sealing ring and a nut. When not connecting the angle sensor 8, connect a 4-core watertight joint plug male to the 4-core water cable joint female head and use a protective plastic nut for connection to protect the reliability of the joint. When in use, remove the 4-core watertight cable plug male, connect the accumulator sensor line assembly, and tighten the plastic protective nut so that the two angle sensors can work properly.

[0051] The hydraulic PTO system includes a low-pressure return oil manifold 22, a high-pressure inlet oil manifold 23, a first hydraulic motor 30, four three-way joints, four pairs of hydraulic quick connectors, four hydraulic through-wall joints 13, four of the hydraulic electromagnetic cut-off valves 18, four hydraulic cylinder inlet oil pipelines 19, six digital display pressure sensors 21, and two accumulators 27;

[0052] The oil outlets A and B of the two vane type swing hydraulic cylinders 4 are respectively connected to the corresponding three-way joints through hydraulic hoses. The outer side nozzles of the four three-way joints are respectively connected to the corresponding hydraulic quick connectors, which are the hydraulic oil filling and supplementary oil ports. The direct connection side nozzles of the four three-way joints are respectively connected to the corresponding hydraulic through-wall joints 13. The four hydraulic through-wall joints 13 pass through the main body seal cabin and are connected to the corresponding hydraulic electromagnetic cut-off valves 18. The four hydraulic electromagnetic cut-off valves 18 are respectively connected to the low-pressure return oil manifold 22 and the high-pressure inlet oil manifold 23 through the hydraulic cylinder inlet oil pipelines 19. The low-pressure return oil manifold 22 is connected to the oil outlet of the first hydraulic motor 30, and the high-pressure inlet oil manifold 23 is connected to the oil inlet of the first hydraulic motor 30.

[0053] The six digital display pressure sensors 21 are respectively arranged at the four hydraulic cylinder inlet oil pipelines 19 and the two accumulators 27. The two accumulators 27 are respectively a high-pressure accumulator and a low-pressure accumulator. The high-pressure accumulator is connected to the digital display pressure sensor 21 and the oil inlet of the first hydraulic motor 30. The low-pressure accumulator is connected to the digital display pressure sensor 21 and the outlet of the first hydraulic motor 30. The low-pressure accumulator is communicated with the low-pressure return oil manifold 22.

[0054] Built-in micro check valves 20 are provided in the eight pipelines where the four hydraulic cylinder inlet oil pipelines 19 are connected to the low-pressure return oil manifold 22 and the high-pressure inlet oil manifold 23.

[0055] A high-pressure relief valve 25 is installed on the pipeline where the high-pressure inlet oil manifold 23 is communicated with the low-pressure return oil manifold 22.

[0056] The power generation system includes a torque and speed sensor 33, a DC permanent magnet generator 35, and a storage battery; the first hydraulic motor 30 is connected to the DC permanent magnet generator 35 through the torque and speed sensor 33, and the DC permanent magnet generator 35 is connected to the storage battery.

[0057] The hydraulic electromagnetic cut-off valve 18 is powered by a 12V power supply and controlled by an io control card. It turns on and cuts off the circuit when needed for experiments and preparing to supplement hydraulic oil, and realizes the locking control algorithm for maximum power tracking control; the hydraulic electromagnetic cut-off valve 18 uses a live nut transition joint to connect the hydraulic through-wall joint 13 and a reduced-diameter transition joint to connect the hydraulic cylinder inlet oil pipeline 19.

[0058] The hydraulic cylinder inlet oil pipeline 19 is welded and processed with a steel pipe and a four-way joint. Live nuts are arranged at key points of the oil pipe to facilitate the installation of the digital display pressure sensor 21 and the transition joint. The hydraulic cylinder inlet oil pipeline 19 is connected to the vane type swing hydraulic cylinder 4 through the hydraulic electromagnetic cut-off valve 18. Two vane type swing hydraulic cylinders 4 correspond to four oil in / out ports, and each oil in / out port is connected in the above connection method. The hydraulic cylinder inlet oil pipeline 19 is equipped with built-in micro check valves 20.

[0059] Built-in micro check valve 20: For each vane type swing hydraulic cylinder 4, a hydraulic rectification circuit needs to be formed, so eight built-in micro check valves 20 are used to form four hydraulic rectification circuits.

[0060] The built-in micro check valve 20 has an external thread and can be installed into the internal thread of the pipeline of the hydraulic cylinder inlet oil pipeline 19, reducing the use of joints and reducing the risk of hydraulic oil leakage.

[0061] The digital display pressure sensor 21 is powered by 5 - 24V, uses analog output for the pressure value, and transmits the pressure value with 4 - 20mA. The pressure gauge range is 0 - 16MPa, and the highest sampling frequency is 300Hz. When the pressure reaches 80% of the preset alarm value, the yellow indicator light comes on to remind that the pressure is about to exceed the limit. When the pressure reaches 100% of the preset value, the red indicator light comes on to remind that the pressure exceeds the standard, and the test needs to be stopped immediately and the pressure relieved.

[0062] The digital display pressure sensor 21 can display the pressure degree at the current position of the hydraulic oil pipe in real time, facilitating the observation of the phenomena and pressure of each component, and also facilitating the debugging of the sensor degree.

[0063] The digital display pressure sensors 21 are respectively arranged at four hydraulic cylinder inlet oil pipelines 19 and two accumulators 27. The four digital display pressure sensors 21 arranged at the hydraulic cylinder inlet oil pipelines 19 are located behind the hydraulic electromagnetic cut-off valve 18 and in front of the built-in micro check valve 20. The two are arranged at the outlets of the high-pressure accumulator and the low-pressure accumulator.

[0064] The low-pressure return oil manifold 22 is welded by a metal pipe, a three-way joint and a live nut. It is connected to the outlet of the first hydraulic motor 30 through a hydraulic hose assembly. Through the built-in micro check valve 20 installed inside, it forms a one-way anti-backflow oil return circuit, connects to the hydraulic cylinder inlet oil pipeline 19, and returns to the vane type swing hydraulic cylinder 4 to form a complete hydraulic circuit.

[0065] The high-pressure inlet oil manifold 23 is welded by a metal pipe, a three-way joint and a live nut. The four inlets of the high-pressure inlet oil manifold 23 are connected to the outlets of the built-in micro check valves 20 of the hydraulic cylinder inlet oil pipeline 19, and then through a hydraulic hose assembly, they are connected to the inlet of the first hydraulic motor 30 to form a complete hydraulic circuit.

[0066] The high-pressure overflow valve 25 is connected to the high-pressure inlet oil manifold 23 and is connected to the low-pressure return oil manifold 22 through a three-way joint and a hydraulic hose assembly. When the pressure of the high-pressure inlet oil manifold 23 does not reach the set value, the circuit operates normally, and the high-pressure overflow valve 25 actually functions as a passage. When the pressure of the high-pressure inlet oil manifold 23 exceeds the preset value of the high-pressure overflow valve 25, the high-pressure overflow valve 25 is activated to unload the pressure into the low-pressure return oil manifold 22, protecting the circuit pressure from exceeding the set value of the high-pressure overflow valve 25.

[0067] The high-pressure accumulator can absorb the hydraulic pressure fluctuations in the hydraulic circuit, reduce hydraulic shock, and make the rotation of the hydraulic motor 30 smooth. The high-pressure accumulator is connected to the digital display pressure sensor 21 through the accumulator four-way oil pipe 29 and is connected to the inlet of the hydraulic motor 30.

[0068] The low-pressure accumulator serves as a standby oil tank in the circuit, can supplement the hydraulic oil reduced in the oil circuit, and maintain a certain back pressure to reduce the occurrence of hazards such as cavitation. The low-pressure accumulator is connected to the digital display pressure sensor 21 through the accumulator four-way oil pipe 29 and is connected to the outlet of the hydraulic motor 30, and is connected to the inlet of the low-pressure return oil manifold 22 through a hydraulic hose assembly.

[0069] The accumulator four-way oil pipe 29 is made by welding a metal pipe and a live nut, and is connected to the accumulator 27 (high-pressure accumulator and low-pressure accumulator), the digital display pressure sensor 21, and the hydraulic motor 30 through a transition joint and a three-way joint.

[0070] The hydraulic motor 30 is a gear hydraulic motor with a rated displacement of 8 cc / rev, which converts hydraulic energy into rotational energy, drives the DC permanent magnet generator 35 through the torque and speed sensor 33, and enables the DC permanent magnet generator 35 to generate electricity.

[0071] The hydraulic motor support 31 has the hydraulic motor 30 installed on it. The hydraulic motor support 31 is installed on the integral mounting plate 32 to maintain its coaxiality with the torque and speed sensor 33 and the DC permanent magnet generator 35, reduce the rotational damping and friction, and thereby improve the overall power generation efficiency.

[0072] The integral mounting plate 32 bears the hydraulic motor support 31, the torque and speed sensor bracket 34, and the DC permanent magnet generator 35, improves the coaxiality of the three, and reduces the movement damping and friction on the shaft.

[0073] The torque and speed sensor 33 is used to connect the hydraulic motor 30 and the DC permanent magnet generator 35, and the three are connected by a jaw coupling. The torque and speed sensor 33 measures the torque and speed on the connecting shaft and is used for experimental data measurement and analysis.

[0074] The torque and speed sensor bracket 34 carries the torque and speed sensor 33 and is mounted on the integrated mounting plate 32 . The torque and speed sensor bracket 34 is processed by integrated milling to improve the overall flatness and coaxiality and reduce the damping and friction of the DC permanent magnet generator 35 .

[0075] The DC permanent magnet generator 35 converts the rotational energy of the hydraulic motor 30 into electrical energy. As the final step in the energy conversion process of the AUV wave energy-carrying power generation device, its power generation parameters, selection, and installation method are crucial. The DC permanent magnet generator 35 is equipped with an ammeter with a 4-20mA analog output and a voltmeter. The ammeter and voltmeter can directly reflect the electromagnetic power generation efficiency of the DC permanent magnet generator 35. Based on the analysis of the relevant parameters, the power generation efficiency, power, and other related parameters can be calculated.

[0076] The generator support base 36 is installed on the rear hatch 37 of the main body and is composed of a sheet metal bent structure and a rubber buffer pad thereon. The sheet metal structure has a certain elasticity and, together with the rubber buffer pad, reduces the generator displacement caused by the up and down vibration of the DC permanent magnet generator 35 during operation of the device, thereby reducing the probability of device damage and further improving the stability of the overall device.

[0077] The two accumulators 27 are mounted on the main frame through accumulator mounting clamps 26 , and the tail ends of the two accumulators 27 are fixedly supported on the main frame by accumulator bottom plates 28 .

[0078] There are two accumulator mounting clamps 26, which are relatively connected and mounted on the main body lower frame 24 and the main body upper frame 17 through a transition sheet metal part, limiting the movement of the two accumulators 27 and fixing them on the constructed main body frame.

[0079] The accumulator bottom plate 28 provides support for the accumulator 27. When the device is placed vertically during operation, it bears part of the weight so that its weight does not act on the accumulator four-way oil pipe 29, protecting the oil pipe from damage and leakage.

[0080] The outer side of the variable-length hydrofoil 1 is designed with a curved surface. When the power generation is completed and the work is finished and the retracted state is completed, it can form a complete cylindrical shape with the main body sealed cabin, which does not affect the normal fluid mechanics shape of the underwater vehicle.

[0081] The hydraulic connection method of the piezoelectric power generation circuit system is as follows: One of the two oil outlets A and B of a vane type oscillating hydraulic cylinder 4 is connected to a three-way joint through a hydraulic hose. The external side of the three-way joint is connected to a hydraulic quick connector, which is the hydraulic oil filling and supplementary oil port. The direct connection side of the three-way joint is connected to a hydraulic through-wall joint 13. The hydraulic through-wall joint 13 passes through the main body sealed cabin and is connected to hydraulic electromagnetic cut-off valves 18A1 and B1. After the hydraulic electromagnetic cut-off valve 18A1, it is connected to an oil inlet built-in micro check valve 20a1 and an oil return built-in micro check valve 20b1. After the hydraulic electromagnetic cut-off valve 18B1, it is connected to an oil inlet built-in micro check valve 20a2 and an oil return built-in micro check valve 20b2. The built-in micro check valves 20a1, b1, a2, and b2 form an oil inlet high-pressure check valve group. After rectification by the check valves, it is connected to a high-pressure relief valve 25. The overflow outlet of the high-pressure relief valve 25 is used to connect to the low-pressure accumulator flow outlet and the high-pressure accumulator. The high-pressure accumulator is connected to the inlet of a hydraulic motor 30. The outlet of the hydraulic motor 30 is connected to the low-pressure accumulator. The low-pressure accumulator is connected to an oil return low-pressure check valve group composed of built-in micro check valves 20a3, a4, b3, and b4, and returns to the two oil outlets A and B of the vane type oscillating hydraulic cylinder 4.

[0082] The two oil outlets II A and II B of another vane type oscillating hydraulic cylinder 4 are connected to a three-way joint through a hydraulic hose. The external side of the three-way joint is connected to a hydraulic quick connector, which is the hydraulic oil filling and supplementary oil port. The direct connection side of the three-way joint is connected to a hydraulic through-wall joint 13. The hydraulic through-wall joint 13 passes through the main body sealed cabin and is connected to hydraulic electromagnetic cut-off valves 18A2 and B2. After the hydraulic electromagnetic cut-off valve 18A2, it is connected to an oil inlet built-in micro check valve 20a3 and an oil return built-in micro check valve 20b3. After the hydraulic electromagnetic cut-off valve 18B2, it is connected to an oil inlet built-in micro check valve 20a4 and an oil return built-in micro check valve 20b4. The built-in micro check valves 20a3, b3, a4, and b4 form an oil inlet high-pressure check valve group. After rectification by the check valves, it is connected to a high-pressure relief valve 25. The overflow outlet of the high-pressure relief valve 25 is used to connect to the low-pressure accumulator flow outlet and the high-pressure accumulator. The high-pressure accumulator is connected to the inlet of a hydraulic motor 30. The outlet of the hydraulic motor 30 is connected to the low-pressure accumulator. The low-pressure accumulator is connected to an oil return low-pressure check valve group composed of built-in micro check valves a3, a4, b3, and b4, and returns to the two oil outlets II A and II B of the vane type oscillating hydraulic cylinder 4.

[0083] The working process of the AUV wave energy in-body power generation device is as follows: When the power of the AUV is lower than a certain threshold, the hydraulic motor II in the main body sealed cabin starts, controls the oil circuit through an electromagnetic directional valve, rotates the vane type oscillating hydraulic cylinder 4 to the angle at which the folding hydrofoil opens, and then switches the electromagnetic directional valve to switch the vane type oscillating hydraulic cylinder 4 into the power generation closed circuit to complete the power generation preparation work.

[0084] The driving oil circuit can adopt an existing driving oil circuit with a hydraulic motor II as the power source and an electromagnetic directional valve as the control valve.

[0085] For the AUV wave energy in-body power generation device, after completing the power generation preparation work, under the excitation of waves, the foldable hydrofoil assembly rotates relative to the main body sealed cabin, and the relative rotation drives the vane type oscillating hydraulic cylinder 4 to rotate, converting the kinetic energy of wave energy into hydraulic energy and transmitting it into the hydraulic PTO system.

[0086] Through the hydraulic PTO system, the kinetic energy of wave energy is converted into the rotation of the hydraulic motor I 30.

[0087] For the wave energy power generation device of the AUV wave energy in-body power generation device, in its power generation system part, it consists of a generator, a torque and speed sensor, a speed increaser, and a flywheel. When the hydraulic motor I 30 rotates, it drives the torque and speed sensor 33 - speed increaser and flywheel to rotate, transmits the rotation to the DC permanent magnet generator 35, makes the DC permanent magnet generator 35 rotate, and converts the kinetic energy into electrical energy.

[0088] The DC permanent magnet generator 35 is a three-phase permanent magnet generator. Through a rectification circuit, a load regulation circuit, and a charging circuit, the electrical energy generated by the generator is rectified into DC and stored in the storage battery.

[0089] The load regulation circuit contains an adjustable electronic load. By setting the mode and parameters of the electronic load, the load of the three-phase permanent magnet generator connected to the system can be controlled, thereby adjusting the overall system damping. The system damping will correspond to the hinge formed by the vane type oscillating hydraulic cylinder 4, affecting the working efficiency of the overall device.

[0090] The load regulation circuit can select through a specific control algorithm

[0091] When the AUV battery power reaches the predetermined value or when a state needs to be switched, the driving oil circuit starts. The electromagnetic directional valve in the driving oil circuit disconnects the closed circuit of the hydraulic wave energy power generation device and connects the driving circuit with an oil bladder. Through the electromagnetic directional valve, the hydraulic motor I 30 drives the vane type oscillating hydraulic cylinder 4 to retract the foldable hydrofoil and restore it to the working state.

[0092] The foldable hydrofoil assembly can adjust the length of the variable-length hydrofoil 1 through different mounting hole positions, thereby changing the frequency characteristics of the foldable hydrofoil assembly, changing its corresponding hydrodynamic parameters, matching with sea conditions of different wave periods, and improving the wave energy capture efficiency.

[0093] At the main body hydraulic cabin cover 11 of the main body sealed cabin, there are two 16-core data exchange cables (connected through the female cable connector A15) for power supply and signal transmission to sensors, hydraulic pump stations, etc.

[0094] The main sealed cabin has two 4-core watertight data exchange cables (connected through female cable connectors B16) at the main hydraulic hatch 11, which supply power and transmit data signals to the Hall non-contact angle sensor outside the main sealed cabin.

[0095] The main sealed cabin has 4 hydraulic through-wall joints 13 at the main hydraulic hatch 11. The 4 hydraulic through-wall joints 13 introduce the hydraulic oil outside the main sealed cabin into the hydraulic circuit inside the main sealed cabin, playing the role of hydraulic oil interaction inside and outside the cabin. Four quick oil filling connectors can fill oil and adjust the pressure of the hydraulic circuit without opening the main sealed cabin.

[0096] The main sealed cabin has two accumulator inflation joints 14 at the main hydraulic hatch 11. When not in use, the accumulator inflation joints 14 are protected by threaded protective covers. When in use, the threaded protective covers are removed, and an accumulator inflation tool is used to adjust the gas volume and pressure of the accumulator without disassembling the main sealed cabin section.

[0097] The scaled experiment of the AUV wave energy in-body power generation device has multiple sensors, which can detect multiple parameters and indicators of the power generation device.

[0098] The angle sensor installed on the vane type swing hydraulic cylinder 4 senses the state of the hydrofoil. When the state changes, it judges whether the hydrofoil is normally deployed and retracted through the reading of the angle sensor.

[0099] In the power generation state, the angle sensor can record the movement of the foldable hydrofoil assembly relative to the main body, obtain the angle of relative movement. By integrating and smoothing the angle, the angular velocity of the foldable hydrofoil relative to the main body can be obtained, and then the power input to the hydraulic PTO by the foldable hydrofoil under wave excitation can be calculated.

[0100] For the vane type swing hydraulic cylinder 4, a pressure sensor is installed at both outlets. By the reading of the pressure sensor and combining with the structural parameters of the vane type swing hydraulic cylinder 4, the real-time torque on the main shaft of the vane type swing hydraulic cylinder 4 can be obtained. Combining with the relative movement angular velocity described above, the power input to the hydraulic PTO by the foldable hydrofoil can be obtained.

[0101] For the hydraulic PTO system, two pressure sensors are installed at the two accumulators 27, which can reflect the internal pressure conditions of the high-pressure accumulator and the low-pressure accumulator, calculate the corresponding conversion efficiency, and judge the starting pressure of the hydraulic motor 1 30.

[0102] The torque and speed sensor 33 of the power generation system can measure the torque and speed data on the output shaft of the hydraulic motor 1 30. By matching with the generator, the conversion efficiency of the generator can be calculated.

[0103] The main sealed cabin is equipped with a liquid leakage sensor 38 at the bottom of the cabin, which communicates with the host computer. When the seal in the cabin fails and leaks water, the liquid leakage sensor 38 will give an alarm, and the experiment can be terminated immediately.

[0104] The main sealed cabin is equipped with a counterweight hanger 40 at the bottom of the cabin. By externally hanging an appropriate counterweight plate, the overall buoyancy and gravity can be adjusted. By increasing the counterweight, the draft depth of the overall device can be changed to test the influence of the draft depth on the wave energy capture efficiency of the device.

[0105] The host computer is composed of a data acquisition box, a host computer, and a watertight data transmission cable. During the experiment of the scaled-down prototype of the wave energy power generation device, the experimental device is connected to the data acquisition box through the watertight data transmission cable, and the data acquisition box is connected to the host computer through a network cable. The data acquisition system runs on the host computer.

[0106] The data acquisition box is composed of a current acquisition board, a multi-functional control and acquisition integrated board, a 12 - 24V power supply, and a network cable communication module.

[0107] The current acquisition board is responsible for collecting the 4 - 20mA data signals of the sensors, supporting up to 20 channels of 4 - 20mA signals, and transmitting them to the host computer through the network cable communication module.

[0108] The multi-functional control and acquisition integrated board has 6 channels of Boolean quantity control electromagnetic relay switches and 2 channels of 485 data bidirectional channels. The 6 channels of Boolean quantity control electromagnetic relay switches control the opening and closing of the hydraulic electromagnetic cut-off valve 18. One of the two channels of 485 signal data bidirectional channels receives the 485 signal of the liquid leakage sensor, and the other channel controls the electronic load through the 485 signal to adjust the electronic load mode and value.

[0109] The electronic load, based on the principle of high-power MOS transistors combined with internal control algorithms, can achieve constant current, constant voltage, constant resistance, and constant power control of the DC permanent magnet generator, and relevant parameters can be set.

[0110] The present invention provides a test method for a folding hydrofoil type wave energy power generation device for charging an unmanned vehicle, including the following steps:

[0111] S1. Initialization of the scaled-down model;

[0112] Create a scaled-down model of the power generation unit. After connecting the hydraulic lines of the scaled-down model, connect the hydraulic line's three-way quick connector to the oil charging line. Adjust the hydraulic oil pump's two-position four-way reversing valve to the forward conduction state to unload the hydraulic oil from the oil circuit. Then, connect the charging device of accumulator 27 and charge both the high-pressure and low-pressure accumulators 27 to the required operating pressure. After initializing the gas pressure in accumulator 27, use the hydraulic oil pump to charge the closed circuit.

[0113] First, debug the pilot relief valve of the oil filling pipeline to make the hydraulic oil pump pressure reach about 0.5MPa, so that the hydraulic circuit is filled with medium. Then adjust the pilot relief valve to make the hydraulic oil pump pressure reach about 1.5MPa, increase the overall pressure of the system, and meet the design requirements.

[0114] S2. Simulate input experiment sensor live joint debugging;

[0115] Before sealing the main sealed cabin, complete all wiring connections, install the main watertight cable, and check the sensor accuracy. Check that the sensor range is within the preset settings, that sampling is occurring at the preset sampling frequency, and that the converted physical parameters are consistent with the range. Also, check that the angle sensor passing through the main sealed cabin is functioning properly and that the leakage sensor 38 at the rear end of the cabin is emitting alarms.

[0116] S3. Conduct airtightness test;

[0117] After the main sealing chamber end is sealed, the sealed chamber end and the float that enter the water need to be tested for air tightness. The air tightness test of the main sealing chamber generally includes positive pressure leakage detection and negative pressure holding test. The positive pressure leakage test uses an air pump to inflate the inflation port reserved at the bottom with an inflation pressure of 0.2MPa (which corresponds to a water depth of 20m), and then uses foaming liquid to detect gap leakage. The focus is on the installation bolts of the cabin end cover (main hydraulic hatch 11 and main tail hatch 37). If the countersunk bolts leak, it is necessary to add raw tape to make its watertight performance complete.

[0118] S4. Start the experiment;

[0119] Purpose of experimental test

[0120] (1) Verify whether the scaled model can work normally under wave excitation, whether the hydrofoil can be pushed by waves, and verify the feasibility of wave energy generation of the device.

[0121] (2) Check whether the sealing of the main device is reliable, whether the scaled model sensor and data acquisition box can collect data and other related parameters. After the data is collected, analyze it and observe whether the readings of each sensor are normal.

[0122] (3) Observe the changes in the wave energy generation efficiency under different wave conditions.

[0123] (4) Whether the power generation function is achieved and whether the relevant indicators are met.

[0124] Experimental steps:

[0125] S41. Hoist the scaled-down device and its accessories to the ship model towing tank;

[0126] After the scaled-down device is debugged, it is hoisted to the ship model towing tank together with the installation bracket. During installation, first install the data acquisition box, laptop computer, power supply, hydraulic oil filling pump, etc. on the towing tank traveling crane, and install the oil circuit and data acquisition cables together. After all other accessories are installed, first install the auxiliary installation bracket on the traveling crane, and then hoist the scaled-down device into the auxiliary installation bracket, ensuring that the scaled-down experimental device does not interfere with the installation frame and the dock structure and there is no structural rubbing when the traveling crane moves, then the hoisting of the experimental device can be completed.

[0127] S42. Complete the initialization of the scaled-down device;

[0128] After the scaled-down device is hoisted, connect the circuit and the oil circuit at the dock, perform circuit initialization and oil circuit initialization, check the oil circuit pressure and the power supply and readings of each sensor, set the external load, and end after checking. Under the action of the auxiliary bracket, slowly start the traveling crane and move to the predetermined test area 30 m away from the wave-making mechanism. After reaching the predetermined position, start the traveling crane brake to stop the whole set of devices at the predetermined position and complete the initialization of the scaled-down device.

[0129] S43. Simulate the wave environment through the wave-making mechanism, run the scaled-down device, and test the power generation performance and stability of the scaled-down model under the sea wave conditions of different wave heights, wavelengths and periods;

[0130] Arrange the scaled-down device according to the predetermined draft and counterweight to the predetermined area from the wave-making mechanism. After clarifying the period and wave height, start making waves. When the wave-making machine is started, start the data acquisition program, start the solenoid valve, the hydraulic circuit starts to work, and start timing. During this period, observe whether the power generation device moves under the wave excitation, and observe whether the sensor data is normal on the laptop computer of the host computer. Stop making waves when the timing reaches 120 s. Wait for the sensor data to stabilize, then close the acquisition program, stop the acquisition, record the data under the current simulated sea condition, rename and organize it into the corresponding folder. Save the data of the wave height meter in the pool as the original data for subsequent processing. At the same time, adjust the load resistance value and prepare for the next wave-making.

[0131] S44. Collect and analyze the data;

[0132] After the first set of data acquisition is completed, immediately conduct analysis, import the pre-set data analysis template, perform data analysis, observe whether the data of each sensor is normal, and judge whether its pattern conforms to the simulation expectation. After confirming that there is no error, conduct experiments with different parameters according to the predetermined working conditions, and save the original data files.

[0133] S45. End the experiment.

[0134] After completing all the predetermined working conditions, end the experiment, remove the scaled-down device and place it properly, and process it according to the said formula and calculation method to obtain relevant technical indicators. Use the scaled-down similarity theorem to convert and compare each index parameter, compare it with the corresponding index, and conduct index assessment.

[0135] Precautions for the experiment:

[0136] Ensure that the experimental equipment is safe and reliable, and strictly abide by the safety operation procedures.

[0137] The experimental data should be accurate and reliable, and ensure the calibration and measurement accuracy of the measuring instruments.

[0138] The experimental results should be objective and true, and avoid human errors.

[0139] The experimental report should be complete and clear, including the experimental purpose, scheme, steps, results, conclusions and other contents.

[0140] It can be understood that the present invention is described through some embodiments. Those skilled in the art know that without departing from the spirit and scope of the present invention, various changes or equivalent replacements can be made to these features and embodiments. In addition, under the teaching of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A folding hydrofoil wave energy generation device for charging an unmanned vehicle, characterized in that: It includes a main sealed cabin, a foldable hydrofoil assembly installed outside the main sealed cabin, a driving oil circuit installed inside the main sealed cabin, a hydraulic PTO system, and a power generation system; the driving oil circuit is connected to the foldable hydrofoil assembly and can drive the foldable hydrofoil assembly to unfold and fold, and the foldable hydrofoil assembly is connected to the power generation system through the hydraulic PTO system to convert the mechanical energy of the foldable hydrofoil assembly into electrical energy.

2. The foldable hydrofoil wave energy generation device for charging an unmanned vehicle according to claim 1, characterized in that: There are two foldable hydrofoil assemblies, which are symmetrically arranged above and below the outside of the main sealed cabin. In the working state, the two foldable hydrofoil assemblies on both sides are closed to form a complete outer circle with the main sealed cabin. Each foldable hydrofoil assembly includes a variable-length hydrofoil (1), a hydrofoil mounting piece (2), a hydrofoil pendulum (3), a vane-type swing hydraulic cylinder (4), a swing hydraulic cylinder rocker arm (6), a structural shell (7), drainage buoyancy material (9), and an angle sensor; both the variable-length hydrofoil (1) and the hydrofoil mounting piece (2) are provided with mounting holes of different heights and are connected by bolts. The hydrofoil mounting piece (2) is installed on the hydrofoil pendulum (3), the hydrofoil pendulum (3) is connected to the swing hydraulic cylinder rocker arm (6), the swing hydraulic cylinder rocker arm (6) is installed on the magnetic head of the vane-type swing hydraulic cylinder (4), the vane-type swing hydraulic cylinder (4) is installed in the structural shell (7), the angle sensor is installed on the magnetic head of the vane-type swing hydraulic cylinder (4), and a drainage buoyancy material (9) is connected between the vane-type swing hydraulic cylinder (4) and the main sealed cabin.

3. The foldable hydrofoil type wave energy power generation device for charging an unmanned vehicle according to claim 1, wherein: The main sealed cabin includes a fiberglass silo (10), a main hydraulic hatch cover (11), a main tail hatch cover (37), a liquid leakage sensor (38), an inflation joint and a pressure gauge (39), and a weight hanger (40); the main hydraulic hatch cover (11) and the main tail hatch cover (37) are respectively installed at the head and tail ends of the fiberglass silo (10), the main hydraulic hatch cover (11) is connected to the drainage buoyancy material (9), the main tail hatch cover (37) is internally provided with a liquid leakage sensor (38), and an inflation joint and a pressure gauge (39) and a weight hanger (40) are installed on the main tail hatch cover (37).

4. The foldable hydrofoil wave energy generation device for charging an unmanned vehicle according to claim 3, characterized in that: The fiberglass silo (10) is internally provided with a main frame composed of a main upper frame (17) and a main lower frame (24), and the main upper frame (17) and the main lower frame (24) are respectively hermetically connected to the main hydraulic hatch cover (11) and the main tail hatch cover (37).

5. The foldable hydrofoil wave energy generation device for charging an unmanned vehicle according to claim 3, characterized in that: Four hydraulic through-board joint mounting holes are opened on the main hydraulic hatch cover (11) for installing four hydraulic through-wall joints (13); two accumulator inflation port mounting holes are opened for installing two accumulator inflation joints (14); four mounting holes are opened for installing two cable joint female heads A (15) and two cable joint female heads B (16).

6. The foldable hydrofoil wave energy generation device for charging an unmanned vehicle according to claim 2, wherein: The hydraulic PTO system includes a low-pressure return oil manifold (22), a high-pressure inlet oil manifold (23), four three-way joints, four pairs of hydraulic quick connectors, four hydraulic through-wall joints (13), four hydraulic electromagnetic cut-off valves (18), four hydraulic cylinder inlet oil pipelines (19), six digital display pressure sensors (21), and two accumulators (27); The oil outlets A and B of the two vane swing hydraulic cylinders (4) are respectively connected to the corresponding three-way joints through hydraulic hoses. The outer side nozzles of the four three-way joints are respectively connected to the corresponding hydraulic quick connectors. The direct connection side nozzles of the four three-way joints are respectively connected to the corresponding hydraulic through-wall joints (13). The four hydraulic through-wall joints (13) pass through the main body sealed cabin and are connected to the corresponding hydraulic electromagnetic cut-off valves (18). The four hydraulic electromagnetic cut-off valves (18) are respectively connected to the low-pressure return oil manifold (22) and the high-pressure inlet oil manifold (23) through the hydraulic cylinder inlet oil pipelines (19). The low-pressure return oil manifold (22) is connected to the oil outlet of hydraulic motor 1 (30), and the high-pressure inlet oil manifold (23) is connected to the oil inlet of hydraulic motor 1 (30). The six digital display pressure sensors (21) are respectively arranged at the four hydraulic cylinder inlet oil pipelines (19) and the two accumulators (27). The two accumulators (27) are respectively a high-pressure accumulator and a low-pressure accumulator. The high-pressure accumulator is connected to the digital display pressure sensor (21) and the oil inlet of hydraulic motor 1 (30). The low-pressure accumulator is connected to the digital display pressure sensor (21) and the outlet of hydraulic motor 1 (30). The low-pressure accumulator is communicated with the low-pressure return oil manifold (22). Built-in micro check valves (20) are arranged in the eight pipelines where the four hydraulic cylinder inlet oil pipelines (19) are connected to the low-pressure return oil manifold (22) and the high-pressure inlet oil manifold (23). A high-pressure relief valve (25) is installed on the pipeline where the high-pressure inlet oil manifold (23) is communicated with the low-pressure return oil manifold (22).

7. The foldable hydrofoil wave energy generation device for charging an unmanned vehicle according to claim 6, characterized in that: The power generation system includes a torque and speed sensor (33), a DC permanent magnet generator (35), and a storage battery. The hydraulic motor 1 (30) is connected to the DC permanent magnet generator (35) through the torque and speed sensor (33), and the DC permanent magnet generator (35) is connected to the storage battery.

8. The folding hydrofoil type wave energy power generation device for charging an unmanned vehicle according to claim 2, characterized in that: The outer surface of the variable-length hydrofoil (1) is an arc surface. When the variable-length hydrofoil (1) is folded and attached to the main body sealed cabin, it can form a cylindrical shape.

9. A test method for a folding hydrofoil wave energy power generation device for charging an unmanned vehicle according to any one of claims 1 to 8, characterized in that: It includes the following steps: S1. Initialization of the scaled model; S2. Joint debugging of the simulated input experiment sensors with power on; S3. Conduct an airtightness test; S4. Start the experiment.

10. The test method of the folding hydrofoil wave energy generation device for charging an unmanned vehicle, as claimed in claim 9, wherein: The specific steps of the S4. Start the experiment are as follows: S41. Hoist the scaled device and accessories to the ship model towing tank; S42. Complete the initialization of the scaled device; S43. Simulate the wave environment through the wave-making mechanism, operate the scaled device, and test the power generation performance and stability of the scaled model under the sea wave conditions of different wave heights, wavelengths, and periods; S44. Collect data and analyze it; S45. End the experiment.

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