CD-ROM floating pleasure boat and control method

Abstract

The invention relates to the technical field of water equipment, and discloses a CD-ROM floating pleasure boat and a control method. The power driving system comprises a power piece and paddles, the power piece is installed at the tail of the ship body through a fixing structure, the power driving system is rotationally connected with the fixing structure, and the paddles are installed on the power piece and configured to drive the power piece to rotate when the power piece is in an illumination state. The power piece drives the paddles to rotate to drive the ship body to move; establishing a light-heat-force-motion coupling model of the power driving system; determining a mapping relation between the illumination intensity and the motion state of the ship body through a coupling model; the control over the motion state of the ship body is achieved by adjusting the illumination intensity acting on the power driving system. The technical bottlenecks that a traditional CD-ROM device needs to be externally connected with a power source and a controller, the structure is complex, and adaptability is poor are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of water equipment, in particular to a light-driven floating ship and a control method. BACKGROUND

[0002] With the rapid development of soft robot, micro water transportation and environmental energy collection technologies, how to realize a self-sustaining propulsion device without external power supply and complex control system has become a current research hotspot. Traditional water propulsion devices generally rely on motors, batteries, fuel or external control circuits, and have problems such as complex structure, large mass, high maintenance cost, poor environmental adaptability, etc., which are difficult to meet the needs of micro-scale, long-time and low-disturbance operation.

[0003] In recent years, stimulus-responsive materials (such as liquid crystal elastomers, hydrogels, shape memory alloys, etc.) have been widely used to build self-sustaining motion systems because they can directly convert environmental energy such as light, heat, electricity and magnetism into mechanical energy. Among them, liquid crystal elastomers (LCE) are considered to be an ideal material for building cable-free, lightweight and intelligent driving systems due to their programmable anisotropic mechanical behavior, light / heat wireless response capability and self-excited oscillation / rotation and other rich motion modes.

[0004] Currently, the research on self-sustaining motion based on LCE mainly focuses on cantilever oscillation, self-rotating rods and self-rolling rings with simple configurations, and their motion forms are mostly periodic deformation or local displacement, which cannot be effectively converted into continuous and directional propulsion force. In addition, existing LCE driving devices are mostly limited to material level demonstration, lacking complete system design coupled with propulsion structures such as ship bodies and paddles, and lacking theoretical models that can be used for speed adjustment and parameter optimization. How to design a water device with simple structure, without power supply and control, and realize directional self-sustaining propulsion, and establish its light-heat-force coupling theoretical model, has become a current technical bottleneck.

[0005] Therefore, there is an urgent need for a light-driven floating ship and a control method to solve the above problems. SUMMARY

[0006] The purpose of the present application is to provide a light-driven floating ship and a control method to solve the above problems existing in the prior art.

[0007] To achieve the above purpose, the present application provides the following solutions: the present application provides a light-driven floating ship, which comprises:

[0008] a ship body;

[0009] A power driving system comprises a power piece and a paddle, the power piece is installed on the tail of the ship body through a fixing structure, the power driving system is rotationally connected with the fixing structure, the paddle is installed on the power piece, and when the power piece is in an illumination state, the power piece drives the paddle to rotate to drive the ship body to move.

[0010] According to the light-driven floating ship, the power piece is an LCE rod, and the paddle is fixedly connected to the middle part of the LCE rod.

[0011] According to the light-driven floating ship, the fixing structure comprises two ball bearings and two connecting rods, one end of each of the two connecting rods is fixedly connected to the two sides of the tail of the ship body, the ball bearings are fixedly connected to the other ends of the connecting rods, and the two ends of the LCE rod are installed on the two ball bearings.

[0012] According to the light-driven floating ship, the LCE rod is made of a photo-thermal responsive liquid crystal elastomer material and carbon nanotubes.

[0013] A control method of a light-driven floating ship comprises the following steps.

[0014] A light-heat-force-motion coupling model of the power driving system is established.

[0015] A mapping relationship between an illumination intensity and a motion state of the ship body is determined through the coupling model.

[0016] The motion of the ship body is controlled by adjusting the illumination intensity applied to the power driving system.

[0017] According to the control method of the light-driven floating ship, the establishment of the motion coupling model comprises the following steps.

[0018] A steady-state temperature field distribution model of the power piece under illumination is established.

[0019] Based on the steady-state temperature field distribution, the thermal bending curvature of the power piece is calculated.

[0020] Based on the thermal bending curvature, the driving torque generated by the gravity center offset is calculated.

[0021] According to the control method of the light-driven floating ship, the steady-state temperature field distribution is obtained by solving an energy conservation equation, and the energy conservation equation is as follows.

[0022] ;

[0023] wherein, is a steady-state temperature field, is an absorption coefficient, is the ambient temperature, is the characteristic time scale of thermal relaxation, is the light intensity, is the angular velocity of the paddle rotation, is the radial coordinate within the cross section of the LCE rod, is the circumferential polar angle within the cross section of the LCE rod, is the radius of the LCE rod.

[0024] According to the present application, a control method of a light-driven planktonic ship is provided, the thermal-induced bending curvature of the LCE rod is k, satisfying:

[0025] ;

[0026] wherein, is the cross-sectional moment of inertia of the LCE rod, E is the elastic modulus, denotes the linear thermal expansion coefficient, is the normal stress on the cross section of the LCE rod, is the radial coordinate within the cross section of the LCE rod, is the circumferential polar angle within the cross section of the LCE rod, is the absorption coefficient, is the radius of the LCE rod, is the characteristic time scale of thermal relaxation, is the light intensity, is the angular velocity of the paddle rotation.

[0027] According to the present application, a control method of a light-driven planktonic ship is provided, the angular velocity of the paddle satisfies:

[0028] ;

[0029] wherein, is the angular velocity of the paddle rotation, is the mass of the LCE rod, is the gravitational acceleration, is the rotational damping coefficient of the paddle, denotes the damping coefficient of the ship body, is the length of the paddle, is the radius of curvature of the LCE, is the support distance.

[0030] According to the present application, a control method of a light-driven planktonic ship is provided, the ship body advancing speed satisfies:

[0031] ;

[0032] wherein, is the ship body speed, For blade length, This represents the damping coefficient of the ship's hull. For LCE rod mass, It is the acceleration due to gravity. Let be the radius of curvature of the liquid crystal elastomer. To support the spacing.

[0033] Compared with the prior art, the present invention has the following advantages and technical effects:

[0034] This invention provides a light-driven floating boat and its control method. In use, the assembled floating boat is placed on the water surface with its stern facing a constant parallel light source. When the light shines on the propulsion component, the liquid crystal cells on the light-facing side of the propulsion component undergo cis-trans isomerization, resulting in local contraction and inducing macroscopic bending. This bending causes the center of gravity to deviate from the support axis, thus generating a gravitational torque that drives the propulsion component to rotate continuously around its own axis. This rotation drives the propeller blades to rotate as well, and the blades continuously propel the boat backward. Based on the principle of action and reaction, this provides a continuous forward thrust to the hull, thereby achieving cable-free autonomous navigation. This invention utilizes the photothermal deformation characteristics of liquid crystal elastomers to construct a light-driven floating boat system that requires no external power supply, controller, or fuel. This significantly simplifies the system structure, reduces energy consumption and maintenance costs, and achieves precise control of the boat's forward speed and propeller rotation angular velocity by establishing a control equation between light intensity and the hull's motion state. The floating vessel device provided by this invention has a simple structure, light weight, and low cost, and is suitable for various application scenarios such as environmental monitoring, water sampling, and educational demonstrations, and has good prospects for promotion. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the hull structure of the present invention;

[0037] Figure 2 This is a top view of the driving device of the present invention;

[0038] Figure 3 This is a side view of the driving device of the present invention;

[0039] Figure 4 This is a schematic diagram illustrating the effect of photothermal power on kinetics in this invention. (a) shows different... Value of spin angular velocity and propulsion speed , (b) the relationship between the driving torque and the angular velocity at different ;

[0040] Figure 5 Fig. 2 is a schematic diagram showing the effect of the support distance on the dynamics of the present application, (a) the angular velocity and the propulsion speed at different values of the spin; , (b) the relationship between the driving torque and the angular velocity at different ;

[0041] 1, hull; 2, fixed structure; 21, ball bearing; 22, connecting rod; 3, power drive system; 31, paddle; 32, LCE rod. DETAILED DESCRIPTION

[0042] The technical solutions in the embodiments of the present application will be apparently and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without any creative work fall within the protection scope of the present application.

[0043] In order to make the above objectives, characteristics and advantages of the present application more apparent, comprehensible and easier to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0044] With reference to Figures 1-5 , the present application provides a light-driven floating ship, which comprises:

[0045] a hull 1;

[0046] a power drive system 3, comprising a power member and a paddle 31, the power member being installed at the tail of the hull 1 through the fixed structure 2, the power drive system 3 being rotationally connected with the fixed structure 2, the paddle 31 being installed on the power member and being configured to rotate and drive the hull 1 to move when the power member is in a light state.

[0047] In one embodiment of the present application, when in use, the assembled floating boat is placed on the water surface with the tail part facing a constant parallel light source, and the light is irradiated on the power element. When irradiated by the constant linear light source, the light-incident side liquid crystal cell of the power element undergoes cis-trans isomerization, resulting in local contraction, inducing macroscopic bending. The bending causes the center of gravity to deviate from the support axis, thereby forming a gravitational moment, driving the power element to continuously rotate around its own axis. When rotating, the paddle 31 rotates together, and the paddle 31 continuously paddles backward, providing a continuous forward thrust for the boat body 1 according to the principle of action and reaction, thereby realizing cable-free autonomous navigation.

[0048] As an optional embodiment, the power element is an LCE rod 32, which is rotationally connected to the fixed structure 2, and the paddle 31 is fixedly connected to the middle part of the LCE rod 32.

[0049] In one embodiment of the present application, liquid crystal elastomers are used as power elements, which are initially straight rods and become single-domain after UV stretching process, serving as the core element of light-heat-mechanical conversion. The rod has dual characteristics of liquid crystal anisotropy and rubber elasticity: when irradiated by a constant linear light source, the light-incident side liquid crystal cell of the rod body undergoes cis-trans isomerization, resulting in local contraction, inducing macroscopic bending. The bending causes the center of gravity to deviate from the support axis, thereby forming a gravitational moment, driving the rod body to continuously rotate around its own axis. Based on this characteristic, the light-driven floating boat structure directly drives the paddle 31, which can realize water surface autonomous propulsion under the conditions of no cable, no controller and no chemical fuel.

[0050] As an optional embodiment, the fixed structure 2 includes two ball bearings 21 and two connecting rods 22, one end of the two connecting rods 22 is fixedly connected to the tail part of the boat body 1 on both sides, and the ball bearing 21 is fixedly connected to the other end of the connecting rod 22. The two ends of the LCE rod 32 are respectively installed on the two ball bearings 21.

[0051] In one embodiment of the present application, the LCE rod 32 is installed by the connecting rod 22 and the ball bearing 21, realizing the installation of the LCE rod 32 and making it have the function of rotation.

[0052] Specifically, the length of the connecting rod 22 is greater than the length of the paddle 31, preventing the paddle 31 from rubbing against the boat body 1.

[0053] As an optional embodiment, the LCE rod 32 is made of photo-thermal responsive liquid crystal elastomer material and carbon nanotubes.

[0054] In one embodiment of the present application, light is used as the heat source, which has good controllability, environmental protection and environmental adaptability. A LCE rod 32 with a length of 90 mm and a diameter of 2.5 mm is installed on two connecting rods 22 at the rear of the floating ship. When a constant light source is used to heat the LCE rod 32, the LCE rod 32 first bends, and then starts to rotate autonomously. Under stable light, the bending of the LCE rod 32 causes the center of gravity to change. When the center of gravity deviates from the support line, it enters an unstable state and drives the rolling, so that the paddle 31 starts to roll and rotates at a certain angular velocity, thereby giving power to the ship body.

[0055] A control method of the light-driven floating ship, comprising the following steps:

[0056] An optical-thermal-force-motion coupling model of the power driving system 3 is established.

[0057] A mapping relationship between the light intensity and the motion state of the ship body 1 is determined through the coupling model.

[0058] The motion of the ship body 1 is controlled by adjusting the light intensity applied to the power driving system 3.

[0059] In one embodiment of the present application, an optical-thermal-force-motion coupling model of the power driving system 3 is established, which describes the whole process from light energy input to final mechanical motion in terms of physical nature.

[0060] A quantitative mapping relationship between the light intensity and the motion state of the ship body, such as forward speed and paddle rotation speed, is determined through the coupling model. Based on the mapping relationship, the motion of the ship body 1 is controlled by adjusting the light intensity applied to the power driving system 3.

[0061] As an optional implementation, the establishment of the motion coupling model includes:

[0062] A steady-state temperature field distribution model of the power element under light is established.

[0063] Based on the steady-state temperature field distribution, the thermal bending curvature of the power element is calculated.

[0064] Based on the thermal bending curvature, the driving torque generated by the center of gravity offset is calculated.

[0065] In one embodiment of the present application, a steady-state temperature field distribution model of the cross section of the LCE rod 32 under light is established. The heat generated by light is unevenly distributed in the LCE rod 32, forming a specific temperature field.

[0066] Based on the steady-state temperature field distribution, the thermal bending curvature of the LCE rod 32 due to thermal expansion and contraction effect is calculated.

[0067] Based on the thermally induced bending curvature, the driving moment due to the shift of the center of gravity of the LCE rod 32 caused by the bending of the LCE rod 32 is calculated.

[0068] As an optional embodiment, the steady-state temperature field distribution is obtained by solving the energy conservation equation, which is:

[0069] ;

[0070] wherein, is the steady-state temperature field, is the absorption coefficient, is the ambient temperature, is the characteristic time scale of thermal relaxation, is the light intensity, is the angular velocity of the paddle rotation, is the radial coordinate within the cross section of the liquid crystal elastomer rod, is the circumferential polar angle within the cross section of the liquid crystal elastomer rod, is the radius of the liquid crystal elastomer rod. In the formula: it is assumed that the light heat power is proportional to the light intensity , that is, ( is the absorption coefficient).

[0071] In an embodiment of the present application, based on the structure of the light-driven drift boat, the temperature field is derived from the energy conservation, and the driving moment is provided by the LCE rod 32. The steady-state energy conservation equation for the circular rod cross section is established, and the expression is:

[0072] ;

[0073] In the formula: is the radial coordinate within the cross section of the liquid crystal elastomer rod; is the circumferential polar angle within the cross section of the liquid crystal elastomer rod; is the radius of the liquid crystal elastomer rod; is the uniform offset of the temperature, wherein , is the ambient temperature; , are the temperature amplitudes of the cosine mode and the sine mode, respectively.

[0074] The two main temperature modes and are as follows:

[0075] ;

[0076] ;

[0077] In the formula: is the time rate of change of the temperature amplitude, i.e. the derivative with respect to time; is the time rate of change of the temperature amplitude, i.e. the derivative with respect to time; is the time rate of change of the temperature amplitude, i.e. the derivative with respect to time; is the characteristic time scale of thermal relaxation; is the angular velocity of rotation, is the optical-thermal power.

[0078] According to the foregoing formula, the amplitude is decoupled to obtain:

[0079] ;

[0080] ;

[0081] According to the foregoing formula, the steady-state temperature field is simplified to:

[0082] ;

[0083] In the light-driven floating ship proposed in this embodiment, the temperature field causes the LCE rod 32 to bend laterally after being heated by light, which is the existence of the lateral curvature of the LCE rod 32 caused by the temperature field.

[0084] As an optional implementation, the thermally induced bending curvature of the LCE rod 32 satisfies:

[0085] ;

[0086] wherein, I is the cross-sectional moment of inertia of the LCE rod, E is the elastic modulus, represents the linear thermal expansion coefficient, is the normal stress on the cross section of the LCE rod, is the radial coordinate within the cross section of the liquid crystal elastomer thin rod, is the circumferential polar angle within the cross section of the liquid crystal elastomer thin rod, is the absorption coefficient, is the radius of the liquid crystal elastomer thin rod, is the characteristic time scale of thermal relaxation, is the light intensity, is the angular velocity of the paddle rotation.

[0087] In an embodiment of the present application, the LCE rod 32 bends laterally after being heated by light due to uneven temperature distribution. The lateral curvature of the LCE rod 32 after being heated is determined by derivation, and the thermal strain is:

[0088] ;

[0089] Total strain is composed of thermal strain and elastic strain, therefore, elastic strain The formula is:

[0090] ;

[0091] From the geometric point of view, the total strain can also be expressed as:

[0092] ;

[0093] In the formula: represents the average axial strain, represents the length after deformation, is the radius of the liquid crystal elastomer rod, is the radius of curvature of the liquid crystal elastomer rod.

[0094] Based on the fact that the axial strain is negligible relative to the thermal strain, the elastic strain of the liquid crystal elastomer rod when it rotates is composed of the dynamic thermal strain field , and the elastic strain is:

[0095] ;

[0096] For the sake of simplifying the calculation, it is assumed that the material is a linear elastic body, and the normal stress on the cross section of the LCE rod 32 is:

[0097] ;

[0098] In order to quantify the mechanical drive, the bending torque of the LCE rod 32 about the x-axis needs to be calculated, and the calculation is:

[0099] ;

[0100] In the formula: represents the stress on each micro area unit in the polar coordinate system of the cross section of the LCE rod 32, and the “micro bending moment” contributed by the force arm is integrated to obtain the total bending moment around the x-axis, realizing the coupling transmission of “thermal-strain-stress-torque”, is a differential symbol, indicating the micro change of the coordinate.

[0101] Considering that the LCE rod 32 has no bending constraint, at this time M=0. The curvature of the LCE rod 32 can be obtained , and its expression is:

[0102] ;

[0103] wherein .

[0104] In the light-driven plankton ship, the curvature k determines the bending degree of the LCE rod 32, and then directly determines the size of the gravity moment.

[0105] As an optional implementation, the angular velocity of the paddle satisfies:

[0106] ;

[0107] wherein, is the angular velocity of the paddle, is the rotational damping coefficient of the paddle, is the length of the paddle, denotes the damping coefficient of the ship, is the driving moment.

[0108] As an optional implementation, the ship's forward speed satisfies:

[0109] ;

[0110] wherein, is the ship speed, is the length of the paddle, denotes the damping coefficient of the ship, is the driving moment.

[0111] In one embodiment of the present application, the curvature k determines the bending degree of the LCE rod 32, and after bending, the geometric shape of the rod becomes a circular arc, and the center of gravity is no longer located directly below the fulcrum, but is offset by a distance, which directly determines the size of the gravity moment. The specific process includes:

[0112] When the LCE rod 32 is bent, the center of gravity is displaced, and the driving moment generated thereby can be represented as:

[0113] ;

[0114] In the formula, is the mass of the LCE rod 32, is the acceleration of gravity, is the vertical distance between the center of gravity of the LCE rod 32 and the fulcrum O.

[0115] To simplify the calculation, when the bent LCE rod 32 is regarded as an arc structure, is represented by the formula:

[0116] ;

[0117] In the formula, is the radius of curvature of the liquid crystal elastomer.

[0118] central angle of the corresponding arc structure may be expressed as:

[0119] ;

[0120] wherein is the support distance. Together with the aforementioned formula, we have:

[0121] ;

[0122] Substituting the above bending torque into the system of the LCE ship, the blade 31 simultaneously bears the bending torque and the resistance torque of water. In the steady state of rowing, the driving torque balances with the resistance torque of water , and the balance equation can be expressed as:

[0123] ;

[0124] wherein the resistance torque can be derived as:

[0125] ;

[0126] Under the driving torque of the LCE rod 32, the blade 31 rotates, and the ship body 1 bears the driving force generated by the blade 31 in water and the damping force of water on the ship body. When the ship body 1 is steadily rowing, the driving force and the damping force reach a balance, and the balance equation is expressed as:

[0127] ;

[0128] The driving force is set to be proportional to the relative speed of the blade 31 relative to the static water surface, and the expression is:

[0129] ;

[0130] wherein: is the rotational damping coefficient of the blade, is the angular velocity of the blade rotation, is the length of the blade, is the speed of the entire ship.

[0131] The damping force is set to be proportional to the rowing speed of the LCE turning ship, and the expression is:

[0132] ;

[0133] Together with the aforementioned balance equation, the angular velocity of the blade can be obtained:

[0134] ;

[0135] and the ship's forward velocity:

[0136] .

[0137] In one embodiment of the present application, the steady-state temperature field, the LCE rod 32 curvature, the LCE rod 32 driving moment, the propeller rotational angular velocity, and the ship's forward velocity are dimensionless. To simplify the analysis process, reduce the calculation error, and improve the model stability, all parameters are normalized as follows:

[0138] , , , , , , , , , , ;

[0139] , , , , , , , , ;

[0140] The dimensionless form of the steady-state temperature field is simplified as:

[0141] ;

[0142] The dimensionless form of the LCE rod 32 curvature is:

[0143] ;

[0144] The dimensionless equation of the LCE rod 32 driving moment is as follows:

[0145] ;

[0146] The dimensionless form of the propeller rotational angular velocity is:

[0147] ;

[0148] The dimensionless form of the ship's forward velocity is:

[0149] ;

[0150] The coupling equations of temperature, radius of curvature, driving torque and angular velocity are converted into explicit analytical expressions containing only several dimensionless parameters.

[0151] In one embodiment of the present application, with reference to Figure 4 , is the optical-thermal power, as increases, the angular velocity of the LCE rod 32 self-rotation and the propulsion speed of the floatation ship increase accordingly. This is because as the optical-thermal power increases, the elastic potential energy absorbed by the LCE rod 32 increases, resulting in an increase in the curvature of the LCE rod 32. As a result, the distance between the center of gravity and the center point increases, thereby increasing the driving force arm and the moment of inertia, and thus enhancing the angular velocity of the self-rotation and the propulsion speed.

[0152] The driving torque-angular velocity variation of the LCE rod 32 under different optical-thermal powers shows that the self-rotation driving torque increases with the increase of the optical-thermal power, which is completely consistent with the theoretical prediction and the corresponding physical mechanism. The driving torque of the LCE rod 32 decreases with the increase of the self-rotation angular velocity. This is because as the angular velocity increases, the centrifugal force generated by the rotation of the rod decreases the lateral curvature, reduces the offset of the center of gravity, and thus reduces the required gravitational torque.

[0153] In one embodiment of the present application, with reference to Figure 5 , the support spacing has an effect on the dynamic behavior of the floatation ship, and the remaining system parameters are set as , , , , When the support spacing is less than 1, the floatation ship system is approximately in a static mode. When the support spacing is between 3 and 10, the self-rotation speed of the LCE rod 32 and the propulsion speed of the floatation ship increase rapidly. This is because the speed depends on the size of the driving torque. When the support spacing is narrow, the center of gravity of the LCE rod 32 has a small offset, and the center of gravity almost falls directly above the fulcrum, so the force arm of gravity on the rotation axis is extremely small. Conversely, when the support spacing is large, the center of gravity is offset, and at this time the driving torque makes the LCE rod 32 rotate rapidly.

[0154] wherein, , is the average driving torque.

[0155] The curves of the driving torque-angular velocity variation when the support spacing is 1, 2, 3, 4 and 5, respectively. The self-rotation driving torque increases with the increase of the support spacing, and the value of the driving torque gradually decreases with the increase of the angular velocity. As the support spacing increases, the center of gravity of the rod is offset after bending, so the entire driving torque-angular velocity curve moves upward. When the rotation angular velocity increases, the centrifugal stiffness suppresses the bending amplitude, resulting in Follow Increasing the distance actually decreases the speed. The intersection of each curve with the frictional resistance torque is the steady-state operating point, which intuitively demonstrates the rule that "the larger the support spacing, the higher the steady-state angular velocity".

[0156] Addressing the bottleneck of traditional drive systems requiring external power supplies and complex controllers, this invention introduces a light-driven drifting boat based on a liquid crystal elastomer (LCE). The entire boat uses an LCE rod 32 as the sole drive unit: a linear light source illuminates the rod, establishing a non-uniform temperature field that induces periodic bending of the LCE; this bending causes a shift in the center of gravity, generating alternating gravitational torque, thereby driving the propeller blades to rotate continuously, achieving cable-free autonomous propulsion under constant illumination. Through theoretical modeling, dimensionless analysis, and parameter sensitivity analysis, the following conclusions are drawn: the driving torque... Blade angular velocity Ship propulsion speed With photothermal power The propeller blade angular velocity and ship propulsion speed increase with the increase of the support spacing; The effect increases with the increase of the support spacing, but the improvement slows down when the support spacing is greater than 10; damping coefficient and Increasing the angular velocity has a monotonic suppressive effect, and the attenuation is particularly significant when the damping coefficient is less than 0.5. (Radius) It is independent of the temperature field, but This increases the self-rotation speed of LCE rod 32 and the propulsion speed of the floating vessel.

[0157] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0158] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A light-driven floatation vessel, characterized in that, The application relates to a ship body (1) and a power driving system (3) comprising a power piece and a paddle (31), wherein the power piece is installed at the tail of the ship body (1) through a fixing structure (2), the power driving system (3) is rotationally connected with the fixing structure (2), the paddle (31) is installed on the power piece, and when the power piece is in an illumination state, the power piece drives the paddle (31) to rotate and drives the ship body (1) to move. The power piece is an LCE rod (32) which is rotationally connected with the fixing structure (2), and the paddle (31) is fixedly connected to the middle part of the LCE rod (32). The LCE rod (32) is made of a photo-thermal response liquid crystal elastomer material and carbon nanotubes. The fixing structure (2) comprises two ball bearings (21) and two connecting rods (22), one end of each of the two connecting rods (22) is fixedly connected to the tail of the ship body (1) on the two sides, the ball bearings (21) are fixedly connected to the other ends of the connecting rods (22), and the two ends of the LCE rod (32) are installed on the two ball bearings (21) respectively. The application further relates to a method for controlling the motion state of the ship body (1) comprising the following steps:

2. A light-driven phytoplankton carrier according to claim 1, wherein: establishing a light-heat-force-motion coupling model of the power driving system (3); 3. A control method of a photodriven surface vessel, suitable for use with a photodriven surface vessel as claimed in claim 1, characterized in that, determining the mapping relationship between the illumination intensity and the motion state of the ship body (1) through the coupling model; controlling the motion state of the ship body (1) by adjusting the illumination intensity acting on the power driving system (3). The establishment of the motion coupling model comprises: establishing a steady-state temperature field distribution model of the power piece under illumination; 4. The control method of a photonic floating vessel according to claim 3, wherein, calculating the thermal bending curvature of the power piece based on the steady-state temperature field distribution; calculating the driving torque generated by the gravity center offset based on the thermal bending curvature. The steady-state temperature field distribution is obtained by solving an energy conservation equation, and the energy conservation equation is as follows: The thermal bending curvature of the LCE rod (32) is k, and the following formula is satisfied:

5. The method of claim 4, wherein: The angular velocity of the paddle is calculated according to the driving torque, and the following formula is satisfied: ； wherein, is the steady-state temperature field, is the absorption coefficient, is the ambient temperature, is the characteristic time scale of thermal relaxation, is the light intensity, is the angular velocity of the paddle rotation, is the radial coordinate within the cross-section of the liquid crystal elastomer filament, is the circumferential polar angle within the cross-section of the liquid crystal elastomer filament, is the radius of the liquid crystal elastomer filament.

6. The control method of a photonic floating vessel according to claim 4, wherein: The forward speed of the ship body is calculated according to the driving torque, and the following formula is satisfied: ； wherein, I is the cross-sectional moment of inertia of the LCE rod (32), E is the modulus of elasticity, is the normal stress on the cross-section of the LCE rod (32), is the radial coordinate within the cross-section of the liquid crystal elastomer rod, is the polar angular coordinate within the cross-section of the liquid crystal elastomer rod, denotes the linear thermal expansion coefficient, is the absorption coefficient, is the radius of the liquid crystal elastomer rod, is the characteristic time scale of thermal relaxation, is the light intensity, is the angular velocity of the paddle rotation.

7. The method of claim 4, wherein: ​ ； wherein, is the angular velocity of the paddle rotation, is the mass of the LCE rod (32), is the gravitational acceleration, is the rotational damping coefficient of the paddle, denotes the damping coefficient of the ship hull, is the length of the paddle, is the radius of curvature of the liquid crystal elastomer, is the support distance.

8. The control method of a photonic floating vessel according to claim 4, characterized in that: ​ ； wherein, is the ship speed, is the blade length, denotes the damping coefficient of the ship, is the LCE rod (32) mass, is the gravitational acceleration, is the radius of curvature of the liquid crystal elastomer, is the support spacing.

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