Hydrofoil ship capable of controlling sailing based on external propulsion and sailing control method of hydrofoil ship

Abstract

The invention relates to the technical field of hydrofoil ships, and particularly discloses a hydrofoil ship capable of controlling navigation based on external propulsion and a navigation control method of the hydrofoil ship. The hydrofoil ship comprises a ship body, a propelling mechanism, a hydrofoil mechanism, a hydrofoil lifting mechanism and a control system, wherein the propelling mechanism is mounted at the tail of the ship body. The hydrofoil mechanism comprises a hydrofoil strut and a wing set, the upper end of the hydrofoil strut is connected to the ship body, and the wing set is arranged at the lower end of the hydrofoil strut. A hydrofoil cabin is arranged in the ship body, the hydrofoil lifting mechanism is arranged in the hydrofoil cabin, a transmission part is arranged at the upper end of the hydrofoil supporting column, the hydrofoil lifting mechanism is in transmission connection with the transmission part, and the hydrofoil lifting mechanism is electrically connected with the propelling mechanism. The control system comprises a first acquisition module and a first processing module. According to the hydrofoil ship, the hydrofoil mechanism and the propelling mechanism serve as two relatively independent modules, the maintenance time of the hydrofoil ship can be shortened, and the maintenance efficiency of the hydrofoil ship is effectively improved.

Description

Technical Field

[0001] This invention relates to the field of hydrofoil technology, and in particular to a hydrofoil based on external propulsion control and a hydrofoil navigation control method. Background Technology

[0002] A hydrofoil is a high-speed vessel that uses hydrofoils beneath its hull to generate upward lift during high-speed travel, raising the entire hull above the water to reduce water resistance and increase speed. However, when a hydrofoil is traveling at high speed, only the propeller and hydrofoils are underwater, losing the self-stabilizing properties of traditional displacement propellers. If it encounters the combined effects of wind, waves, and currents, the vessel will experience six degrees of freedom motion in three directions. The control system must adjust the flap angle of attack in real time according to changes in sea conditions to generate the necessary restoring force, thereby ensuring the hydrofoil's safe, stable, and high-speed navigation.

[0003] Existing hydrofoils typically integrate the propeller and hydrofoil onto the hydrofoil strut, and also integrate key structures such as flap control structure and propeller cable into the hydrofoil strut. This increases the structural complexity of the hydrofoil strut, and may require disassembling the entire hydrofoil strut when repairing any component, resulting in long maintenance times for each component and hindering the maintenance of the hydrofoil. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a hydrofoil boat and a hydrofoil boat navigation control method based on external propulsion control. The hydrofoil mechanism and the propulsion mechanism are two relatively independent modules, which can shorten the maintenance time of the hydrofoil boat and effectively improve the maintenance efficiency of the hydrofoil boat.

[0005] To solve the above-mentioned technical problems, the present invention provides a hydrofoil boat based on external propulsion control, including a hull, a propulsion mechanism, a hydrofoil mechanism, a hydrofoil lifting mechanism, and a control system; The hydrofoil mechanism includes a hydrofoil strut and a wing assembly. The upper end of the hydrofoil strut is connected to the hull, and the wing assembly is disposed at the lower end of the hydrofoil strut. The wing assembly is used to change the attitude and / or position of the hull. The hull is equipped with a hydrofoil compartment, the hydrofoil lifting mechanism is arranged in the hydrofoil compartment, and the upper end of the hydrofoil support is provided with a transmission part. The hydrofoil lifting mechanism is connected to the transmission part and is electrically connected to the propulsion mechanism. The hydrofoil lifting mechanism is used to drive the hydrofoil support and the wing assembly to lift to the hydrofoil compartment or to sink to the bottom of the hull. The control system includes: The first acquisition module is used to acquire the first navigation command of the hull, the first navigation command including floating mode and wing mode; The second processing module is used to control the propulsion mechanism to adjust the output power according to the first navigation command, and at the same time control the diving depth of the hydrofoil lifting mechanism underwater, so that the hull switches between floating mode and wing mode.

[0006] As an improvement to the above solution, the hydrofoil mechanism is arranged in at least two sets, one set of the hydrofoil mechanism is arranged at the front of the hull, the other set of the hydrofoil mechanism is arranged at the rear of the hull, and the propulsion mechanism is located behind the other set of the hydrofoil mechanism. The control system further includes: The second acquisition module is used to acquire the second navigation command of the hull, which includes a left turn mode and a right turn mode. The second processing module is used to control the deflection angle of the propulsion mechanism and the tilt angle of the hydrofoil mechanism located at the rear end according to the second navigation command, so that the hull switches to left-turn mode and right-turn mode.

[0007] As an improvement to the above solution, the propulsion mechanism includes a housing, a drive group, a transmission group, and a propulsion component. A mounting bracket is formed at the stern of the hull, and the housing is connected to the mounting bracket. The drive group and the transmission group are both disposed inside the housing, and the drive group, the transmission group, and the propulsion component are sequentially connected in a transmission manner. A preset distance is formed between the propulsion component and the wing assembly, the preset distance being greater than the chord length of the wing assembly in a preset direction, the preset direction being the hull's sailing direction; The second processing module is used to control the deflection angle of the propulsion component according to the second navigation command.

[0008] As an improvement to the above scheme, the wing assembly is located on a first horizontal plane, and the propulsion component is located on a second horizontal plane. When the wing assembly sinks to the bottom of the hull, the second horizontal plane is higher than the first horizontal plane.

[0009] As an improvement to the above solution, the hydrofoil lifting mechanism includes a lifting bracket, a lifting drive component, and a transmission gear. The lifting bracket is disposed in the hydrofoil compartment, the lifting drive component is connected to the lifting bracket, and the transmission gear is drivenly connected to the output shaft of the lifting drive component. The transmission part is a rack mounted on the hydrofoil support, and the transmission gear meshes with the rack.

[0010] As an improvement to the above solution, the lifting support is provided with a hydrofoil guide block, the hydrofoil guide block forms a guide hole, the hydrofoil support is slidably connected to the guide hole, and the inner wall shape of the guide hole is consistent with the outer wall shape of the hydrofoil support.

[0011] As an improvement to the above scheme, the wing assembly includes a main wing and flaps, the main wing is connected to the hydrofoil strut, and the main wing and the hydrofoil strut form an angle of attack, and the flaps are hinged to the main wing; The hydrofoil support is equipped with a flap control component, which is hinged to one side of the flap and is used to drive the flap to swing relative to the main wing.

[0012] As an improvement to the above solution, the flap control component includes a telescopic drive component and a connecting rod. The telescopic drive component is disposed in the hydrofoil compartment, and the extended end of the telescopic drive component is connected to the connecting rod. The hydrofoil support is provided with a vertically penetrating transmission hole, and the connecting rod is slidably disposed in the transmission hole.

[0013] Accordingly, the present invention also provides a navigation control method for a hydrofoil, the hydrofoil navigation control method being used to control the hydrofoil based on external propulsion control as described in any of the above-mentioned claims, comprising the following steps: Obtain the first navigation command of the hull, wherein the first navigation command includes a floating state and a wing-mounted state; Once the first navigation command is determined to switch from floating mode to wing mode, the propulsion mechanism is driven to increase the output power, and the hydrofoil lifting mechanism is driven to increase the diving depth of the wing assembly underwater, and the wing assembly is driven to swing downward to increase the lift of the hull. Once the first navigation command is determined to switch from wing-mounted to floating mode, the propulsion mechanism is driven to reduce its output power, and the hydrofoil lifting mechanism is simultaneously driven to reduce the diving depth of the wing assembly underwater, and the wing assembly is driven to swing upward to reduce the lift of the hull.

[0014] As an improvement to the above solution, the step of driving the wing assembly to swing downward includes the following steps: Obtain the distance between the bottom surface of the hull and the water surface; If the interval is determined to be less than the preset interval, the telescopic drive component is driven to raise the connecting rod, causing the flap to swing downward.

[0015] As an improvement to the above solution, after the steps of driving the hydrofoil lifting mechanism to increase the underwater diving depth of the wing assembly and driving the wing assembly to swing downward, the following steps are also included: Obtain a second navigation command from the hull, wherein the second navigation command includes turning left and turning right; Once the second navigation command is determined to be a left turn, the propulsion component of the propulsion mechanism is driven to deflect to the left, and the navigation attitude of the hull is monitored; If the left tilt angle of the hull is determined to be greater than a first preset angle, drive the left flap in the rear wing assembly to swing upward and / or the right flap to swing downward. Once the second navigation command is determined to be a right turn, the propulsion component of the propulsion mechanism is driven to deflect to the right, and the navigation attitude of the hull is monitored; If the rightward tilt angle of the hull is determined to be greater than the second preset angle, the right flap in the rear wing assembly is driven to swing upward and / or the left flap to swing downward.

[0016] Implementing this invention has the following beneficial effects: The hydrofoil boat based on external propulsion control in this embodiment can separate the hydrofoil mechanism and the propulsion mechanism on the hull by installing a propulsion mechanism at the stern of the hull. This allows the hydrofoil mechanism and the propulsion mechanism to be arranged as two relatively independent modules, and one of the modules can be maintained and repaired separately.

[0017] Specifically, when maintaining the propulsion mechanism, it can be removed from the mounting bracket and repaired and maintained from the outside of the hull; and after maintenance, the propulsion mechanism can be reassembled at the stern of the hull.

[0018] Because the hydrofoil mechanism is connected to the hydrofoil lifting mechanism via a transmission unit on the hydrofoil strut, the hydrofoil lifting mechanism, in conjunction with the transmission unit, allows for vertical displacement of the hydrofoil strut and wing assembly. During maintenance of the hydrofoil mechanism, the hydrofoil lifting mechanism can be used to raise the hydrofoil strut and wing assembly, causing them to detach from the water surface and be exposed to the air.

[0019] Since the hydrofoil mechanism and the propulsion mechanism are two relatively independent modules, the maintenance work of the hydrofoil mechanism and the propulsion mechanism can be carried out simultaneously. Moreover, the maintenance work of both modules can be carried out off the water surface, thereby reducing the maintenance steps of the hydrofoil boat, shortening the maintenance time, and effectively improving the maintenance efficiency of the hydrofoil boat.

[0020] Meanwhile, hydrofoils typically operate under various conditions to adapt to different complex navigation environments. By controlling the propulsion mechanism to output different power according to different navigation commands, they can execute corresponding actions. At the same time, the hydrofoil lifting mechanism can adjust the underwater depth of the hydrofoil struts and wing groups according to the power output of the propulsion mechanism to further ensure the navigation stability of the hydrofoil in both floating and wing-based modes. Attached Figure Description

[0021] Figure 1 This is a three-dimensional structural diagram of the hydrofoil boat based on external propulsion control for navigation in this invention; Figure 2 This is a side view structural schematic diagram of the hydrofoil boat based on external propulsion control navigation in this invention; Figure 3 This is a three-dimensional structural diagram of the hydrofoil mechanism in this invention; Figure 4 This is a schematic diagram of the connection structure between the wing assembly, hydrofoil support, and connecting rod in this invention; Figure 5 yes Figure 3 Enlarged structural diagram at point A; Figure 6 This is a flowchart of the hydrofoil boat navigation control method in this invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings. It is hereby declared that the directional terms such as up, down, left, right, front, back, inside, and outside used in this document are based solely on the accompanying drawings and are not intended to specifically limit the invention.

[0023] In embodiments of the present invention, such as Figures 1 to 3 As shown, the hydrofoil boat based on external propulsion control includes a hull 1, a propulsion mechanism 2, a hydrofoil mechanism 3, a hydrofoil lifting mechanism 4, and a control system. The propulsion mechanism 2 is installed at the stern of the hull 1. The hydrofoil mechanism 3 includes a hydrofoil strut 31 and a wing assembly 32. The upper end of the hydrofoil strut 31 is connected to the hull 1, and the wing assembly 32 is located at the lower end of the hydrofoil strut 31. The wing assembly 32 is used to change the attitude and / or position of the hull 1. A hydrofoil compartment 12 is provided inside the hull 1. The hydrofoil lifting mechanism 4 is arranged in the hydrofoil compartment 12, and a transmission part 311 is provided at the upper end of the hydrofoil strut 31. The hydrofoil lifting mechanism 4 is connected to the transmission part 311 and electrically connected to the propulsion mechanism 2. The hydrofoil lifting mechanism 4 is used to lift the hydrofoil strut 31 and the wing assembly 32 to the hydrofoil compartment 12, or to lower the hydrofoil strut 31 and the wing assembly 32 to the bottom of the hull 1.

[0024] The control system includes: The first acquisition module is used to acquire the first navigation command of the hull, the first navigation command including floating mode and wing mode; The second processing module is used to control the propulsion mechanism to adjust the output power according to the first navigation command, and at the same time control the diving depth of the hydrofoil lifting mechanism underwater, so that the hull switches between floating mode and wing mode.

[0025] In this embodiment, the hydrofoil boat based on external propulsion control can separate the hydrofoil mechanism 3 and the propulsion mechanism 2 by installing the propulsion mechanism 2 at the stern of the hull 1. This allows the hydrofoil mechanism 3 and the propulsion mechanism 2 to be arranged separately on the hull 1, so that the hydrofoil mechanism 3 and the propulsion mechanism 2 can be two relatively independent modules, and one of the modules can be maintained and repaired separately.

[0026] Specifically, when maintaining the propulsion mechanism 2, the propulsion mechanism 2 can be removed from the stern of the hull 1 and repaired and maintained from the outside of the hull 1; and after the maintenance is completed, the propulsion mechanism 2 can be reassembled at the stern of the hull 1.

[0027] Since the hydrofoil mechanism 3 is connected to the hydrofoil lifting mechanism 4 via the transmission part 311 on the hydrofoil strut 31, the hydrofoil lifting mechanism 4, in cooperation with the transmission part 311, allows the hydrofoil strut 31 and the wing assembly 32 to have vertical displacement freedom. During maintenance of the hydrofoil mechanism 3, the hydrofoil lifting mechanism 4 can be used to lift the hydrofoil strut 31 and the wing assembly 32, causing them to leave the water surface and be exposed to the air.

[0028] Since the hydrofoil mechanism 3 and the propulsion mechanism 2 are two relatively independent modules, the maintenance work of the hydrofoil mechanism 3 and the propulsion mechanism 2 can be carried out simultaneously. Moreover, the maintenance work of both modules can be carried out off the water surface, thereby reducing the maintenance steps of the hydrofoil boat, shortening the maintenance time, and effectively improving the maintenance efficiency of the hydrofoil boat.

[0029] Meanwhile, hydrofoils typically operate under various conditions to adapt to different complex navigation environments. By controlling the propulsion mechanism 2 to output different power according to different navigation commands, corresponding actions can be performed. At the same time, the hydrofoil lifting mechanism 4 can adjust the underwater depth of the hydrofoil strut 31 and wing assembly 32 according to the power output of the propulsion mechanism 2, so as to further ensure the navigation stability of the hydrofoil in floating mode and wing mode.

[0030] For example, when the first navigation command is floating mode, i.e., when the hydrofoil is in a floating state (e.g., low-speed displacement navigation mode), the propulsion mechanism 2 provides conventional thrust. At this time, the hydrofoil mechanism 3 can be completely retracted into the hull 1 to reduce navigation resistance and save energy. When the first navigation command is wing-mounted mode, i.e., when the hydrofoil is in a wing-mounted state (e.g., high-speed wing-mounted mode), the propulsion mechanism 2 outputs full power, and the hydrofoil mechanism 3 extends to its deepest depth, cooperating with the wing assembly 32 to provide maximum lift for the hydrofoil, enabling the hydrofoil to sail at high speed and smoothly. When the first navigation command switches from wing-mounted mode to floating mode, i.e. when the hydrofoil is sailing in shallow water or in complex water environments, the propulsion mechanism 2 reduces power output, and the hydrofoil mechanism 3 retracts partially or completely to prevent the wing assembly 32 from touching the ground or colliding with underwater obstacles, thus avoiding damage to the hydrofoil mechanism 3.

[0031] It should also be noted that a sealed drainage chamber (not shown in the figure) is also provided at the bottom of the hull 1. When the hydrofoil is sailing normally, the sealed drainage chamber is separated from the water flow at the bottom of the hull 1 by a sealed door at its bottom. An elastic lip seal is arranged between the sealed door and the hydrofoil support 31 to adapt to the shape and movement of the hydrofoil support 31, and to block the water flow on the surface of the hydrofoil support 31 from the hydrofoil chamber 12, thus ensuring the safety performance of the hydrofoil.

[0032] Furthermore, the hydrofoil mechanism 3 is arranged in at least two sets, one set of hydrofoil mechanism 3 is arranged at the front of the hull 1, and the other set of hydrofoil mechanism 3 is arranged at the rear of the hull 1. The propulsion mechanism 2 is located behind the other set of hydrofoil mechanism 3, so as to further ensure that the propulsion mechanism 2 and the hydrofoil mechanism 3 are arranged separately on the hull, thereby treating the hydrofoil mechanism 3 and the propulsion mechanism 2 as two relatively independent modules, and performing maintenance on one of the modules separately.

[0033] The control system also includes: The second acquisition module is used to acquire the second navigation command of the hull 1. The second navigation command includes a left turn mode and a right turn mode. The second processing module is used to control the deflection angle of the propulsion mechanism 2 according to the second navigation command, and at the same time control the tilt angle of the hydrofoil mechanism 3 located at the rear end, so that the hull switches to left-turn mode and right-turn mode.

[0034] Understandably, when a hydrofoil needs to turn left or right, the left and right turns can be achieved by controlling the deflection angle of the propulsion mechanism 2. At the same time, by controlling the tilt angle of the hydrofoil mechanism 3 to change according to the real-time navigation attitude of the hull, the left and right tilt angles of the hull can be kept within a safe range, thereby ensuring the navigation stability of the hydrofoil when turning left and right and avoiding the problem of capsizing.

[0035] In an optional embodiment, the propulsion mechanism 2 includes a housing 21, a drive group, a transmission group, and a propulsion component 22. A mounting bracket 11 is formed at the stern of the hull, and the housing 21 is connected to the mounting bracket 11. Both the drive group and the transmission group are disposed inside the housing 21, and the drive group, transmission group, and propulsion component 22 are sequentially and drive-connected. The drive group drives the transmission group, which in turn drives the propulsion component 22, thereby utilizing the thrust generated by the propulsion component 22 to propel the hull 1. By controlling the output power of the drive group, the thrust of the propulsion component 22 can be adjusted, correspondingly controlling the hydrofoil's speed. Furthermore, the drive group can also drive the transmission group, causing the propulsion component 22 to deflect at a certain angle in the corresponding direction, thus achieving the turning motion of the hull 1.

[0036] The second processing module controls the deflection angle of the propeller 22 according to the second navigation command. Specifically, when the second navigation command is a left turn mode, that is, when the hull 1 needs to turn left, the propeller 22 deflects to the left by a certain angle, pushing the hull 1 to turn left and tilt to the left; when the second navigation command is a right turn mode, that is, when the hull 1 needs to turn right, the propeller deflects to the right by a certain angle, pushing the hull 1 to turn right and tilt to the right.

[0037] Preferably, the propulsion mechanism 2 is an outboard engine, the drive group is the engine body, the transmission group is the gear set and drive shaft, and the propulsion component 22 is a propeller. The output shaft of the engine body, the gear set, the drive shaft, and the propeller are sequentially connected for transmission. The specific transmission connection structure is existing technology and will not be described in detail here. A hydraulic steering system is also arranged inside the hull 21. The hydraulic steering system uses a steering shaft and a steering arm to connect the engine body and the propulsion component 22 to complete the turning action of the hull 1. The hull 21 of the outboard engine is fixed to the mounting bracket 11 at the stern of the hull 1 by means of suspension or embedding to ensure the ease of connection between the outboard engine and the hull 1 and to simplify the maintenance and replacement process of the outboard engine. The outboard engine can be a traditional fuel propulsion unit or an electric propulsion unit, etc., which can be selected according to actual needs.

[0038] Because the wake field of the hydrofoil assembly 32 may exhibit vortices and / or turbulence during navigation, in order to reduce the interference of the wake field of the wing assembly 32 on the propulsion component 22, such as... Figure 2 As shown, a preset distance D1 is formed between the propulsion component 22 and the wing assembly 32. The preset distance D1 is greater than the chord length D2 of the wing assembly 32 in a preset direction, where the preset direction is the sailing direction of the hull 1. This provides sufficient space between the wing assembly 32 and the propulsion component 22 to allow the vortices and / or turbulence in the wake field of the wing assembly 32 to diffuse and weaken outward. This provides a sufficiently uniform inflow environment for the propulsion component 22, ensuring the propulsion efficiency of the propulsion component 22 while reducing the vibration and noise of the propulsion component 22 during navigation and extending the service life of the propulsion component 22.

[0039] In this embodiment, the preset distance D1 between the propulsion component 22 and the wing group 32 is preferably 4 to 5 times the chord length D2 of the wing group 32, so as to control the overall length of the hull 1 while minimizing the influence of the wake field of the wing group 32.

[0040] Furthermore, such as Figure 2As shown, the wing assembly 32 is located on the first horizontal plane A1, and the propeller 22 is located on the second horizontal plane A2. When the wing assembly 32 sinks to the bottom of the hull 1, the second horizontal plane A2 is higher than the first horizontal plane A1, so that when the hydrofoil is traveling at high speed, a vertical distance is formed between the wing assembly 32 and the propeller 22, which further increases the space between the wing assembly 32 and the propeller 22, so that the propeller 22 is further away from the wake field of the wing assembly 32, or so that the propeller 22 is at the edge or outside the wake field of the wing assembly 32, thereby further reducing the interference of the wake field of the wing assembly 32 on the propeller 22.

[0041] In one embodiment, such as Figure 3 and Figure 5 As shown, the hydrofoil lifting mechanism 4 includes a lifting bracket 41, a lifting drive component 42, and a transmission gear 43. The lifting bracket 41 is disposed in the hydrofoil compartment 12, the lifting drive component 42 is connected to the lifting bracket 41, and the transmission gear 43 is connected to the output shaft of the lifting drive component 42. The transmission part 311 is a rack mounted on the hydrofoil support 31, and the transmission gear 43 meshes with the rack. The lifting drive component 42 drives the transmission gear 43 to rotate. Through the meshing of the transmission gear 43 and the rack, the hydrofoil support 31 can move up and down relative to the lifting drive component 42, thereby providing vertical displacement freedom for the hydrofoil support 31 and the wing assembly 32. This improves the ease of maintenance of the hydrofoil mechanism 3 and ensures that the hydrofoil mechanism 3 can adjust the height of the wing assembly 32 according to the navigation conditions, protecting the wing assembly 32 from damage.

[0042] Preferably, the hydrofoil mechanism 3 at the front of the hull 1 has one hydrofoil support 31, which is combined with the wing assembly 32 to form a T-shaped wing. The hydrofoil mechanism 3 at the rear of the hull 1 has two hydrofoil supports 31, which are combined with the wing assembly 32 to form a U-shaped wing. In the hydrofoil lifting mechanism 4 at the upper end of the three hydrofoil supports 31, the two lifting drive members 42 above the U-shaped wing and the lifting drive members 42 on the T-shaped wing form a parallel circuit, which is then electrically connected to the propulsion mechanism 2 so as to control the operation of the two lifting drive members 42 of the U-shaped wing and the lifting drive members 42 of the T-shaped wing according to the different navigation states of the propulsion mechanism 2.

[0043] Furthermore, the lifting support 41 is provided with a hydrofoil guide block (not shown in the figure), the hydrofoil guide block forms a guide hole, the hydrofoil support 31 is slidably connected to the guide hole, and the inner wall shape of the guide hole is consistent with the outer wall shape of the hydrofoil support 31, so that when the lifting drive 42 drives the hydrofoil support 31 to rise and fall, the cooperation of the hydrofoil guide block and the guide hole can provide rigid constraints for the lifting and falling movement of the hydrofoil support 31, avoid the hydrofoil support 31 from twisting during lifting and falling and changing the angle of attack of the wing assembly 32, avoid the situation of sudden change in the lift of the hydrofoil boat, and ensure the navigation stability of the hull 1.

[0044] As an optional embodiment, such as Figure 1 , Figure 3 and Figure 4 As shown, the wing assembly 32 includes a main wing 321 and a flap 322. The main wing 321 is connected to the hydrofoil support 31, and the main wing 321 and the hydrofoil support 31 form an angle of attack so that the main wing 321 can provide a certain amount of lift to the hull 1 during normal navigation and ensure the balance of the hull 1 when the hydrofoil is traveling at high speed. The flap 322 is hinged to the main wing 321. The hydrofoil support 31 is equipped with a flap control component 33, which is hinged to one side of the flap 322. The flap control component 33 is used to drive the flap 322 to swing relative to the main wing 321. Thus, the flap angle of attack of the flap 322 can be changed accordingly by the flap control component 33, and the lift of the wing group 32 on the hull 1 can be adjusted to facilitate the control of the hull 1 to rise or fall. At the same time, by using the differential cooperation of the flaps 322 of multiple wing groups 32, the propulsion mechanism 2 can be used to change the sailing attitude of the hull 1, and ensure that the hull 1 can sail stably without capsizing during the process of changing the sailing attitude.

[0045] Preferably, in the hydrofoil mechanism 3 at the rear of the hull 1, the wing group 32 may include two flaps 322, left and right. The left flap is hinged to the flap control member 33 on the left hydrofoil support 31, and the right flap is hinged to the flap control member 33 on the right hydrofoil support 31. By utilizing the differential cooperation between the left and right flaps, the hull 1 is ensured to maintain balance when the hull 1 changes its sailing attitude.

[0046] For example, when the second navigation command is a left turn, the attitude sensors in hull 1 monitor the tilt angle of the hull in real time. When the tilt angle of hull 1 to the left exceeds the preset safe tilt angle of hull 1, the hydrofoil's control system drives the left flap to swing upward, increasing the lift on the left side of hull 1. It can also work in conjunction with the right flap to swing downward, reducing the lift on the right side of hull 1, ensuring that hull 1 can generate a roll-restoring moment and reduce the tilt to the left.

[0047] When the second navigation command is a right turn, the attitude sensors in hull 1 monitor the tilt angle of the hull in real time. When the tilt angle of hull 1 to the right exceeds the preset safe tilt angle of hull 1, the hydrofoil's control system drives the right flap to swing upward, increasing the lift on the right side of hull 1. It can also work in conjunction with the left flap to swing downward, reducing the lift on the left side of hull 1, ensuring that hull 1 can generate a roll-restoring moment and reduce the tilt to the right.

[0048] Specifically, such as Figure 3As shown, the flap control component 33 includes a telescopic drive component 331 and a connecting rod 332. The telescopic drive component 331 is disposed in the hydrofoil compartment 12, and the extended end of the telescopic drive component 331 is connected to the connecting rod 332. The hydrofoil support 31 is provided with a vertically penetrating transmission hole, and the connecting rod 332 is slidably disposed in the transmission hole. The telescopic drive component 331 drives the connecting rod 332 to move vertically up and down a certain height within the transmission hole, thereby controlling the swing angle of the flap 322 relative to the main wing 321, completing the adjustment action of the flap 322's angle of attack, and ensuring the navigation stability of the hull 1. The telescopic drive component 331 is preferably an electro-hydraulic cylinder.

[0049] Furthermore, because the flap 322 swings, the driving link 332 will swing back and forth. To reduce the swing amplitude of the link 332, such as... Figure 4 As shown, the lower end of the hydrofoil support 31 is provided with a clearance notch, the flap 322 swings at the clearance notch, and the side of the flap 322 facing the connecting rod 332 is provided with a hinge block 333. The hinge block 333 is hinged to the lower end of the connecting rod 332 so as to absorb the swing displacement of the flap 322 on the connecting rod 332, reduce the action distance of the flap 322 on the connecting rod 332, and thus reduce the movement amplitude of the connecting rod 332.

[0050] Accordingly, a second aspect of the present invention provides a hydrofoil navigation control method, which is used to control the hydrofoil based on external propulsion control as described in any of the above embodiments, such as... Figure 6 As shown, the hydrofoil boat navigation control method includes the following steps: S1, Obtain the first navigation command of hull 1, wherein the first navigation command includes floating state and wing-mounted state. In this embodiment, the first navigation command and the second navigation command are action commands sent by the controller to the hydrofoil, such as start, enter floating state, enter wing-mounted state, turn left and turn right, etc. The navigation command can be sent by manually manipulating the control stick of hull 1, by remote control function of remote control device, or by sending through the route planning function of autopilot.

[0051] S2, determine the first navigation command to switch from floating state to winged state, drive the propulsion mechanism 2 to increase the output power, and at the same time drive the hydrofoil lifting mechanism 4 to increase the diving depth of the wing group 32 underwater, and drive the wing group 32 to swing downward to increase the lift of the hull 1 and ensure the navigation stability of the hull 1 in winged state.

[0052] S3, the first navigation command is determined to switch from wing-mounted mode to floating mode. The propulsion mechanism 2 is driven to reduce the output power, and the hydrofoil lifting mechanism 4 is driven to reduce the diving depth of the wing assembly 32 underwater. The wing assembly 32 is also driven to swing upward to reduce the lift of the hull 1, reduce the drag of the wing assembly 32 on the hydrofoil in the floating mode, and prevent the wing assembly 32 from touching the ground or colliding with underwater obstacles and being damaged, thereby improving the service life of the wing assembly 32.

[0053] In this embodiment, the propulsion mechanism 2 outputs corresponding power according to different navigation commands, and then drives the hydrofoil lifting mechanism 4 to perform the sinking or rising action of the wing group 32, thereby adjusting the diving depth of the hydrofoil strut 31 and the wing group 32 underwater, thus ensuring the navigation stability of the hydrofoil boat under different navigation conditions and improving the service life of the wing group 32.

[0054] For example, when the hydrofoil is in a floating state (e.g., low-speed displacement navigation mode), the propulsion mechanism 2 provides conventional thrust, and the hydrofoil mechanism 3 can be fully retracted into the hull 1 to reduce navigation resistance and save energy. When the hydrofoil switches to a wing-like state (e.g., high-speed wing-like mode), the propulsion mechanism 2 outputs full power, while the hydrofoil mechanism 3 extends to its deepest depth and, in conjunction with the wing assembly 32, provides maximum lift to the hydrofoil, enabling high-speed and stable navigation. When the hydrofoil is navigating in shallow water or in complex water environments, the propulsion mechanism 2 reduces power output, and the hydrofoil mechanism 3 retracts partially or completely to prevent the wing assembly 32 from touching the ground or colliding with underwater obstacles, thus avoiding damage to the hydrofoil mechanism 3.

[0055] Specifically, the step of driving the wing assembly 32 to swing downward includes the following steps: Step S21: Obtain the distance between the bottom surface of the hull 1 and the water surface. Preferably, the hull 1 is equipped with an ultrasonic ranging sensor to detect the distance between the hull 1 and the water surface.

[0056] Step S22: Determining that the interval distance is less than the preset interval, the telescopic drive component 331 is driven to raise the connecting rod 332, which in turn causes the flap 322 to swing downward, thereby increasing the angle of attack of the flap 322. This increases the lift of the hull 1 by the flap 322 and the main wing 321, propelling the hull 1 to float. With the propulsion mechanism 2 increasing its output power, the hydrofoil switches from floating state to wing-mounted state. The preset interval is the distance between the hull 1 and the water surface when the hydrofoil is in wing-mounted state.

[0057] It should also be noted that when the hydrofoil needs to switch from wing-mounted to floating mode, the ultrasonic ranging sensor can still detect the distance between the hull 1 and the water surface. When the distance is greater than the preset distance, the telescopic drive 331 drives the connecting rod 332 to descend, which in turn drives the flap 322 to swing upward, thereby reducing the angle of attack of the flap 322 and reducing the lift of the flap 322 on the hull 1. In conjunction with the propulsion mechanism 2 reducing its output power, the hydrofoil descends, thus switching from wing-mounted to floating mode.

[0058] Furthermore, following S2, the following steps are also included: S4, obtain the second navigation command of hull 1, wherein the second navigation command includes turning left and turning right.

[0059] S5, the second navigation command is determined to be a left turn, the propulsion component 22 of the propulsion mechanism 2 is driven to deflect to the left, and the navigation attitude of the hull 1 is monitored to obtain the left tilt angle of the hull 1. Preferably, the hull 1 is equipped with an attitude sensor that can detect the pitching motion, rolling motion, yaw motion, swaying motion, and / or heave motion of the hull 1, thereby realizing the detection of the six degrees of freedom of the hull 1 to determine the attitude of the hull 1.

[0060] S6, determine that the left tilt angle of the hull 1 is greater than the first preset angle, drive the left flap 322 in the rear wing group 32 to swing upward, and / or the right flap 322 to swing downward.

[0061] The first preset angle is the left tilt safety angle set in the hull 1 control system. When the angle of the hull 1 tilting to the left exceeds the preset left tilt safety angle of the hull 1, the hydrofoil control system drives the left flap 322 to swing upward, thereby increasing the lift on the left side of the hull 1. At the same time, it can also cooperate with the right flap 322 to swing downward, thereby reducing the lift on the right side of the hull 1, ensuring that the hull 1 can generate a roll restoring moment and reduce the left tilt.

[0062] S7, determine the second navigation command as a right turn, drive the propulsion component 22 of the propulsion mechanism 2 to deflect to the right, and monitor the navigation attitude of the hull 1 to obtain the right tilt angle of the hull 1.

[0063] S8, determine that the right tilt angle of the hull 1 is greater than the second preset angle, drive the right flap 322 in the rear wing group 32 to swing upward, and / or the left flap 322 to swing downward.

[0064] The second preset angle is the right-side safety angle set in the hull 1 control system. When the angle of the hull 1 tilting to the right exceeds the preset right-side safety angle, the hydrofoil's control system drives the right flap 322 to swing upward, thereby increasing the lift on the right side of the hull 1. It can also work in conjunction with the left flap 322 swinging downward, thereby reducing the lift on the left side of the hull 1, ensuring that the hull 1 can generate a roll-restoring moment and reduce the right-side tilt.

[0065] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A hydrofoil boat with external propulsion control for navigation, characterized in that, It includes a hull, a propulsion mechanism, a hydrofoil mechanism, a hydrofoil lifting mechanism, and a control system, wherein the propulsion mechanism is installed at the stern of the hull; The hydrofoil mechanism includes a hydrofoil strut and a wing assembly. The upper end of the hydrofoil strut is connected to the hull, and the wing assembly is disposed at the lower end of the hydrofoil strut. The wing assembly is used to change the attitude and / or position of the hull. The hull is equipped with a hydrofoil compartment, the hydrofoil lifting mechanism is arranged in the hydrofoil compartment, and the upper end of the hydrofoil support is provided with a transmission part. The hydrofoil lifting mechanism is connected to the transmission part and is electrically connected to the propulsion mechanism. The hydrofoil lifting mechanism is used to drive the hydrofoil support and the wing assembly to lift to the hydrofoil compartment or to sink to the bottom of the hull. The control system includes: The first acquisition module is used to acquire the first navigation command of the hull, the first navigation command including floating mode and wing mode; The second processing module is used to control the propulsion mechanism to adjust the output power according to the first navigation command, and at the same time control the diving depth of the hydrofoil lifting mechanism underwater, so that the hull switches between floating mode and wing mode.

2. The hydrofoil based on external propulsion control for navigation as described in claim 1, characterized in that, The hydrofoil mechanism is arranged in at least two sets, one set of the hydrofoil mechanism is arranged at the front of the hull, the other set of the hydrofoil mechanism is arranged at the rear of the hull, and the propulsion mechanism is located behind the other set of the hydrofoil mechanism; The control system further includes: The second acquisition module is used to acquire the second navigation command of the hull, which includes a left turn mode and a right turn mode. The second processing module is used to control the deflection angle of the propulsion mechanism and the tilt angle of the hydrofoil mechanism located at the rear end according to the second navigation command, so that the hull switches to left-turn mode and right-turn mode.

3. The hydrofoil based on external propulsion control for navigation as described in claim 2, characterized in that, The propulsion mechanism includes a housing, a drive group, a transmission group, and a propulsion component. A mounting bracket is formed at the stern of the hull. The housing is connected to the mounting bracket. The drive group and the transmission group are both disposed inside the housing, and the drive group, the transmission group, and the propulsion component are sequentially connected in a transmission manner. A preset distance is formed between the propulsion component and the wing assembly, the preset distance being greater than the chord length of the wing assembly in a preset direction, the preset direction being the hull's sailing direction; The second processing module is used to control the deflection angle of the propulsion component according to the second navigation command.

4. The hydrofoil based on external propulsion control for navigation as described in claim 3, characterized in that, The wing assembly is located on a first horizontal plane, and the propulsion component is located on a second horizontal plane. When the wing assembly sinks to the bottom of the hull, the second horizontal plane is higher than the first horizontal plane.

5. The hydrofoil based on external propulsion control for navigation as described in claim 1, characterized in that, The hydrofoil lifting mechanism includes a lifting bracket, a lifting drive component, and a transmission gear. The lifting bracket is disposed in the hydrofoil compartment, the lifting drive component is connected to the lifting bracket, and the transmission gear is drivenly connected to the output shaft of the lifting drive component. The transmission part is a rack installed on the hydrofoil support, and the transmission gear meshes with the rack.

6. The hydrofoil based on external propulsion control for navigation as described in claim 2, characterized in that, The wing assembly includes a main wing and flaps. The main wing is connected to the hydrofoil strut, and the main wing and the hydrofoil strut form an angle of attack. The flaps are hinged to the main wing. The hydrofoil support is equipped with a flap control component, which is hinged to one side of the flap and is used to drive the flap to swing relative to the main wing.

7. The hydrofoil based on external propulsion control for navigation as described in claim 6, characterized in that, The flap control component includes a telescopic drive component and a connecting rod. The telescopic drive component is disposed in the hydrofoil compartment, and the extended end of the telescopic drive component is connected to the connecting rod. The hydrofoil support is provided with a vertically penetrating transmission hole, and the connecting rod is slidably disposed in the transmission hole.

8. A method for controlling the navigation of a hydrofoil, characterized in that, The hydrofoil navigation control method is used to control a hydrofoil based on external propulsion control as described in any one of claims 1 to 7, and includes the following steps: Obtain the first navigation command of the hull, wherein the first navigation command includes a floating state and a wing-mounted state; Once the first navigation command is determined to switch from floating mode to wing mode, the propulsion mechanism is driven to increase the output power, and the hydrofoil lifting mechanism is driven to increase the diving depth of the wing assembly underwater, and the wing assembly is driven to swing downward to increase the lift of the hull. Once the first navigation command is determined to switch from wing-mounted to floating mode, the propulsion mechanism is driven to reduce its output power, and the hydrofoil lifting mechanism is simultaneously driven to reduce the diving depth of the wing assembly underwater, and the wing assembly is driven to swing upward to reduce the lift of the hull.

9. The hydrofoil boat navigation control method as described in claim 8, characterized in that, The step of driving the wing assembly to swing downward includes the following steps: Obtain the distance between the bottom surface of the hull and the water surface; If the interval is determined to be less than the preset interval, the telescopic drive component is driven to raise the connecting rod, causing the flap to swing downward.

10. The hydrofoil boat navigation control method as described in claim 8, characterized in that, After the steps of driving the hydrofoil lifting mechanism to increase the underwater diving depth of the wing assembly and driving the wing assembly to swing downward, the following steps are also included: Obtain a second navigation command for the hull, wherein the second navigation command includes turning left and turning right; Once the second navigation command is determined to be a left turn, the propulsion component of the propulsion mechanism is driven to deflect to the left, and the navigation attitude of the hull is monitored; If the left tilt angle of the hull is determined to be greater than a first preset angle, drive the left flap in the rear wing assembly to swing upward and / or the right flap to swing downward. Once the second navigation command is determined to be a right turn, the propulsion component of the propulsion mechanism is driven to deflect to the right, and the navigation attitude of the hull is monitored; If the rightward tilt angle of the hull is determined to be greater than the second preset angle, the right flap in the rear wing assembly is driven to swing upward and / or the left flap to swing downward.

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