Catamaran and control method

Abstract

This invention relates to the field of ship design and propulsion technology, and discloses a catamaran and its control method. The catamaran includes a hull, with the width direction defined as the direction perpendicular to the catamaran's direction of travel in a horizontal plane. The hull includes a first hull and a second hull arranged symmetrically and at intervals along the width direction, with a channel formed between the first and second hulls along the width direction. It also includes a propulsion assembly disposed in the channel, comprising at least one fin adapted to oscillate to drive the catamaran's movement. This invention solves the problems of high propeller noise, cavitation, and difficulty in towing loads in related technologies for catamarans.

Description

Technical Field

[0001] This invention relates to the field of ship design and propulsion technology, specifically to a catamaran and its control method. Background Technology

[0002] Catamarans, with their advantages of good stability, spacious deck area, and excellent seakeeping performance, are widely used in civilian vessels, marine operations, and water transportation. However, most catamaran propulsion systems use propellers as their power source. Propeller propulsion has several technical drawbacks: firstly, its propulsion efficiency is relatively low, resulting in significant energy loss during navigation and making it difficult to meet the demands of efficient navigation; secondly, it generates considerable noise and vibration, easily disturbing the surrounding aquatic ecosystem and affecting the onboard work and passenger experience; thirdly, cavitation is prone to occur at high speeds, which not only reduces propulsion efficiency but also corrodes the propeller blades, shortening the equipment's lifespan; and fourthly, the propeller and jet pump occupy stern space, making it inconvenient when towing loads. Summary of the Invention

[0003] This invention provides a catamaran and its control method to solve the problems of high propeller noise, easy cavitation, and difficulty in towing loads in related technologies.

[0004] In a first aspect, the present invention provides a catamaran, the catamaran including a hull, the width direction defined as the direction perpendicular to the catamaran's direction of travel in a horizontal plane, the hull including a first hull and a second hull arranged symmetrically and at intervals along the width direction, and the area between the first hull and the second hull along the width direction forms a channel. It also includes a propulsion assembly disposed in the channel, the propulsion assembly including at least one fin adapted to oscillate to drive the catamaran's motion.

[0005] Beneficial effects: By placing the propulsion components in the area between the first and second hulls of the catamaran, and using the area formed between the first and second hulls to create a channel, the independent duct required for fin-like propulsion devices in related technologies can be replaced with a channel. This eliminates the need for additional duct structures, simplifies the overall structure of the catamaran, reduces manufacturing difficulty and cost, saves internal space, and allows for a more compact integration of the catamaran hull and propulsion components, improving space utilization and reducing the difficulty of building and processing the catamaran.

[0006] The channel not only provides installation space for propulsion components, but also effectively constrains water flow, allowing the water to flow along the extension direction of the channel and act more concentratedly on the fins. This reduces energy loss caused by water flow diffusion during fin oscillation, thereby improving the fins' propulsion efficiency, reducing navigation energy consumption, and enhancing the operating economy of the catamaran.

[0007] During the navigation of a catamaran, the channel structure can provide additional lift by utilizing aerodynamic and hydrodynamic effects (such as ground effect), effectively reducing the catamaran's draft and sailing resistance, improving the catamaran's sailing attitude, and enhancing sailing stability; combined with the high efficiency of fin propulsion, it achieves simultaneous improvement in hydrodynamic efficiency and propulsion performance, significantly enhancing the ship's speed and seakeeping.

[0008] The channel can effectively protect the propulsion components of the catamaran, preventing the catamaran from colliding with foreign objects such as seaweed and reefs during navigation, thus avoiding damage to the fins, reducing the risk of catamaran malfunctions, and extending the service life of the propulsion components.

[0009] Replacing propulsion with a fin-based, biomimetic propulsion method can solve the problems of low propulsion efficiency, cavitation at high speeds, and blade erosion. Furthermore, fin-based catamaran propulsion produces significantly less noise than propeller-driven catamarans, effectively reducing disturbance to the surrounding aquatic ecosystem.

[0010] Compared to traditional external propellers that occupy a large amount of space at the stern of a catamaran and prevent loads from being mounted at the stern, the method of setting the fins within the channels can free up space at the stern of the catamaran. There is no need to reserve space for the installation of drive components such as propellers or jet pumps. It can also avoid the problem of external propellers protruding from the stern and easily scratching or getting tangled with towed items, thus enabling towing operations of loads at the stern.

[0011] In one alternative embodiment, the hull further includes a connecting portion that connects the first hull and the second hull, with the channel located opposite to the connecting portion. The propulsion components also include: A swing member is hinged to the connecting part and located in the channel, and the swing member is hinged to at least one fin. The driving component is suitable for driving the oscillating component to oscillate.

[0012] In one optional embodiment, the swing member includes a swing body and a first hinge shaft, the swing body being rotatably disposed on the connecting part via the first hinge shaft; The fin includes a first fin and a second fin, both of which are hinged to the swing body, and the first fin and the second fin are located on opposite sides of the connecting part.

[0013] Beneficial effects: By hinged first and second fins on both sides of the swing body, and with the two sets of fins located on opposite sides of the connection, the overall water-pushing area of ​​the propulsion assembly is effectively increased and the drainage volume per unit time is improved, thereby enhancing the driving power of the propulsion assembly.

[0014] In one optional embodiment, the fin includes a fin body and a second hinge shaft, with the fin body rotatably mounted on the swing body via the second hinge shaft. The catamaran also includes a phase adjustment mechanism adapted to adjust the phase of the fin body and constrain the rotation angle of the fin body about the second hinge axis.

[0015] Beneficial effects: The phase adjustment component can constrain the maximum rotation angle of the fin body around the second hinge axis, limiting the fin body to a reasonable range of swinging activity. This avoids the problem of thrust dispersion and ineffective work caused by the fin body deflecting too much or too little angle, enabling the fin body to propel the catamaran efficiently. On the other hand, it can prevent the fin body from deflecting excessively or interfering with the structure inside the channel under complex water flow impact.

[0016] In one optional embodiment, the phase of the fin body includes a forward phase and a reverse phase. In the forward phase, the fin body is adapted to drive the catamaran forward; in the reverse phase, the fin body is adapted to drive the catamaran backward. The angle between the fin body in the reverse phase and the fin body in the forward phase is A, and the swing angle of the fin body about the second hinge axis is B, satisfying: A°>(90°+(B / 2)°). The phase adjustment component includes a first phase adjustment component and a second phase adjustment component. The first phase adjustment component is adapted to adjust the phase of the fin body of the first fin, and the second phase adjustment component is adapted to adjust the phase of the fin body of the second fin.

[0017] In one optional embodiment, a flow guide is further included, which is rotatably disposed at the stern of the catamaran. The flow guide includes a straight-going state parallel to the channel extension direction and a flow-guiding state not parallel to the channel extension direction. In the straight-going state, the flow guide is adapted to guide the catamaran to go straight. In the flow-guiding state, the flow guide is adapted to guide the catamaran to turn.

[0018] Beneficial effects: When the guide vane is in a straight position parallel to the extension direction of the channel, the water flow direction in the channel is the same as the extension direction of the channel, and the catamaran can travel straight. When the guide vane deflects to the left, the water flow will deflect to the left as it flows out of the channel due to the obstruction of the guide vane. According to the principle of action and reaction, the deflected water flow will generate a rightward thrust on the guide vane. This reverse thrust acts on the hull, causing the bow to deflect to the left. Similarly, when the guide vane deflects to the right, the water flow will deflect to the right as it flows out of the channel due to the obstruction of the guide vane. According to the principle of action and reaction, the deflected water flow will generate a leftward thrust on the guide vane. This reverse thrust acts on the hull, causing the bow to deflect to the right.

[0019] In one alternative implementation, the cross-sectional shape of the channel is rectangular, trapezoidal, circular, or streamlined.

[0020] Secondly, the present invention also provides a control method applicable to catamarans as described above, the control method comprising: Obtain travel mode information; Adjust the swing angle of the swing component and the state of the guide component based on the travel mode information; The driving modes include going straight forward, turning left, turning right, and going straight backward.

[0021] In one optional implementation, when the travel mode information is forward straight, the flow guide is adjusted to be in a straight-line state, and the oscillation phase of the fin is adjusted to a positive phase by the phase adjustment component to control the catamaran to travel forward straight. Alternatively, when the travel mode information is backward straight, the flow guide is adjusted to be in a straight-going state, and the oscillation phase of the fin is adjusted to the opposite phase through the phase adjustment component to control the catamaran to travel backward straight; wherein the angle between the opposite phase and the forward phase is 180°.

[0022] In one optional implementation, when the travel mode information is left turn, the flow guiding state of the flow guide is adjusted to deflect to the left, controlling the catamaran to turn to the left; or, when the travel mode information is right turn, the flow guiding state of the flow guide is adjusted to deflect to the right, controlling the catamaran to turn to the right. Attached Figure Description

[0023] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 This is a top view of a catamaran propulsion system with fish fin-like design, according to an embodiment of the present invention. Figure 2 for Figure 1 A schematic diagram of section AA.

[0025] Explanation of reference numerals in the attached figures: 1. Hull; 11. Connecting part; 2. First hull; 21. First hull piece; 3. Second hull; 31. Second hull piece; 4. Channel; 5. Propulsion assembly; 51. Oscillating component; 511. Oscillating body; 512. First hinge shaft; 52. Fin; 501. Fin body; 502. Second hinge shaft; 521. First fin; 522. Second fin; 6. Guide component; 7. Phase adjustment component; 71. First phase adjustment component; 72. Second phase adjustment component. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Catamarans, with their advantages of good stability, spacious deck area, and excellent seakeeping performance, are widely used in civilian vessels, marine operations, and water transportation. However, most catamaran propulsion systems use propellers as their power source. Propeller propulsion has several technical drawbacks: firstly, its propulsion efficiency is relatively low, resulting in significant energy loss during navigation and making it difficult to meet the demands of efficient navigation; secondly, it generates considerable noise and vibration, easily disturbing the surrounding aquatic ecosystem and affecting the onboard work and passenger experience; thirdly, cavitation is prone to occur at high speeds, which not only reduces propulsion efficiency but also corrodes the propeller blades, shortening the equipment's lifespan; and fourthly, the propeller and jet pump occupy stern space, making it inconvenient when towing loads.

[0028] Fish fin-inspired biomimetic propulsion boasts advantages such as high efficiency, low noise, and strong maneuverability. The duct structure can constrain water flow, improve propulsion efficiency, and protect internal components. Channel-type catamarans can utilize the hydrodynamic effect of the channels to reduce sailing resistance. However, in related technologies, the integration of biomimetic propulsion with the hull is low, and the channels and ducts cannot achieve structural reuse to perform their respective functions, resulting in complex hull structures and low space utilization.

[0029] Therefore, it is necessary to integrate the fish fin-inspired bionic propulsion system with the hull structure of the catamaran to solve the problems of low integration and low space utilization of existing bionic propulsion systems and hulls.

[0030] The following is combined with Figures 1 to 2 The following describes embodiments of the present invention.

[0031] According to an embodiment of the present invention, in one aspect, a catamaran is provided. The catamaran includes a hull 1, and the width direction is defined as the direction perpendicular to the direction of travel of the catamaran in the horizontal plane. The hull 1 includes a first hull 2 ​​and a second hull 3 arranged symmetrically and at intervals along the width direction. A channel 4 is formed in the area between the first hull 2 ​​and the second hull 3 along the width direction. It also includes a propulsion assembly 5, which is disposed in the channel 4 and includes at least one fin 52 adapted to oscillate to drive the catamaran's motion.

[0032] The inner sidewalls of the first hull 2 ​​and the second hull 3 facing each other are sheet-like parts. The sheet-like part on the first hull 2 ​​is the first sheet-like part 21, and the hull on the second hull 3 is the second sheet-like part 31. The first sheet-like part 21 and the second sheet-like part 31 together form the two side boundaries of the intermediate channel 4.

[0033] Furthermore, the bottom profile of the first body 21 and the second body 31 is designed as a planing boat shape or a round bilge shape. The planing boat shape is suitable for high-speed navigation scenarios and can reduce navigation resistance by using hydrodynamic lift; the round bilge shape is suitable for medium and low-speed navigation scenarios, has better stability and seakeeping, and can adapt to different ship navigation conditions.

[0034] The propulsion component 5 is placed in the area between the first hull 2 ​​and the second hull 3 of the catamaran. The area formed between the first hull 2 ​​and the second hull 3 forms a channel 4. The channel 4 replaces the independent duct required by the fin-like propulsion device in related technologies. There is no need to add an additional duct structure, which simplifies the overall structure of the catamaran, reduces manufacturing difficulty and cost, saves internal space of the hull, and makes the combination of the hull 1 and the propulsion component 5 more compact, improving space utilization and reducing the construction and processing difficulty of the catamaran.

[0035] The channel 4 not only provides installation space for the propulsion component 5, but also effectively constrains the water flow, allowing the water flow to flow along the extension direction of the channel 4 and act more concentratedly on the fin 52. This reduces energy loss caused by water flow diffusion during the swing of the fin 52, thereby improving the propulsion efficiency of the fin 52, reducing navigation energy consumption, and improving the operating economy of the catamaran.

[0036] During the navigation of the catamaran, the channel 4 structure can provide additional lift to the catamaran by utilizing aerodynamic and hydrodynamic effects (such as ground effect), effectively reducing the catamaran's draft and sailing resistance, improving the catamaran's sailing attitude, and enhancing sailing stability; combined with the high efficiency of the fin 52 propulsion, it achieves simultaneous improvement in hydrodynamic efficiency and propulsion performance, significantly enhancing the ship's speed and seakeeping.

[0037] Channel 4 can effectively protect the propulsion component 5 of the catamaran, preventing the catamaran from colliding with foreign objects such as seaweed and reefs during navigation, thus avoiding damage to the fin 52, reducing the risk of catamaran malfunction, and extending the service life of the propulsion component 5.

[0038] The use of a biomimetic propulsion method with 52 oscillating fins to replace propeller propulsion in related technologies can solve the problems of low propulsion efficiency of propellers, cavitation at high speeds, and the risk of blade erosion. Furthermore, the use of 52 fins to propel catamarans results in significantly lower noise levels compared to propeller propulsion, effectively reducing interference with the surrounding aquatic ecosystem.

[0039] Compared to traditional external propellers that occupy a large amount of space at the stern of a catamaran and prevent loads from being mounted at the stern, the method of setting the fin 52 within the channel 4 frees up space at the stern of the catamaran. There is no need to reserve space for the installation of drive components such as propellers or jet pumps. It also avoids the problem of external propellers protruding from the stern and easily scratching or tangling with towed items, thus enabling towing operations of loads at the stern.

[0040] In one embodiment, the hull 1 further includes a connecting portion 11 that connects the first hull 2 ​​and the second hull 3, and the channel 4 is located below the connecting portion 11. Propulsion component 5 also includes: The swing member 51 is hinged to the connecting part 11 and located in the channel 4. The swing member 51 is hinged to at least one fin 52. The driving component is adapted to drive the oscillating component 51 to oscillate.

[0041] The oscillating component 51 can be a long, rod-shaped structure or a disc-shaped oscillating structure. When a long, rod-shaped structure is selected, the middle part of the long, rod-shaped oscillating component 51 is connected to the driving component through a coupling, eccentric connecting rod, or gear transmission structure. The output rotational power of the driving component can drive the long, rod-shaped oscillating component 51 to oscillate regularly around its own hinge fulcrum. When the oscillating component 51 is a disc-shaped structure, the center of the disc is directly coaxially connected to the output shaft of the driving component to achieve synchronous rotation. At the same time, two or more points off the center are selected on the disc surface and hinged to the fin 52. The rotation of the disc drives the fin 52 to oscillate.

[0042] The driving component can be a servo motor, hydraulic cylinder, or other structure. It is connected to the swinging component 51 through a coupling, eccentric wheel or connecting rod assembly, gear transmission structure, etc. The driving component outputs rotational torque or reciprocating linear power to drive the swinging component 51 to swing regularly around the hinge point.

[0043] In one embodiment, the swing member 51 includes a swing body 511 and a first hinge shaft 512, and the swing body 511 is rotatably disposed on the connecting part 11 via the first hinge shaft 512; The fin 52 includes a first fin 521 and a second fin 522. Both the first fin 521 and the second fin 522 are hinged to the swing body 511, and the first fin 521 and the second fin 522 are located on opposite sides of the connecting part 11.

[0044] By hinged first fins 52152 and second fins 522 on both sides of the swing body 511, and by distributing the two sets of fins 52 on opposite sides of the connecting part 11, the overall water-pushing area of ​​the propulsion assembly is effectively increased and the drainage volume per unit time is increased, thereby enhancing the driving power of the propulsion assembly 5.

[0045] In one embodiment, the fin 52 includes a fin body 501 and a second hinge shaft 502, with the fin body 501 rotatably mounted on the swing body 511 via the second hinge shaft 502. The catamaran also includes a phase adjustment element 7, which is adapted to adjust the phase of the fin body 501 and constrain the rotation angle of the fin body 501 about the second hinge axis 502.

[0046] The phase adjustment component 7 can constrain the maximum rotation angle of the fin body 501 around the second hinge axis 502, limiting the fin body 52 to a reasonable range of swinging activity, avoiding the problem of thrust dispersion and ineffective work caused by the fin body 501 deflecting too much or too little angle, so that the fin body 52 can efficiently propel the catamaran. On the other hand, it can prevent the fin body 52 from deflecting excessively or interfering with the structure inside the channel 4 under complex water flow impact.

[0047] In one embodiment, the phase of the fin body 501 includes a forward phase and a reverse phase. In the forward phase, the fin body 501 is adapted to drive the catamaran forward; in the reverse phase, the fin body 501 is adapted to drive the catamaran backward. The angle between the fin body 501 in the reverse phase and the fin body 501 in the forward phase is A, and the swing angle of the fin body 501 about the second hinge axis 502 is B, satisfying: A°>(90°+(B / 2)°). The phase adjustment member 7 includes a first phase adjustment member 71 and a second phase adjustment member 72. The first phase adjustment member 71 is adapted to adjust the phase of the fin body 501 of the first fin 521, and the second phase adjustment member 72 is adapted to adjust the phase of the fin body 501 of the second fin 522.

[0048] When the angle between the reverse phase and the forward phase is A° > (90° + (B / 2)°), the fin body 501 can generate a reverse component force to drive the catamaran backward during the swinging process. However, the effective water-pushing stroke is limited in this angle range, and the resulting backward component force is relatively small. When the phase angle is further increased to greater than 135°, the effective work angle of the fin body 501 is larger, and the reverse water-pushing efficiency is higher, which can meet the power requirements of conventional reverse movement. When the phase angle is 180°, the fin body 501 is completely symmetrically inverted with the forward phase, and the swinging work can be converted into reverse propulsion force to the maximum extent. At this time, the backward component force generated reaches its peak value.

[0049] Meanwhile, the first fin 521 and the second fin 522 can independently adjust the swing frequency and amplitude, which facilitates flexible maneuvering operations such as rapid turning, turning on the spot, and reversing, thereby improving the ship's handling performance.

[0050] In one embodiment, a flow guide 6 is further included. The flow guide 6 is rotatably disposed at the stern of the catamaran. The flow guide 6 includes a straight-going state parallel to the extension direction of the channel 4 and a flow-guiding state not parallel to the extension direction of the channel 4. In the straight-going state, the flow guide 6 is adapted to guide the catamaran to go straight. In the flow-guiding state, the flow guide 6 is adapted to guide the catamaran to turn.

[0051] When the guide member 6 is in a straight state parallel to the extension direction of the channel 4, the water flow direction in the channel 4 is the same as the extension direction of the channel 4, and the catamaran can travel straight. When the guide member 6 deflects to the left, the water flow will deflect to the left when it flows out of the channel 4 due to the obstruction of the guide member 6. According to the principle of action and reaction, the deflected water flow will generate a rightward reverse thrust on the guide member 6. The reverse thrust acts on the hull, causing the bow to deflect to the left. Similarly, when the guide member 6 deflects to the right, the water flow will deflect to the right when it flows out of the channel 4 due to the obstruction of the guide member 6. According to the principle of action and reaction, the deflected water flow will generate a leftward reverse thrust on the guide member 6. The reverse thrust acts on the hull, causing the bow to deflect to the right.

[0052] In one embodiment, the cross-sectional shape of the channel 4 is rectangular, trapezoidal, circular, or streamlined.

[0053] The specific dimensions, length, and cross-sectional shape of channel 4 are designed according to the overall specifications, sailing speed, and propulsion power requirements of the catamaran to ensure smooth water flow within channel 4 and fully utilize the functions of channel 4 in constraining water flow, reducing eddy current losses, and improving propulsion efficiency.

[0054] According to an embodiment of the present invention, in another aspect, a control method is also provided, applicable to catamarans as described above, the control method comprising: Obtain travel mode information; The swing angle of the swinging component 51 and the state of the guide component 6 are adjusted based on the travel mode information. The driving modes include going straight forward, turning left, turning right, and going straight backward.

[0055] In one embodiment, when the travel mode information is forward straight, the flow guide 6 is in a straight-going state, and the swing phase of the fin 52 is adjusted to a positive phase by the phase adjustment component 7 to control the catamaran to travel forward straight. Alternatively, when the travel mode information is backward straight, the flow guide 6 is adjusted to be in the straight-going state, and the swing phase of the fin 52 is adjusted to the opposite phase through the phase adjustment component 7 to control the catamaran to travel backward straight; wherein the angle between the opposite phase and the forward phase is 180°.

[0056] In one embodiment, when the travel mode information is left turn, the flow guiding state of the flow guide 6 is adjusted to deflect to the left, controlling the catamaran to turn to the left; or, when the travel mode information is right turn, the flow guiding state of the flow guide 6 is adjusted to deflect to the right, controlling the catamaran to turn to the right.

[0057] When the catamaran needs to travel straight forward, the guide vane 6 is adjusted to a straight-line state parallel to the extension direction of the channel 4. At the same time, the fin 52 is adjusted to a positive swing phase via the phase adjustment component 7. The fin 52 swings regularly to push water backward. At this time, the water flow direction of the channel 4 is the same as the extension direction of the channel 4, ensuring that the hull travels stably forward in a straight line. When the bow needs to turn to the left, the fin 52 is kept in a positive phase to continuously output forward power, and only the guide vane 6 is deflected to the left, so that the water flow from the stern of the channel 4 is directed to the left. When turning to the left, the fin 52 maintains its forward propulsion position, while the guide vane 6 is deflected to the right. The reverse thrust generated by the outflowing water creates a rightward turning torque, driving the bow to turn to the right. When the catamaran needs to move straight, the guide vane 6 maintains its straight-moving attitude, and the phase adjustment component 7 switches the fin 52 to a 180° phase with the forward direction. In the opposite phase, the working surface of the fin 52 facing the water is completely inverted. When it swings, it pushes the water forward and relies on the reaction force to make the hull move straight backward. During the straight backward movement, if it is necessary to make the stern swing to the left, the guide 6 can be deflected to the right to guide the return water to the right. The reaction force of the water flow pushes the stern to the left. If it is necessary to make the stern swing to the right, the guide 6 can be deflected to the left to guide the return water to the left. The reverse thrust of the water flow drives the stern to swing to the right.

[0058] The following is a specific example of a catamaran: The catamaran is made entirely of fiberglass, which is lightweight, high-strength, and corrosion-resistant. The catamaran hulls are of planing boat type, with the following specifications: the catamaran is 10m long, the hull width is 0.8m, the channel 4 is 0.8m wide, the maximum swing width of the fin 52 is 0.6m-0.7m, the channel 4 is 0.8m deep, and the channel 4 extends longitudinally from the bow to the stern. The channel 4 has a rectangular cross-section to ensure smooth water flow.

[0059] The two plates are fixedly connected by two steel connecting bridges to ensure the overall structural strength of the hull. Two sets of propulsion components 5 are set inside the channel 4, 1m from the stern. The fin 52 adopts a streamlined biomimetic design. The fin 52 is 0.6m high and 0.6m long. It is made of high-strength engineering plastic and has good toughness and impact resistance.

[0060] The drive component uses two servo motors, which are symmetrically installed on the side walls of the plates on both sides of the channel 4. The servo motors are connected to the fin 52 through a transmission mechanism consisting of an eccentric wheel and a connecting rod, driving the fin 52 to achieve a left-right reciprocating swing similar to that of a tuna tail fin, forming a compound biomimetic motion. The swing frequency can be adjusted according to the sailing speed requirements.

[0061] When the catamaran is sailing, the servo motor is activated, and the drive component drives the fin 52 to make periodic biomimetic oscillations, cutting the water flow in the channel 4 to generate forward propulsion. The channel 4 also acts as a duct, constraining the water flow to improve propulsion efficiency, and using hydrodynamic effects to reduce sailing resistance, thus achieving efficient, low-noise, and stable sailing.

[0062] Although embodiments of the invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A catamaran, characterized in that, The catamaran includes a hull (1), and the width direction is defined as the direction perpendicular to the direction of travel of the catamaran in the horizontal plane. The hull (1) includes a first hull (2) and a second hull (3) arranged symmetrically and at intervals along the width direction. The area between the first hull (2) and the second hull (3) along the width direction forms a channel (4). It also includes a propulsion assembly (5) disposed in the channel (4), the propulsion assembly (5) including at least one fin (52) adapted to oscillate to drive the catamaran to move.

2. The catamaran according to claim 1, characterized in that, The hull (1) also includes a connecting part (11) connecting the first hull (2) and the second hull (3), and the channel (4) is located below the connecting part (11); The propulsion component (5) also includes: A swing member (51) is hinged to the connecting part (11) and located in the channel (4). The swing member (51) is hinged to at least one fin (52). A driving element adapted to drive the oscillating element (51) to oscillate.

3. The catamaran according to claim 2, characterized in that, The swinging component (51) includes a swinging body (511) and a first hinge shaft (512). The swinging body (511) is rotatably disposed on the connecting part (11) via the first hinge shaft (512). The fin (52) includes a first fin (521) and a second fin (522), both of which are hinged to the swing body (511), and the first fin (521) and the second fin (522) are located on opposite sides of the connecting part (11).

4. The catamaran according to claim 3, characterized in that, The fin (52) includes a fin body (501) and a second hinge shaft (502). The fin body (501) is rotatably mounted on the swing body (511) via the second hinge shaft (502). The catamaran also includes a phase adjustment member (7) adapted to adjust the phase of the fin body (501) and constrain the rotation angle of the fin body (501) about the second hinge axis (502).

5. The catamaran according to claim 4, characterized in that, The phase of the fin body (501) includes a forward phase and a reverse phase. In the forward phase, the fin body (501) is adapted to drive the catamaran forward. In the reverse phase, the fin body (501) is adapted to drive the catamaran backward. The angle between the fin body (501) in the reverse phase and the fin body (501) in the forward phase is A. The swing angle of the fin body (501) about the second hinge axis (502) is B, which satisfies: A°>(90°+(B / 2)°). The phase adjustment member (7) includes a first phase adjustment member (71) and a second phase adjustment member (72). The first phase adjustment member (71) is adapted to adjust the phase of the fin body (501) of the first fin (521), and the second phase adjustment member (72) is adapted to adjust the phase of the fin body (501) of the second fin (522).

6. The catamaran according to claim 1, characterized in that, It also includes a flow guide (6), which is rotatably disposed at the stern of the catamaran. The flow guide (6) includes a straight-going state parallel to the extension direction of the channel (4) and a flow guide state not parallel to the extension direction of the channel (4). In the straight-going state, the flow guide (6) is adapted to guide the catamaran to go straight. In the flow guide state, the flow guide (6) is adapted to guide the catamaran to turn.

7. The catamaran according to claim 2, characterized in that, The cross-sectional shape of the channel (4) is rectangular, trapezoidal, circular or streamlined.

8. A control method, characterized in that, The control method, applicable to any one of claims 1 to 7, comprises: Obtain travel mode information; The swing angle of the swing member (51) and the state of the guide member (6) are adjusted based on the travel mode information. The travel modes include going straight forward, turning left, turning right, and going straight backward.

9. The control method according to claim 8, characterized in that, When the travel mode information is forward straight, the guide (6) is adjusted to be in a straight state, and the swing phase of the fin (52) is adjusted to a positive phase by the phase adjustment component (7) to control the catamaran to move forward straight; Alternatively, when the travel mode information is backward straight, the guide (6) is adjusted to be in a straight state, and the swing phase of the fin (52) is adjusted to the opposite phase by the phase adjustment component (7) to control the catamaran to travel backward straight; The angle between the reverse phase and the forward phase is 180°.

10. The control method according to claim 8, characterized in that, When the travel mode information is left turn, the flow guiding state of the flow guide (6) is adjusted to deflect to the left, and the catamaran is controlled to turn to the left; or, when the travel mode information is right turn, the flow guiding state of the flow guide (6) is adjusted to deflect to the right, and the catamaran is controlled to turn to the right.

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