A control device for the wing sail of an unmanned surface vessel

Abstract

This invention relates to a control device for a wing sail of an unmanned surface vessel (USV), comprising a structural component, an adjustment component, and a rotational speed monitoring mechanism. The structural component includes a frame assembly and a wing sail. The wing sail is disposed on one side of the frame assembly, and the adjustment component is disposed inside the frame. The adjustment component is connected to the rotational speed monitoring mechanism and can adjust the orientation of the wing sail. The adjustment component includes a position control element, a clutch mechanism, and a locking mechanism. The position control element controls the states of the clutch mechanism and the locking mechanism. By utilizing external airflow as the driving force for wing sail steering, no additional power input is required. The adjustment and locking / unlocking control of the wing sail orientation are achieved only through low-power control components, thereby reducing the energy consumption of the USV and improving the convenience of steering control.

Description

Technical Field

[0001] This invention belongs to the field of unmanned surface vessel (USV) wing sails, specifically a control device for an USV wing sail. Background Technology

[0002] Most existing unmanned surface vessel (USV) wing-sail assisted steering technologies utilize the aerodynamic characteristics of the wing-sail to assist the USV in steering adjustments. They leverage natural airflow to provide some auxiliary power for the USV's steering, reducing the energy consumption of the active steering mechanism. At the same time, they improve the heading stability of the USV to a certain extent, adapting to the navigation needs of some conventional sea states. Moreover, the structural design is relatively simple, the manufacturing cost is low, and it is easy to realize preliminary engineering applications. They can meet the basic steering assistance needs of USVs, reduce the energy consumption pressure during the USV's navigation process, and conform to the development trend of energy-saving navigation of USVs.

[0003] However, existing technologies still have significant drawbacks: when unmanned surface vessels (USVs) are moving at high speeds, the response speed of the wing sail steering adjustment is slow in the face of sudden airflow, waves and other external disturbances, making it difficult to quickly adapt to changes in operating conditions, effectively suppress the unstable swaying of the hull, and resulting in insufficient steering accuracy, making it difficult to maintain the overall stability of the USV; most technologies rely on additional power to drive the wing sail steering, which cannot make full use of the energy of natural airflow, resulting in low energy utilization efficiency and increasing the energy consumption burden of the USV. Therefore, a control device for the wing sail of an unmanned surface vessel is proposed. Summary of the Invention

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0005] Given the following technical problems in the existing technology: when the unmanned surface vessel is moving at high speed, the response speed of the wing sail steering adjustment is slow in the face of sudden airflow, waves and other external disturbances, making it difficult to quickly adapt to changes in operating conditions, effectively suppress the unstable swaying of the hull, and have insufficient steering accuracy, making it difficult to maintain the overall stability of the unmanned surface vessel; most technologies rely on additional power to drive the wing sail steering, which cannot make full use of the energy of natural airflow, resulting in low energy utilization efficiency and increasing the energy consumption burden of the unmanned surface vessel.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a control device for an unmanned surface vessel (USV) wing sail, comprising a structural component, an adjustment component, and a rotational speed monitoring mechanism. The structural component includes a frame component and a wing sail. The wing sail is disposed on one side of the frame component, and the adjustment component is disposed on the inner side of the frame. The adjustment component is connected to the rotational speed monitoring mechanism and can adjust the orientation of the wing sail. The adjustment component includes a position control component, a clutch mechanism, and a locking mechanism. The position control component controls the state of the clutch mechanism and the locking mechanism.

[0007] As a preferred technical solution for the control device of an unmanned surface vessel's wing sail, the frame assembly includes a main body assembly and a base. The main body assembly is sleeved onto the base, and the main body assembly and the base are rotatably connected. This allows for flexible rotation of the main body assembly relative to the base, providing a basic structural guarantee for adjusting the wing sail's orientation and ensuring smooth execution of steering actions.

[0008] As a preferred technical solution for the control device of an unmanned surface vessel (USV) wing sail, four to six rollers are evenly arranged on the outer ring of the bottom of the main component. The bottom of the main component is rotatably connected to the rollers, and a rotation groove is provided on the upper side of the base. The rollers extend into the rotation groove and are rotatably connected to it. This reduces the rotational frictional resistance between the main component and the base, ensuring smooth and stable turning of the wing sail and reducing turning energy consumption.

[0009] As a preferred technical solution for the control device of an unmanned surface vessel's wing sail, the main components include a rotary table, a connecting column, and a wing sail plate. The top of the rotary table is fixedly connected to one end of the connecting column, and the other end of the connecting column is fixedly connected to the wing sail plate. This ensures the stable assembly of the wing sail structure, guarantees that steering power can be effectively transmitted to the wing sail plate, and ensures the reliability of steering adjustment.

[0010] As a preferred technical solution for the control device of an unmanned surface vessel (USV) wing sail, the speed monitoring mechanism includes a worm gear, a worm, a second drive shaft, an air turbine, a first drive shaft, and a speed detection mechanism. The speed detection mechanism includes a first synchronous pulley, a second synchronous pulley, a synchronous belt, and a rotary encoder. A notch is provided on the wing sail, and an air turbine is mounted on the notch. A worm gear and a worm are rotatably connected to the inner side of the rotary table, meshing with each other. A second drive shaft is rotatably connected inside the connecting column, with the worm connected to one end of the second drive shaft, and the other end fixedly connected to the air turbine. The first drive shaft is located in the middle of the worm gear, and a first synchronous pulley is mounted on it. A rotary encoder is located on the inner side of the rotary table, and a second synchronous pulley is located at the power input end of the encoder. A synchronous belt connects the second synchronous pulley to the first synchronous pulley. The worm gear and worm work together to reduce speed and increase torque. By reducing speed and increasing torque through the worm gear and worm, stable power transmission driven by airflow is ensured. Simultaneously, the rotary encoder collects speed information in real time, providing precise data support for wing sail steering adjustment.

[0011] As a preferred technical solution for the control device of an unmanned surface vessel's (USV) wing sail, the speed monitoring mechanism includes a worm gear, a worm, a second drive shaft, an air turbine, a first drive shaft, and a speed detection mechanism. The speed detection mechanism includes a first synchronous pulley, a second synchronous pulley, a synchronous belt, and a rotary encoder. A notch is provided on the wing sail, and an air turbine is mounted on the notch. A worm gear and a worm are rotatably connected to the inner side of the rotary table, meshing with each other. A second drive shaft is rotatably connected inside the connecting column, with the worm connected to one end of the second drive shaft, and the other end fixedly connected to the air turbine. The first drive shaft is located in the middle of the worm gear, and a first synchronous pulley is mounted on it. A rotary encoder is located inside the rotary table, and a second synchronous pulley is located at the power input end of the encoder. A synchronous belt connects the second synchronous pulley to the first synchronous pulley. The worm gear and worm work together to reduce speed and increase torque, achieving efficient utilization of airflow energy. Speed ​​reduction and torque increase ensure the stability of power transmission, while real-time speed monitoring facilitates dynamic adjustment of steering based on operating conditions.

[0012] As a preferred technical solution for the control device of an unmanned surface vessel (USV) wing sail, the position control component includes a control arm and control components. The locking mechanism includes a locking disc B, a locking disc A, and movable shafts. A locking groove is provided at the bottom of the rotating platform, and the locking disc A is installed on the inner top wall of the locking groove. The locking disc B is movably connected to the top of the base. Several movable shafts are arranged in a ring at the bottom of the locking disc B. The movable shafts are movably inserted into movable holes on the base. A pressure spring is connected between the bottom end of the movable shaft and the movable hole of the base. The locking disc B and locking disc A are movably abutted against each other. The position control component includes control components and a control arm. One end of the locking disc B and the control arm are connected by several connecting ropes, including steel cables. The locking disc B and locking disc A can be locked by frictional connection. Two control components are symmetrically arranged at the bottom of the rotating platform, and the movable ends of the control components are correspondingly connected to the middle of the control arm. This achieves reliable locking and flexible unlocking of the wing sail in the turning state. The symmetrical arrangement of the control components improves control stability and ensures the stability of the wing sail position under different navigation conditions.

[0013] As a preferred technical solution for the control device of an unmanned surface vessel's (USV) wing sail, the adjustment component includes a drive gear and a driven gear. The drive gear is connected to a speed monitoring mechanism via a clutch mechanism. Several drive gears are evenly arranged on the outer ring of the inner side of the bottom of the rotary table, and the drive gears are rotatably connected to the rotary table. A driven gear is fixedly sleeved on the top of the base, and the drive gears are distributed around the driven gears, meshing with them. This achieves smooth transmission for wing sail steering. The even distribution of multiple sets of drive gears improves steering accuracy and ensures precise and controllable wing sail orientation adjustment.

[0014] As a preferred technical solution for the control device of an unmanned surface vessel (USV) wing sail, the clutch mechanism includes clutch disc A, clutch disc B, control sleeve, transmission spline shaft, transmission spline sleeve, driven bevel gear, and driving bevel gear. A driving bevel gear is installed at each end of the transmission shaft A. A transmission spline sleeve is rotatably connected to each side of the rotary table A driven bevel gear is installed at the top of each transmission spline sleeve, and the driven bevel gear meshes with the driving bevel gear. The transmission spline shaft is movably inserted into the bottom end of the transmission spline sleeve, and the top of the transmission spline shaft meshes with the inner side of the transmission spline sleeve. This enables flexible power transmission and disconnection, ensures transmission accuracy through the bevel gear and spline engagement, facilitates switching the wing sail steering direction according to navigation needs, and improves the flexibility of steering control.

[0015] The beneficial effects of the control device for the wing sail of an unmanned surface vessel (USV) of the present invention are as follows: by using external airflow as the driving force for wing sail steering, no additional power input is required. The adjustment and locking or unlocking control of the wing sail orientation can be achieved only through low-power control components, thereby reducing the energy consumption of the USV and improving the convenience of steering control. By setting up a speed monitoring mechanism to collect navigation status information in real time, and dynamically adapting to airflow changes during high-speed navigation of the unmanned surface vessel, the aim is to improve turning efficiency and enhance the overall stability of the unmanned surface vessel during high-speed navigation. By cooperating with a reliable locking mechanism and a clutch mechanism, stable locking and flexible switching of the wing sail steering state can be achieved, ensuring the steering reliability of the unmanned surface vessel under different navigation conditions and improving the navigation safety of the unmanned surface vessel. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced 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. Wherein: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic cross-sectional view of the side of the present invention; Figure 3 For the present invention Figure 2 A magnified schematic diagram of part A in the middle.

[0017] Reference numerals: 100, Main assembly; 101, Rotary table; 102, Connecting column; 103, Wing sail; 104, Locking groove; 105, Locking disc A; 106, Locking disc B; 107, Control arm; 108, Control component; 109, Movable shaft; 200, Base; 300, Orientation assembly; 301, Clutch disc A; 302, Clutch disc B; 303, Drive gear; 304, Driven gear; 305, Control sleeve; 306, Transmission spline shaft; 307, Transmission spline sleeve; 308, Driven bevel gear; 309, Driven bevel gear; 310, Transmission shaft one; 311, Worm gear; 312, Worm; 313, Transmission shaft two; 314, Air turbine; 400, Speed ​​detection mechanism; 401, Synchronous pulley one; 402, Synchronous pulley two; 403, Synchronous belt; 404, Rotary encoder. Detailed Implementation

[0018] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0019] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0020] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0021] Secondly, the present invention is described in detail with reference to the schematic diagrams. When detailing the embodiments of the present invention, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of the present invention. In addition, actual fabrication should include three-dimensional spatial dimensions of length, width, and depth.

[0022] like Figures 1-3 As shown, the present invention proposes a control device for an unmanned surface vessel (USV) wing sail, including a structural component, an adjustment component, and a speed monitoring mechanism. The structural component includes a frame component and a wing sail. The wing sail is provided on one side of the frame component, and the adjustment component is provided on the inner side of the frame. The adjustment component is connected to the speed monitoring mechanism and can adjust the orientation of the wing sail. The adjustment component includes a position control component, a clutch mechanism, and a locking mechanism. The position control component controls the state of the clutch mechanism and the locking mechanism.

[0023] The frame assembly includes a main body assembly 100 and a base 200, which are sleeved together and rotatably connected. This allows for flexible rotation of the main body assembly relative to the base, providing a basic structural guarantee for adjusting the wing sail orientation and ensuring smooth steering maneuvers.

[0024] Four to six rollers are evenly distributed around the bottom outer ring of the main body component 100. The bottom of the main body component 100 is rotatably connected to the rollers. A rotating groove is provided on the upper side of the base 200, and the rollers extend into the rotating groove and are rotatably connected to it. This reduces the rotational frictional resistance between the main body component and the base, ensuring smooth and stable turning of the wing sail and reducing turning energy consumption.

[0025] The main component 100 includes a rotary table 101, a connecting column 102, and a wing sail 103. The top of the rotary table 101 is fixedly connected to one end of the connecting column 102, and the other end of the connecting column 102 is fixedly connected to the wing sail 103. This ensures a stable assembly of the wing sail structure, guarantees that steering power can be effectively transmitted to the wing sail, and ensures the reliability of steering adjustment.

[0026] The speed monitoring mechanism includes a worm gear 311, a worm 312, a second transmission shaft 313, an air turbine 314, a first transmission shaft 310, and a speed detection mechanism 400. The speed detection mechanism 400 includes a first synchronous pulley 401, a second synchronous pulley 402, a synchronous belt 403, and a rotary encoder 404. A notch is provided on the wingplate 103, and an air turbine 314 is installed in the notch. The worm gear 311 and the worm 312 are rotatably connected to the inner side of the rotary table 101, with the worm gear 311 meshing with the worm 312. The second transmission shaft 310 is rotatably connected inside the connecting column 102. 13. Worm gear 312 is connected to one end of transmission shaft 313, and the other end of transmission shaft 313 is fixedly connected to air turbine 314. Transmission shaft 310 is located in the middle of worm gear 311, and synchronous pulley 401 is located on transmission shaft 310. Rotary encoder 404 is located on the inner side of rotary table 101, and synchronous pulley 402 is located at the power input end of rotary encoder 404. Synchronous belt 403 connects synchronous pulley 402 and synchronous pulley 401. The worm gear 311 and worm 312 work together to reduce speed and increase torque. By reducing speed and increasing torque through worm gear, the stable transmission of power driven by airflow is ensured. At the same time, the rotary encoder collects speed information in real time, providing accurate data support for wing sail steering adjustment.

[0027] The speed monitoring mechanism includes a worm gear 311, a worm 312, a second transmission shaft 313, an air turbine 314, a first transmission shaft 310, and a speed detection mechanism 400. The speed detection mechanism 400 includes a first synchronous pulley 401, a second synchronous pulley 402, a synchronous belt 403, and a rotary encoder 404. A notch is provided on the wingplate 103, and an air turbine 314 is installed in the notch. The worm gear 311 and the worm 312 are rotatably connected to the inner side of the rotary table 101, with the worm gear 311 meshing with the worm 312. The second transmission shaft 310 is rotatably connected inside the connecting column 102. 13. Worm gear 312 is connected to one end of transmission shaft 313, and the other end of transmission shaft 313 is fixedly connected to air turbine 314. Transmission shaft 310 is located in the middle of worm gear 311, and synchronous pulley 401 is located on transmission shaft 310. Rotary encoder 404 is located on the inner side of rotary table 101, and synchronous pulley 402 is located at the power input end of rotary encoder 404. Synchronous belt 403 connects synchronous pulley 402 and synchronous pulley 401. By using worm gear 311 and worm gear 312 in cooperation, the rotational speed is reduced and the torque is increased. This achieves efficient utilization of airflow energy, ensures the stability of power transmission by reducing speed and increasing torque, and monitors the rotational speed in real time, which facilitates dynamic adjustment of the steering state according to the working conditions.

[0028] The position control component includes a control arm 107 and a control component 108. The locking mechanism includes a locking disc B106, a locking disc A105, and a movable shaft 109. A locking groove 104 is provided at the bottom of the rotary table 101. The locking disc A105 is provided on the inner top wall of the locking groove 104. The locking disc B106 is movably connected to the top of the base 200. Several movable shafts 109 are arranged in a ring at the bottom of the locking disc B106. The movable shafts 109 are movably inserted into the movable holes on the base 200. The bottom end of the movable shaft 109 is connected to... A pressure spring is connected between the movable holes of the base 200. Locking disc B106 and locking disc A105 are in movable contact. The position control components include control element 108 and control arm 107. One end of locking disc B106 and control arm 107 are connected by several connecting ropes, including steel cables. Locking disc B106 and locking disc A105 can be locked by frictional connection. Two control elements 108 are symmetrically arranged at the bottom of the rotary table 101. The movable end of control element 108 is connected to the middle of control arm 107. This achieves reliable locking and flexible unlocking of the wing sail turning state. The symmetrically arranged control elements improve control stability and ensure the stability of the wing sail position under different sailing conditions.

[0029] The adjustment assembly includes a drive gear 303 and a driven gear 304. The drive gear 303 is connected to the speed monitoring mechanism via a clutch mechanism. Several drive gears 303 are evenly arranged on the outer ring of the inner side of the bottom of the rotary table 101. The drive gears 303 are rotatably connected to the rotary table 101. The driven gear 304 is fixedly sleeved on the top of the base 200. The drive gears 303 are distributed around the driven gear 304, and the drive gears 303 mesh with the driven gear 304. This achieves smooth transmission for wing sail steering. The even distribution of multiple sets of drive gears improves steering accuracy and ensures precise and controllable wing sail orientation adjustment.

[0030] The clutch mechanism includes a clutch disc A301, a clutch disc B302, a control sleeve 305, a transmission spline shaft 306, a transmission spline sleeve 307, a driven bevel gear 308, and a driving bevel gear 309. A driving bevel gear 309 is installed at each end of the transmission shaft 310. A transmission spline sleeve 307 is rotatably connected to each side of the rotary table 101. A driven bevel gear 308 is installed at the top of each transmission spline sleeve 307, and the driven bevel gear 308 meshes with the driving bevel gear 309. The transmission spline shaft 306 is movably inserted into the bottom end of the transmission spline sleeve 307, and the top of the transmission spline shaft 306 meshes with the inner side of the transmission spline sleeve 307. This mechanism enables flexible power transmission and disconnection, ensures transmission accuracy through the bevel gear and spline engagement, facilitates switching the wing sail steering direction according to navigation needs, and improves the flexibility of steering control.

[0031] The control component 108 includes a servo electric cylinder or a hydraulic cylinder. A control sleeve 305 is provided at the end of the control arm 107 away from the locking disc B106. The control sleeve 305 is sleeved on the outside of the transmission spline shaft 306, and the transmission spline shaft 306 is rotatably connected to the control sleeve 305.

[0032] The lead angle of the worm must be less than the equivalent friction angle between the meshing tooth surfaces of the worm wheel and worm, so that the worm wheel cannot drive the worm to rotate in the opposite direction.

[0033] The base 200 is fixed on the unmanned surface vessel.

[0034] The worm 312 is perpendicular to the axis of the worm wheel 311.

[0035] The specific implementation method is as follows: When the unmanned surface vessel is sailing at high speed, the air turbine 314 on the wing sail 103 rotates under the action of airflow. The air turbine 314 drives the worm 312 to rotate, and the worm 312 drives the worm wheel 311 to rotate. The worm wheel 311 drives the two active bevel gears 309 to rotate through the transmission shaft 310. The active bevel gears 309 drive the driven bevel gears 308 that are meshed with them to rotate. The two driven bevel gears 308 rotate in opposite directions. The transmission spline sleeve 307, transmission spline shaft 306 and clutch disc A301 connected to the two driven bevel gears 308 also rotate in opposite directions. The control component 108 controls the control arm 107 to press down, which can move the clutch disc A301 down. The control arm 107 can pull the locking disc B106 down through the connecting rope to separate the locking disc B106 from the locking disc A105, thereby releasing the lock between the rotating platform 101 and the base 200. The control arm 107 pulls the transmission spline shaft 306 downward through the control sleeve 305, locking one of the clutch discs A301 with the corresponding clutch disc B302. This causes the drive gear 303 corresponding to clutch disc B302 to rotate, and the drive gear 303 to rotate around the driven gear 304. This causes the turntable 101, connecting column 102, and wing sail 103 to change their orientation. Obviously, when different drive gears 303 are driven to rotate, the swing direction of the turntable 101 and wing sail 103 changes. In this way, external airflow can be used as the driving force without using additional power. Only a small-power control component 108 is needed to control the direction adjustment and locking or unlocking. In addition, the speed detection mechanism 400 can continuously collect speed information to monitor the status of the unmanned surface vessel. The faster the speed of the unmanned surface vessel, the more difficult it is to turn, and the stronger the airflow. At this time, the torque that can be given to the worm gear 312 and worm wheel 311 is greater, which can improve the turning efficiency.

[0036] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0037] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A control device for an unmanned surface vessel's wing sail, characterized in that: It includes structural components, adjustment components, and a speed monitoring mechanism. The structural components include a frame assembly and a wing sail. The wing sail is located on one side of the frame assembly, and the adjustment component is located inside the frame. The adjustment component is connected to the speed monitoring mechanism and can adjust the orientation of the wing sail. The adjustment component includes a position control element, a clutch mechanism, and a locking mechanism. The position control element controls the state of the clutch mechanism and the locking mechanism.

2. The control device for an unmanned surface vessel's wing sail according to claim 1, characterized in that: The rack assembly includes a main body assembly and a base, the main body assembly and the base are fitted together, and the main body assembly and the base are rotatably connected.

3. The control device for an unmanned surface vessel's wing sail according to claim 2, characterized in that: The outer ring at the bottom of the main component is evenly provided with four to six rollers. The bottom of the main component is rotatably connected to the rollers. The upper side of the base is provided with a rotating groove, and the rollers extend into the rotating groove and are rotatably connected to the rotating groove.

4. The control device for an unmanned surface vessel's wing sail according to claim 1, characterized in that: The main components include a turntable, a connecting column, and a wing sail. The top of the turntable is fixedly connected to one end of the connecting column, and the other end of the connecting column is fixedly connected to the wing sail.

5. The control device for an unmanned surface vessel's wing sail according to claim 2, characterized in that: The speed monitoring mechanism includes a worm gear, a worm, a second drive shaft, an air turbine, a first drive shaft, and a speed detection mechanism. The speed detection mechanism includes a first synchronous pulley, a second synchronous pulley, a synchronous belt, and a rotary encoder. A notch is provided on the wingplate, and an air turbine is mounted on the notch. A worm gear and a worm are rotatably connected to the inner side of the rotary table, meshing with each other. A second drive shaft is rotatably connected inside the connecting column, with the worm connected to one end of the second drive shaft, and the other end of the second drive shaft fixedly connected to the air turbine. The first drive shaft is located in the middle of the worm gear, and a first synchronous pulley is mounted on the first drive shaft. A rotary encoder is located inside the rotary table, and a second synchronous pulley is located at the power input end of the rotary encoder. A synchronous belt connects the second synchronous pulley to the first synchronous pulley. The worm gear and worm work together to reduce speed and increase torque.

6. The control device for an unmanned surface vessel's wing sail according to claim 2, characterized in that: The position control component includes a control arm and a control component. The locking mechanism includes a locking disc B, a locking disc A, and a movable shaft. A locking groove is provided at the bottom of the rotary table. The locking disc A is provided on the inner top wall of the locking groove. The locking disc B is movably connected to the top of the base. Several movable shafts are arranged in a ring at the bottom of the locking disc B. The movable shafts are movably inserted into the movable holes on the base. A pressure spring is connected between the bottom end of the movable shaft and the movable hole of the base. The locking disc B and the locking disc A are movably abutted against each other. The position control component includes a control component and a control arm. The locking disc B and one end of the control arm are connected by several connecting ropes, including steel cables. The locking disc B and the locking disc A can be locked by frictional connection. Two control components are symmetrically arranged at the bottom of the rotary table. The movable end of the control component is connected to the middle of the control arm.

7. The control device for an unmanned surface vessel's wing sail according to claim 5, characterized in that: The adjustment assembly includes a drive gear and a driven gear. The drive gear is connected to the speed monitoring mechanism through a clutch mechanism. Several drive gears are evenly arranged on the outer ring of the inner side of the bottom of the rotary table. The drive gear is rotatably connected to the rotary table. The driven gear is fixedly sleeved on the top of the base. The drive gears are distributed around the driven gears and mesh with the driven gears.

8. The control device for an unmanned surface vessel's wing sail according to claim 7, characterized in that: The clutch mechanism includes clutch disc A, clutch disc B, control sleeve, transmission spline shaft, transmission spline sleeve, driven bevel gear and driving bevel gear. A driving bevel gear is provided at each end of the transmission shaft. A transmission spline sleeve is rotatably connected to each side of the rotary table. A driven bevel gear is provided at the top of each transmission spline sleeve. The driven bevel gear meshes with the driving bevel gear. The transmission spline shaft is movably inserted into the bottom of the transmission spline sleeve. The top of the transmission spline shaft meshes with the inner side of the transmission spline sleeve.

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