An unmanned surfboard device

Abstract

The application discloses an unmanned surfboard device, which comprises a surfboard body, a vertical shaft motor, a horizontal motor support plate, a horizontal shaft motor, a rolling motor, a power supply and control module counterweight, a linear track, and a sealed shell with a photovoltaic panel attached to the surface. The three motors are linked to change the spatial posture and motion state of the counterweight relative to the surfboard body. Under the interaction of forces, the movements of the surfer controlling the surfboard are simulated, and high-speed surfing using wave energy is realized. The power of the control motor mainly comes from the photovoltaic panel attached to the sealed shell to supply power to the power supply in the counterweight. The application realizes unmanned surfing by using a posture adjusting mechanism, and the cruising speed of the traditional unmanned wave glider is increased by several times, the data collection period is shortened, and the timeliness is enhanced.

Description

Technical Field

[0001] This invention belongs to the field of unmanned ocean surfing equipment, specifically relating to an unmanned surfboard device, which is a device that completes autonomous surfing by adjusting the overall center of gravity position and the spatial posture of the counterweight to change the board's motion state. Background Technology

[0002] To achieve low-cost, automated monitoring and collection of oceanographic data, the concept of an unmanned wave glider was proposed at the beginning of this century (see patent applications CN202411826900.1, CN202411767413.2, CN202421206205.0, etc.). This wave glider consists of a surface hull and an underwater propulsion plate, connected by a flexible mooring cable. The hull rises and falls with the waves, interacting with the underwater propulsion plate through the flexible mooring cable to generate forward propulsion. This wave glider requires no active propulsion; guided by satellite navigation, it uses sensors mounted on the hull and is powered by photovoltaic panels on the hull surface. It can cruise along a predetermined route at sea for extended periods, autonomously monitoring and collecting oceanographic data and transmitting it back to the surface. However, the wave energy utilization rate of this type of wave glider is not high. The autonomous gliding speed is generally only 1-2 knots, and the long-distance cruise cycle is very long. For example, the cycle from the east coast of China to the west coast of the United States takes more than 1.5 years. The data update on the route is very slow and the timeliness is poor. In addition, at such a low speed, the glider itself is easily locked by ocean currents, and sometimes it cannot complete the mission according to the planned route (the ocean current speed is generally 1-2.5 knots. If the direction of the glider is opposite to the direction of the ocean current, and the ocean current speed is close to or even greater than the speed of the glider, then the glider will not be able to get rid of the ocean current and continue to move forward).

[0003] Traditional surfing involves a surfer (hereinafter referred to as the surfer) standing on a surfboard, maintaining balance by adjusting their body and surfboard posture, and maximizing the impact force of the waves to propel the surfboard forward. From a physics and dynamics perspective, surfing converts the energy of the waves into the kinetic energy of the surfer and the surfboard. Surf gliding speeds can reach 5-20 knots. Considering that kinetic energy is proportional to the square of velocity, its wave energy utilization rate is much higher than that of wave gliders. However, traditional surfing obviously requires a pilot to operate, meaning it requires human intervention and cannot achieve long-term surfing endurance without refueling. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] An unmanned surfboard device includes a surfboard body, a vertical shaft motor, a horizontal motor support plate, a horizontal axis motor, a rolling motor, a power supply and control module, a counterweight, and a linear track, as well as a sealed shell with photovoltaic panels attached to its surface. The shaft of the vertical shaft motor is fixed to the surfboard body. Two horizontal motor support plates are fixed to the top end face of the vertical shaft motor shell. The shaft of the horizontal axis motor is fixed to the horizontal motor support plate. The linear track is fixed to the horizontal axis motor shell. The rolling motor drives the counterweight to reciprocate along the linear track. The photovoltaic panels on the sealed shell provide power to the power supply in the counterweight.

[0006] The present invention has the following beneficial effects:

[0007] (1) The present invention utilizes an attitude adjustment mechanism to achieve unmanned surfing, which increases the cruising speed of the unmanned wave glider by several times compared with the traditional unmanned wave glider, shortens the data collection cycle, and enhances timeliness.

[0008] (2) The photovoltaic panel and wave power generation working modes ensure the continuous operation of the load.

[0009] (3) High-speed motion provides huge potential for expanding the application range of unmanned surfboards.

[0010] (4) The higher cruising speed avoids the risk of being locked by ocean currents and ensures that the cruising path conforms to the plan. Attached Figure Description

[0011] Figure 1 This is a structural schematic diagram of the unmanned surfboard device of the present invention, wherein: 1-surfboard body; 2-vertical shaft motor; 3-horizontal motor support plate; 4-horizontal shaft motor; 5-rolling motor; 6-power supply and control module counterweight; 7-linear track;

[0012] Figure 2 This is a schematic diagram of the attitude adjustment mechanism of the present invention after it is closed, wherein 8-sealed shell (with a photovoltaic panel attached to its surface). Detailed Implementation

[0013] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0014] The technical solution adopted by the present invention to solve the above problems is as follows: an unmanned surfboard device, including a surfboard body 1, a vertical shaft motor 2, two horizontal motor support plates 3 with horizontal coaxial mounting holes, a horizontal shaft motor 4, a rolling motor 5, a power supply and control module counterweight 6 (counterweight), a linear track 7, and a sealed shell 8 with photovoltaic panels attached to its surface, etc., wherein the shaft of the vertical shaft motor 2 is fixed together with the surfboard body 1, the two horizontal motor support plates 3 are fixed to the top end face of the shell of the vertical shaft motor 2, the shaft of the horizontal shaft motor 4 is fixed on the horizontal motor support plate 3, the linear track 7 is fixed on the shell of the horizontal shaft motor 4, the rolling motor 5 drives the counterweight 6 to reciprocate along the linear track 7, and the photovoltaic panels on the sealed shell 8 provide power to the power supply in the counterweight 6.

[0015] The vertical shaft motor 2, horizontal shaft motor 4, and rolling motor 5 work together under the coordinated control of the control module to drive the counterweight to move in space relative to the surfboard body 1. The movement changes the center of gravity distribution of the entire unmanned surfboard device. At the same time, the reaction force generated by the movement of the counterweight also changes the motion state and spatial posture of the surfboard body 1. This simulates the method by which surfers change their center of gravity position and motion state by rotating, pitching, and stretching their bodies, and uses the reaction force to adjust the posture of the surfboard relative to the wave surface, thus achieving unmanned surfing and reaching a gliding speed of 4-20 knots.

[0016] A rolling motor is a motor that produces reciprocating motion by rolling on a track. A traditional rotary motor can be used, which rolls back and forth on a linear track.

[0017] like Figure 1 As shown, the shaft of the vertical shaft motor 2 is vertical relative to the surfboard body 1. The output shaft of the vertical shaft motor 2 faces downward and is fixed to the surfboard body 1. Two horizontal motor support plates 3 with horizontal coaxial mounting holes are fixed on the top end face of the housing of the vertical shaft motor 2. The two ends of the shaft of the horizontal shaft motor 4 extend out and are fixed after being inserted into the mounting holes of the support plates 3. A linear track 7 is connected and fixed to the housing of the horizontal shaft motor 4. The shaft of the rolling motor 5 and the counterweight 6 are fixed together. The housing of the rolling motor 5 meshes with the surface of the linear track 7. When the rolling motor 5 rolls relative to the linear track 7, it will drive the counterweight 6 to make reciprocating linear motion along the linear track 7.

[0018] The vertical axis motor 2 simulates the athlete's rotation around the vertical axis of their body, the horizontal axis motor 4 simulates the athlete's pitching motion, and the rolling motor 5 simulates the athlete's upper limb extension and retraction movements. When the three motors work together in a coordinated manner, they simulate various complex movements of the athlete manipulating the surfboard, enabling unmanned surfing.

[0019] When the vertical shaft motor 2 rotates in both directions, it drives the horizontal motor support plate 3, horizontal shaft motor 4, rolling motor 5, counterweight 6, and linear track 7 attached to the motor housing to rotate in both directions, simulating the left and right rotation of the athlete's body around the spinal axis. When the horizontal shaft motor 4 rotates in both directions, it drives the linear track 7, rolling motor 5, and counterweight 6 attached to the motor housing to move along the horizontal axis, simulating the pitching motion of the athlete's body. When the rolling motor 5 rotates in both directions, it drives the attached counterweight 6 to move back and forth along the linear track 7, simulating the extension and retraction of the athlete's upper limbs. Of course, in actual surfing, the rotation, pitching, and extension of the body are not isolated, single, or separate movements, but rather complex and interconnected according to operational needs. Similarly, the movements of the vertical shaft motor 2, horizontal shaft motor 4, and rolling motor 5 are also complex and interconnected. Thus, the entire posture adjustment mechanism simulates various complex surfing movements of the athlete. Based on the principle of action and reaction, the posture adjustment mechanism can control the surfboard 1 to perform surfing movements.

[0020] The parts mentioned above, excluding the surfboard body 1 and the sealing shell 8, are called the "attitude adjustment mechanism," which is entirely encapsulated within the sealing shell 8. For example... Figure 2 As shown, the sealing shell 8, combined with the surfboard body 1, seals the attitude adjustment mechanism, preventing short circuits and corrosion of all electrical and mechanical components caused by seawater, rain, condensation, and salt spray. Photovoltaic panels are attached to the sealing shell 8, using solar energy to provide power to the attitude adjustment mechanism and platform load. During prolonged rainy weather, when the photovoltaic panels' power supply is insufficient, the unmanned surfboard can float on the sea surface if necessary. The three motors of the attitude adjustment mechanism then operate in passive power generation mode, using wave energy to power the system and maintain the data monitoring, acquisition, and transmission functions of the mounted load, while awaiting clearer weather.

[0021] The power supply and control module counterweight 6 mainly includes: a motor control module for controlling the vertical shaft motor 2, horizontal shaft motor 4, and rolling motor 5; a battery with energy storage and release functions; an energy management module that enables the photovoltaic panel to charge the battery and the battery to discharge to the motor control module; a central control module equipped with a gravity sensor and accelerometer to determine its own motion posture and state, providing decision-making basis for the motor control module; and an information data collection, storage, and transceiver module responsible for collecting and storing monitoring data (such as hydrological and environmental information) and transmitting data through communication. All these functional modules are integrated into one unit, forming counterweight 6, eliminating the need for additional non-functional counterweights and achieving lightweighting of the unmanned surfboard. Information and power transmission between modules are achieved through flexible cables, optical fibers, or wireless communication, without hindering the free relative movement of the attitude adjustment mechanism relative to the surfboard body 1.

[0022] The surfboard body 1 is generally made of lightweight engineering plastics or composite materials with high structural strength and corrosion resistance as the outer skin, and filled with rigid foam material inside. It is very lightweight and has a hydrodynamic shape, providing sufficient buoyancy and resistance to wave impact for the entire unmanned surfboard, while having low fluid resistance. The vertical shaft motor 2, horizontal shaft motor 4, and rolling motor 5 can be high-efficiency and compact industrial motors such as servo motors, stepper motors, or synchronous motors. In order to reduce size and weight, the motor, drive power supply, and reducer are generally designed and manufactured as a single unit, similar to the joint motor module of an industrial robotic arm or robot. The support plates 3 of the two horizontal shaft motors 4 are fixed to the top of the housing of the vertical shaft motor 2. The material of the support plates 3 can be lightweight alloys or engineering plastics. Two horizontal coaxial holes on the support plates 3 fix the output shaft of the horizontal motor 4. That is, the vertical shaft motor 2 is a single-axis output motor, and the horizontal motor 4 is a double-axis output motor. The output shaft of the rolling motor 5 and the counterweight 6 are fixed together, with the shaft placed horizontally. The outer casing is meshed with the linear track 7, meaning that when the rolling motor 5 rotates forward and backward, it drives the counterweight 6 to reciprocate linearly along the linear track 7. The meshing between the outer casing of the rolling motor 5 and the linear track 7 can be gear meshing, (toothed) belt meshing, chain meshing, or friction meshing. The sealing shell 8 is made of corrosion-resistant and aging-resistant hard engineering plastic or composite material. After being fastened with the surfboard body 1, it forms a sealed structure, protecting the internal attitude adjustment mechanism from corrosion by seawater, rain, or salt spray, as well as from sun exposure. A photovoltaic panel is attached to the surface of the sealing shell 8 to provide power to the battery inside the counterweight, supplying power to the motor of the attitude adjustment mechanism and the load. The power source in the counterweight can be various rechargeable lithium batteries.

[0023] The central control module of the unmanned surfboard proposed in this invention is equipped with a gravity sensor and an accelerometer to continuously determine its own motion posture and state, providing reference data for the control strategy of the motor control module. Traditional wave gliders have a panoramic camera mounted on top to collect weather and environmental information; this invention can also be equipped with a panoramic camera with the same function. In addition to the above functions, it can also collect wave motion patterns, providing wave data to the central control module, enabling better control of the surfboard, achieving greater surfing speed, improving wave energy utilization, and timely obstacle avoidance during movement.

[0024] In necessary situations, such as when the photovoltaic panels cannot work due to several days of rainy weather, or when the power supply inside the counterweight is depleted, the vertical shaft motor 2, the horizontal shaft motor 4, and the rolling motor 5 can operate in power generation mode. The wave-driven unmanned surfboard floating on the sea surface sways, and the power supply of each motor operates in inverter rectification mode to power the counterweight. Once the power battery is fully charged, surfing can continue.

[0025] The above description is merely an embodiment of the present invention and does not limit the scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related system fields, are similarly included within the protection scope of the present invention.

[0026] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

Claims

1. An unmanned surfboard device, characterized in that, The system includes a surfboard body (1), a vertical shaft motor (2), a horizontal motor support plate (3), a horizontal shaft motor (4), a rolling motor (5), a power supply and control module counterweight (6), and a linear track (7), as well as a sealed shell (8) with photovoltaic panels attached to its surface. The shaft of the vertical shaft motor (2) is fixed together with the surfboard body (1), the two horizontal motor support plates (3) are fixed on the top end face of the shell of the vertical shaft motor (2), the shaft of the horizontal shaft motor (4) is fixed on the horizontal motor support plate (3), the linear track (7) is fixed on the shell of the horizontal shaft motor (4), the rolling motor (5) drives the power supply and control module counterweight (6) to reciprocate along the linear track (7), and the photovoltaic panels on the sealed shell (8) provide power to the power supply in the power supply and control module counterweight (6).

2. The unmanned surfboard device according to claim 1, characterized in that, The vertical axis motor (2) simulates the rotation of the athlete around the vertical axis of the body, the horizontal axis motor (4) simulates the pitching motion of the athlete's body, and the rolling motor (5) simulates the extension and retraction of the athlete's upper limbs. When the three motors are linked together, the action of the athlete manipulating the surfboard is simulated, realizing unmanned surfing.

3. The unmanned surfboard device according to claim 1, characterized in that, The shaft of the vertical shaft motor (2) is vertical relative to the surfboard body (1). The output shaft of the vertical shaft motor (2) faces downward and is fixed together with the surfboard body (1). Two horizontal motor support plates (3) with horizontal coaxial mounting holes are fixed on the top end face of the housing of the vertical shaft motor (2). The two ends of the shaft of the horizontal shaft motor (4) extend out and are fixed after being inserted into the mounting holes of the support plates (3). A linear track (7) is connected and fixed on the housing of the horizontal shaft motor (4). The shaft of the rolling motor (5) and the counterweight (6) of the power supply and control module are fixed together. The housing of the rolling motor (5) meshes with the surface of the linear track (7).

4. The unmanned surfboard device according to claim 1, characterized in that, The power supply and control module counterweight (6) includes: a motor control module for controlling the vertical shaft motor (2), the horizontal shaft motor (4), and the rolling motor (5); a battery with energy storage and release functions; an energy management module that enables the photovoltaic panel to charge the battery and the battery to discharge the motor control module; a central control module equipped with a gravity sensor and an accelerometer to determine its own motion posture and state, providing a basis for decision-making for the motor control module; and an information data collection, storage, and transmission module responsible for collecting and storing monitoring data and transmitting data through communication.

5. The unmanned surfboard device according to claim 4, characterized in that, The power supply and control module counterweight (6) The information and power transmission between each module is achieved through flexible cables, optical cables or wireless communication.

6. The unmanned surfboard device according to claim 1, characterized in that, The surfboard body (1) is made of lightweight engineering plastics or composite materials with high structural strength and corrosion resistance as the outer skin, and is filled with rigid foam material inside.

7. The unmanned surfboard device according to claim 1, characterized in that, The vertical shaft motor (2), horizontal shaft motor (4) and rolling motor (5) all adopt any one of the following: servo motor, stepper motor or synchronous motor. In the vertical shaft motor (2), horizontal shaft motor (4) and rolling motor (5), the motor, drive power supply and reducer are designed and manufactured as a whole.

8. The unmanned surfboard device according to claim 4, characterized in that, The device is equipped with a panoramic camera to collect weather and environmental information, as well as the movement patterns of ocean waves, providing wave data to the central control module.

9. The unmanned surfboard device according to claim 4, characterized in that, When the battery of the power supply and control module counterweight (6) is depleted, the vertical shaft motor (2), horizontal shaft motor (4) and rolling motor (5) operate in the power generation mode, and the drive power supply of each motor operates in the inverter rectification mode to supply power to the battery of the power supply and control module counterweight (6).

10. The unmanned surfboard device according to claim 1, characterized in that, The rolling motor (5) and the linear track (7) are driven by any one of the following methods: gear meshing, toothed belt meshing, chain meshing, or friction meshing.

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