CN107856486B - Variant amphibious unmanned ship and control method thereof - Google Patents
Variant amphibious unmanned ship and control method thereof Download PDFInfo
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- CN107856486B CN107856486B CN201710967240.2A CN201710967240A CN107856486B CN 107856486 B CN107856486 B CN 107856486B CN 201710967240 A CN201710967240 A CN 201710967240A CN 107856486 B CN107856486 B CN 107856486B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/003—Parts or details of the vehicle structure; vehicle arrangements not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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Abstract
The invention relates to the technical field of amphibious unmanned ships and provides a variant amphibious unmanned ship and a control method thereof. The control method comprises the following steps: matching the turning auxiliary data according to the state information of the intelligent rudder of the current amphibious unmanned ship; searching a power assisting value required for correcting the attitude information acquired by the current amphibious unmanned ship in real time to the theoretical attitude information according to the target attitude information corresponding to the intelligent rudder-shaped information recorded in the matched turning assisting data; and adjusting the left rear wheel middle propeller and the right rear wheel middle propeller according to the assistance values, and matching with the rotating speed difference of the blades generated by the transmission of each independent power device, so as to assist the amphibious unmanned ship to realize the conversion of the ship body to the target direction of the intelligent rudder. According to the amphibious unmanned ship, the special baffle plate structures are arranged on the front wheels and/or the rear wheels, so that the amphibious unmanned ship has the function of converting between synchronous ship body forms.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of amphibious unmanned ships, in particular to a variant amphibious unmanned ship and a control method thereof.
[ background of the invention ]
The unmanned ship is a full-automatic water surface robot which can navigate on the water surface according to a preset task and autonomously operate by means of an accurate satellite positioning and control system, and with the development of national defense and civil requirements, more and more unmanned ships are operated and undertake tasks in various water areas (such as national defense sea areas, inland river patrol and the like). At present, strategic material transportation and transfer can be rapidly carried out on land only by a common vehicle, and the common vehicle is not suitable for carrying in a water area; the unmanned ship can rapidly move in the water area, but auxiliary tools are additionally added when the unmanned ship enters and exits water.
China has a longer coastline and more disputed water areas, and the improvement of offshore landing transportation capacity of China is imperative. The amphibious unmanned ship can integrate the advantages of vehicles and unmanned ships, and fully exerts the characteristics of flexibility of land maneuverability, quick concealment on water and good water and land boundary trafficability; in addition, the amphibious unmanned ship can carry remote-control weapons to replace a common amphibious war chariot to carry out the beach-rushing and landing combat mission, thereby effectively reducing own battlefield damage and improving the combat efficiency.
How to keep stability of the unmanned ship in sea operation is also a current technical difficulty, the unmanned ship is threatened by transverse waves to cause lateral overturning when rapidly operating in rough sea, and the conventional solution is to increase the broad band of the ship body or design a multi-hull ship to increase stability, so that the system is complex and the manufacturing cost is increased; secondly, when the unmanned ship runs fast (for example, more than 50 knots), the unmanned ship is in a sliding state on the water surface, the integral dolphin movement phenomenon is easily generated, the stability is very poor, the vibration is severe, the conventional solution is to increase the wave pressing plate, but the cost is increased, and the longitudinal stability of the unmanned ship during high-speed forward running cannot be effectively increased.
In view of the above, overcoming the drawbacks of the prior art is an urgent problem in the art.
[ summary of the invention ]
The invention aims to solve the technical problem that the conventional solution is to increase the wave pressing plates aiming at the problem of wave pressing generated when an amphibious unmanned ship runs in a water area, so that the longitudinal stability of the unmanned ship cannot be effectively increased when the unmanned ship runs at high speed.
The invention adopts the following technical scheme:
in a first aspect, the invention provides a variant amphibious unmanned ship, which comprises a two-body type ship body, a front wheel and at least two rear wheels; when the ship body is switched from the water area working state to the land working state, the front wheels and the rear wheels are extended from the folding state; when the ship body is switched from a land working state to a water working state, the front wheels and the rear wheels are folded towards the ship body from a stretching state, and the amphibious unmanned ship further comprises a front wheel and a rear wheel;
each wheel is also provided with a baffle plate, and the end part of each baffle plate is a curved surface; when the ship body is switched from a water area working state to a land working state, the baffle plates of the front wheels rotate towards the bow and are fixed at the designated positions of the bow, and the baffle plates of the rear wheels rotate towards the stern and are fixed at the designated positions of the stern;
when the wheels are switched from the land working state to the water working state, the baffle plate of the front wheel rotates from the specified position of the bow to the position of the front wheel which is folded to the ship body side, and after the curved edge of the baffle plate is coupled with the bottom of the ship body, the ship body is switched from the two-body type ship body to the three-body type ship body.
Preferably, the variant amphibious unmanned ship further comprises:
the baffle plate of the rear wheel rotates from the designated position of the stern to the position of the rear wheel which finishes the stern side folding, the coupling is finished between the curved edge of the baffle plate and the bottom of the ship body, and the ship body is converted from a three-body type to a five-body type ship body;
wherein, the curved edge of the baffle plate of the front wheel is also coupled with the bottom of the ship body.
Preferably, the front wheel is arranged at one end of a first supporting rod through a bearing, the other end of the first supporting rod is connected with the ship body in a bearing mode, and a first hydraulic rod 2-3 is further connected to the first supporting rod; the other end of the first hydraulic rod 2-3 is arranged on the ship body and used for extending or folding the first supporting rod;
the rear wheels are respectively arranged at one ends of the second supporting rod and the third supporting rod through bearings, and the other ends of the second supporting rod and the third supporting rod are connected with the ship body in a bearing mode, wherein the second supporting rod and the third supporting rod are also respectively connected with a second hydraulic rod and a third hydraulic rod; the other end of the second hydraulic rod is arranged on the ship body and used for extending or folding the second supporting rod; the other end of the third hydraulic rod is arranged on the ship body and used for extending or folding the third supporting rod.
Preferably, the baffle of the front wheel is fixed at the end part of a telescopic arm of a fourth hydraulic rod, wherein the bottom of the fourth hydraulic rod is connected with the ship body in a bearing mode, the pump body of the fourth hydraulic rod is connected with the telescopic arm of a fifth hydraulic rod, and the bottom of the fifth hydraulic rod is connected with the ship body in a bearing mode;
wherein the fourth hydraulic rod completes the distance and the approach of the baffle relative to the bottom of the ship body; the fifth hydraulic rod completes the rotation of the baffle plate relative to the bottom of the ship body.
In a second aspect, the invention further provides a stability control method for the variant amphibious unmanned ship, the amphibious unmanned ship provided in the first aspect is used, and a left rear wheel and a right rear wheel of the amphibious unmanned ship are driven by independent power devices, and when the amphibious unmanned ship is in a working state in a water area, the amphibious unmanned ship generates turning auxiliary data of the amphibious unmanned ship in the water body through acquired attitude information and state information of the intelligent rudder, and the method comprises the following steps:
matching the turning auxiliary data according to the state information of the intelligent rudder of the current amphibious unmanned ship;
searching a power assisting value required for correcting the attitude information acquired by the current amphibious unmanned ship in real time to the theoretical attitude information according to the target attitude information corresponding to the intelligent rudder-shaped information recorded in the matched turning assisting data;
and adjusting the left rear wheel middle propeller and the right rear wheel middle propeller according to the assistance values, and matching with the rotating speed difference of the blades generated by the transmission of each independent power device, so as to assist the amphibious unmanned ship to realize the conversion of the ship body to the target direction of the intelligent rudder.
Preferably, the adjusting the left rear wheel middle propeller and the right rear wheel middle propeller according to the assistance value and matching with a blade rotation speed difference generated by transmission of each independent power device to assist the amphibious unmanned ship to realize conversion of the ship body to the target direction of the intelligent rudder specifically include:
and adjusting the left rear wheel middle propeller and the right rear wheel middle propeller according to the assistance values, and matching with the rotating speed difference of the blades generated by the transmission of each independent power device and the baffle angle to realize intelligent and stable turning, so that the amphibious unmanned ship is assisted to realize the conversion of the ship body to the target direction of the intelligent rudder.
Preferably, when a braking instruction is received, the method further includes:
and adjusting the angle of the baffle plate and/or controlling the propeller to rotate reversely so as to complete the braking instruction.
According to the amphibious unmanned ship, the special baffle plate structures are arranged on the front wheels and/or the rear wheels, so that the amphibious unmanned ship has the function of switching among synchronous ship body forms, and the ship body is increased to effectively reduce transverse wave interference. Moreover, on the basis of the structure of the embodiment of the invention, the wave pressing requirements on different occasions can be realized by adjusting the angle of the stern baffle.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
FIG. 1 is a schematic view of a hull of a variant amphibious unmanned ship provided by an embodiment of the invention;
FIG. 2 is a partial front view of a bow of a variant amphibious unmanned ship provided by an embodiment of the invention;
FIG. 3 is a partial front view of the stern of a variant amphibious unmanned ship provided by an embodiment of the invention;
FIG. 4 is a side view of a hull of a variant amphibious unmanned ship in a water working state according to an embodiment of the invention;
FIG. 5 is a side view of a hull of a variant amphibious unmanned ship in a land working state, according to an embodiment of the invention;
fig. 6 is a schematic diagram illustrating an effect of a variant amphibious unmanned ship provided by an embodiment of the present invention transforming into a three-body type ship body;
FIG. 7 is a schematic component structure diagram of a variant amphibious unmanned ship provided by an embodiment of the invention;
FIG. 8 is a schematic diagram of a variant amphibious unmanned ship in a folded state with front and rear wheels according to an embodiment of the invention;
fig. 9 is a schematic structural view of a baffle plate for turning a variant amphibious unmanned ship to the middle of a ship body according to an embodiment of the invention;
FIG. 10 is a flow chart of a stability control method for a variant amphibious unmanned ship according to an embodiment of the present invention;
fig. 11 is a stability control data relationship diagram of a variant amphibious unmanned ship according to an embodiment of the present invention;
fig. 12 is a stability control data relationship diagram of a variant amphibious unmanned ship according to an embodiment of the present invention.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, the terms "inner", "outer", "longitudinal", "lateral", "upper", "lower", "top", "bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are for convenience only to describe the present invention without requiring the present invention to be necessarily constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
In addition, the technical features involved in the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1:
Each wheel (comprising the front wheel and the rear wheel) is also provided with a baffle plate, and the end part of the baffle plate is a curved surface; when the ship body 1 is switched from a water area working state to a land working state, the baffle plates 2-1 of the front wheels 2 rotate towards the bow and are fixed at the designated positions of the bow, and the baffle plates (including the baffle plate of the left rear wheel 3 and the baffle plate 4-1 of the right rear wheel) of the rear wheels rotate towards the stern and are fixed at the designated positions of the stern; as shown in fig. 5, the effect of the fixed tailgate in a designated position at the stern is illustrated.
When the wheels are switched from the land working state to the water working state, the baffle 2-1 of the front wheel 2 rotates from the specified position of the bow to the position of the front wheel 2 which completes the folding of the hull 1 side, the coupling is completed between the curved edge of the baffle and the bottom of the hull 1, the hull 1 is switched from the two-body hull to the three-body hull, and the effect diagram after the switching is shown in fig. 6.
The curved surface structure of the baffle plate enables the baffle plate to cover the front wheel 2 or the rear wheel (including the left rear wheel 3 and the right rear wheel 4) from the bottom of the ship body 1 after the baffle plate is coupled with the bottom of the ship body 1; moreover, the curved surface structure can ensure that the height and the width of the curved surface of the baffle plate used for forming the three-body type ship body 1 meet the requirements of the three-body type ship body 1 on the basis of the original two-body type ship body 1. Typically, the height of the curved surface of the baffle is such that a draft of 10-50cm is achieved after coupling to the bottom of the hull 1 is completed.
According to the embodiment of the invention, the amphibious unmanned ship has the function of converting between synchronous ship body forms by arranging the specific baffle plate structure for the front wheel and/or the rear wheel. Moreover, on the basis of the structure of the embodiment of the invention, the requirements of wave pressing, turning, braking and the like on different occasions can be realized by adjusting the angle of the baffle. The wave pressing requirements, turning requirements, braking requirements and the like on different occasions are achieved by adjusting the angle of the baffle plate, and specific explanation is provided in the following embodiments.
In the embodiment of the present invention, in addition to the essential features for solving the above technical problems, as a complete amphibious unmanned ship, as shown in fig. 7, the amphibious unmanned ship generally includes a main controller 5, a power system 6, a driving system 7, a video system 8, and a detection system 9 (including an attitude detector, a water depth detector, an inertial navigation detector, a positioning detector, etc.). The main controller 5 and the driving system 7 form an intelligent rudder system 10 (in other embodiments of the present invention, also referred to as an intelligent rudder), and the intelligent rudder system 10 is used for turning on the land and turning in the water.
The embodiment of the invention explains that the original two-body type ship body 1 can be converted into the three-body type ship body 1 after the front wheel 2 baffle is coupled with the bottom of the ship body 1 by folding the front wheel 2, adjusting the baffle 2-1 of the front wheel 2 to cover the ship bottom area where the front wheel 2 is folded and designing the baffle to be a curved surface structure. On the basis of the implementation mode, when the embodiment of the invention is applied to the rear wheel baffle plate by using a similar baffle plate structure, the three-body type ship body 1 can be further converted into the five-body type ship body 1, so that the three-body type ship body can be further suitable for a bumpy sea environment. The variant amphibious unmanned ship further comprises:
when the wheels are switched from a land working state to a water working state, the baffle of the rear wheel rotates from a specified position of the stern to the position of the rear wheel which finishes the stern side folding, the coupling is finished between the curved edge of the baffle and the bottom of the hull 1, and the hull 1 is converted from a three-body type to a five-body type hull 1; wherein, the curved edge of the baffle 2-1 of the front wheel 2 is also coupled with the bottom of the ship body 1.
Wherein, the switching time can be as follows: 1) when the wheels are switched from the land working state to the water working state, the baffle plate and the baffle plate 2-1 of the front wheel 2 complete the coupling process with the bottom of the ship body 1 at the same time. 2) And when the amphibious unmanned ship enters a state in which the water area environment is worse than before, the three-body type ship body in the embodiment 1 of the invention can not effectively deal with the state, and switching is performed. 3) And when a stable navigation state is preset according to specific work requirements, the three-body type ship body can be directly switched to according to the navigation state requirements.
In the embodiment of the present invention, the structure that the front wheel 2 is folded to the bottom of the hull 1, as shown in fig. 8, may be specifically implemented that the front wheel 2 is disposed at one end of a first support rod 2-2 through a bearing, and the other end of the first support rod 2-2 is connected to the hull 1 in a bearing manner, wherein a first hydraulic rod 2-3 is further connected to the first support rod 2-2; the other end of the first hydraulic rod 2-3 is arranged on the ship body 1 and used for extending or folding the first supporting rod 2-2;
the rear wheels are respectively arranged at one ends of a second supporting rod and a third supporting rod 4-1 through bearings, and the other ends of the second supporting rod and the third supporting rod 4-1 are connected with the ship body 1 in a bearing mode, wherein the second supporting rod and the third supporting rod 4-1 are also respectively connected with a second hydraulic rod and a third hydraulic rod 4-2; the other end of the second hydraulic rod is arranged on the ship body and used for extending or folding the second supporting rod; the other end of the third hydraulic rod 4-2 is arranged on the ship body and used for extending or folding the third support rod 4-1.
This implementation scheme has realized through the combination of hydraulic stem and bracing piece that can be applied to and accomplish front wheel 2 and rear wheel (including left rear wheel 3 and right rear wheel 4) with folding function described in embodiment 1. Wherein each hydraulic rod can also realize the extension height difference setting of the front wheels 2 or the rear wheels by providing different lengths.
In the embodiment of the invention, in addition to providing a specific implementation manner of the front wheel 2 and the rear wheel, the baffle 2-1 of the front wheel 2 is fixed at the end of the telescopic arm of the fourth hydraulic rod 2-4, as shown in fig. 8, wherein the bottom of the fourth hydraulic rod is connected with the ship body 1 in a bearing manner, the pump body of the fourth hydraulic rod 2-4 is connected with the telescopic arm of the fifth hydraulic rod 2-5, and the bottom of the fifth hydraulic rod 2-5 is connected with the ship body 1 in a bearing manner;
wherein the fourth hydraulic rod 2-4 completes the moving of the baffle plate away from and close to the bottom of the ship body 1; the fifth hydraulic lever 2-5 completes the rotation of the barrier relative to the bottom of the hull 1.
Example 2:
the invention discloses a technical scheme that baffles of a front wheel 2 and a rear wheel are respectively turned towards the bow and the stern in a land working state for a working mode of the baffles of a variant amphibious unmanned ship as described in embodiment 1. The technical scheme of embodiment 1 is suitable for an application scenario that the hull 1 of the amphibious unmanned ship is short, and for an application scenario that the hull 1 of the amphibious unmanned ship is long, an alternative baffle structure implementation scheme also exists. Therefore, the embodiment of the present invention is an alternative implementation means proposed by the solution described in embodiment 1, and as shown in fig. 9, includes a two-body type hull 1, a front wheel 2, at least two rear wheels (including the right rear wheel 4 shown in fig. 9); when the ship body 1 is switched from the water area working state to the land working state, the front wheels 2 and the rear wheels are extended from the folding state; when the ship body 1 is switched from a land working state to a water working state, the front wheels 2 and the rear wheels are folded towards the ship body 1 from an extending state;
each wheel is also provided with a baffle plate, and the end part of each baffle plate is a curved surface; when the ship body 1 is switched from a water area working state to a land working state, the baffle 2-1 of the front wheel 2 is embedded into the bottom of the cabin and is fixed at the designated position of the cabin; a baffle plate of the rear wheel (for example, a baffle plate 4-1 of the right rear wheel 4) is embedded into the bottom of the cabin and is fixed at a designated position of the cabin;
when the wheels are switched from the land working state to the water working state, the baffle plates 2-1 of the front wheels 2 are pushed from the bottom of the cabin to the positions of the front wheels 2 folded to the bottom of the ship, and after the curved edges of the baffle plates are coupled with the bottom of the ship body 1, the ship body 1 is converted from a two-body ship body into a three-body ship body. The effect schematic diagram of the converted three-body type ship body is shown in figure 6.
Compared with embodiment 1, the present invention has the advantages of embodiment 1, and in addition, because the ship body 1 is longer in the scene applied in the embodiment of the present invention, the baffles of the front wheels 2 and the rear wheels can be submerged in the middle of the ship body 1 under the condition that the baffles do not work (i.e. the unmanned ship is in a land working state), so that the extra wind resistance caused to the ship body 1 by the baffle driving device of the front wheels 2 in embodiment 1 can be avoided, the external structure of the ship body 1 can be simplified, and the ship body is not easy to be captured by a radar of a third party. It is emphasized that the structure shown in fig. 9 is not drawn to scale, the actual hull may be long and wide with the fenders 2-1 of the front wheels 2, and the space in the cabin is sufficient to accommodate the fenders 2-1 of the front wheels 2.
Example 3:
after the variant amphibious unmanned ship is proposed as described in embodiments 1, 2, and 3, an embodiment of the present invention further provides a stability control method for the variant amphibious unmanned ship based on the foregoing embodiments, in the embodiment of the present invention, left and right rear wheels of the amphibious unmanned ship are driven by independent power devices, and when the amphibious unmanned ship is in a water area working state, the amphibious unmanned ship generates turning auxiliary data of the amphibious unmanned ship in the water body through the acquired attitude information and state information of the intelligent rudder, as shown in fig. 10, the method includes:
in step 201, the turning auxiliary data is matched according to the state information of the intelligent rudder of the current amphibious unmanned ship.
The turning auxiliary data is obtained by counting experimental data of turning operation of the amphibious unmanned ship, and the turning auxiliary data comprises intelligent rudder state information, target attitude information of the ship body 1, and one or more groups of current attitude information of the ship body 1 and corresponding correction auxiliary values. As shown in fig. 11 and 12, a diagram of exemplary turn assist data is shown.
In step 202, according to the target attitude information corresponding to the intelligent rudder-like information recorded in the matched turning assistance data, a assistance value required for correcting the attitude information acquired by the current amphibious unmanned ship in real time to the theoretical attitude information is searched.
The specific search mode is to search the target attitude information of the hull 1 according to the state information of the smart rudder, as shown in fig. 11, where each piece of state information of the smart rudder, I1, I2, I3, …, corresponds to the unique target attitude information of the hull 1, as shown in S1, S2, S3, … shown in fig. 11. In particular implementation, the state information I1 and the target posture information S1 may be interval values within a small range, thereby simplifying computer computational complexity. And the target attitude information of the ship body 1 is theoretical attitude information of the intelligent rudder under the condition that the ship body 1 responds to the specified state information under the ideal state. The attitude information includes one or more of a steering angle of the hull 1, an inclination angle of the hull 1, a speed of the hull 1, and an arc formed by steering the hull 1. Then, from the current real-time attitude information of the hull 1, it is confirmed that it belongs to the two-dimensional coordinates shown in fig. 12, and the correction assist value is uniquely selected therefrom. It should be emphasized that, as the number of types included in the attitude information increases, the target attitude information S1 of the hull 1 shown in fig. 11 may be composed of parameters corresponding to the number of types; the correspondence relationship between the target attitude information S1 of the hull 1 and the real-time attitude information CS1 of the hull 1 shown in fig. 12 is also a three-dimensional or multidimensional correspondence relationship as the number of types of attitude information is increased.
In step 203, the left rear wheel middle propeller and the right rear wheel middle propeller are adjusted according to the assistance values, and the rotation speed difference of the blades generated by transmission of the independent power devices is matched, so that the amphibious unmanned ship is assisted to realize the conversion of the ship body 1 to the target direction of the intelligent rudder.
According to the embodiment of the invention, the turning auxiliary parameters comprising the attitude information of the ship body 1, the state information of the intelligent rudder and the power assisting value for correction are generated by collecting the experimental data of the turning operation of the amphibious unmanned ship; and searching a power assisting value required for correcting the attitude information acquired by the current amphibious unmanned ship in real time to the theoretical attitude information according to the acquired intelligent rudder state information and the acquired attitude information of the ship body 1 under the current environment by means of a left rear wheel propeller and a right rear wheel propeller which are driven by independent power devices. Thereby realizing the deflection process of the target angle of the ship body 1 corresponding to the intelligent rudder.
With reference to the embodiment of the present invention, there is also a preferred implementation scheme, where the adjusting the left rear wheel middle propeller and the right rear wheel middle propeller according to the assistance value, and matching with a blade rotation speed difference generated by transmission of each independent power device, so as to assist the amphibious unmanned ship to realize conversion of the hull 1 to the target direction of the smart rudder, specifically includes:
and adjusting the left rear wheel middle propeller and the right rear wheel middle propeller according to the assistance values, and matching with the rotating speed difference of the blades generated by the transmission of each independent power device and the baffle angle to realize intelligent and stable turning, so that the amphibious unmanned ship is assisted to realize the conversion of the ship body 1 to the target direction of the intelligent rudder.
In the embodiment of the present invention, when a braking instruction is received, the method further includes:
and adjusting the angle of the baffle plate and/or controlling the propeller to rotate reversely so as to complete the braking instruction.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (5)
1. A variant amphibious unmanned ship is characterized by comprising a two-body ship body, a front wheel and at least two rear wheels; when the ship body is switched from the water area working state to the land working state, the front wheels and the rear wheels are extended from the folding state; when the ship body is switched from a land working state to a water working state, the front wheels and the rear wheels are folded towards the ship body from a stretching state, and the amphibious unmanned ship further comprises a front wheel and a rear wheel;
each wheel is also provided with a baffle plate, and the end part of each baffle plate is a curved surface; when the ship body is switched from a water area working state to a land working state, the baffle plates of the front wheels rotate towards the bow and are fixed at the designated positions of the bow, and the baffle plates of the rear wheels rotate towards the stern and are fixed at the designated positions of the stern;
when the wheels are switched from a land working state to a water working state, the baffle plate of the front wheel rotates from the specified position of the bow to the position of the front wheel folded to the side of the ship body, and after the curved edge of the baffle plate is coupled with the bottom of the ship body, the ship body is switched from the two-body ship body to the three-body ship body.
2. The variant amphibious unmanned ship of claim 1, further comprising:
the baffle plate of the rear wheel rotates from the designated position of the stern to the position of the rear wheel which finishes the stern side folding, the coupling is finished between the curved edge of the baffle plate and the bottom of the ship body, and then the ship body is converted from a three-body type to a five-body type ship body.
3. The variant amphibious unmanned ship of claim 1, wherein the front wheel is arranged at one end of a first support rod through a bearing, and the other end of the first support rod is connected with a ship body in a bearing mode, wherein a first hydraulic rod is further connected to the first support rod; the other end of the first hydraulic rod is arranged on the ship body and used for extending or folding the first supporting rod;
the rear wheels are respectively arranged at one ends of the second supporting rod and the third supporting rod through bearings, and the other ends of the second supporting rod and the third supporting rod are connected with the ship body in a bearing mode, wherein the second supporting rod and the third supporting rod are also respectively connected with a second hydraulic rod and a third hydraulic rod; the other end of the second hydraulic rod is arranged on the ship body and used for extending or folding the second supporting rod; the other end of the third hydraulic rod is arranged on the ship body and used for extending or folding the third supporting rod.
4. The variant amphibious unmanned ship of claim 1, wherein the fender of the front wheel is fixed at the end of a telescopic arm of a fourth hydraulic rod, wherein the bottom of the fourth hydraulic rod is connected with the ship body in a bearing manner, and a telescopic arm of a fifth hydraulic rod is connected with a pump body of the fourth hydraulic rod, and the bottom of the fifth hydraulic rod is connected with the ship body in a bearing manner;
wherein the fourth hydraulic rod completes the distance and the approach of the baffle relative to the bottom of the ship body; the fifth hydraulic rod completes the rotation of the baffle plate relative to the bottom of the ship body.
5. A variant amphibious unmanned ship is characterized by comprising a two-body ship body, a front wheel and at least two rear wheels; when the ship body is switched from the water area working state to the land working state, the front wheels and the rear wheels are extended from the folding state; when the ship body is switched from a land working state to a water working state, the front wheels and the rear wheels are folded towards the ship body from an extending state;
each wheel is also provided with a baffle plate, and the end part of each baffle plate is a curved surface; when the ship body is switched from a water area working state to a land working state, the baffle plate of the front wheel is embedded into the bottom of the cabin and is fixed at the designated position of the cabin; the baffle of the rear wheel is embedded into the bottom of the cabin and fixed at the designated position of the cabin;
when the wheels are switched from a land working state to a water working state, the baffle plates of the front wheels are pushed from the bottom of the cabin to the positions of the front wheels folded to the bottom of the ship, and after the curved edges of the baffle plates are coupled with the bottom of the ship body, the ship body is converted from a two-body ship body into a three-body ship body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710967240.2A CN107856486B (en) | 2017-10-17 | 2017-10-17 | Variant amphibious unmanned ship and control method thereof |
Applications Claiming Priority (1)
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| CN109669469B (en) * | 2018-12-05 | 2024-04-05 | 山东智翼航空科技有限公司 | Unmanned ship roll-course coordination stability augmentation control system and method |
| CN109606040A (en) * | 2019-01-14 | 2019-04-12 | 上海大学 | The amphibious unmanned mapping ship of one kind and its mapping method |
| CN110103650B (en) * | 2019-04-29 | 2021-08-06 | 河南理工大学 | Amphibious balance car |
| CN112674042A (en) * | 2021-01-26 | 2021-04-20 | 泮玉梅 | Amphibious seafood fishing vehicle |
| CN113199915B (en) * | 2021-06-17 | 2022-10-14 | 酷黑科技（北京）有限公司 | Air-ground amphibious unmanned aerial vehicle and flight control method thereof |
| CN115635810B (en) * | 2022-09-05 | 2024-08-23 | 中国人民解放军国防科技大学 | Amphibious mobile platform and control method |
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