CN117015500A

CN117015500A - Propeller, water area movable device, stabilization control method for the same, and storage medium

Info

Publication number: CN117015500A
Application number: CN202280005741.1A
Authority: CN
Inventors: 王海洋; 陈观富; 刘岳峰
Original assignee: Guangdong ePropulsion Technology Co Ltd
Current assignee: Guangdong ePropulsion Technology Co Ltd
Priority date: 2022-11-10
Filing date: 2022-11-10
Publication date: 2023-11-07
Anticipated expiration: 2042-11-10
Also published as: CN117015500B; WO2024098334A1

Abstract

A propeller, a water movable device anti-roll control method and a storage medium. The propeller comprises a first rotating part (11), a second rotating part (12), a third rotating part (13) and a propeller (14). The first rotating part (11) is used for being connected to the ship body (310) and has at least one first rotation degree of freedom relative to the ship body (310). The second rotating part (12) is connected to the first rotating part (11) and has at least one second degree of freedom of rotation with respect to the first rotating part (11). The third rotating part (13) is connected to the second rotating part (12) and has at least one third degree of freedom of rotation with respect to the second rotating part (12). The propeller (14) is connected to the third rotating portion (13) and is rotatable relative to the third rotating portion (13). The propeller can flexibly adjust the running state of movable equipment in a water area.

Description

Propeller, water area movable device, stabilization control method for the same, and storage medium

Technical Field

The application relates to the technical field of power of movable equipment in a water area, in particular to a propeller, movable equipment in the water area, a stabilization control method of the movable equipment in the water area and a storage medium.

Background

The propeller is used as a power device of movable equipment in water areas such as ships and the like and is used for pushing the movable equipment in the water areas to move.

Some power devices of water area movable equipment are provided with a tilting shaft and a steering shaft, so that tilting and steering actions of a propeller can be realized, and the longitudinal inclination angle of a ship body and the steering angle of the ship body can be adjusted. However, current propellers do not enable more dimensional attitude adjustments when the hull is faced with more complex attitude adjustments, resulting in insufficient flexibility in hull voyage attitude adjustments.

Disclosure of Invention

The application provides a propeller with high flexibility for adjusting the running state of a ship body, water movable equipment, a water movable equipment anti-rolling control method and a storage medium.

The present application provides a propeller comprising: the first rotating part, the second rotating part, the third rotating part and the propeller; the first rotating part is used for being connected to the ship body and has at least one first rotation degree of freedom relative to the ship body; the second rotating part is connected with the first rotating part and has at least one second rotation degree of freedom relative to the first rotating part; the third rotating part is connected with the second rotating part and has at least one third steering degree of freedom relative to the second rotating part; the propeller is connected with the third rotating part and can rotate relative to the third rotating part.

In the propeller, the connection mode with the rotation degree of freedom is arranged between the first rotation part and the ship body, the connection mode with the rotation degree of freedom is arranged between the second rotation part and the first rotation part, and the connection mode with the rotation degree of freedom is also arranged between the third rotation part and the second rotation part, so that the position and the gesture of a propeller connected to the tail end can be adjusted more flexibly, and the adjustment of the navigation gesture of movable equipment in a water area is facilitated.

The application also provides movable equipment for the water area, which comprises a ship body, an inertial navigation module and the propeller. The inertial navigation module is fixed on the ship body and used for sensing ship body motion data. The propeller is connected with the ship body, the propeller is provided with a main control module electrically connected with the inertial navigation module, and the main control module is used for carrying out gesture calculation on motion data of the movable equipment in the water area and generating a balance control instruction, wherein the balance control instruction comprises an angle control instruction and a displacement control instruction. The angle control instruction is used for indicating the first rotating part, the second rotating part and/or the third rotating part to adjust the gesture so as to control the propeller to push the ship body to turn to the target angle, and the displacement control instruction is used for indicating the rotating speed and the steering of the propeller so as to control the propeller to push the ship body to move to the target displacement.

The application also provides a water area movable equipment stabilization control method which is used for the stabilization control of the water area movable equipment and comprises the following steps:

acquiring the motion data of the movable equipment in the water area sensed by the inertial navigation module;

performing gesture calculation on the water area movable equipment motion data to generate a balance control instruction, wherein the balance control instruction comprises an angle control instruction and a displacement control instruction;

the angle control instruction is used for indicating the first rotating part, the second rotating part and/or the third rotating part to adjust the gesture so as to control the propeller to push the ship body to turn to the target angle, and the displacement control instruction is used for indicating the rotating speed and the turning of the propeller so as to control the propeller to push the ship body to move to the target displacement.

The application also provides a storage medium comprising computer instructions, wherein the storage medium is stored with computer readable instructions, and the computer readable instructions realize the method for controlling the stabilization of the movable equipment in the water area when being executed by a processor.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly describe the drawings in the embodiments, it being understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a water area mobile device according to an embodiment of the present application;

FIG. 2 is a schematic view of another embodiment of a water area mobile device according to an embodiment of the present application;

FIG. 3 is a schematic view of another embodiment of the water area mobile device according to the embodiment of the present application;

FIG. 4 is a schematic view of a water movable apparatus according to an embodiment of the present application, in which two thrusters are provided;

FIG. 5 is a control schematic diagram of a water area mobile device in an embodiment of the application;

FIG. 6 is a flow chart of a method of controlling roll reduction of a movable water area device according to an embodiment of the present application;

fig. 7 is a schematic view of three rotational and three translational wobbles of a water movable apparatus.

Description of main reference numerals:

water area mobile device 300

Hull 310

Inertial navigation module 320

Propeller 100,200

First direction X

Second direction Y

Third direction Z

First rotating portion 11

Second rotating portion 12

Third rotating portion 13

Propeller 14

Prime mover 15

Driver 16

Transmission mechanism 17

First plane 18

Second plane 19

Third plane 20

First support 21

First rotation shaft 22

Clamp 23

First driving member 24

Tilting telescopic cylinder 24a

Second support 25

Tiller 25a

Second rotation shaft 26

Second driving member 27

First connecting arm 28

Second connecting arm 29

Third support 30

Third rotation shaft 31

Third driving member 32

Power take-off shaft 34

First double-direction rotary arrow 41

Second bidirectional rotary arrow 42

Third double-rotation arrow 43

First rotary joint 51

First steering arm 52

First steering shaft 53

First motor 54

Second rotary joint 56

Second steering arm 57

Second steering shaft 58

Second motor 59

Third rotary joint 61

Third steering arm 62

Third steering shaft 63

Third motor 64

Main control module 70

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the application are described in detail. The following embodiments and features of the embodiments may be combined with each other without collision.

Examples

Referring to fig. 1, the present embodiment provides a water area mobile device 300, and the water area mobile device 300 may be various water area vehicles such as a commercial ship, a passenger ship, a yacht, a fishing boat, a sailing boat, a civil ship, and the like. The water movable apparatus 300 includes a hull 310 and a propeller 100.

The hull 310 is capable of providing a certain buoyancy force to enable the water mobile device 300 to float to the surface. The specific structure of the hull 310 may be set as desired.

The propeller 100 is mounted to the hull 310 for providing propulsion to propel the water movable apparatus 300 through the water. In this embodiment, the installation position of the propeller 100 may be set as required, for example, without limitation, in the manner of being installed at the tail of the hull 310 shown in fig. 1.

With continued reference to fig. 1, in the present embodiment, the propeller 100 includes a first rotating portion 11, a second rotating portion 12, a third rotating portion 13, and a propeller 14. The propeller 14 may be driven to rotate to generate propulsion.

The first rotating portion 11 is configured to be connected to the hull 310, and has at least one first rotational degree of freedom with respect to the hull 310. The second rotating portion 12 is connected to the first rotating portion 11 and has at least one second degree of freedom of rotation with respect to the first rotating portion 11. The third rotating portion 13 is connected to the second rotating portion 12 and has at least one third degree of steering freedom with respect to the second rotating portion 12. The propeller 14 is connected to the third rotating portion 13 and is rotatable with respect to the third rotating portion 13.

In the propeller 100, a connection mode with a rotational degree of freedom is provided between the first rotating part 11 and the hull 310, a connection mode with a rotational degree of freedom is provided between the second rotating part 12 and the first rotating part 11, and a connection mode with a rotational degree of freedom is provided between the third rotating part 13 and the second rotating part 12, so that the position and the posture of the propeller 14 connected to the tail end can be adjusted more flexibly, and the adjustment of the running state of the movable equipment 300 in the water area is facilitated.

In this embodiment, the propeller 100 further includes a prime mover 15, and the prime mover 15 is fixed to the third rotating portion 13 for driving the propeller 14 to rotate. Optionally, the prime mover 15 is an electric motor, and the propeller 100 further includes a driver 16, where the driver 16 is electrically connected to the prime mover 15 to drive the prime mover 15 to operate. The setting position of the driver 16 may be set as desired, as shown in the drawing, on the second rotating portion 12, and is not limited thereto.

In the embodiment shown in fig. 1, the prime mover 15 is fixed to the third rotating portion 13 and connected to the propeller 14, and is connected to the propeller 14 by a shaft.

In another embodiment, as shown in fig. 2, the prime mover 15 is fixed to the third rotating portion 13 away from the propeller 14, and the propeller 100 further includes a transmission mechanism 17 connecting the prime mover 15 and the propeller 14. The transmission 17 may be a gear transmission 17, a belt transmission, a chain transmission, or other transmission. The prime mover 15 rotates the propeller 14 through the transmission mechanism 17 to generate propulsive force.

In this embodiment, the first rotating portion 11 can rotate in the first plane 18 relative to the hull 310 to adjust the pitch angle of the propeller 14; the second rotating part 12 can rotate in the second plane 19 relative to the first rotating part 11 to adjust the steering angle of the propeller 14; the third rotating part 13 can rotate in the third plane 20 relative to the second rotating part 12 to adjust the swing angle of the propeller 14; the first plane 18, the second plane 19 and the third plane 20 are perpendicular to each other.

For convenience of description, the length direction of the water area movable apparatus 300 (i.e., the fore-and-aft direction of the hull 310) is defined as a first direction X, the width direction of the water area movable apparatus 300 (i.e., the lateral direction of the hull 310) is defined as a second direction Y, and the height direction of the water area movable apparatus 300 is defined as a third direction Z.

In this way, the first plane 18 is a plane perpendicular to the second direction Y, and the propeller 14 can be driven by the third rotating portion 13, the second rotating portion 12, and the first rotating portion 11 to rotate (the rotation direction is shown by the first bidirectional rotation arrow 41 in the figure) around the rotation axis (parallel to the second direction Y) of the first rotating portion 11 relative to the hull 310, so as to realize the tilting or lowering of the propeller 14, so as to adjust the pitch angle, or tilt the propeller 14 to be separated from the water body when needed.

The second plane 19 is a plane perpendicular to the third direction Z, and the propeller 14 can be driven by the third rotating portion 13 and the second rotating portion 12 to rotate (the rotation direction is shown as a second bi-directional rotation arrow 42 in the figure) around the rotation axis (parallel to the third direction Z) of the second rotating portion 12 relative to the first rotating portion 11, so as to realize the steering of the propeller 14, so as to adjust the rotation angle, and change the advancing direction of the hull 310.

The third plane 20 is a plane perpendicular to the first direction X, and the propeller 14 can be driven by the third rotating portion 13 to rotate (the rotation direction is shown by a third bidirectional rotation arrow 43 in the figure) around the rotation axis (parallel to the first direction X) of the third rotating portion 13 relative to the second rotating portion 12, so as to realize the lateral swing of the propeller 14, so as to adjust the swing angle, change the draft of the propeller 14, and play a role in controlling the lateral swing (i.e. rolling) of the hull 310. The manner of controlling the lateral sway may be achieved by swaying the propeller 14 in a direction opposite to the sway direction of the hull 310 to slow down the sway of the hull 310 when the hull 310 is swayed laterally.

The specific structures of the first rotating portion 11, the second rotating portion 12, and the third rotating portion 13 may be set as needed.

Alternatively, the first rotating portion 11 includes a first bracket 21 and a first rotating shaft 22. The axial direction of the first rotating shaft 22 is parallel to the second direction Y, and the first direction X, the second direction Y, and the third direction Z are perpendicular to each other. The first bracket 21 is rotatably connected to the tail of the hull 310 through a first rotation shaft 22, and the second rotation portion 12 is connected to the first bracket 21.

Optionally, the first rotating part 11 further includes a clamp 23, the clamp 23 is detachably connected to the tail of the hull 310, the first rotating shaft 22 is disposed on the clamp 23, and the first bracket 21 is connected to the first rotating shaft 22 and can rotate along with the first rotating shaft 22.

When tilting is required, the external force drives the first rotating shaft 22 to rotate relative to the clamp 23, and then drives the first bracket 21, the second rotating part 12 connected to the first bracket 21, the rear third rotating part 13 and the propeller 14 to rotate together for tilting. It will be understood, of course, that in other embodiments, the first shaft 22 may be replaced by a crank link mechanism, and the first bracket 21 may rotate relative to the clamp 23 via the crank link mechanism, so as to drive the propeller 14 to tilt relative to the hull 310, thereby adjusting the pitch angle of the hull 310.

In this embodiment, the first rotating portion 11 further includes a first driving member 24, where the first driving member 24 is connected to the first rotating shaft 22, and is configured to drive the first bracket 21 to rotate via the first rotating shaft 22. For example, the first driving member 24 is fixedly connected to the fixture 23, and an output shaft thereof is connected to the first rotating shaft 22 through a coupling, so that the first driving member 24 can rotate the first rotating shaft 22 and further rotate the first bracket 21 when operated. The first drive member 24 may be a motor or hydraulic drive 16 or other device capable of rotational drive. In another embodiment, the first bracket 21 may include a portion spaced from the jig 23 along the first direction X, and a tilting telescopic cylinder 24a may be provided as the first driving member 24, the tilting telescopic cylinder 24a is mounted to the jig 23, and the telescopic end of the tilting telescopic cylinder 24a is connected to the first bracket 21 and can drive the first bracket 21 and the first rotating shaft 22 to rotate relative to the jig 23 by extending or shortening to realize tilting.

In the present embodiment, alternatively, the second rotating portion 12 includes the second bracket 25 and the second rotating shaft 26, and the axial direction of the second rotating shaft 26 is parallel to the third direction Z. The second bracket 25 is connected to the first bracket 21 through a second rotation shaft 26, and the third rotation portion 13 is rotatably connected to the second bracket 25. As shown in fig. 1, the second rotation shaft 26 has a lower end connected to the first bracket 21 and an upper end connected to the second bracket 25. Optionally, the second rotating portion 12 further includes a second driving member 27, where the second driving member 27 is connected to the second rotating shaft 26, and is configured to drive the second bracket 25 to rotate via the second rotating shaft 26. The second drive 27 may be a motor or hydraulic drive 16 or other device capable of rotational drive. The second driving piece 27 can drive the second bracket 25 to rotate around the axis of the second rotating shaft 26 relative to the first bracket 21 so as to drive the propeller 14 to turn relative to the ship body 310, thereby adjusting the ship body 310 to navigate and turn when the propeller 14 rotates.

Optionally, a tiller 25a is connected to the second support 25, and the tiller 25a can be used for an operator to manually operate and drive the second support 25 to rotate around the second rotation axis 26 to realize steering operation of the hull 310 during sailing, or can be used for an operator to manually operate and drive the second support 25 to rotate together with the first support 21 and the first rotation axis 22 connected to the second support 25 relative to the clamp 24 to realize tilting operation.

Thus, in the present embodiment, the driving manipulation of the first driving member 24 (or the tilting telescopic cylinder 24 a) and the manual manipulation of the tiller 25a by the operator can realize tilting of the propeller 14 independently of each other; the driving operation of the second driving member 27 and the manual operation of the operator by means of the tiller 25a can achieve steering of the propeller 14 independently of each other.

In this embodiment, the second bracket 25 optionally includes a first connecting arm 28 and a second connecting arm 29. The first connecting arm 28 is connected to the second rotating shaft 26 and extends along a direction perpendicular to the axis of the second rotating shaft 26, the second connecting arm 29 is fixedly connected to the first connecting arm 28 and extends along a direction perpendicular to the first connecting arm 28, the extending direction of the second connecting arm 29 is parallel to the axis direction of the second rotating shaft 26, and the third rotating portion 13 is connected to one end of the second connecting arm 29 away from the first connecting arm 28. As shown in the drawings, the first connecting arm 28 and the second connecting arm 29 are connected to form the second bracket 25 of an inverted L-shaped structure, the first connecting arm 28 protruding toward the rear of the hull 310, and the second connecting arm 29 protruding downward from the protruding end of the first connecting arm 28.

In the present embodiment, the third rotating portion 13 includes the third bracket 30 and the third rotating shaft 31, and the axial direction of the third rotating shaft 31 is parallel to the first direction X. The third bracket 30 is connected to the second bracket 25 by a third rotation shaft 31, and the propeller 14 is rotatably connected to the third bracket 30. Optionally, the third rotating portion 13 further includes a third driving member 32, where the third driving member 32 is connected to the third rotating shaft 31, and is configured to drive the third bracket 30 to rotate via the third rotating shaft 31. The third drive 32 may be a motor or hydraulic drive 16 or other device capable of rotational drive. Alternatively, the third rotating shaft 31 extends rearward of the hull 310, and the third bracket 30 extends substantially in the third direction Z, and has an upper end connected to the extending end and a lower end of the third rotating shaft 31 for mounting the propeller 14.

It can be appreciated that the third driving member 32 may drive the third bracket 30 to rotate about the third rotating shaft 31 relative to the second bracket 25, so as to drive the propeller 14 to swing transversely relative to the hull, so as to adjust the left-right swing posture of the hull, thereby realizing multi-dimensional adjustment of the hull posture.

In this embodiment, the propeller 100 further includes a power output shaft 34 rotatably disposed on the third bracket 30, and the propeller 14 is connected to the power output shaft 34 and obtains rotational torque via the power output shaft 34. The power take-off shaft 34 is driven by the prime mover 15 as described above.

In another embodiment, instead of the aforementioned first driving member 24, second driving member 27, and third driving member 32, the following embodiments may be employed: the propeller 100 further includes a torsion power machine fixed to the first rotating portion 11, the second rotating portion 12, or the third rotating portion 13, the torsion power machine being configured to provide a rotational torque to at least one of the first rotating portion 11, the second rotating portion 12, and the third rotating portion 13.

Compared with the prior art with the tilting degree of freedom and the steering degree of freedom, the propeller 100 in this embodiment further has an additional swinging degree of freedom, which can realize lateral swinging, on the one hand, vertical lifting of the propeller 14 can be realized, and on the other hand, the swinging degree of freedom can be combined with the steering degree of freedom to reduce swinging of the hull 310. Therefore, in this embodiment, three degrees of freedom rotation can be realized through the newly added third degree of freedom, so that the propeller 100 can reduce the swing in each direction.

Furthermore, in some possible embodiments, the pusher 100 may also be folded with a swinging degree of freedom, saving more space. As shown in fig. 1, the second connecting arm 29 and the third bracket 30 are each provided in a rod-like structure along the third direction Z, and are rotatably connected at the interface by a third rotation shaft 31. If necessary, the third bracket 30 may be rotatably folded about the third rotation axis 31, so that the propeller 100 is reduced in size in the third direction Z, facilitating packaging and transportation.

Fig. 3 shows a water movable apparatus 300 employing another type of propeller 200. The propeller 200 is different from the propeller 100 described above in that the first rotation portion 11, the second rotation portion 12, and the third rotation portion 13 have two or more degrees of rotation, such as three degrees of rotation for each of the first rotation portion 11, the second rotation portion 12, and the third rotation portion 13.

Referring to fig. 3, in the propeller 200, the first rotating portion 11 has three first degrees of rotation relative to the hull 310, and the three first degrees of rotation are respectively disposed on three first planes of rotation perpendicular to each other. The first rotating portion 11 includes a first rotating joint 51 and a first steering arm 52 connected to the first rotating joint 51, the first rotating joint 51 is provided with three first steering shafts 53 connected in sequence, the three first steering shafts 53 are perpendicular to each other, one end of the first steering arm 52 is connected to the hull 310 through the three first steering shafts 53, and the other end of the first steering arm 52 is connected to the second rotating portion 12. Optionally, the first rotating portion 11 further includes three first motors 54, and the three first motors 54 are respectively used for driving the three first steering shafts 53 to rotate, so as to drive the first steering arms 52 to rotate relative to the hull 310.

The second rotating portion 12 has three second degrees of rotation relative to the first rotating portion 11, and the three second degrees of rotation are respectively provided in three second rotating planes perpendicular to each other. The second rotating part 12 comprises a second rotating joint 56 and a second steering arm 57 connected with the second rotating joint 56, the second rotating joint 56 is provided with three second steering shafts 58 which are sequentially connected, the three second steering shafts 58 are mutually perpendicular, one end of the second steering arm 57 is connected with the first rotating part 11 through the three second steering shafts 58, and the other end of the second steering arm 57 is connected with the third rotating part 13. Optionally, the second rotating portion 12 further includes three second motors 59, and the three second motors 59 are respectively used for driving the three second steering shafts 58 to rotate so as to drive the second steering arms 57 to rotate relative to the second rotating portion 12.

The third rotation part 13 has three third degrees of rotation freedom with respect to the second rotation part 12, which are respectively provided in three third rotation planes perpendicular to each other. The third rotating portion 13 includes a third rotating joint 61 and a third steering arm 62 connected to the third rotating joint 61, the third rotating joint 61 is provided with three third steering shafts 63 connected in sequence, the three third steering shafts 63 are perpendicular to each other, one end of the third steering arm 62 is connected to the second rotating portion 12 via the three third steering shafts 63, and the other end of the third steering arm 62 is connected to the propeller 14. Optionally, the third rotating portion 13 further includes three third motors 64, and the three third motors 64 are respectively used for driving the three third steering shafts 63 to rotate so as to drive the third steering arms 62 to rotate relative to the second rotating portion 12.

The first rotary joint 51, the second rotary joint 56, and the third rotary joint 61 may adopt a common rotary structure capable of realizing rotation of three mutually perpendicular axes, such as a universal joint having three degrees of freedom of rotation, which is not limited herein.

Referring to fig. 1 or 3, in the present embodiment, the water movable apparatus 300 further includes an inertial navigation module 320, where the inertial navigation module 320 is fixed to the hull 310 and is used for sensing motion data of the hull 310. The inertial navigation module 320, i.e. the inertial navigation module, and the specific model may be selected according to needs.

The propeller 100 is provided with a main control module 70 electrically connected with the inertial navigation module 320, and the main control module 70 is used for performing gesture calculation on the motion data of the movable equipment in the water area and generating a balance control instruction, wherein the balance control instruction comprises an angle control instruction and a displacement control instruction. The angle control instruction is used for instructing the first rotating part 11, the second rotating part 12 and/or the third rotating part 13 to adjust the gesture so as to control the propeller 14 to push the ship body 310 to turn to the target angle, and the displacement control instruction is used for instructing the rotating speed and the steering of the propeller 14 so as to control the propeller 14 to push the ship body 310 to move to the target displacement.

In this embodiment, the balance control instruction further includes a rotation speed control instruction; the rotation speed control instruction instructs the rotation speed of the target rotation portion in the target rotation direction.

The angle control instruction includes a target rotation direction and a target rotation portion; the target rotation direction indicates a rotation direction of the target rotation portion, which indicates rotation of at least one of the first rotation portion 11, the second rotation portion 12, and the third rotation portion 13. Optionally, the angle control instruction further includes a target steering angle value indicating an angle value by which the target turning portion is turned in the target turning direction.

In the water movable apparatus 300 according to the embodiment of the present application, the number of the propeller may be one or more. When one propeller is provided, the propeller may be provided at a widthwise intermediate position of the tail of the hull 310; when a plurality of propellers are provided, the plurality of propellers may be provided at intervals in the width direction of the hull 310. The propeller may be the aforementioned propeller 100 or propeller 200.

For example, figure 4 shows a simplified view of a water area mobile device 300 employing two propellers. Referring to fig. 4, two propellers are provided at the tail of the hull 310 and at both sides of the width direction of the tail of the hull 310, respectively.

Providing a plurality of propellers increases the power source of the water area mobile device 300 on the one hand and makes the control more flexible on the other hand.

In summary, the propeller adopted by the movable apparatus 300 for water area in this embodiment realizes the rotation with more degrees of freedom by providing the additional third rotation part 13, and can more flexibly adjust the position and posture of the propeller 14, which is beneficial to the adjustment of the running state of the movable apparatus 300 for water area.

The embodiment also provides a method for controlling the roll of the movable equipment in the water area, which is used for controlling the roll of the movable equipment 300 in the water area. The anti-roll fingers described herein reduce rotational rocking or translational play of the water movable apparatus 300. Based on the structural design of the movable apparatus 300 in the water area with the third rotational degree of freedom, the method for controlling the rolling reduction of the movable apparatus in the water area according to the embodiment can well control the harmful rolling of the hull 310, and improve the stability and riding comfort of the hull 310.

Fig. 5 shows a control schematic of the water area movable apparatus 300 in the present embodiment. Referring to fig. 4, the inertial navigation module 320, the first driving member 24, the second driving member 27, the third driving member 32, and the prime mover 15 are electrically connected to the main control module 70, respectively. The inertial navigation module 320 can transmit the sensed water area movable equipment motion data to the main control module 70, the main control module 70 performs gesture settlement based on the water area movable equipment motion data to obtain a balance control instruction, and the operation of the first driving member 24, the second driving member 27, the third driving member 32 and the prime mover 15 can be controlled by the balance control instruction, so as to control the water area movable equipment 300 to the required position gesture or motion data.

Referring to fig. 6, the method for controlling the stabilizer of the movable equipment in the water area provided by the embodiment includes the following steps:

s1: acquiring water area movable equipment motion data sensed by the inertial navigation module 320;

in this embodiment, the water area mobile device motion data obtained by the inertial navigation module 320 includes angular velocity, acceleration, magnetic field direction and euler angle on the preset water area mobile device 300 coordinate system. Optionally, the preset coordinate system of the water area movable device 300 is constructed by taking the center of gravity of the water area movable device 300 as the origin of coordinates, the length direction of the water area movable device 300 is the X axis, the width direction of the water area movable device 300 is the Y axis, and the height direction of the water area movable device 300 is the Z axis.

S2: carrying out gesture calculation on the motion data of the movable equipment in the water area to generate a balance control instruction;

the balance control instruction includes an angle control instruction and a displacement control instruction. Wherein the angle control instruction is used for instructing the first rotating part 11, the second rotating part 12 and/or the third rotating part 13 to adjust the gesture so as to control the propeller 14 to push the ship body 310 to turn to the target angle; the displacement control command instructs the rotational speed and the steering of the propeller 14 to control the propeller 14 to push the hull 310 to move the target displacement.

Performing gesture calculation on the motion data of the movable equipment in the water area to generate a balance control instruction, wherein the gesture calculation comprises the following steps:

performing gesture calculation on the water area movable equipment motion data by using a quaternion method to obtain water area movable equipment 300 gesture data; optionally, the water movable apparatus 300 attitude data includes pitch angle, roll angle, and/or yaw angle.

Determining a target adjustment angle and a target adjustment displacement according to the posture data of the movable equipment 300 in the water area;

and generating an angle control instruction and a displacement control instruction according to the target adjustment angle and the target adjustment displacement. The angle control instruction comprises a target rotation direction, a target rotation part and a target steering angle value, wherein the target steering angle value indicates an angle value of rotation of the target rotation part in the target rotation direction; the target rotation direction indicates a rotation direction of the target rotation portion; the target rotation portion instructs at least one of the first rotation portion 11, the second rotation portion 12, and the third rotation portion 13 to rotate.

If the target rotation direction includes a roll direction, the third rotation portion 13 of the propeller 100 is taken as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value, so as to control the propeller 14 to push the hull 310 to steer by the target angle.

If the target rotation direction includes a pitch direction, the first rotation portion 11 of the propeller 100 is taken as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value, so as to control the propeller 14 to push the hull 310 to steer by the target angle.

If the target rotation direction includes a yaw direction, the second rotation portion 12 of the propeller 100 is taken as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value, so as to control the propeller 14 to push the hull 310 to steer by the target angle.

If the target rotation direction includes a yaw direction, the third rotation portion 13 of the propeller 100 is taken as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value, so as to control the propeller 14 to push the hull 310 to translate along the yaw direction.

If the target rotation direction includes the pitch direction, the second rotation portion 12 of the propeller 100 is used as the target rotation portion, and the target rotation portion is controlled to rotate by the target steering angle value, so as to control the propeller 14 to push the hull 310 to translate along the pitch direction.

If the target rotation direction includes a heave direction, the first rotation portion 11 of the propeller 100 is taken as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value, so as to control the propeller 14 to push the hull 310 to translate along the heave direction.

The roll direction, the pitch direction and the yaw direction refer to the reciprocating swing of the movable equipment 300 around the X axis, the Y axis and the Z axis; the above-mentioned heave direction, heave direction and heave direction refer to the translation of the movable apparatus 300 along the X-axis, Y-axis and Z-axis, and can be understood with reference to fig. 7.

S3: judging whether the posture data of the movable equipment 300 in the water area is adjusted to be within a preset posture threshold value;

if yes, ending the control flow;

if not, the control flow is circularly executed. That is, the steps S1 and S2 are performed again.

The embodiment also includes a storage medium including computer instructions, where the storage medium stores computer readable instructions that, when executed by the processor, implement the aforementioned method for controlling roll resistance of a water area mobile device.

The storage medium in this embodiment is applied to the main control module 70 of the water area mobile device 300, and when necessary, the main control module 70 reads and runs the computer readable instructions stored in the storage medium, and executes the aforementioned anti-rolling control method of the water area mobile device. The main control module 70 in this embodiment includes, but is not limited to, a motor driver, a travel controller, a power management controller, a temperature management controller, and the like. The master control module 70 may also be used to interact with other modules on the water area mobile device 300. In the embodiment of the present application, the method that the propeller 100 includes the controller is not limited, and any electronic control terminal module that can implement the functions of driving and information interaction may be the embodiment of the present application.

The above embodiments are only for illustrating the technical solution of the present application and not for limiting the same, and although the present application has been described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present application.

Claims

1. A propeller, comprising: the first rotating part, the second rotating part, the third rotating part and the propeller; the first rotating part is used for being connected to the ship body and has at least one first rotation degree of freedom relative to the ship body; the second rotating part is connected with the first rotating part and has at least one second rotation degree of freedom relative to the first rotating part; the third rotating part is connected with the second rotating part and has at least one third steering degree of freedom relative to the second rotating part; the propeller is connected with the third rotating part and can rotate relative to the third rotating part.

2. The propeller of claim 1, wherein the first rotating portion is rotatable relative to the hull in a first plane to adjust a pitch angle of the propeller;

The second rotating part can rotate in a second plane relative to the first rotating part so as to adjust the steering angle of the propeller;

the third rotating part can rotate in a third plane relative to the second rotating part so as to adjust the swing angle of the propeller;

the first plane, the second plane and the third plane are perpendicular to each other.

3. The propeller of claim 2, wherein the first rotating portion includes a first bracket and a first rotating shaft, the first bracket being connected to the hull tail by the first rotating shaft, the second rotating portion being connected to the first bracket.

4. A propeller according to claim 3, wherein the first turning part further comprises a clamp for detachably connecting the hull tail, the first turning shaft being provided to the clamp.

5. A propeller according to claim 3, wherein the first rotating part further comprises a first driving member connected to the first rotating shaft for driving the first bracket to rotate via the first rotating shaft.

6. A propeller according to claim 3, wherein the second rotating part comprises a second bracket and a second rotating shaft, the second bracket being connected to the first bracket via the second rotating shaft, the third rotating part being rotatably connected to the second bracket.

7. The propeller of claim 6, wherein the second rotating portion further comprises a second driving member coupled to the second rotating shaft for driving the second bracket to rotate via the second rotating shaft.

8. The propeller of claim 6, wherein the second bracket includes a first connecting arm and a second connecting arm, the first connecting arm is connected to the second rotating shaft and extends in a direction perpendicular to an axial center of the second rotating shaft, the second connecting arm is fixedly connected to the first connecting arm and extends in a direction perpendicular to the first connecting arm, the extending direction of the second connecting arm is parallel to the axial center direction of the second rotating shaft, and the third rotating portion is connected to an end of the second connecting arm away from the first connecting arm.

9. The propeller of claim 6, wherein the third rotating portion includes a third bracket and a third rotating shaft, the third bracket being coupled to the second bracket by the third rotating shaft, the propeller being rotatably coupled to the third bracket.

10. The propeller of claim 9, wherein the third rotating portion further comprises a third driving member coupled to the third rotating shaft for driving the third bracket to rotate via the third rotating shaft.

11. The propeller of claim 9, further comprising a power take-off shaft rotatably mounted to the third mount, the propeller being coupled to the power take-off shaft and capturing rotational torque via the power take-off shaft.

12. The propeller of claim 9, further comprising a torque power machine secured to the first, second, or third rotating portions, the torque power machine configured to provide rotational torque to at least one of the first, second, and third rotating portions.

13. A propeller according to any one of claims 1 to 12, further comprising a prime mover secured to the third rotatable portion for driving rotation of the propeller.

14. The propeller of claim 13, wherein the prime mover is fixed to the third rotating portion away from the propeller, the propeller further comprising a transmission mechanism connecting the prime mover and the propeller.

15. The propeller of claim 13, wherein the prime mover is fixed to the third rotating portion where it is connected to the propeller, and is connected to the propeller shaft.

16. The propeller of claim 13, wherein the prime mover is an electric motor, the propeller further comprising a driver electrically connected to the prime mover for driving the prime mover into operation.

17. The propeller of claim 2, wherein the first rotating portion has three first degrees of rotation relative to the hull, the three first degrees of rotation being disposed in three first planes of rotation that are perpendicular to each other, respectively.

18. The propeller of claim 17, wherein the first turning part includes a first turning joint and a first turning arm connected to the first turning joint, the first turning joint is provided with three first turning shafts connected in sequence, the three first turning shafts are perpendicular to each other, one end of the first turning arm is connected to the hull through the three first turning shafts, and the other end of the first turning arm is connected to the second turning part.

19. The propeller of claim 18, wherein the first rotating portion further comprises three first motors for driving the three first steering shafts to rotate, respectively, to drive the first steering arms to rotate relative to the hull.

20. The propeller of claim 2, wherein the second rotating portion has three second degrees of rotation relative to the first rotating portion, the three second degrees of rotation being disposed in three second planes of rotation that are perpendicular to each other, respectively.

21. The propeller of claim 20, wherein the second rotating part includes a second rotating joint and a second steering arm connected to the second rotating joint, the second rotating joint is provided with three second steering shafts connected in sequence, the three second steering shafts are perpendicular to each other, one end of the second steering arm is connected to the first rotating part via the three second steering shafts, and the other end of the second steering arm is connected to the third rotating part.

22. The propeller of claim 21, wherein the second rotating portion further comprises three second motors, the three second motors being respectively configured to drive the three second steering shafts to rotate so as to drive the second steering arms to rotate relative to the second rotating portion.

23. The propeller of claim 2, wherein the third rotating portion has three third degrees of rotation relative to the second rotating portion, the three third degrees of rotation being disposed in three third planes of rotation that are perpendicular to each other, respectively.

24. The propeller of claim 23, wherein the third rotating portion includes a third rotating joint and a third steering arm connected to the third rotating joint, the third rotating joint is provided with three third steering shafts connected in sequence, the three third steering shafts are perpendicular to each other, one end of the third steering arm is connected to the second rotating portion via the three third steering shafts, and the other end of the third steering arm is connected to the propeller.

25. The propeller of claim 24, wherein the third rotating portion further comprises three third motors, the three third motors being configured to drive the three third steering shafts to rotate, respectively, to drive the third steering arms to rotate relative to the second rotating portion.

26. A water mobile device comprising the propeller of any one of claims 1 to 25, a hull and an inertial navigation module;

the inertial navigation module is fixed on the ship body and used for sensing ship body motion data;

the propeller is connected with the ship body, the propeller is provided with a main control module electrically connected with the inertial navigation module, and the main control module is used for carrying out gesture calculation on the motion data of the movable equipment in the water area and generating a balance control instruction, wherein the balance control instruction comprises an angle control instruction and a displacement control instruction;

The angle control instruction is used for indicating the first rotating part, the second rotating part and/or the third rotating part to adjust the gesture so as to control the propeller to push the ship body to turn to the target angle, and the displacement control instruction is used for indicating the rotating speed and the steering of the propeller so as to control the propeller to push the ship body to move to the target displacement.

27. A water area mobile device as claimed in claim 26 wherein the angle control instructions include a target rotational direction and a target rotational portion; the target rotation direction indicates a rotation direction of the target rotation portion, and the target rotation portion indicates rotation of at least one of the first rotation portion, the second rotation portion, and the third rotation portion.

28. A water area mobile device according to claim 27 wherein the balance control instructions further comprise rotational speed control instructions; the rotation speed control instruction instructs a rotation speed of the target rotation portion in the target rotation direction.

29. A water area mobile device as claimed in claim 28 wherein the angle control instructions further comprise a target steering angle value indicating an angle value by which the target turning portion is turned in the target turning direction.

30. A water area mobile device according to claim 27, wherein the water area mobile device comprises a single or double of the propellers.

31. A method of controlling the roll resistance of a water movable apparatus, for controlling the roll resistance of a water movable apparatus according to any one of claims 26 to 30, comprising:

32. A method of controlling the roll reduction of a water movable apparatus according to claim 31, wherein the water movable apparatus movement data includes angular velocity, acceleration, magnetic field direction and euler angle on a predetermined water movable apparatus coordinate system.

33. The method of claim 32, wherein the predetermined water movable equipment coordinate system uses a center of gravity of the water movable equipment as an origin, a length direction of the water movable equipment as an X-axis, a width direction of the water movable equipment as a Y-axis, and a height direction of the water movable equipment as a Z-axis.

34. A method of controlling the roll reduction of a water movable apparatus according to claim 31, wherein the performing a gesture calculation on the water movable apparatus motion data to generate a balance control command comprises:

performing gesture calculation on the water area movable equipment motion data by using a quaternion method to obtain water area movable equipment gesture data;

determining a target adjustment angle and a target adjustment displacement according to the posture data of the movable equipment in the water area;

and generating the angle control instruction and the displacement control instruction according to the target adjustment angle and the target adjustment displacement.

35. A method of controlling the roll resistance of a water movable apparatus according to claim 34 wherein the water movable apparatus attitude data comprises pitch, roll and/or yaw.

36. A method of controlling roll reduction of a water movable apparatus according to claim 35, wherein after the generating of the balance control instruction, the method further comprises:

Judging whether the posture data of the movable equipment in the water area is adjusted to be within a preset posture threshold value;

if yes, ending the control flow;

if not, the control flow is circularly executed.

37. A water area movable apparatus stabilization control method according to claim 31, wherein the angle control instruction includes a target turning direction, a target turning portion, and a target steering angle value indicating an angle value by which the target turning portion is turned in the target turning direction; the target rotation direction indicates a rotation direction of the target rotation portion; the target rotation portion instructs at least one of the first rotation portion, the second rotation portion, and the third rotation portion to rotate.

38. A method of controlling roll reduction of a water area mobile device according to claim 37, wherein if the target rotation direction includes a roll direction, the third rotation portion of the propeller is taken as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value to control the propeller to push the hull to turn by a target angle.

39. A method of controlling roll reduction of a water area mobile device according to claim 37, wherein if the target rotation direction includes a pitch direction, the first rotation portion of the propeller is used as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value to control the propeller to push the hull to turn by a target angle.

40. A method of controlling roll reduction of a water area mobile device according to claim 37, wherein if the target rotation direction includes a yaw direction, the second rotation portion of the propeller is used as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value to control the propeller to push the hull to turn by a target angle.

41. A method of controlling roll reduction of a water area mobile device according to claim 37, wherein if the target rotation direction includes a roll direction, the third rotation portion of the propeller is taken as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value to control the propeller to push the hull to turn by a target angle.

42. A method of controlling roll reduction of a water area mobile device according to claim 37, wherein if the target rotation direction includes a pitch direction, the second rotation portion of the propeller is used as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value to control the propeller to push the hull to turn by a target angle.

43. A method of controlling roll reduction of a water area mobile device according to claim 38, wherein if the target rotation direction includes a heave direction, the first rotation portion of the propeller is taken as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value to control the propeller to push the hull to turn by a target angle.

44. A storage medium comprising computer instructions, the storage medium having stored thereon computer readable instructions which when executed by a processor implement a method of controlling roll reduction of a water area mobile device according to any one of claims 31 to 43.