RU2714551C9 - Floating machine - Google Patents

Abstract

FIELD: weapons.

SUBSTANCE: invention relates to military equipment. Floating machine comprises watertight casing, caterpillar and/or wheel propulsor designed to be used as water-propellant propulsor and/or supplemented with water-propellant propulsor. There is also a water-shield and/or a water-pumping facility, an onboard power source made in the form of a storage battery and/or an internal combustion engine (ICE) and a generator connected to it, power transmission and system of automated and/or remote control of water-removing agent and/or water-shield. Power train comprises traction motor and mechanical transmission transmitting mechanical energy from traction motor to water propeller.

EFFECT: higher speed and mobility of machine.

15 cl, 1 dwg

Description

The invention relates to military equipment, in particular to the field of amphibious armored vehicles designed to perform various tasks as means of combat use and support equipment.

Known amphibious combat vehicle containing a waterproof case, an internal combustion engine (ICE), a caterpillar propulsion device used as a water-propeller, as well as a water deflector shield and a bypass valve, with the help of which the exhaust gases of the internal combustion engine through an additional pipeline and a check valve located in it are redirected to the bow part of a floating car (RU 2658197 C1, F41H 13/00, 19.06.2018).

The supply of exhaust gases from the internal combustion engine to the front of the car creates a gas-air gap in front of the car. This reduces the density of the water and its resistance to movement and, accordingly, provides an increase in the speed of the machine on the water.

The disadvantages of this machine are insufficient secrecy due to the noise effect of a working internal combustion engine, as well as an increased likelihood of hitting the machine with its crew during enemy fire, due to the lack of remote and automated control.

Also known is a floating armored tracked vehicle, which includes a multi-capsule sealed hull with landing hatches and an opening for the passage of troops, a power plant with an internal combustion engine, a tracked propeller with a suspension and a drive from an internal combustion engine, a water propeller and small arms. In the lower stationary part of the vehicle body, a wheeled mover and a water propeller with a steering wheel are mounted, and in the front part of the body there is a rotary turret with weapons. To drive the water propulsion device, an electric motor and a battery are used, which are installed on the machine before crossing the water barrier (RU 2576070 C2, F41H 7/00, 02/27/2016).

The disadvantage of this machine is the lack of autonomy of its operation, due to the use of removable batteries and a drive electric motor, as well as an increased likelihood of hitting the vehicle with its crew under enemy fire due to the lack of remote and automated control.

The closest to the proposed one is a floating armored tracked vehicle capable of overcoming water obstacles both on the surface and in the fully submerged position. It is equipped with a sealed hull, water propellers, a system for communicating the outboard volume of the hull with the atmosphere, ballast tanks, a compressor, sonar, navigation aids and a video surveillance system. The machine has an autonomous power supply system based on rechargeable batteries to enable the machine to move in a fully submerged position without connection to the atmosphere. Diving depth sensors and a tracking system for diving depth control and angular stabilization ensure the maintenance of a given depth with a small buoyancy margin due to the use of water propellers with a variable thrust vector (RU 2326769 C2, B60F 3/00, 20.06.2008).

The disadvantage of this machine is the reduced speed and mobility of the machine when overcoming water obstacles, as well as the difficulty of reaching an unprepared shore, which is due to the increased hydrodynamic resistance to the movement of the machine in the water when it is fully immersed.

In the mode of overcoming a water obstacle without complete immersion in the water, the speed, mobility and the possibility of this vehicle reaching an unprepared shore also remain low, since it does not provide for the acceleration of the rewinding of the tracks during the transition from movement on land to movement on water and, accordingly, the maximum the possible use of the power of the internal combustion engine and the navigable properties of the tracks to create tractive effort and reduce the turning radius of the machine when it moves on the water. The mode of planing the car on water is also not provided.

The objective of the present invention is to provide a floating vehicle with increased travel speed and maneuverability and easier access to an unprepared shore.

The technical result of the proposed invention is to increase the speed and mobility of the machine on the water when overcoming water obstacles and facilitate its exit to an unprepared shore.

The problem is solved due to the fact that the amphibious vehicle contains a waterproof body, a tracked and / or wheeled propeller, which can be used as a water-propeller, an additional water-propeller that can be installed in addition to the tracked and / or wheeled propeller, as well as a water deflector and / or a water pumping device, an onboard energy source - a battery and / or an internal combustion engine (ICE) with a generator, a power transmission and a system for automated and / or remote control of a power transmission, and / or an internal combustion engine, and / or a water pumping device, and / or a water deflector, and the power transmission contains at least one traction motor that converts the electrical energy of the on-board power source into mechanical energy, and at least one mechanical transmission with a variable (switchable) gear ratio, transmitting mechanical energy from at least one traction electrode drive to caterpillar, and / or wheeled, and / or water propeller.

In special cases of the implementation of the machine, the task is solved due to the fact that:

- the body of the vehicle is made armored;

- a caterpillar mover, adapted for use as a navigable one, has hydrodynamic covers that cover the upper branches of the tracks and / or blades and / or developed lugs;

- the caterpillar propeller has an adjustable suspension, which provides a decrease in the ground clearance of the machine when it is moving on the water;

- the tracked propeller and the power train are realized from the condition of providing a dynamic reaction of the water acting on the tracks, sufficient for the planing of the machine through the water;

- the mechanical transmission has a variable (switchable, controlled) gear ratio, which makes it possible to increase the speed of the tracked and / or wheeled propeller when the machine is moving on the water;

- the water-propeller is made in the form of one or several water-jet propellers or propellers installed in the rear of the machine and having a mechanical, or hydrostatic, or electromechanical drive from the internal combustion engine, from traction motors, from a caterpillar or wheel propeller, or from additionally installed electric motors of the water-propeller;

- the drive of the water jet (propellers) or propeller (propellers) contains a gearbox and / or a controlled clutch;

- the automated and / or remote control system contains a controller or a group of controllers, mainly microprocessor-based, the power section of which is implemented on power transistors and / or transistor modules, as well as a means of communication via a radio channel, a wire communication line and / or a fiber-optic cable, on-board sensors and executive power transmission mechanisms, and / or internal combustion engines, and / or a water pumping device, and / or a wave-reflecting shield, and / or a water propeller. The on-board sensors can include accelerometers and gyroscopes of the strapdown inertial navigation system, ultrasonic, stereo-visual, heading-odometric, radar, magnetometric sensors, longitudinal and lateral roll sensors of the vehicle, global satellite navigation receivers, sensors of the operating parameters of the power train, functional equipment, ICE and / or water-propeller. The controller or a group of controllers monitors the environment and / or determines the current location of the vehicle by processing the output signals of the on-board sensors, and also implements algorithms for automated and / or remote control of the movement of the vehicle (power train and internal combustion engine) and / or the operation of its functional equipment;

- functional equipment, for the installation of which the machine is adapted, is made in the form of a lifting mechanism, and / or a set of weapons, and / or launching equipment for an explosive demining unit, and / or equipment for extinguishing fires, and / or equipment for digging and moving soil, and an automated and / or remote control system is adapted to control this functional equipment.

These alternative distinctive features of the independent and dependent claims are in direct causal relationship with the achieved technical result, since their implementation provides an increase in the speed and mobility of the machine on the water when overcoming water obstacles, as well as facilitating its exit to an unprepared shore.

The implementation of a distinctive feature, characterized by the use in the power transmission of a mechanical transmission with a variable (switchable) gear ratio, installed between the traction motor and the tracked and / or wheel propeller or onboard (wheel) gearboxes, makes it possible to increase the speed of rewinding the tracks or rotation of the wheels when switching from movement on land to movement on water. Due to this, the power transmission of the on-board power source to the tracks or wheels increases, which leads to an increase in the tractive effort they create and a decrease in the turning radius of the machine when it is moving on the water, which provides an increase in the speed and mobility of the machine on the water. An increase in the speed of a car on the water leads to a corresponding increase in its kinetic energy in proportion to the square of this speed, to an increase in inertial forces and a corresponding facilitation of the car's exit to an unprepared shore.

The implementation of this distinctive feature on a floating machine with high energy saturation, namely, increasing the speed of rewinding the tracks or rotating the wheels by reducing the gear ratio of the mechanical transmission, makes it possible to obtain a mode of planing the machine through the water, in which the machine is held on its surface only due to the high-speed pressure of water ( hydrodynamic forces). "Sliding" on the water provides a sharp decrease in resistance to the movement of the machine with a corresponding increase in its movement speed and improved maneuverability. The machine, in which the automated control of the speed of rewinding the tracks or rotation of the wheels is implemented, can, in planing mode, without stopping at high speed, go ashore covered with sand, ice, grass, etc., and then return to the water. This ensures the most simple ("seamless") exit of the machine from the water to the unprepared shore surface and back.

The implementation of the distinctive feature, characterized by the use in the power transmission of a mechanical transmission with a variable (switchable, adjustable) gear ratio installed between the traction motor and the water-propeller in combination with the use of an automated control system for this transmission, ensures the implementation of the maximum possible power transmission from the on-board power source to a water propeller, which also provides an increase in the speed and mobility of the machine on the water when overcoming water obstacles, as well as facilitating its exit to an unprepared shore.

The use of a mechanical transmission with a variable (switchable) gear ratio, installed, for example, between the traction motor and the final drive of a tracked or wheeled vehicle, also makes it possible to reduce the mass of electric motors and the machine as a whole, which leads to a decrease in the depth of immersion of its body in water and to a corresponding decrease hydrodynamic resistance of water, which also ensures the achievement of the specified technical result.

The implementation of the distinctive feature of the dependent claim, characterized by the use of armoring the body of the machine, ensures the achievement of the specified technical result due to the fact that the use of armoring, especially the bottom of the machine, makes it possible to increase the speed and mobility of the machine by eliminating the risk of its damage as a result of collisions with obstacles. hidden under water, and also facilitates the exit of the car to an unprepared shore due to the action of inertial forces at this exit.

Due to the implementation of the following distinctive feature, according to which a caterpillar propeller, adapted for use as a navigable one, has hydrodynamic covers that cover the upper branches of the tracks, blades or developed lugs, especially in combination with the implementation of the first distinctive feature - a decrease in the gear ratio of a mechanical transmission, an increase in gear is achieved the power of the on-board energy source for the tracks, an increase in their tractive effort when the vehicle moves on the water, which also provides an increase in the speed and mobility of the vehicle on the water when overcoming water obstacles and facilitates its exit to an unprepared shore.

The implementation of the adjustable suspension of the caterpillar propeller makes it possible to reduce the ground clearance of the machine when it is moving on the water. Lowering the body of the machine increases its stability and, accordingly, increases the speed and mobility of the machine on the water and facilitates its exit to an unprepared shore.

The implementation of a water-propeller in the form of several water-jet propellers (water cannons) or propellers installed in the rear of the machine and having a mechanical, hydrostatic, electromechanical drive from an internal combustion engine, from traction motors, from a tracked or wheeled propeller or from additionally installed electric motors, allows independent control each water cannon or propeller from the condition of transferring the maximum possible power of the on-board power source to the water-propeller, as well as regulating its thrust vector. This also ensures the achievement of the specified technical result.

The use of a water-jet propeller (propellers) or a propeller screw (screws) of a reducer and / or a controlled clutch in the drive, provided by the following distinguishing feature of the dependent claim, makes it possible to improve the control of the water-propeller, which further improves the specified technical result.

Implementation of an automated and / or remote control system in the form of a controller (a group of controllers), communication means and a set of onboard sensors provides the ability to monitor the environment and determine the current location of the machine with the subsequent implementation of algorithms for its automated and / or remote control. This increases the accuracy and efficiency of generating control signals for the power train, internal combustion engine and functional equipment of the machine, which also increases the speed, mobility of the machine on the water and facilitates its exit to an unprepared shore.

Implementation of the last distinctive feature of the invention, characterized by the installation on the machine of a lifting mechanism, a set of weapons, launching equipment for an explosive demining installation, equipment for extinguishing fires, equipment for digging and moving soil, or other functional equipment with high vibration and shock resistance, in combination with the implementation algorithms for automated and / or remote control of this equipment, allows you to remove restrictions on the maximum permissible linear and angular accelerations arising from the movement of the machine, which also ensures the achievement of the specified technical result.

In a floating machine, the implementation of one (any) of these distinctive features does not preclude the implementation of any other alternative distinctive feature. For example, the body of the machine can be made armored regardless of the presence or absence of a mechanical transmission with a variable (switchable) gear ratio in the power transmission. Likewise, a caterpillar propeller, regardless of the presence of such a transmission and armoring of the hull, may or may not have hydrodynamic covers, blades, developed lugs, etc. Therefore, the machine can be implemented as one of the specified alternative distinctive features of the independent and dependent claims, and at the same time several distinctive features in any combination, and the level of achievement of the specified technical result depends on the number of implemented distinctive features.

The technical essence and principle of operation of the proposed device are illustrated by a drawing, which shows a simplified functional diagram of a tracked vehicle as an example of the implementation of the claimed invention.

The proposed vehicle contains a waterproof load-bearing body, the displacement of which ensures it is kept afloat on the surface. The body serves to accommodate and protect the crew, personnel and the wounded, as well as units, mechanisms and systems of the vehicle and its functional equipment. To achieve the required degree of protection in conditions of limited weight, the body can be made of light armor alloys.

The on-board energy source contains an internal combustion engine (ICE) 1 (with servicing systems for fuel and air supply, lubrication, cooling, heating and starting), and a generator 2 connected to it, or a storage battery (AKB) 3, or simultaneously an internal combustion engine with a generator and Battery.

The internal combustion engine is connected to the generator 2 directly or through a multiplier, an elastic coupling, etc.

Any type of generator can be installed on the machine - asynchronous, valve with permanent magnets on the rotor, valve-inductor, etc. It can be both liquid and air cooled. The power rectifier, inverter or converter of the generator, as well as the regulator of its output voltage, can be placed in the same housing with this generator (shown in the drawing), or made in the form of separate devices.

If the electrical part of the generator is made in the form of an inverter or a converter, which ensures the switching of its windings, then the generator 2 can operate in the mode of an electric motor when starting the internal combustion engine 1 and when the engine is braking the machine.

The generator converts the mechanical energy of the internal combustion engine into electrical energy transmitted to the power bus 4, for example, with a nominal voltage of 275 or 540 V DC.

In the given example, a sequential kinematic diagram of the engine-transmission installation of the machine is used, which excludes the mechanical connection of the internal combustion engine with a tracked or wheeled propeller.

In this case, the power train contains traction motors 5, 6. Their output shafts are connected with the drive sprockets or drive wheels 9, 10 of the caterpillar or wheel propeller using mechanical gears 7, 8 directly or through additional transmission devices.

Mechanical transmissions 7, 8 can have two or more different gear ratios, or a continuously variable gear ratio, realized by means of a variator. Changing (switching) the gear ratio can be carried out by the operator manually or automatically using gear clutches, clutches, etc. and related actuators.

Mechanical transmissions 7, 8 can have one input and one output shafts, as well as one input and two output shafts with different, including controlled (switchable, variable) gear ratios used for drives of land and water propellers.

Traction motors can be of any design. The use of reactive inductor motors is preferred. They can be built into the hubs of the driving wheels, or placed inside the bypass of the tracks, or placed in the body of the machine and connected to them through transmission devices (cardan shafts, couplings, etc.). Final drives or wheel reducers and / or brakes 11, 12 can be installed between the output shafts of the mechanical transmissions 7, 8 and the drive sprockets or wheels 9, 10.

It is possible to implement a machine with one traction motor. In this case, the power transmission, with the help of which the transmission of mechanical energy from the traction motor to the drive wheels or tracks, is carried out, except for the specified one mechanical transmission or mechanical transmissions (according to the number of tracks or driving wheels) and final drives (if necessary) contain a main transmission with side clutches and brakes 11, 12, or with a differential mechanism that provides the ability to turn the machine.

It is also possible to implement a power transmission (gears) having more than two traction motors used to drive all 4 or more driving wheels or tracks of the machine.

A caterpillar or wheeled land propeller is intended, first of all, to convert the rotary motion of the output shafts of mechanical transmissions 7, 8, or final drives 11, 12, into the translational motion of the machine. Movement afloat can be provided by rewinding the tracks or rotating the driving wheels. In this case, a caterpillar mover, used as a navigable one, can have hydrodynamic covers that cover the upper branches of the tracks, blades or developed lugs.

With a sufficiently high power of the internal combustion engine, the tracked propeller and the power train can be made in such a way that the dynamic response of the water to the tracks will be sufficient for planing the machine through the water. This is achieved by using fine-link tracks, the appropriate choice of the shape and size of its lugs, as well as increasing the speed of rewinding the tracks by reducing the gear ratio of mechanical transmissions 7, 8.

To increase the speed of the machine on the water, it is also possible to use a water propeller, for example, water cannons or propellers 13, 14 installed in the rear of the machine. Each of them consists, in particular, of a water intake pipe, a reducer, an outlet pipe with a straightening device and an impeller (blade rotor). When the machine is operating on land, the intake openings of the jet propellers are closed with covers. The machine can also be equipped with rudders located in the stern of the amphibious vehicle and providing the implementation of water-propelling thrusters with a variable thrust vector.

To drive them from traction motors 5, 6, mechanical transmissions 7, 8 are used, which have one input and two output shafts, as well as controlled or uncontrolled friction clutches 15, 16 with mechanical, electromechanical or electro-hydraulic control, cardan shafts, etc.

In addition to the drive from traction motors 7, 8, it is also possible to implement a mechanical, hydrostatic or electromechanical drive of water cannons or propellers directly from the internal combustion engine, from a tracked or wheel propeller, or from an additionally installed electric motor (s) of a water propeller. Such a drive can also contain a mechanical transmission (gearbox) with a variable (switchable, controlled) gear ratio and / or a controlled clutch, which allows disabling the water-propeller when the machine is moving on land.

The caterpillar propeller can have an air suspension with an electro-hydraulic or electromechanical device for adjusting the machine clearance with fixed working positions. This adjustment makes it possible to reduce the ground clearance (clearance) of the machine when it is moving on the water.

The machine is equipped with a water pumping device (device) 17, containing, in particular, a shut-off valve, a water intake pipe with a check valve, a mechanical, pneumatic, or hydraulic drive 18 from an internal combustion engine (shown in the drawing), or an electromechanical drive (electric motor of a water pumping device (pump) with controller) connected to the power buses 4.

A water-reflecting (wave-reflecting) shield (shield) with a drive of any kind is also installed on the machine.

An appropriate actuator is used to control these devices. In particular, it is possible to implement an electromechanical drive connected to the power buses 4.

The functional equipment 19 installed on the machine can be made in the form of a lifting mechanism and / or a set of weapons and / or launching equipment for an explosive mine clearance installation and / or equipment for extinguishing fires and / or equipment for digging and moving soil.

To accommodate a complex of weapons, such as a machine gun, a rotary turret can be mounted in the front of the hull. The machine gun can be part of a remotely controlled combat module, stabilized in two planes and equipped with a laser rangefinder and a television and thermal imaging sight, which can be used both for self-defense and for observation while controlling the movement of the vehicle.

The drive of the functional equipment 20 can be mechanical, hydraulic or pneumatic, including from an internal combustion engine (shown in the drawing) or from an additional electric motor with a controller of functional equipment, which receives energy from the power buses 4.

A system for automated and / or remote control of a machine, including its functional equipment, can also be called a monitoring, protection and control system, an electrical system, etc. In general, it includes the high voltage and low voltage parts of this system. Its information basis is a digital computer 21, which can also be called a top-level controller, a control unit, an on-board computer, an information-control unit, etc.

The term "automated", in contrast to the term "automatic", emphasizes the retention of some functions for the human operator, either not amenable to automation, or having a general goal-setting nature.

The control system also includes a communication facility for 22 vehicles with a stationary control station via a radio channel, a wired communication line or a fiber-optic cable, on-board sensors 23, an internal combustion engine controller 24, a power transmission controller 25 and an automated workstation (AWP) of an operator or two operators (commander , driver, gunner, etc.) 26.

The workstation includes controls for the movement of the machine (joysticks or a steering wheel for turning the machine on land and afloat), controls for the internal combustion engine, functional equipment 19, a pumping device, a water deflector shield, lighting devices, etc., as well as a display and / or a set of indicator lights to display the operating modes of the machine, as well as diagnostic and alarm signals.

All of these electronic units can be made in a common housing in the form of a single controller (electronic unit, control unit, control cabinet, etc.), or in different housings. Each of them in the general case contains an information part, implemented on the basis of a microcontroller or digital signal processor, interface circuits that ensure the coordination of input / output circuits of microcontrollers with communication lines and, if necessary, with on-board sensors 23, as well as a power part, implemented on power transistors and / or transistor modules and providing the formation and transmission of signals of the required power to the windings of electric motors 5, 6, actuators of the power transmission (mechanical transmissions 7, 6, brakes 11, 12, etc.), internal combustion engines, drive of the bilge pump 18 , a wave-reflecting shield and a water propeller (couplings 15, 16 of water cannons or screws 13, 14).

Controllers can also be referred to as control units, control devices, input and load units, information and control units or devices, etc.

The power train controller 25, which can be called a power converter, inverter, etc., is designed to convert the DC voltage of the on-board power source (voltage on the power buses 4) into alternating voltage or into unipolar pulses that are fed to the phase windings of traction motors 5, 6. Power electronic switches included in its composition are mainly made on bipolar transistors with an insulated gate (IGBT, IGBT) or in the form of modules, implemented on the basis of IGBT (IGBT) transistors, and have galvanically isolated drivers of these transistors (modules). For two traction motors 5, 6, one controller (inverter, converter, commutator) of the power transmission 25 (shown in the drawing) can be used. A separate controller can be installed to work with each traction motor. It is also possible to install several controllers on one traction motor, for example, when crushing power by sections of its stator.

To control the functional equipment 19 and its drive 20, a controller built into this functional equipment or its drive 20, or a separate controller of the functional equipment can be used.

The onboard sensors 23 generally include accelerometers and gyroscopes of the strapdown inertial navigation system, ultrasonic, stereo-visual (fixed or remotely controlled video cameras with guidance drives), heading-odometric, radar, magnetometric sensors, longitudinal and lateral roll sensors of the machine, receivers of global satellite navigation, as well as sensors of operating parameters of the power train, functional equipment, internal combustion engines, water pumping device and water propeller.

The controllers (electronic units) of the automated and / or remote control system have resources (computing power, program and data memory, analog-to-digital converters, etc.) sufficient to process the output signals of the onboard sensors 23 and then monitor the environment, determine the current location of the machine, as well as the implementation of algorithms for automated and / or remote control of the movement of the machine and the operation of its functional equipment.

The transmission lines of information signals between controllers 24, 25, a digital computer 21, on-board sensors 23, an operator's workstation 26 and a communication facility 22 can be performed using the CAN (Controller Area Network) industrial network standard 17, which is aimed at combining into a single network of various devices using serial, broadcast and packet transmission modes. It is possible to use LIN (Local Interconnection Network), RS-485 (EIA / TIA standard), etc. interfaces, as well as wireless interfaces such as ZigBee (IEEE 802.15.4 standard), Wi-Fi (IEEE 802.11 standard), Bluetooth ( IEEE 802.15.1 standard), etc. It is also possible to connect individual functional units of the control system, including their connection to the digital calculator 21 and to the onboard sensors 23, using separate wires.

The power bus 4 can be connected to a capacitive or inertial energy storage, realized, respectively, on the basis of capacitors or a rotating flywheel, as well as a braking resistor with an appropriate control device that absorbs electrical energy during dynamic braking of the machine by traction motors 5, 6 while the machine is moving on a long descent.

The proposed device operates as follows.

In the “afloat” position, the armored vehicle in a horizontal position is partially or completely submerged in water and its reserved volume is communicated with the atmosphere through an air supply pipe through which air is supplied for breathing the crew members (in the vehicle control mode), as well as to ensure the operation of the internal combustion engine (if available on the machine) and a compressor supplying air to the inflatable floats (if available).

The primary source of energy for the movement of the machine and for the operation of its functional equipment 19 is the onboard energy source.

The digital computer (upper-level controller) 21, performing the functions of the master of the machine control system, operates according to a program previously recorded in its non-volatile memory, and coordinates the operation of all components of the machine, carrying out information interaction with them via the CAN bus.

Starting the internal combustion engine (if available on the machine) is carried out either remotely using communication means 22, or by the operator (driver-mechanic) using the engine start key located on the AWP 26. The engine start signal from the digital computer (controller) 21 is received via the CAN bus to the ICE controller 24, which generates signals for starting its starter and fuel supply.

When the vehicle moves through the water, the operator in the remote control mode, or the driver, acting on the appropriate control, raises the water deflector.

To move the machine afloat, the translational movement of the tracks or the rotation of the driving wheels are used. The lower branches of the tracks or the lower parts of the driving wheels create a stream of water directed in the direction opposite to the movement. To reduce the force of resistance to movement created by the water flow from the upper branch of the caterpillar, and a corresponding increase in the speed of the machine on the water, the upper branch of the tracks is closed with special hydrodynamic covers or wings. For the same purpose, the caterpillar can be equipped with paddles or developed lugs.

Turning on the water is carried out due to the difference in the speed of rewinding the tracks or the rotation of the driving wheels of the left and right sides of the machine.

When the machine moves on the water, the gear ratio of its mechanical transmissions 7, 8 is reduced. This leads to an increase in the speed of rewinding the tracks or rotation of the wheels, to an increase in the traction force on the water and, accordingly, to an increase in the speed and mobility of the machine.

In the case of high energy saturation of the machine, it switches to the mode of gliding on the water surface.

In the case of using traction electric motors 5, 6 on the machine with a limited range of rotational speeds of their rotors, in which the required output power of these electric motors is maintained, changing the gear ratio of mechanical gears 7, 8 allows a higher speed of the machine not only on water dry land. In this case, the first gear with an increased gear ratio provides a high tractive effort of the machine while reducing the mass of the traction motors. Then, as the speed of the machine on land increases, the gear ratio of the mechanical transmissions 7, 8 is reduced. In this case, to achieve the required speed of the machine, a lower rotational speed of the rotors of the traction motors is required. Since the maximum rotational speed of the rotors of traction electric motors is limited, the use of mechanical gears 7, 8 with a variable gear ratio makes it possible to increase the maximum speed of water movement not only on water, but also on land.

To further increase the speed and mobility of the machine on the water and facilitate its access to an unprepared shore, a water propeller is used, made in the form of water cannons or propellers 13, 14. They are controlled remotely or in an automated mode using a digital computer 21, a power transmission controller 25 and couplings 15, 26.

At the beginning of the movement of the machine, the operator with the help of AWP 20 or remotely sets its speed, direction of movement, route (trajectory of movement) or its end point. Further, the digital computer (controller) 21, by processing the output signals of the on-board sensors 23, monitors the environment of the machine, determines its current location, and also generates and transmits signals of the movement of the machine and the operation of its functional equipment via the CAN bus to other functional devices of the control system. If necessary, bypassing the identified obstacles.

If communication is lost and it is impossible to reach the end point of the route when the machine is moving in remote control mode, the digital computer (controller) 21 generates signals to control the movement of the machine from the condition of its automatic return to the starting point of the trajectory along the previously traveled path.

At the same time, the digital computer (controller) 21, using onboard sensors 23, monitors the operating modes of components and assemblies and ensures their protection from emergency modes by transmitting shutdown alarms to the corresponding controllers and generating warning information signals arriving at the AWP 26 via the CAN bus and on the external remote control post through communication means 22.

For example, if, when driving on water, the roll or trim of the machine exceeds a threshold value, then the digital computer, after processing the signals from the longitudinal and lateral tilt sensors of the machine, which are part of the onboard sensors 23, generates signals to open / close the inlet or outlet valves of the inflatable floats or to move functional equipment 19, ensuring the stabilization of the position of the machine afloat.

In the presence of water in the body of the machine, detected by the corresponding sensor 23, the digital calculator (controller) 21 generates and transmits via the CAN bus a signal to automatically turn on the drive 18 of the pumping device (pump) 17.

For specialists in this field of technology, it is also clear that in addition to the described variants of the floating machine, other variants of its implementation are also possible based on the features set forth in the claims.

Claims (15)

1. A floating machine containing a waterproof case, a tracked and / or wheeled propeller made with the possibility of using it as a water propeller and / or supplemented with a water propeller, a water deflector and / or a water pump, an onboard energy source made in the form of a battery and / or an internal combustion engine (ICE) and a generator connected to it, a power transmission and a system for automated and / or remote control of a pumping device and / or a water deflector, and the power transmission contains at least one traction motor adapted to convert electrical energy of an on-board source power supply to mechanical energy, and at least one mechanical transmission, adapted to transfer mechanical energy from at least one traction motor to the water-propeller. 2. The machine according to claim 1, characterized in that said control system is additionally configured with the possibility of automated and / or remote control of the power train and / or internal combustion engine. 3. The machine according to claim. 1, characterized in that at least one mechanical transmission is additionally configured to transfer mechanical energy from at least one traction motor to the tracked and / or wheel propeller. 4. Machine according to claim. 3, characterized in that the mechanical transmission contains one input and one output shafts or one input and two output shafts used for the drives of land and water propellers. 5. The machine according to claim 3 or 4, characterized in that the mechanical transmission is configured to change its gear ratio. 6. The machine according to claim 1, characterized in that its body is made armored. 7. Machine according to claim. 1, characterized in that the caterpillar mover, made with the possibility of using it as a water propeller, has hydrodynamic casings that cover the upper branches of the tracks and / or blades and / or developed lugs. 8. Machine according to claim. 1, characterized in that the caterpillar propeller is made with an adjustable suspension with the possibility of reducing the ground clearance of the machine when driving on water. 9. The machine according to claim. 1, characterized in that the tracked propeller and the power train are made with the possibility of providing a dynamic reaction of water acting on the tracks, sufficient for planing the machine through the water. 10. Machine according to one of paragraphs. 1, 5 or 9, characterized in that the mechanical transmission is made with the possibility of changing its gear ratio from the condition of increasing the speed of the tracked and / or wheeled propeller when the machine is moving on the water. 11. The machine according to claim 1, characterized in that the water-propeller is made in the form of at least one water-jet or propeller installed in the rear of the machine and having a mechanical, or hydrostatic, or electromechanical drive from an internal combustion engine, or from a traction motor, or from a caterpillar or wheeled propeller, or from an additionally installed electric motor of a water propeller connected to an automated and / or remote control system. 12. Machine according to claim 11, characterized in that the drive of at least one water jet or propeller comprises a gearbox and / or a controlled clutch. 13. The machine according to claim 1, characterized in that the automated and / or remote control system is made in the form of one or a group of controllers containing an information part, implemented on the basis of microcontrollers or digital signal processors, and a power part, implemented on power transistors and / or transistor modules, as well as a means of communication via a radio channel, and / or a wired communication line, and / or a fiber-optic cable, on-board sensors and actuators of a power transmission, and / or an internal combustion engine, and / or a pumping device, and / or a wave-reflecting shield , and / or water-propeller. 14. Machine according to claim 13, characterized in that the onboard sensors include accelerometers and gyroscopes of a strapdown inertial navigation system, and / or ultrasonic and / or stereo-visual, and / or heading-odometric, and / or radar, and / or magnetometric sensors, and / or sensors of the longitudinal and lateral roll of the machine, and / or receivers of global satellite navigation, and / or sensors of operating parameters of the power train, and / or functional equipment, and / or internal combustion engines, and / or water propulsion, and the controller or a group of controllers is made with the possibility of monitoring the environment and / or determining the current location of the machine by processing the output signals of the on-board sensors, and also with the possibility of implementing algorithms for automated and / or remote control of the movement of the machine and / or the operation of its functional equipment. 15. The machine according to claim 1, characterized in that it is adapted to install functional equipment on it, made in the form of a lifting mechanism, and / or a complex of weapons, and / or launching equipment for an explosive demining installation, and / or equipment for extinguishing fires, and / or equipment for digging and moving soil, and the automated and / or remote control system is adapted to control this functional equipment.

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