WO2024098334A1

WO2024098334A1 - Thruster, water area movable device and stabilization control method therefor, and storage medium

Info

Publication number: WO2024098334A1
Application number: PCT/CN2022/131174
Authority: WO
Inventors: 王海洋; 陈观富; 刘岳峰
Original assignee: 广东逸动科技有限公司
Priority date: 2022-11-10
Filing date: 2022-11-10
Publication date: 2024-05-16
Also published as: CN117015500B; CN117015500A

Abstract

A thruster, a water area movable device and a stabilization control method therefor, and a storage medium. The thruster 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 connected to a hull (310) and has at least one first rotational degree of freedom relative to the hull (310). The second rotating part (12) is connected to the first rotating part (11) and has at least one second rotational degree of freedom relative 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 rotational degree of freedom relative to the second rotating part (12). The propeller (14) is connected to the third rotating part (13) and can rotate relative to the third rotating part (13). The thruster can flexibly adjust the operation state of the water area movable device.

Description

Propeller, movable device in water area, anti-roll control method and storage medium thereof

Technical Field

The present application relates to the field of power technology for mobile equipment in water areas, and in particular, to a propeller, a mobile equipment in water areas, a roll reduction control method thereof, and a storage medium.

Background technique

A propeller is a power device for movable devices in water areas such as ships, and is used to propel movable devices in water areas.

The power units of some mobile equipment in waters have a pitching axis and a steering axis, which can achieve the pitching and steering of the propeller to adjust the longitudinal inclination angle of the hull and the steering angle of the hull. However, when the hull faces more complex attitude adjustments, the current propellers cannot achieve attitude adjustments in more dimensions, resulting in insufficient flexibility in adjusting the hull's sailing attitude.

Summary of the invention

The present application provides a propeller with high flexibility in adjusting the operating state of a hull, as well as a movable device in water areas, a method for anti-rolling control of a movable device in water areas, and a storage medium.

The present application provides a propeller, comprising: a first rotating part, a second rotating part, a third rotating part and a propeller; the first rotating part is used to connect to a hull, and has at least one first rotational degree of freedom relative to the hull; the second rotating part is connected to the first rotating part, and has at least one second rotational degree of freedom relative to the first rotating part; the third rotating part is connected to the second rotating part, and has at least one third rotational degree of freedom relative to the second rotating part; the propeller is connected to the third rotating part, and can rotate relative to the third rotating part.

In the propeller of the present application, the first rotating part and the hull are connected in a manner with rotational freedom, the second rotating part and the first rotating part are connected in a manner with rotational freedom, and the third rotating part and the second rotating part are also connected in a manner with rotational freedom. This allows for more flexible adjustment of the position and attitude of the propeller connected to the end, and facilitates flexible adjustment of the navigation attitude of movable equipment in water areas.

The present application also provides a movable device in water areas, including a hull, an inertial navigation module and the aforementioned propeller. The inertial navigation module is fixed to the hull and is used to sense the motion data of the hull. The propeller is connected to the hull, and the propeller is provided with a main control module electrically connected to the inertial navigation module. The main control module is used to perform attitude resolution on the motion data of the movable device in water areas and generate a balance control instruction, and the balance control instruction includes an angle control instruction and a displacement control instruction. The angle control instruction is used to instruct the first rotating part, the second rotating part and/or the third rotating part to adjust the attitude to control the propeller to push the hull to turn to the target angle, and the displacement control instruction is used to indicate the rotation speed and direction of the propeller to control the propeller to push the hull to move the target displacement.

The present application also provides a method for stabilizing the rolling of a mobile device in water area, which is used for stabilizing the rolling of the mobile device in water area. The method for stabilizing the rolling of a mobile device in water area comprises:

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

Performing posture calculation on the motion data of the movable device in the water area to generate a balance control instruction, wherein the balance control instruction includes an angle control instruction and a displacement control instruction;

The angle control instruction is used to instruct the first rotating part, the second rotating part and/or the third rotating part to adjust their posture to control the propeller to push the hull to turn to the target angle, and the displacement control instruction indicates the rotation speed and direction of the propeller to control the propeller to push the hull to move the target displacement.

The present application also provides a storage medium, which includes computer instructions. The storage medium stores computer-readable instructions, and when the computer-readable instructions are executed by a processor, the aforementioned anti-rolling control method for a movable device in water area is implemented.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

FIG1 is a schematic diagram of the structure of a mobile device for use in water areas according to an embodiment of the present application;

FIG2 is a schematic structural diagram of another embodiment of the mobile device for use in water areas of the present application;

FIG3 is a schematic structural diagram of another embodiment of the mobile device for use in water areas of the present application;

FIG4 is a schematic structural diagram of a mobile device for use in water areas according to an embodiment of the present application when two thrusters are provided;

FIG5 is a control principle diagram of a movable device in water area in an embodiment of the present application;

FIG6 is a flow chart of a method for controlling the rolling stabilization of a mobile equipment in water area according to an embodiment of the present application;

FIG. 7 is a schematic diagram of three types of rotational swings and three types of translational shaking of a movable device in water areas.

Description of main component symbols:

Water movable equipment 300

Hull 310

Inertial navigation module 320

Thrusters 100,200

First Direction

Second direction Y

The third direction Z

First rotating part 11

Second rotating part 12

The third rotating part 13

Propeller 14

Prime mover 15

Drives 16

Transmission mechanism 17

First plane 18

Second plane 19

The third plane 20

First bracket 21

First rotating axis 22

Clamp 23

First driving member 24

Lifting telescopic cylinder 24a

Second bracket 25

Tiller 25a

Second rotation axis 26

Second driving member 27

First connecting arm 28

Second connecting arm 29

The third bracket 30

The third rotating axis 31

Third driving member 32

Power output shaft 34

First two-way rotating arrow 41

Second bidirectional rotating arrow 42

The third bidirectional rotating arrow 43

First rotating joint 51

First steering arm 52

First steering axis 53

First Motor 54

Second rotating joint 56

Second steering arm 57

Second steering axis 58

Second motor 59

The third rotating joint 61

Third steering arm 62

Third steering axis 63

The third motor 64

Main control module 70

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may also be a centered element. When an element is considered to be "set on" another element, it may be directly set on the other element or there may also be a centered element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present application. The terms used herein in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "or/and" used herein includes any and all combinations of one or more related listed items.

Some embodiments of the present application are described in detail. In the absence of conflict, the following embodiments and features of the embodiments can be combined with each other.

Example

1 , this embodiment provides a movable device 300 in waters, which may be a commercial ship, passenger ship, yacht, fishing boat, sailboat, civilian ship or other types of water transportation vehicles. The movable device 300 in waters includes a hull 310 and a propeller 100 .

The hull 310 can provide a certain buoyancy, so that the movable device 300 in the water area can float on the water surface. The specific structure of the hull 310 can be set as needed.

The propeller 100 is installed on the hull 310 to provide propulsion to push the mobile device 300 in the water. In this embodiment, the installation position of the propeller 100 can be set as needed, for example, non-limitingly, the method of installing it at the tail of the hull 310 shown in FIG. 1 is adopted.

1 , in this embodiment, the propeller 100 includes a first rotating part 11, a second rotating part 12, a third rotating part 13 and a propeller 14. The propeller 14 can be driven to rotate to generate a propulsion force.

The first rotating part 11 is used to be connected to the hull 310, and has at least one first rotational degree of freedom relative to the hull 310. The second rotating part 12 is connected to the first rotating part 11, and has at least one second rotational degree of freedom relative 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 rotational degree of freedom relative to the second rotating part 12. The propeller 14 is connected to the third rotating part 13, and can rotate relative to the third rotating part 13.

In the propeller 100, the first rotating part 11 and the hull 310 are connected in a manner with rotational freedom, the second rotating part 12 and the first rotating part 11 are connected in a manner with rotational freedom, and the third rotating part 13 and the second rotating part 12 are also connected in a manner with rotational freedom. This allows for more flexible adjustment of the position and posture of the propeller 14 connected at the end, which is beneficial for adjusting the operating state of the movable equipment 300 in the water area.

In this embodiment, the propeller 100 further includes a prime mover 15, which is fixed to the third rotating part 13 and is used to drive the propeller 14 to rotate. Optionally, the prime mover 15 is a motor, and the propeller 100 further includes a driver 16, which is electrically connected to the prime mover 15 and is used to drive the prime mover 15 to operate. The location of the driver 16 can be set as needed, such as being set on the second rotating part 12 as shown in the figure, and is not limited here.

In the embodiment shown in FIG. 1 , the prime mover 15 is fixed to the portion where the third rotating portion 13 is connected to the propeller 14 , and is connected to the shaft of the propeller 14 .

In another embodiment, as shown in FIG2 , the prime mover 15 is fixed to the third rotating part 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 mechanism 17 can be a gear transmission mechanism 17, a belt transmission mechanism, a chain transmission mechanism or other transmission mechanisms. The prime mover 15 drives the propeller 14 to rotate through the transmission mechanism 17 to generate propulsion.

In this embodiment, the first rotating part 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 the convenience of explanation, the length direction of the movable device 300 in water area (i.e., the front and rear direction of the hull 310) is defined as the first direction X, the width direction of the movable device 300 in water area (i.e., the lateral direction of the hull 310) is defined as the second direction Y, and the height direction of the movable device 300 in water area is defined as the third direction Z.

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

The aforementioned second plane 19 is a plane perpendicular to the third direction Z. The propeller 14 can be driven by the third rotating part 13 and the second rotating part 12 to rotate relative to the first rotating part 11 around the rotation axis of the second rotating part 12 (parallel to the third direction Z) (the rotation direction is shown by the second bidirectional rotation arrow 42 in the figure), thereby realizing the steering of the propeller 14 to adjust the rotation angle, which is used to change the forward direction of the hull 310.

The third plane 20 is a plane perpendicular to the first direction X. The propeller 14 can be driven by the third rotating part 13 to rotate relative to the second rotating part 12 around the rotation axis of the third rotating part 13 (parallel to the first direction X) (the rotation direction is shown in the third bidirectional rotation arrow 43 in the figure), so as to realize the lateral swing of the propeller 14 to adjust the swing angle, which is used to change the draft of the propeller 14 and can play a role in controlling the lateral swing (i.e., rolling) of the hull 310. The implementation method of controlling the lateral swing can be that when the hull 310 swings sideways, the propeller 14 swings in the direction opposite to the swing direction of the hull 310 to slow down the swing of the hull 310.

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

Optionally, the first rotating part 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 stern of the hull 310 through the first rotating shaft 22, and the second rotating part 12 is connected to the first bracket 21.

Optionally, the first rotating part 11 further includes a clamp 23 , which is detachably connected to the rear 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 with the first rotating shaft 22 .

When warping is required, an external force drives the first rotating shaft 22 to rotate relative to the clamp 23, thereby driving the first bracket 21, the second rotating part 12 connected to the first bracket 21, and the third rotating part 13 and the propeller 14 to rotate and warp together. Of course, it can be understood that in other embodiments, the first rotating shaft 22 can be replaced with a crank connecting rod mechanism on the basis of the embodiment shown in Figure 1, and the first bracket 21 can rotate relative to the clamp 23 through the crank connecting rod mechanism to drive the propeller 14 to adjust the warping angle relative to the hull 310, thereby adjusting the longitudinal inclination angle of the hull 310.

In this embodiment, the first rotating part 11 also includes a first driving member 24, which is connected to the first rotating shaft 22 and is used 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 its output shaft is connected to the first rotating shaft 22 through a coupling, so that when the first driving member 24 is running, it can drive the first rotating shaft 22 to rotate, and then drive the first bracket 21 to rotate. The first driving member 24 can be a motor or a hydraulic driver or other equipment that can achieve rotational drive. In another embodiment, the first bracket 21 can also include a portion spaced from the fixture 23 along the first direction X, and a warping telescopic cylinder 24a is provided as the first driving member 24, the warping telescopic cylinder 24a is installed on the fixture 23, and the telescopic end of the warping 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 fixture 23 by extending or shortening to achieve warping.

In this embodiment, optionally, the second rotating part 12 includes a second bracket 25 and a second rotating shaft 26, and the axis 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 the second rotating shaft 26, and the third rotating part 13 is rotatably connected to the second bracket 25. As shown in Figure 1, the lower end of the second rotating shaft 26 is connected to the first bracket 21, and the upper end is connected to the second bracket 25. Optionally, the second rotating part 12 also includes a second driving member 27, and the second driving member 27 is connected to the second rotating shaft 26, and is used to drive the second bracket 25 to rotate through the second rotating shaft 26. The second driving member 27 can be a motor or a hydraulic drive or other equipment capable of realizing rotational drive. The second driving member 27 can be used to drive the second bracket 25 to rotate relative to the first bracket 21 around the axis of the second rotating shaft 26, thereby driving the propeller 14 to turn relative to the hull 310, so that when the propeller 14 rotates, the hull 310 is adjusted to sail and turn.

Optionally, the second bracket 25 is connected to a tiller handle 25a, which can be used by an operator to manually control the second bracket 25 to rotate around the second rotation axis 26 to achieve navigation and steering control of the hull 310. It can also be used by an operator to manually control the second bracket 25 and the first bracket 21 connected to the second bracket 25 and the first rotation axis 22 to rotate relative to the clamp 23 to achieve tilting control.

Therefore, in this embodiment, the driving control of the first driving member 24 (or the lifting and telescopic cylinder 24a) and the manual control of the operator through the tiller handle 25a can independently realize the lifting of the propeller 14; the driving control of the second driving member 27 and the manual control of the operator through the tiller handle 25a can independently realize the steering of the propeller 14.

In this embodiment, optionally, the second bracket 25 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 in 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 in a direction perpendicular to the first connecting arm 28. The extension direction of the second connecting arm 29 is parallel to the axis of the second rotating shaft 26. 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 figure, the first connecting arm 28 and the second connecting arm 29 are connected to form an inverted L-shaped second bracket 25, the first connecting arm 28 extends toward the rear of the hull 310, and the second connecting arm 29 extends downward from the extended end of the first connecting arm 28.

In this embodiment, the third rotating part 13 includes a third bracket 30 and a 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 through the third rotating shaft 31, and the propeller 14 is rotatably connected to the third bracket 30. Optionally, the third rotating part 13 also includes a third driving member 32, and the third driving member 32 is connected to the third rotating shaft 31, and is used to drive the third bracket 30 to rotate through the third rotating shaft 31. The third driving member 32 can be a motor or a hydraulic drive or other equipment that can achieve rotational drive. Optionally, the third rotating shaft 31 extends to the rear of the hull 310, and the third bracket 30 extends roughly along the third direction Z, with its upper end connected to the protruding end of the third rotating shaft 31 and the lower end used to install the propeller 14.

It can be understood that the third driving member 32 can drive the third bracket 30 to rotate around the third rotating axis 31 relative to the second bracket 25, thereby driving the propeller 14 to swing laterally relative to the hull, and can adjust the left and right swinging 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 the rotation torque through the power output shaft 34. The power output shaft 34 is driven by the aforementioned prime mover 15.

In another embodiment, the aforementioned first driving member 24, the second driving member 27 and the third driving member 32 may not be used, but the following implementation may be used: the propeller 100 also includes a torsion power machine fixed to the first rotating part 11, or the second rotating part 12, or the third rotating part 13, and the torsion power machine is used to provide rotational torque for at least one of the first rotating part 11, the second rotating part 12 and the third rotating part 13.

Compared with the solution with the tilting degree of freedom and the rotation degree of freedom in the known technology, the propeller 100 in this embodiment also has an additional swinging degree of freedom, which can realize lateral swinging. On the one hand, it can also realize the vertical lifting and lowering of the propeller 14, and on the other hand, the swinging degree of freedom can be combined with the rotation degree of freedom to reduce the swaying of the hull 310. Therefore, in this embodiment, the newly added third degree of freedom can realize the rotation of three degrees of freedom, so that the propeller 100 can reduce the swaying in all directions.

In addition, in some feasible embodiments, the propeller 100 can also be folded by swinging the degree of freedom to save more space. As shown in FIG. 1 , the second connecting arm 29 and the third bracket 30 are both configured as a rod-shaped structure along the third direction Z, and the two are rotatably connected at the junction by a third rotation axis 31. When necessary, the third bracket 30 can be rotated and folded around the third rotation axis 31, so that the size of the propeller 100 in the third direction Z is reduced, which is convenient for packaging and transportation.

Fig. 3 shows that the movable device 300 in water area adopts another propeller 200. The propeller 200 is different from the aforementioned propeller 100 in that the first rotating part 11, the second rotating part 12 and the third rotating part 13 have two or more rotational degrees of freedom, such as the first rotating part 11, the second rotating part 12 and the third rotating part 13 all have three rotational degrees of freedom.

Referring to FIG. 3 , in the propeller 200, the first rotating part 11 has three first rotational degrees of freedom relative to the hull 310, and the three first rotational degrees of freedom are respectively arranged in three first rotational planes perpendicular to each other. The first rotating part 11 includes a first rotating joint 51 and a first steering arm 52 connected to the first rotating joint 51, and the first rotating joint 51 is provided with three first steering shafts 53 connected in sequence, and 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 via the three first steering shafts 53, and the other end of the first steering arm 52 is connected to the second rotating part 12. Optionally, the first rotating part 11 also includes three first motors 54, and the three first motors 54 are respectively used to drive the three first steering shafts 53 to rotate, so as to drive the first steering arm 52 to rotate relative to the hull 310.

The second rotating part 12 has three second rotational degrees of freedom relative to the first rotating part 11, and the three second rotational degrees of freedom are respectively arranged in three second rotational planes perpendicular to each other. The second rotating part 12 includes a second rotating joint 56 and a second steering arm 57 connected to the second rotating joint 56, the second rotating joint 56 is provided with three second steering shafts 58 connected in sequence, the three second steering shafts 58 are perpendicular to each other, one end of the second steering arm 57 is connected to the first rotating part 11 via the three second steering shafts 58, and the other end of the second steering arm 57 is connected to the third rotating part 13. Optionally, the second rotating part 12 also includes three second motors 59, and the three second motors 59 are respectively used to drive the three second steering shafts 58 to rotate, so as to drive the second steering arm 57 to rotate relative to the first rotating part 11.

The third rotating part 13 has three third rotational degrees of freedom relative to the second rotating part 12, and the three third rotational degrees of freedom are respectively arranged in three third rotational planes perpendicular to each other. The third rotating part 13 includes a third rotating joint 61 and a third steering arm 62 connected to the third rotating joint 61, and the third rotating joint 61 is provided with three third steering shafts 63 connected in sequence, and 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 part 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 part 13 also includes three third motors 64, and the three third motors 64 are respectively used to drive the three third steering shafts 63 to rotate, so as to drive the third steering arm 62 to rotate relative to the second rotating part 12.

The first rotating joint 51, the second rotating joint 56, and the third rotating joint 61 mentioned above may adopt a common rotating structure capable of realizing rotation of three mutually perpendicular axes, such as a universal joint with three rotational degrees of freedom, which is not limited here.

1 or 3, in this embodiment, the mobile device 300 in water area further includes an inertial navigation module 320, which is fixed to the hull 310 and is used to sense the motion data of the hull 310. The inertial navigation module 320 is an inertial navigation module, and the specific model can be selected as needed.

The propeller 100 is provided with a main control module 70 electrically connected to the inertial navigation module 320. The main control module 70 is used to perform attitude calculation on the motion data of the movable device in the water area and generate a balance control instruction, which includes an angle control instruction and a displacement control instruction. The angle control instruction is used to instruct the first rotating part 11, the second rotating part 12 and/or the third rotating part 13 to adjust the attitude so as to control the propeller 14 to push the hull 310 to turn to the target angle, and the displacement control instruction is used to instruct the rotation speed and direction of the propeller 14 so as to control the propeller 14 to push the hull 310 to move the target displacement.

In this embodiment, the balance control instruction also includes a rotation speed control instruction; the rotation speed control instruction indicates the rotation speed of the target rotating part in the target rotation direction.

The aforementioned angle control instruction includes a target rotation direction and a target rotation part; the target rotation direction indicates the rotation direction of the target rotation part, and the target rotation part indicates the rotation of at least one of the first rotation part 11, the second rotation part 12, and the third rotation part 13. Optionally, the angle control instruction also includes a target steering angle value, and the target steering angle value indicates the angle value of the target rotation part rotating in the target rotation direction.

In the mobile device 300 in the water area of the embodiment of the present application, the propeller can be provided as one or more. When one propeller is provided, the propeller can be provided at the middle position in the width direction of the tail of the hull 310; when multiple propellers are provided, the multiple propellers can be provided at intervals along the width direction of the hull 310. The propeller can be the aforementioned propeller 100 or propeller 200.

For example, Fig. 4 shows a simplified view of a mobile device 300 for use in waters with two propellers. Referring to Fig. 4, the two propellers are respectively arranged at the stern of a hull 310 and at both sides of the stern of the hull 310 in the width direction.

The provision of multiple thrusters not only improves the power source of the movable device 300 in the water area, but also makes the control more flexible.

In summary, the propeller used in the movable device 300 in the water area in this embodiment realizes rotation with more degrees of freedom by setting an additional third rotating part 13, and can more flexibly adjust the position and posture of the propeller 14, which is conducive to adjusting the operating state of the movable device 300 in the water area.

This embodiment also provides a method for stabilizing a movable device in water area, which is used for stabilizing the movable device 300 mentioned above. The stabilization mentioned here refers to reducing the rotational sway or translational movement of the movable device 300 in water area. Based on the structural design of the movable device 300 in water area with a third rotational degree of freedom, the method for stabilizing a movable device in water area provided in this embodiment can well control the harmful sway of the hull 310, thereby improving the stability and riding comfort of the hull 310.

FIG5 shows a control principle diagram of the movable device 300 in the water area in this embodiment. Referring to FIG5, 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 motion data of the movable device in the water area sensed by it to the main control module 70, and the main control module 70 performs attitude settlement based on the motion data of the movable device in the water area, obtains a balance control instruction, and can control the operation of the first driving member 24, the second driving member 27, the third driving member 32, and the prime mover 15 through the balance control instruction, thereby controlling the movable device 300 in the water area to the desired position attitude or motion data.

6, the anti-rolling control method for a mobile device in water area provided in this embodiment includes the following steps:

S1: Acquiring the motion data of the movable device in the water area sensed by the inertial navigation module 320;

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

S2: Calculate the attitude of the motion data of the mobile equipment in the water area and generate balance control instructions;

The balance control instruction includes an angle control instruction and a displacement control instruction. The angle control instruction is used to instruct the first rotating part 11, the second rotating part 12 and/or the third rotating part 13 to adjust their postures so as to control the propeller 14 to push the hull 310 to turn to a target angle; the displacement control instruction indicates the speed and direction of the propeller 14 so as to control the propeller 14 to push the hull 310 to move to a target displacement.

Perform attitude calculation on the motion data of mobile equipment in waters and generate balance control instructions, including:

The quaternion method is used to perform attitude calculation on the motion data of the movable device for water areas, so as to obtain attitude data of the movable device for water areas 300; optionally, the attitude data of the movable device for water areas 300 includes a pitch angle, a roll angle and/or a yaw angle.

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

According to the target adjustment angle and the target adjustment displacement, an angle control instruction and a displacement control instruction are generated. The angle control instruction includes a target rotation direction, a target rotation part and a target steering angle value, wherein the target steering angle value indicates the angle value of the target rotation part rotating in the target rotation direction; the target rotation direction indicates the rotation direction of the target rotation part; and the target rotation part indicates that at least one of the first rotation part 11, the second rotation part 12 and the third rotation part 13 rotates.

If the target rotation direction includes the rolling direction, the third rotating part 13 of the propeller 100 is used as the target rotating part, and the target rotating part is controlled to rotate to the target steering angle value to control the propeller 14 to push the hull 310 to turn to the target angle.

If the target rotation direction includes the pitch direction, the first rotation part 11 of the propeller 100 is used as the target rotation part, and the target rotation part is controlled to rotate to a target turning angle value, so as to control the propeller 14 to push the hull 310 to turn to the target angle.

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

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

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

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

The aforementioned roll direction, pitch direction and bow swing direction refer to the reciprocating swing of the movable device 300 in the water area around the X-axis, Y-axis and Z-axis respectively; the aforementioned surge direction, sway direction and vertical swing direction refer to the translation of the movable device 300 in the water area along the X-axis, Y-axis and Z-axis, which can be understood in conjunction with Figure 7.

S3: Determine whether the posture data of the movable device 300 in the water area is adjusted to within a preset posture threshold;

If so, the control flow ends;

If not, the control flow is executed cyclically, that is, the above steps S1 and S2 are performed again.

The present embodiment also includes a storage medium including computer instructions. The storage medium stores computer-readable instructions. When the computer-readable instructions are executed by a processor, the aforementioned anti-rolling control method for a mobile device in water area is implemented.

The storage medium in this embodiment is applied to the main control module 70 of the mobile device 300 in water areas. When necessary, the main control module 70 reads and runs the computer-readable instructions stored in the storage medium, and executes the aforementioned anti-roll control method for the mobile device in water areas. The main control module 70 in this embodiment includes but is not limited to structures such as a motor driver, a driving controller, a power management controller, and a temperature management controller. The main control module 70 can also be used to interact with other modules on the mobile device 300 in water areas. In the implementation manner of the present application, it is not limited to the manner in which the propeller 100 includes the above-mentioned controller, and any electronic control terminal module that can realize the driving and information interaction functions can be an implementation manner of the present application.

The above implementation modes are only used to illustrate the technical solutions of the present application and are not intended to limit the present application. Although the present application has been described in detail with reference to the above preferred implementation modes, those skilled in the art should understand that the technical solutions of the present application may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present application.

Claims

A propeller, characterized in that it includes: a first rotating part, a second rotating part, a third rotating part and a propeller; the first rotating part is used to connect to a hull, and has at least one first rotational degree of freedom relative to the hull; the second rotating part is connected to the first rotating part, and has at least one second rotational degree of freedom relative to the first rotating part; the third rotating part is connected to the second rotating part, and has at least one third rotational degree of freedom relative to the second rotating part; the propeller is connected to the third rotating part, and can rotate relative to the third rotating part.
The propeller according to claim 1, characterized in that the first rotating part can rotate relative to the hull in a first plane to adjust the pitch angle of the propeller;

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

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

The first plane, the second plane and the third plane are perpendicular to each other.
The propeller according to claim 2 is characterized in that the first rotating part includes a first bracket and a first rotating shaft, the first bracket is connected to the stern of the hull through the first rotating shaft, and the second rotating part is connected to the first bracket.
The propeller according to claim 3 is characterized in that the first rotating part also includes a clamp, the clamp is used to detachably connect the stern of the hull, and the first rotating shaft is arranged on the clamp.
The propeller according to claim 3 is characterized in that the first rotating part also includes a first driving member, and the first driving member is connected to the first rotating shaft and is used to drive the first bracket to rotate via the first rotating shaft.
The propeller according to claim 3 is characterized in that the second rotating part includes a second bracket and a second rotating shaft, the second bracket is connected to the first bracket through the second rotating shaft, and the third rotating part is rotatably connected to the second bracket.
The propeller according to claim 6 is characterized in that the second rotating part also includes a second driving member, and the second driving member is connected to the second rotating shaft and is used to drive the second bracket to rotate via the second rotating shaft.
The thruster according to claim 6 is characterized in that 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 an axial direction perpendicular to 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 extension direction of the second connecting arm is parallel to the axial 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.
The propeller according to claim 6 is characterized in that the third rotating part includes a third bracket and a third rotating shaft, the third bracket is connected to the second bracket through the third rotating shaft, and the propeller is rotatably connected to the third bracket.
The propeller according to claim 9 is characterized in that the third rotating portion further includes a third driving member, and the third driving member is connected to the third rotating shaft and is used to drive the third bracket to rotate via the third rotating shaft.
The propeller according to claim 9 is characterized in that the propeller also includes a power output shaft rotatably arranged on the third bracket, the propeller is connected to the power output shaft, and obtains the rotational torque through the power output shaft.
The propeller according to claim 9 is characterized in that the propeller also includes a torsion power machine fixed to the first rotating part, the second rotating part, or the third rotating part, and the torsion power machine is used to provide rotational torque for at least one of the first rotating part, the second rotating part and the third rotating part.
The propeller according to any one of claims 1 to 12 is characterized in that the propeller further comprises a prime mover, wherein the prime mover is fixed to the third rotating part and is used to drive the propeller to rotate.
The propeller according to claim 13 is characterized in that the prime mover is fixed to the third rotating part away from the propeller, and the propeller also includes a transmission mechanism connecting the prime mover and the propeller.
The propeller according to claim 13 is characterized in that the prime mover is fixed to the place where the third rotating part is connected to the propeller and is connected to the propeller shaft.
The propeller according to claim 13 is characterized in that the prime mover is a motor, and the propeller also includes a driver, which is electrically connected to the prime mover to drive the prime mover to operate.
The propeller according to claim 2 is characterized in that the first rotating part has three first rotational degrees of freedom relative to the hull, and the three first rotational degrees of freedom are respectively arranged in three first rotational planes that are perpendicular to each other.
The propeller according to claim 17 is characterized in that the first rotating part includes a first rotating joint and a first steering arm connected to the first rotating joint, the first rotating joint is provided with three first steering shafts connected in sequence, the three first steering shafts are perpendicular to each other, one end of the first steering arm is connected to the hull via the three first steering shafts, and the other end of the first steering arm is connected to the second rotating part.
The propeller according to claim 18 is characterized in that the first rotating part also includes three first motors, and the three first motors are respectively used to drive the three first steering shafts to rotate, so as to drive the first steering arms to rotate relative to the hull.
The propeller according to claim 2 is characterized in that the second rotating part has three second rotational degrees of freedom relative to the first rotating part, and the three second rotational degrees of freedom are respectively arranged in three second rotational planes that are perpendicular to each other.
The propeller according to claim 20 is characterized in that 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.
The propeller according to claim 21 is characterized in that the second rotating part also includes three second motors, and the three second motors are respectively used to drive the three second steering shafts to rotate, so as to drive the second steering arm to rotate relative to the second rotating part.
The propeller according to claim 2 is characterized in that the third rotating part has three third rotational degrees of freedom relative to the second rotating part, and the three third rotational degrees of freedom are respectively arranged in three third rotational planes that are perpendicular to each other.
The propeller according to claim 23 is characterized in that the third rotating part 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 part via the three third steering shafts, and the other end of the third steering arm is connected to the propeller.
The propeller according to claim 24 is characterized in that the third rotating part also includes three third motors, and the three third motors are respectively used to drive the three third steering shafts to rotate, so as to drive the third steering arm to rotate relative to the second rotating part.
A movable device in waters, characterized in that it comprises the propeller, hull and inertial navigation module according to any one of claims 1 to 25;

The inertial navigation module is fixed to the hull and is used to sense hull motion data;

The propeller is connected to the hull, and is provided with a main control module electrically connected to the inertial navigation module, and the main control module is used to perform attitude calculation on the motion data of the movable device in the water area and generate a balance control instruction, and the balance control instruction includes an angle control instruction and a displacement control instruction;

The angle control instruction is used to instruct the first rotating part, the second rotating part and/or the third rotating part to adjust their posture so as to control the propeller to push the hull to turn to the target angle, and the displacement control instruction is used to instruct the rotation speed and direction of the propeller so as to control the propeller to push the hull to move the target displacement.
The movable device for water areas according to claim 26 is characterized in that the angle control instruction includes a target rotation direction and a target rotation part; the target rotation direction indicates the rotation direction of the target rotation part, and the target rotation part indicates the rotation of at least one of the first rotation part, the second rotation part and the third rotation part.
The movable device for water area according to claim 27 is characterized in that the balance control instruction also includes a rotation speed control instruction; the rotation speed control instruction indicates the rotation rate of the target rotating part in the target rotation direction.
The movable device for water areas according to claim 28 is characterized in that the angle control instruction also includes a target steering angle value, and the target steering angle value indicates the angle value of the target rotating part rotating in the target rotation direction.
The movable device for water areas according to claim 27 is characterized in that the movable device for water areas comprises a single or double propeller.
A method for stabilizing and controlling a mobile device in water area, used for stabilizing and controlling a mobile device in water area according to any one of claims 26 to 30, characterized in that it comprises:

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

Performing posture calculation on the motion data of the movable device in the water area to generate a balance control instruction, wherein the balance control instruction includes an angle control instruction and a displacement control instruction;

The angle control instruction is used to instruct the first rotating part, the second rotating part and/or the third rotating part to adjust their posture to control the propeller to push the hull to turn to the target angle, and the displacement control instruction indicates the rotation speed and direction of the propeller to control the propeller to push the hull to move the target displacement.
The anti-roll control method for a mobile device in water area according to claim 31 is characterized in that the motion data of the mobile device in water area includes angular velocity, acceleration, magnetic field direction and Euler angle in a preset coordinate system of the mobile device in water area.
The anti-roll control method for a movable device in water area according to claim 32 is characterized in that the preset coordinate system of the movable device in water area takes the center of gravity of the movable device in water area as the origin, the length direction of the movable device in water area as the X-axis, the width direction of the movable device in water area as the Y-axis, and the height direction of the movable device in water area as the Z-axis.
The anti-roll control method for a mobile device in water area according to claim 31 is characterized in that the posture calculation of the motion data of the mobile device in water area and the generation of a balance control instruction include:

Using quaternion method to perform attitude calculation on the motion data of the mobile device in water area to obtain attitude data of the mobile device in water area;

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

The angle control instruction and the displacement control instruction are generated according to the target adjustment angle and the target adjustment displacement.
The anti-roll control method for mobile equipment in water areas according to claim 34 is characterized in that the posture data of the mobile equipment in water areas includes a pitch angle, a roll angle and/or a yaw angle.
The anti-roll control method for mobile equipment in water area according to claim 35 is characterized in that after generating the balance control instruction, the method further comprises:

Determining whether the posture data of the movable device in the water area is adjusted to within a preset posture threshold;

If so, the control flow ends;

If not, the control flow is executed cyclically.
According to the anti-roll control method for movable equipment in water area according to claim 31, it is characterized in that the angle control instruction includes a target rotation direction, a target rotating part and a target steering angle value, the target steering angle value indicates the angle value of the target rotating part rotating in the target rotation direction; the target rotation direction indicates the rotation direction of the target rotating part; the target rotating part indicates the rotation of at least one of the first rotating part, the second rotating part and the third rotating part.
According to the anti-roll control method for movable equipment in water areas as described in claim 37, it is characterized in that if the target rotation direction includes a roll direction, the third rotating part of the propeller is used as the target rotating part, and the target rotating part is controlled to rotate to a target steering angle value to control the propeller to push the hull to turn to the target angle.
According to the anti-roll control method for movable equipment in water areas as described in claim 37, it is characterized in that if the target rotation direction includes a pitch direction, the first rotating part of the propeller is used as the target rotating part, and the target rotating part is controlled to rotate to a target steering angle value to control the propeller to push the hull to turn to the target angle.
According to the anti-roll control method for movable equipment in water areas as described in claim 37, it is characterized in that if the target rotation direction includes the bow roll direction, the second rotating part of the propeller is used as the target rotating part, and the target rotating part is controlled to rotate to a target steering angle value to control the propeller to push the hull to turn to the target angle.
According to the anti-roll control method for movable equipment in water areas as described in claim 37, it is characterized in that if the target rotation direction includes the lateral swing direction, the third rotating part of the propeller is used as the target rotating part, and the target rotating part is controlled to rotate to a target steering angle value to control the propeller to push the hull to turn to the target angle.
The anti-roll control method for movable equipment in water areas according to claim 37 is characterized in that if the target rotation direction includes the longitudinal swing direction, the second rotating part of the propeller is used as the target rotating part, and the target rotating part is controlled to rotate to a target steering angle value to control the propeller to push the hull to turn to the target angle.
The anti-roll control method for movable equipment in water areas according to claim 38 is characterized in that if the target rotation direction includes the vertical swing direction, the first rotating part of the propeller is used as the target rotating part, and the target rotating part is controlled to rotate to a target steering angle value to control the propeller to push the hull to turn to the target angle.
A storage medium, characterized in that the storage medium includes computer instructions, and computer-readable instructions are stored on the storage medium, and when the computer-readable instructions are executed by a processor, the anti-roll control method for a mobile device in water area as described in any one of claims 31 to 43 is implemented.