1017results about "Amphibious vehicles" patented technology

The invention relates to an amphibious vehicle and a running and steering system thereof. The running and steering system of the amphibious vehicle comprises wheels, a suspension swing arm connected to a vehicle frame, a steering gear and a driver. The wheel comprises a rim and a spoke assembly. The spoke assembly comprises a center connecting piece arranged in the rim in a sleeved mode and blades connected between the center connecting piece and the rim. The steering gear is connected to the center connecting piece through the suspension swing arm and used for controlling the turning angle of the wheels. The driver is connected to the center connecting piece through the half shaft and used for controlling rotation of the wheels, and the blades can push the amphibious vehicle to run and steer by controlling the rotation direction and the rotation angle of the wheels. According to the driving and steering system of the amphibious vehicle, a power source and a transmission structure do not need to be additionally arranged, the structure is simple, light weight of the whole vehicle is facilitated, and cost is lower; and the wheels are directly connected with a power system of the vehicle, so that larger torque and thrust can be provided, and the vehicle can run faster in water.

The invention discloses a decoupling control method for motion coupling between a track and a propeller, relates to the technical field of robot control, and realizes accurate and intelligent regulation and control of motion of a sea-land amphibious robot by constructing a complete closed-loop strategy from sensing, recognition, prediction to control. And the motion stability of the robot in a complex mixed environment is obviously improved. According to the method, the undesirable coupling effect between the crawler belt and the propeller can be anticipated and quantified in a prospective mode, suppression is conducted actively through self-adaptive control, impact, vibration and attitude instability caused by power conflicts in land and water transition or rugged terrain are effectively avoided, and stability and safety of a robot platform and loads of the robot platform are guaranteed. The energy utilization efficiency of the robot is greatly improved. And it is ensured that the two power systems work in the optimal cooperative state at any moment, and invalid energy internal consumption and redundant output are avoided.

The invention relates to an amphibious vehicle body stability control method, system, equipment and medium, and belongs to the technical field of vehicle control, the amphibious vehicle body stability control method comprises the following steps: after a vehicle enters water, heeling angle data is acquired in real time; and when the heeling angle data exceeds a set threshold value and the maintaining time exceeds a preset duration, the volumes of air bags arranged on the two sides of the vehicle are adjusted in real time so that buoyancy distribution can be adjusted, and the purpose of stably controlling the vehicle body is achieved. According to the overwater vehicle body stability control method and system based on multi-sensor fusion and dynamic adjustment disclosed by the invention, the problems of turning, heeling and wave interference when the vehicle sails on the water surface are solved. The stability of amphibious vehicle sailing on water is greatly optimized, and the amphibious vehicle is suitable for development of intelligent amphibious vehicles in the future.

The invention discloses a wide crawler walking device suitable for seabed thin and soft geology, which realizes stable walking of a deep-sea heavy-load mining operation platform on a thin and soft substrate through a high-tooth large-width composite material crawler walking mechanism, and provides a power driving guarantee for later operation of a heavy and heavy collection device. The crawler walking module is used for providing enough traction force for the mining vehicle, so that the mining vehicle can normally run on the complex bottom surface of the seabed. A crawler walking device is located in a chassis, the overall width of a vehicle body is reduced, a main beam of the chassis penetrates through trolley frames on the two sides, chassis secondary beams are welded to outer side panels of the trolley frames, the bearing capacity of the chassis is improved, the trolley frames are of a simple frame structure, and through holes and open grooves are machined in left and right outer side plates of the trolley frames and used for installing driving wheels, guide wheels and bearing wheels. Welding or bolt connection of other wheel train installation type structural parts is omitted, the lightweight design is met, and the structural strength is enhanced.

The invention relates to a composite deformation wheel type amphibious robot with wheel leg paddle functions. Comprising a sealed cabin, wheel-leg-paddle composite deformation wheels, a transmission structure, a settlement control structure, a visual module and a driving motor, the sealed cabin serves as a robot body support, and the four wheel-leg-paddle composite deformation wheels are symmetrically installed at the four corners of the bottom of the sealed cabin; the two transmission structures are symmetrically arranged on the two sides in the sealed cabin and are connected with the four wheel-leg-paddle composite deformation wheels through through holes in the two sides of the sealed cabin; two driving motors arranged in the sealed cabin drive two groups of wheel-leg-paddle composite deformation wheels on the same side to rotate through two groups of matched transmission structures, and each group of wheel-leg-paddle composite deformation wheels has a wheel type form, a leg type form and a paddle type form which can be switched; when entering a water area, the suspension depth is automatically adjusted through the settlement control structure. The amphibious robot realizes land rolling, obstacle crossing and underwater propelling movement, and is suitable for stable operation in a complex amphibious environment.

The invention relates to a pedal assembly and a vehicle. The pedal assembly comprises a pedal support used for being connected with a chassis of the vehicle; the pedal outer edge is connected with the pedal bracket; the movable pedal is movably mounted on the outer edge of the pedal; the adjusting mechanism is connected with the pedal outer edge and the movable pedal and used for driving the movable pedal to move or rotate relative to the pedal outer edge so as to adjust the posture of the movable pedal. According to the pedal assembly, the adjusting mechanism can drive the movable pedal to move or rotate relative to the outer edge of the pedal so as to adjust the posture of the movable pedal, so that the pedal assembly has the pedal function for people to get on and off a vehicle, and the driving posture of the vehicle can be adjusted by adjusting the posture of the movable pedal; a special posture adjusting device does not need to be additionally and independently arranged, so that the occupied vehicle installation space is effectively reduced, integration of the pedal function and the posture adjusting function is achieved, and the practicability and adaptability of the vehicle in the complex driving environment are improved.

The invention relates to the technical field of ship monitoring and alarming, in particular to a wireless monitoring and alarming system and method applied to an amphibious ship. The method comprises the following steps: building a ship state monitoring alarm device on an amphibious ship; performing hull state monitoring on the amphibious ship through a ship state monitoring alarm device to obtain a real-time hull inclination angle value; performing motion dip angle compensation on the real-time ship body dip angle value to generate a compensation dip angle estimation value; carrying out ship alarm threshold fuzzy reasoning on the compensation inclination angle estimation value, and carrying out scene dynamic adjustment to obtain a dynamic alarm threshold; and performing intelligent alarm judgment on the compensation inclination angle estimation value by using the dynamic alarm threshold value, and generating a final ship alarm signal. According to the invention, the inclination angle change of the ship under different environmental conditions can be accurately identified, and accurate monitoring, intelligent analysis and timely early warning of the inclination angle state of the ship are realized.

A convertible ducted fan engine and mounting system. The convertible ducted fan engine has a shroud encircling a mechanical fan. The convertible ducted fan engine includes a fluid-propulsion configuration in which the mechanical fan rotates freely with respect to the shroud to produce thrust through fluid flow, and a drive-wheel configuration in which the shroud rotates about the rotational axis.

The invention discloses a water-land-air multi-domain cooperative unmanned operation system for solving the problem of large-range water-land-air multi-domain environment cooperative search and detection, and the operation system comprises an amphibious unmanned platform, a plurality of water-air amphibious flight platforms, and a ground station control platform. The amphibious unmanned platform is used for completing underwater search and detection tasks through movement in an underwater environment; the water-air amphibious flying platform is used for completing searching and detecting tasks of air and water surface environments, providing positioning and communication services for the underwater amphibious unmanned platform through an underwater acoustic communication mode, and assisting the amphibious unmanned platform to work in the underwater environment; the ground station control platform communicates with the amphibious unmanned platform and the water-air amphibious flying platform and is used for obtaining information of the amphibious unmanned platform and the water-air amphibious flying platform. The operation system can complete underwater, water surface and land search and detection tasks and the like in complex cross-domain environments such as coast, lake and river.

The invention relates to the technical field of robots, and discloses a robot leg walking mechanism and a quadruped robot, the robot leg walking mechanism comprises a plurality of big arms, one side of each big arm is connected with a floating assembly, the floating assembly comprises a connecting box and an air bag, the connecting box is fixedly connected with one side of the big arm, and a placing groove is formed in the side, away from the big arm, of the connecting box; an air bag is fixedly connected into the containing groove, one side of the big arm is sequentially connected with an inflation assembly, a deflation assembly and an air injection assembly from top to bottom, and one side of the connecting box is connected with a closing assembly. According to the robot leg walking mechanism and the quadruped robot, by means of the floating assembly, the quadruped robot can keep floating in a deep water area, so that a robot body is prevented from being completely immersed in water, the risk that a camera lens is stained with water is reduced, and the quality and accuracy of real-time image transmission are ensured; therefore, a clear visual field and stable walking capability are provided for the quadruped robot, visual misjudgment or distortion can be reduced, and the accuracy and efficiency of inspection tasks are improved.

The invention is an unmanned ground vehicle, comprising a frame section (1) with a deck (2) and a bottom section (3), and a mobility arrangement (4) with an engine (12) in order to propel the vehicle, and which ground vehicle is equipped to be operated via remote controls. The ground vehicle comprises a waterjet assembly for propulsion in water.

The invention belongs to the technical field of mobile robots, and particularly relates to an amphibious hexapod robot which comprises a robot body, six walking feet, a protection box, propellers, a multi-sensor system and a central control unit. The six walking feet are arranged on the two sides of the robot body, and a waterproof driving joint is arranged at the tail end of each foot. The protection box is arranged at the root of the walking foot and internally integrated with propellers; the sensor system comprises a water depth sensor, an attitude sensor and a grounding detection module; the central control unit is used for collecting sensor data in real time, judging whether the current environment is a land or a water area, automatically switching a walking mode or a water propulsion mode, and meanwhile adaptively adjusting gaits and the rotating speed of propellers according to the water depth and the terrain. The robot has environment perception, mode decision, gait generation, grounding prevention protection and energy optimization strategies, full-autonomous and high-adaptability movement in the land and water environment is achieved, and the working capacity and safety of the robot in the complex environment are improved.

The utility model provides an on-water driving device of an amphibious vehicle, which comprises a connecting assembly, a hydraulic telescopic rod, a plate body and two groups of driving assemblies, and is characterized in that the connecting assembly is connected with a vehicle body of the amphibious vehicle; one end of the hydraulic telescopic rod is pivotally connected with the connecting assembly, and the other end of the hydraulic telescopic rod is pivotally connected with the plate body; the plate body is obliquely arranged, the plate body is attached to a vehicle body of the amphibious vehicle, two lining plates are symmetrically arranged on the plate body, and the lining plates are rotationally connected with the vehicle body of the amphibious vehicle; the two driving assemblies are symmetrically arranged on the two sides of the plate body. According to the overwater driving device of the amphibious vehicle, under the action of the hydraulic telescopic rod, the plate body can be attached to the tail of the vehicle body, and therefore the trafficability and the attractiveness of the amphibious vehicle are improved.

The invention belongs to the technical field of movable type water pumping, and particularly relates to a movable type construction site water pumping device which comprises floating frames, shoe-shaped frames, pump carrying tables, amphibious moving mechanisms, a depth measuring type floating mechanism, a guiding type turbulence preventing mechanism and a water supply mechanism, the floating frames are arranged on the two sides of the shoe-shaped frames, and the pump carrying tables are arranged between the shoe-shaped frames; the amphibious moving mechanisms are arranged at the two ends of the shoe-shaped frame. According to the movable construction site water pumping device, the pump station can be transported to the center of a foundation pit area through the buoyancy moving structure, the placement position of a drainage pipeline is prevented from being changed for multiple times, and then accumulated water in a foundation pit can be continuously pumped by the pump station.

The invention discloses a folding crawler chassis of an amphibious pipeline robot, and relates to the technical field of pipeline machines. The device comprises a chassis assembly; the chassis assembly comprises a shell, four rotating plates connected through torque springs are hinged to the outer bottom of the shell, propellers are installed at the ends of the rotating plates, vertical plates are fixedly connected to the outer walls of the propellers, and first electromagnets are fixedly connected to the tops of the vertical plates; track assemblies are symmetrically and rotationally connected to the opposite side faces of the shell, each track assembly comprises a waterproof box, and a triangular block is fixedly connected to the outer top of each waterproof box. By using the device, the device can rapidly adapt to advancing on land and on a waterway in a pipeline, upward swinging of the crawler belt assemblies and unfolding of the propellers are synchronously achieved, the using convenience and the amphibious rapid switching efficiency are effectively improved, and then the working efficiency is improved.

The utility model belongs to the technical field of robots, and relates to a cluster operation robot which comprises a parent operation robot and a plurality of child detection robots arranged on a body of the parent operation robot, the child detection robots are used for completing multi-modal transformation to achieve multi-habitat detection operation, and multifunctional mechanical arms are arranged on the child detection robots. The multifunctional mechanical arm is detachably mounted on the sub-body detection robot through the load switching module; the load tool switching subsystem is fixedly mounted on the parent operation robot and is used for replacing the multifunctional mechanical arm of the child detection robot as required; and the adsorption type energy supplement subsystem is used for charging the sub-body detection robot. The parent operation robot carries the multiple child detection robots, cluster collaborative operation of the multiple robots is achieved, the working efficiency of collaborative operation of the robots is improved, the robot is suitable for the waterway and air multi-habitat operation environment, and the global and long-time operation requirements are met.

The invention provides a seismic detection system based on a seabed crawl device, and belongs to the technical field of geophysics, the seismic detection system comprises a survey ship, the seabed crawl device, a seismic source, a receiver and a control chip, the survey ship is connected with the seabed crawl device through a traction rope, a dragging cable is arranged at the tail of the seabed crawl device, the seismic source and the receiver are fixed on the dragging cable, and the control chip is connected with the control chip. An electronic cabin is arranged in the seabed crawl device, the data control chip is arranged in the electronic cabin, and the control chip performs data interaction with a driving unit, a seismic source and a receiver of the seabed crawl device; a seismic detection control module is arranged in the control chip and is used for setting vibration parameters of a seismic source and preprocessing data acquired by the receiver to finally obtain seismic detection data; a data transmission device is further arranged in the electronic cabin, the control chip is electrically connected with the data transmission device, and the data transmission device is used for sending seismic detection data to an investigation ship. The problem that an existing method is not high in comprehensiveness and accuracy is solved.

The invention relates to the field of extended-range hybrid electric vehicle control, and particularly discloses a multi-mode self-adaptive amphibious vehicle extended-range system start-stop control method, which comprises the following steps of: switching to a corresponding working mode according to a driving environment of a vehicle, the range extending system is adaptively adjusted to a power generation working condition or a stop working condition according to different working modes; the range extending system start-stop control module comprises a range extender starting module and a range extender stopping module, and the engine starting module is divided into a starter emergency starting mode and an ISG reverse dragging engine starting mode; task requirements of a driver can be met, operation states of all parts can be coordinated more sufficiently, energy output efficiency is improved, the range extending system is higher in starting and response speed and lower in oil consumption and emission in the starting process, meanwhile, the mode that an engine is started by a starter is reserved to cope with emergency situations, and the range extending system is suitable for popularization and application. And the stability and the reliability of the whole system are improved.

A mechanical system includes a curved beam and a motor coupled to the curved beam. The curved beam is configured to buckle at two different locations along the positive and negative portions of its load / displacement curve, corresponding to opposite and equal sense bending directions. The motor is configured to impart a flapping motion to the curved beam.

The invention discloses a driving control method and system of a floatable vehicle and the floatable vehicle, and the driving control method comprises the steps that when the vehicle is in a floating state, according to the target yaw velocity and the actual yaw velocity of the vehicle and the pre-control target wheel speed and the actual wheel speed of each wheel of the vehicle, the pre-control target wheel speed and the actual wheel speed of each wheel of the vehicle are calculated; determining a pre-control torque and a torque correction amount of each wheel of the vehicle by adopting a motion control algorithm; and according to the pre-control torque and the torque correction amount of each wheel of the vehicle, target torque output by a motor corresponding to each wheel of the vehicle is determined so as to control the vehicle to run. On the basis of a double-closed-loop control scheme of a wheel speed closed loop and a yaw velocity closed loop, a complete double-closed-loop control loop composed of the wheel speed and the yaw velocity, feedforward control formed by pre-control torque / wheel speed and controller feedback control is formed, and good control precision and control response characteristics are achieved.

The invention belongs to the related technical field of robots, and discloses an amphibious medium-crossing movement waterproof vertical steering wheel and a wall-climbing robot, the steering wheel is specifically characterized in that an opening is formed in the bottom of a waterproof shell, a steering shaft is rotatably and hermetically connected to the opening, and a driving motor is vertically and integrally rotatably connected with the steering shaft; the top of the waterproof bearing seat is in sealed connection with the bottom of the steering shaft, the driving motor is connected with the transmission assembly and is in transmission connection with an output shaft arranged at the bottom of the waterproof bearing seat through the transmission assembly, and output sealing structures are arranged between the two ends of the output shaft and the wheel carrier and between the two ends of the output shaft and the waterproof bearing seat respectively. The steering motor is in transmission connection with the steering shaft through the steering assembly to drive the steering shaft to rotate. The waterproof shell can effectively isolate the motor from the external water environment, and high-grade waterproof performance is achieved; through the compact design, high waterproof performance is achieved while flexible mobility and large driving force are guaranteed, and powerful support is provided for multifunctionality of the amphibious wall-climbing robot.

The utility model provides a pool cleaning robot which comprises a machine body provided with a water inlet, a water outlet and a mounting cavity, and the mounting cavity communicates with the water inlet and the water outlet; the walking module is rotatably arranged on the machine body, the walking module makes contact with the surface of the pool, and the pool cleaning robot is driven to move through friction force between the walking module and the surface of the pool; the filtering module is arranged in the mounting cavity of the machine body in a push-pull mode, liquid in the pool flows into the filtering module from the water inlet, and the filtered liquid flows out of the pool cleaning robot through the water outlet; the snorkeling module is arranged on the machine body, and the pool cleaning robot dives to the bottom of the pool through the snorkeling module so that the walking module can make contact with the surface of the pool and float upwards to be close to the liquid level of the pool. The pool cleaning robot has the advantages of being low in energy consumption, convenient to operate and low in cost.

The invention discloses an underwater operation nuclear industry robot which comprises an amphibious moving system, and the amphibious moving system comprises a chassis, a land moving module, an underwater moving module and an adsorption fixing module; the two sets of operation systems are installed on the front side of the top face of the chassis, each operation system comprises a multi-degree-of-freedom mechanical arm and a grabbing mechanical arm, the multi-degree-of-freedom mechanical arms are installed on the top face of the chassis, and the grabbing mechanical arms are installed at the ends of the multi-degree-of-freedom mechanical arms; the recovery and storage system is mounted on the top surface of the chassis; the visual recognition system is installed on the rear side of the top face of the chassis, and the visual recognition system comprises a supporting module, a lighting module and a recognition module; and the amphibious moving system, the operation system, the recovery and storage system and the visual identification system are all connected with the terminal controller. The underwater robot can flexibly enter an underwater operation area from the land, and is suitable for operation in various complex environments.

Amphibious bicycle trailer, AFA (1), designed to be towed in a land configuration by a land vehicle (16) and in a floating water configuration by a watercraft (17), comprising: - a hull (10); - at least two running wheels (18) which are attached to the hull (10); - at least two extendable or foldable supports (6, 13) extending laterally from the hull (10), at the ends of which floating pontoons (2, 12) are attached, the water configuration comprising the extended or unfolded configuration of the supports (6, 13); - a rigid trailer coupling element (7) designed to alternately connect the amphibious bicycle trailer (1) to a respective land vehicle (16) and / or watercraft (17).

The invention relates to the technical field of amphibious robots, and discloses an amphibious robot which comprises a robot body, a pushing mechanism, a steering mechanism and a pitching mechanism, the pushing mechanism, the steering mechanism and the pitching mechanism are connected to the robot body, the robot body comprises an inner shell, a propeller and a rolling outer shell which are sequentially connected in a sleeved mode from inside to outside, and the inner shell is cylindrical; the pushing mechanism comprises a support, a driving motor and a first balancing weight, a stator of the driving motor is fixed to the side end of the support, the first balancing weight is fixed to the bottom of the support, the support is sleeved with the inner shell, one side end of the inner shell is connected with a rotor of the driving motor, and the other side end of the inner shell is rotationally connected with the support; according to the amphibious robot, the stator rotates to drive the first balancing weight to rotate, kinetic moment is provided for the robot body, the rotor rotates to drive the inner shell, the propeller and the rolling outer shell to rotate synchronously, the robot is pushed to move on the water surface / water by means of counter-acting force, and the driving system and the control system of the amphibious robot are simplified.

The utility model relates to the technical field of rescue vehicles, in particular to a multifunctional amphibious rescue vehicle. The utility model provides a multifunctional amphibious rescue vehicle, which can realize quick rescue, and comprises a vehicle body, lifting mechanisms, outboard engine mechanisms, a chassis edge frame and a front axle mechanism, the lifting mechanisms are arranged on both sides of the rear part of the vehicle body, the two lifting mechanisms are respectively provided with one outboard engine mechanism, the chassis edge frame is arranged at the bottom of the vehicle body, and the front axle mechanism is arranged on the chassis edge frame. Front axle mechanisms are arranged on the two sides of the chassis edge frame. Through the arrangement of the planetary gear type transfer mechanism, power is transmitted to the four tires through the rear universal output shaft, the front universal output shaft, the steering knuckle arm and other parts, low-speed or high-speed driving of the four wheels of a vehicle body is achieved, the position utilization rate of a vehicle chassis and the transmission efficiency of the vehicle are improved, energy loss is reduced, and the service life of the vehicle is prolonged. Therefore, the power performance of the vehicle is improved.

The invention discloses a vehicle control method, a vehicle, a vehicle controller and a storage medium, the vehicle comprises a driving and transmission system used for running on land, and the driving and transmission system comprises driving motors used for driving wheels and arranged in a distributed mode; the vehicle control method comprises the steps that vehicle state information is acquired; in response to a floating driving trigger instruction, target control parameters of each driving motor are obtained according to the vehicle state information and the floating driving characteristic information; and controlling the corresponding driving motor according to the target control parameter so as to enable the vehicle to run in a floating manner. According to the method and the vehicle, two running modes of land running and floating running can be achieved, the multifunctionality and adaptability of the vehicle are enhanced, floating running of the vehicle can be achieved based on a driving and transmission system of land running, two sets of different power transmission systems do not need to be used, and therefore the complexity of the system is reduced, and the cost is reduced. And the production cost is reduced.