Variant type amphibious unmanned ship and control method thereof

An unmanned ship and amphibious technology, which is applied to amphibious vehicles, motor vehicles, transportation and packaging, etc., can solve the problems of increasing costs and not being able to effectively increase the longitudinal stability of unmanned ships, and achieve the effect of reducing shear wave interference

Active Publication Date: 2018-03-30
青岛无疆技术有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] The technical problem to be solved by the present invention is the problem of wave pressure generated by the amphibious unmanned ship in the prior art when driving in water areas. The conventional solution is to increase the wave pressure plate, but it will lead to increased costs and cannot effectively increase the high-speed front of the unmanned ship. Longitudinal stability while running

Method used

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  • Variant type amphibious unmanned ship and control method thereof
  • Variant type amphibious unmanned ship and control method thereof
  • Variant type amphibious unmanned ship and control method thereof

Examples

Experimental program
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Effect test

Embodiment 1

[0054] Embodiment 1 of the present invention provides a variant amphibious unmanned ship, such as Figure 1-Figure 3 shown (where, figure 1 In order to show the two-body hull effect, only the hull structure is shown, and the front wheel and its baffle structure are not shown), including a two-body hull 1, a front wheel 2, at least two rear wheels (such as image 3 shown in the left rear wheel 3 and the right rear wheel 4 in the middle mark); when the hull 1 is switched from the water working state to the land working state, the front wheel 2 and the rear wheel are stretched out from the folded form and become the extended form; When the working state is switched to the water working state, the front wheel 2 and the rear wheel fold from the extended state to the hull 1 and become a folded state; the effect diagram of the folded state is as follows Figure 4 shown.

[0055] Each wheel (comprising above-mentioned front wheel and trailing wheel) is also equipped with baffle plat...

Embodiment 2

[0069] In Embodiment 1 of the present invention, an amphibious unmanned ship structure that can switch between different styles of hulls 1 is proposed. Further, in order to simplify the prior art, tires are provided separately for land working conditions, and propellers are separately provided for water working conditions. Or the complex structure of the jet pump, based on the implementation of Embodiment 1 of the present invention, an improved solution is also proposed to solve the above-mentioned problems in the prior art. Specific as Figure 9 As shown, the rear wheel (comprising the left rear wheel 3 and the right rear wheel 4, and the right rear wheel 4 is used as an example in the embodiment of the present invention for illustration) includes a hub 4-3, a tire 4-4, and a propeller 4-5, wherein, The propeller is set in the inner diameter of the hub; specifically:

[0070] The first rotating shaft 4-6 of the propeller is embedded in the second rotating shaft 4-7 of the re...

Embodiment 3

[0077]After the present invention discloses a modified amphibious unmanned ship as described in Embodiment 1, the working mode of its baffle adopts a kind of baffle plate of the front wheel 2 and the rear wheel when the working state is on land. Technical solution for head and stern flips. The technical solution described in Example 1 is suitable for the application scenario where the hull 1 of the amphibious unmanned ship is relatively short, and for the application scenario where the hull 1 of the amphibious unmanned ship is relatively long, there is also an alternative baffle structure Realize the plan. Therefore, the embodiment of the present invention proposes an alternative implementation means for the solution described in Embodiment 1, such as Figure 11 Shown, comprise two-body hull 1, a front wheel 2, at least two rear wheels (comprising Figure 11 Shown right rear wheel 4); When the hull 1 is switched from the water area working state to the land working state, th...

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Abstract

The invention relates to the technical field of amphibious unmanned ships, and provides a variant-type amphibious unmanned ship and a control method thereof. The control method comprises the steps that turning auxiliary data are matched according to state information of an intelligent rudder of the current amphibious unmanned ship, a needed power assisting value for correcting posture informationcollected by the current amphibious unmanned ship in real time to theoretical posture information is searched for according to the target posture information corresponding to intelligent rudder stateinformation recorded in the matched turning auxiliary data; and a propeller in a rear left wheel and a propeller in a rear right wheel are moved according to the power assisting value, cooperating with the propeller blade rotating speed difference produced by transmission of all independent power devices, so that the amphibious unmanned ship is assisted to realize converting of a hull to the target direction of the intelligent rudder. According to the variant-type amphibious unmanned ship and the control method thereof, a special baffle structure is arranged for front wheels and/or rear wheels, so that the amphibious unmanned ship has the function of converting between synchronous hull forms.

Description

【Technical field】 [0001] The invention relates to the technical field of amphibious unmanned ships, in particular to a modified amphibious unmanned ship and a control method thereof. 【Background technique】 [0002] Unmanned ship operation is a fully automatic surface robot that can navigate on the water surface according to preset tasks and operate autonomously with the help of precise satellite positioning and control systems. More and more unmanned ships are operating and undertaking tasks in inland river patrols, etc. At present, ordinary vehicles can only quickly transport and transfer strategic materials on land, and are not suitable for carrying in water areas; unmanned ships can travel quickly in water areas, but additional auxiliary tools are required when entering and exiting the water. [0003] my country has a long coastline, and there are still many disputed waters, so it is imperative to improve my country's offshore landing transportation capacity. The amphib...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B60F3/00
CPCB60F3/0007B60F3/003
Inventor 刘全蕾李德峰秦军
Owner 青岛无疆技术有限公司
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