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A variant amphibious unmanned ship and its control method

An unmanned ship and amphibious technology, applied in amphibious vehicles, motor vehicles, transportation and packaging, etc., can solve the problems of not effectively increasing the longitudinal stability of unmanned ships and adding wave pressure plates, so as to reduce shear wave interference and achieve The effect of wave pressure

Active Publication Date: 2020-07-17
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 it travels in waters. The conventional solution is to increase the wave pressure plate, which cannot effectively increase the longitudinal stability of the unmanned ship when it is moving forward at high speed

Method used

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  • A variant amphibious unmanned ship and its control method
  • A variant amphibious unmanned ship and its control method
  • A variant amphibious unmanned ship and its control method

Examples

Experimental program
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Embodiment 1

[0044] 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 3shown 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.

[0045] Each wheel (comprising above-mentioned front wheel and trailing wheel) is also equipped with baffle plate...

Embodiment 2

[0059] 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 9 Shown, comprise two-body hull 1, a front wheel 2, at least two rear wheels (comprising Figure 9 Shown right rear wheel 4); When the hull 1 is switched from the water area working state to the land working state, the...

Embodiment 3

[0064] After proposing a variant amphibious unmanned ship as described in embodiment 1, embodiment 2 and embodiment 3, the embodiment of the present invention also provides a stable control method, in the embodiment of the present invention, the left rear wheel and the right rear wheel of the amphibious unmanned ship are driven by an independent power device. The status information of the smart rudder generates auxiliary data for the turning of the amphibious unmanned ship in the water body, such as Figure 10 As shown, the methods include:

[0065] In step 201, the turning assistance data is matched according to the state information of the smart rudder of the current amphibious unmanned ship.

[0066] The turning assistance data is obtained by counting the experimental data of the turning operation of the amphibious unmanned ship, and the turning assistance data includes the status information of the smart rudder, the target attitude information of the hull 1, and the curre...

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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 Patents(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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