Hybrid power rear driving system based on amphibious vehicle

Abstract

The invention relates to the technical field of amphibious vehicles, in particular to a hybrid power rear driving system based on an amphibious vehicle, which comprises a floating mechanism, a crawler mechanism, a floating driving mechanism, a lifting mechanism, a walking driving mechanism, a feature acquisition mechanism, a feature analysis mechanism and a control mechanism. And obtaining underwater image information of the to-be-driven area, calculating floating tendency characterization parameters according to the obtained parameters, determining operation parameters of the floating driving mechanism when the floating mechanism is determined to be controlled to operate to drive the amphibious vehicle to operate, and controlling the floating driving mechanism to drive the amphibious vehicle to operate. And the operation efficiency of the amphibious vehicle is effectively improved.

Description

Technical Field

[0001] The invention relates to the technical field of amphibious vehicles, and in particular to a hybrid power rear drive system based on an amphibious vehicle. Background Art

[0002] In response to urban waterlogging, the main rescue equipment currently available in China is mainly ordinary equipment such as assault boats, rubber boats, motorboats, and large loaders. Assault boats and rubber boats can only work under conditions where the water velocity is slow and the water depth meets the conditions for sailing. The carrying capacity is limited by the size of the hull, and the number of people transported is small. It is also easily affected by foreign objects in the water and the terrain, causing the hull to leak and be damaged. Due to the shallow depth of urban waterlogging, rescue workers often wade through the water to transport trapped people, which is not efficient and can easily put rescue workers in danger. Large loaders, excavators and other existing rescue equipment are either large in size and heavy in weight, or limited in function, with low rescue efficiency. They can only operate in shallow water areas, and their limitations are quite obvious.

[0003] Existing drainage robots or dragon-shaped water-sucking equipment can be used to perform drainage operations in streets, tunnels, underground garages, subways and other places when urban waterlogging occurs. With a transport machine, pipelines can be quickly laid on site to achieve the purpose of pumping water. However, due to their strong dependence on power or machine power and lack of mobility, they are helpless in complex and changeable rescue environments.

[0004] Chinese patent publication number: CN114771173A, discloses an amphibious vehicle, a hybrid power drive system and a hybrid power drive method. The amphibious vehicle hybrid power drive system using a dual water jet propulsion scheme includes a water driving branch and a land driving branch that operate independently of each other; the water driving branch and the land driving branch are both driven by a drive motor, using a power battery pack as an energy source, and using an engine to power the power battery pack. The two sets of water jet propulsion devices are arranged symmetrically according to the horizontal center line of the vehicle body, and steering is achieved by adjusting the thrust size and thrust direction of the water pump; it can be seen that the above technical solution has the following problems: when carrying out flood rescue, in the face of the water level height, the rescue scene that can be driven by walking or floating adopts a fixed drive mode, and in the face of complex rescue environments, it is not considered to determine the corresponding drive mode according to the actual scene, which affects the operation efficiency of the amphibious vehicle. Summary of the invention

[0005] To this end, the present invention provides a hybrid rear drive system based on an amphibious vehicle, so as to overcome the problem that in the prior art, when conducting flood fighting and rescue operations, a fixed drive mode is adopted in rescue scenarios where the water level is high and either walking drive or floating drive can be achieved. In the face of complex rescue environments, the corresponding drive mode is not determined according to the actual scenario, which affects the operating efficiency of the amphibious vehicle.

[0006] To achieve the above object, the present invention provides a hybrid rear drive system based on an amphibious vehicle, comprising:

[0007] A floating mechanism, which includes a plurality of floating air bags symmetrically arranged on both sides of the amphibious vehicle and an inflating device connected to each floating air bag;

[0008] A crawler mechanism, comprising a plurality of crawlers located on the chassis of the amphibious vehicle and used for driving the amphibious vehicle to move by rotation;

[0009] The floating drive mechanism includes a plurality of pumping modules arranged at the front side of the amphibious vehicle for pumping water and a plurality of water jet propulsion modules arranged at the rear side of the amphibious vehicle corresponding to each pumping module. The pumping modules include a water inlet, a water delivery pipe connected to the water inlet, and a rotary cutting device arranged on the inner side wall of the water delivery pipe for breaking up blockages.

[0010] A lifting mechanism connected to the water inlet to control the height of the water inlet;

[0011] A travel drive mechanism, which is used to drive the crawler mechanism to operate;

[0012] The feature collection mechanism includes an image detector arranged at the front side of the amphibious vehicle to obtain underwater image information, a vibration sensor arranged on the chassis of the amphibious vehicle to obtain the vibration frequency of the amphibious vehicle, and a detection pump arranged at the outlet of the water jet propulsion module to obtain the water outlet flow rate;

[0013] A feature analysis mechanism, which is connected to the feature acquisition mechanism, is used to obtain the obstacle density features of the underwater image information and calculate the floating tendency characterization parameters in combination with the vibration frequency, wherein the obstacle density features include obstacle distribution features and suspension movement difference;

[0014] A control mechanism, which is used to classify the driving mode tendency category of the driving area according to the floating tendency characterization parameter, and control the floating driving mechanism according to the driving mode tendency category, including:

[0015] The height of the water inlet is corrected based on the difference in suspended movement, the rotation speed of the rotary cutting device is adjusted based on the floating tendency characterization parameter, the control mechanism controls the operation of the floating mechanism and the floating drive mechanism, the drainage difference is determined based on the obtained water outlet flow rate, and whether to correct the rotation speed of the rotary cutting device is determined based on the drainage difference; or, the walking drive mechanism is controlled to continue to operate.

[0016] Furthermore, the feature analysis mechanism is used to obtain the obstacle density features of the underwater image information, including:

[0017] Select the floating objects in each water image information;

[0018] For a single underwater image information, calculate the ratio of the frame selection area to the total area of ​​the underwater image information;

[0019] Calculate the average value of each area ratio to obtain the obstacle distribution characteristics;

[0020] The underwater image information is compared to obtain the ratio of the overlapping area of ​​each underwater image information to the total area of ​​the underwater image information, and the suspension movement difference is obtained.

[0021] Furthermore, the characteristic analysis unit calculates the floating tendency characterization parameter according to formula (1):

[0022]

[0023] In formula (1), F represents the floating tendency characterization parameter, Z represents the obstacle distribution feature, Y represents the suspension movement difference, D represents the vibration frequency, α represents the obstacle weight coefficient, β represents the suspension weight coefficient, γ represents the vibration weight coefficient, Z0 represents the average value of each obstacle distribution feature, Y0 represents the average value of each historical suspension movement difference, and D0 represents the average value of each historical vibration frequency.

[0024] Furthermore, the control mechanism divides the driving mode tendency categories of the driving area based on the floating tendency characterization parameter, including:

[0025] If the floating tendency characterization parameter is less than or equal to the preset floating tendency characterization parameter, the driving area is classified into a floating driving mode tendency category;

[0026] If the floating tendency characterization parameter is greater than the preset floating tendency characterization parameter, the driving area is divided into a track drive mode tendency category.

[0027] Furthermore, the control mechanism controls the floating drive mechanism according to the floating tendency characterization parameter, including:

[0028] If the driving area is a floating drive mode tendency category, the height of the water inlet is corrected based on the suspension movement difference, the rotation speed of the rotary cutting device is adjusted based on the floating tendency characterization parameter, the control mechanism controls the operation of the floating mechanism and the floating drive mechanism, the drainage difference is determined based on the obtained water outlet flow rate, and whether to correct the rotation speed of the rotary cutting device is determined based on the drainage difference;

[0029] If the driving area is in the crawler drive mode tendency category, the travel drive mechanism is controlled to continue running.

[0030] Furthermore, the control mechanism corrects the height of the water inlet based on the difference in suspension movement, wherein:

[0031] The correction amplitude of the water inlet height determined by the control module is proportional to the difference in suspension movement.

[0032] Furthermore, the control mechanism is used to adjust the rotation speed of the rotary cutting device based on the difference in suspension movement, wherein:

[0033] The rotation speed of the rotary cutting device determined by the control mechanism is proportional to the amount of the suspension movement difference.

[0034] Furthermore, the control mechanism is used to obtain the water flow rate to determine the drainage difference, including:

[0035] Used to draw a flow velocity time domain curve based on the outlet water flow velocity;

[0036] To obtain the duration of each interval in which the slope of the velocity time domain curve is less than zero;

[0037] It is used to calculate the proportion of the duration of each interval to the total duration of the velocity time domain curve to obtain the drainage difference.

[0038] Furthermore, the control mechanism is used to determine whether to correct the rotation speed of the rotary cutting device based on the drainage difference, including:

[0039] If the drainage difference is less than or equal to the preset drainage difference, the rotary cutting device is controlled to continue to operate at the current rotation speed;

[0040] If the drainage difference is greater than a preset drainage difference, the rotation speed of the rotary cutting device is corrected based on the drainage difference.

[0041] Furthermore, the control mechanism is used to correct the rotation speed of the rotary cutting device based on the drainage difference, wherein:

[0042] The correction range of the rotation speed of the rotary cutting device determined by the control mechanism is proportional to the amount of drainage difference.

[0043] Compared with the prior art, the beneficial effect of the present invention lies in that, when conducting flood fighting and rescue operations, in the face of a rescue scenario where the water level can be driven either by walking or by floating, the vibration frequency of the amphibious vehicle in the driving area is obtained by pre-adopting a method in which the crawler mechanism is operated to drive the amphibious vehicle to move, and the underwater image information of the area to be driven is obtained, so as to calculate the floating tendency characterization parameter according to the obtained parameters, and the floating tendency characterization parameter characterizes the driving mode tendency category in the driving area, and when determining to control the operation of the floating mechanism to drive the amphibious vehicle to operate, the operating parameters of the floating drive mechanism are determined. In actual operation, there may be various rescue road conditions underwater in the driving area, and the control mechanism determines the specific operating parameters of the floating drive mechanism according to the determined floating tendency characterization parameters and the suspension movement difference, and determines the specific driving mode based on the specific conditions of the driving area, thereby effectively improving the operating efficiency of the amphibious vehicle.

[0044] Furthermore, by calculating the floating tendency characterization parameters, the specific conditions of the obstacle distribution characteristics, the suspension movement difference and the vibration frequency are determined. In actual situations, when driving in different driving areas, there are corresponding more efficient and safer driving methods for different road conditions and underwater conditions. In particular, under complex driving conditions, there is difficult-to-move silt, bumpy road conditions or a large amount of suspended matter that hinders the operation of the pumping module, affecting the safety of the operation of the amphibious vehicle. In order to ensure the stable driving of the amphibious vehicle and improve the rescue speed of the amphibious vehicle, this scheme considers calculating the floating tendency characterization parameters from the obstacle density characteristics of the driving area and the vibration frequency during driving. The floating tendency characterization parameters record the complexity of each driving condition, and then divide the driving mode tendency category of the driving area through the floating tendency characterization parameters to provide data support for subsequent driving parameters. While efficiently determining the complexity of the road conditions in the driving area, the operating efficiency of the amphibious vehicle is thereby improved.

[0045] Furthermore, the control mechanism corrects the height of the water inlet based on the difference in suspension movement. The difference in suspension movement characterizes the specific situation of underwater suspended matter. The greater the difference in suspension movement, the more floating debris rises from the ground underwater. The height of the water inlet is adjusted higher to reduce the suction of suspended matter and surface sludge, thereby improving the smoothness of the operation of the floating drive mechanism and further improving the operating efficiency of the amphibious vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 It is a module block diagram of a hybrid rear drive system based on an amphibious vehicle according to an embodiment of the present invention;

[0047] Figure 2 A logic decision diagram for classifying driving mode tendency categories of a driving area according to an embodiment of the present invention;

[0048] Figure 3 A logic decision diagram for controlling a floating driving mechanism according to floating tendency characterization parameters according to an embodiment of the present invention;

[0049] Figure 4 This is a logic decision diagram for determining whether to correct the rotation speed of the rotary cutting device based on the drainage difference according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0051] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0052] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0053] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] See also Figure 1 , Figure 2 , Figure 3 as well as Figure 4 As shown, they are respectively a module block diagram of a hybrid power rear drive system based on an amphibious vehicle according to an embodiment of the present invention, a logic determination diagram for classifying driving mode tendency categories in a driving area, a logic determination diagram for controlling a floating drive mechanism according to floating tendency characterization parameters, and a logic determination diagram for determining whether to correct the rotation speed of a rotary cutting device based on a drainage difference amount; a hybrid power rear drive system based on an amphibious vehicle according to an embodiment of the present invention comprises:

[0055] A floating mechanism, which includes a plurality of floating air bags symmetrically arranged on both sides of the amphibious vehicle and an inflating device connected to each floating air bag;

[0056] A crawler mechanism, comprising a plurality of crawlers located on the chassis of the amphibious vehicle and used for driving the amphibious vehicle to move by rotation;

[0057] The floating drive mechanism includes a plurality of pumping modules arranged at the front side of the amphibious vehicle for pumping water and a plurality of water jet propulsion modules arranged at the rear side of the amphibious vehicle corresponding to each pumping module. The pumping modules include a water inlet, a water delivery pipe connected to the water inlet, and a rotary cutting device arranged on the inner side wall of the water delivery pipe for breaking up blockages.

[0058] A lifting mechanism connected to the water inlet to control the height of the water inlet;

[0059] A travel drive mechanism, which is used to drive the crawler mechanism to operate;

[0060] The feature collection mechanism includes an image detector arranged at the front side of the amphibious vehicle to obtain underwater image information, a vibration sensor arranged on the chassis of the amphibious vehicle to obtain the vibration frequency of the amphibious vehicle, and a detection pump arranged at the outlet of the water jet propulsion module to obtain the water outlet flow rate;

[0061] A feature analysis mechanism, which is connected to the feature acquisition mechanism, is used to obtain the obstacle density features of the underwater image information and calculate the floating tendency characterization parameters in combination with the vibration frequency, wherein the obstacle density features include obstacle distribution features and suspension movement difference;

[0062] A control mechanism, which is used to classify the driving mode tendency category of the driving area according to the floating tendency characterization parameter, and control the floating driving mechanism according to the driving mode tendency category, including:

[0063] The height of the water inlet is corrected based on the difference in suspended movement, the rotation speed of the rotary cutting device is adjusted based on the floating tendency characterization parameter, the control mechanism controls the operation of the floating mechanism and the floating drive mechanism, the drainage difference is determined based on the obtained water outlet flow rate, and whether to correct the rotation speed of the rotary cutting device is determined based on the drainage difference; or, the walking drive mechanism is controlled to continue to operate.

[0064] Specifically, the specific structure of the water jet propulsion module is not limited. It can be understood that the water jet drive of the amphibious vehicle can be completed by the water sucked in through the water inlet. This is the existing technology and will not be elaborated.

[0065] Specifically, the specific structure of the lifting mechanism is not limited, and optionally, it can include a plurality of lifting rails, a plurality of lifting blocks arranged on the lifting rails, and a lifting motor connected to each lifting rail for controlling the height of each lifting block. The water inlet is connected to the lifting block. It can be understood that the height of the water inlet can be controlled by controlling the lifting mechanism, and no further details will be given.

[0066] Specifically, the specific structure of the rotary cutting device is not limited. Optionally, it includes an annular guide rail fixed to the inner wall of the water supply pipe, a plurality of cutters arranged on the annular guide rail, and a rotary drive motor for controlling the movement of each cutter along the annular guide rail, which will not be repeated.

[0067] Specifically, the feature collection mechanism starts to operate when the water level in the operating area of ​​the amphibious vehicle reaches a predetermined water level range. The detection method of the water level in the operating area is not limited. The water level can be determined by an ultrasonic water level sensor or a radar water level sensor, which will not be repeated here.

[0068] Specifically, the predetermined water level interval is not limited. Optionally, the left endpoint of the predetermined water level interval can be the height of the center point of the floating airbag after the floating airbag is fully inflated, and the right endpoint of the predetermined water level interval can be the height relative to the chassis of the amphibious vehicle. It can be understood that the selected value of the predetermined water level interval can divide the operating scenario of the amphibious vehicle. In the scenario of the predetermined water level interval, the amphibious vehicle can move by floating or by track drive, which will not be elaborated.

[0069] Specifically, amphibious vehicles can be operated by human drivers or remote control. They are suitable for natural waters such as rivers, lakes, swamps, and wetlands. They can also enter complex streets and underground spaces that are inaccessible to humans and conventional equipment to carry out rescue and transportation of personnel, cleaning and excavation of debris, etc. They can also be used to clean up water grass and reeds during river floods and salvage floating objects.

[0070] Equipped with a high-power power system and excellent floating load-bearing capacity, it can transport personnel or rescue materials with a total weight of more than 1.2 tons.

[0071] Specifically, when carrying out flood fighting and rescue operations, faced with a rescue scenario where the water level is high enough to be driven either by walking or by floating, the vibration frequency of the amphibious vehicle in the driving area is obtained by pre-operating the track mechanism to drive the amphibious vehicle, and underwater image information of the area to be driven is obtained, so as to calculate the floating tendency characterization parameters based on the obtained parameters. The floating tendency characterization parameters characterize the driving mode tendency category in the driving area. When determining to control the operation of the floating mechanism to drive the amphibious vehicle to operate, the operating parameters of the floating drive mechanism are determined. In actual operation, there may be various rescue road conditions underwater in the driving area. The control mechanism determines the specific operating parameters of the floating drive mechanism based on the determined floating tendency characterization parameters and the difference in suspended movement, and determines the specific driving mode based on the specific conditions of the driving area, thereby effectively improving the operating efficiency of the amphibious vehicle.

[0072] Specifically, the feature analysis mechanism is used to obtain the obstacle density features of the underwater image information, including:

[0073] Select the floating objects in each water image information;

[0074] For a single underwater image information, calculate the ratio of the frame selection area to the total area of ​​the underwater image information;

[0075] Calculate the average value of each area ratio to obtain the obstacle distribution characteristics;

[0076] The underwater image information is compared to obtain the ratio of the overlapping area of ​​each underwater image information to the total area of ​​the underwater image information, and the suspension movement difference is obtained.

[0077] Specifically, there is no limitation on the specific method of identifying floating objects in image information. The floating objects can be identified by identifying the edge contours of the floating objects, and then the floating objects can be selected. The relevant algorithms can be imported into the logic processing unit to obtain the features of the floating objects in the image information. This is a prior art and will not be described in detail.

[0078] Specifically, the characteristic analysis unit calculates the floating tendency characterization parameter according to formula (1):

[0079]

[0080] In formula (1), F represents the floating tendency characterization parameter, Z represents the obstacle distribution feature, Y represents the suspension movement difference, D represents the vibration frequency, α represents the obstacle weight coefficient, β represents the suspension weight coefficient, γ represents the vibration weight coefficient, Z0 represents the average value of each obstacle distribution feature, Y0 represents the average value of each historical suspension movement difference, and D0 represents the average value of each historical vibration frequency.

[0081] Specifically, α is 0.3, β is 0.25, and γ is 0.45.

[0082] Specifically, by calculating the floating tendency characterization parameters, the specific conditions of the obstacle distribution characteristics, the suspension movement difference and the vibration frequency are determined. In actual situations, when driving in different driving areas, there are corresponding more efficient and safer driving methods for different road conditions and underwater conditions. In particular, under complex driving conditions, there is difficult-to-move silt, bumpy road conditions or a large amount of suspended matter that hinders the operation of the pumping module, affecting the safety of the operation of the amphibious vehicle. In order to ensure the stable driving of the amphibious vehicle and improve the rescue speed of the amphibious vehicle, this scheme considers calculating the floating tendency characterization parameters from the obstacle density characteristics of the driving area and the vibration frequency during driving. The floating tendency characterization parameters record the complexity of each driving condition, and then divide the driving mode tendency category of the driving area through the floating tendency characterization parameters to provide data support for subsequent driving parameters. While efficiently determining the complexity of the road conditions in the driving area, the operating efficiency of the amphibious vehicle is thereby improved.

[0083] Specifically, the control mechanism divides the driving mode tendency categories of the driving area based on the floating tendency characterization parameter, including:

[0084] If the floating tendency characterization parameter is less than or equal to the preset floating tendency characterization parameter, the driving area is classified into a floating driving mode tendency category;

[0085] If the floating tendency characterization parameter is greater than the preset floating tendency characterization parameter, the driving area is divided into a track drive mode tendency category.

[0086] Specifically, the preset floating tendency characterization parameter F0 is selected within the interval [0.7, 0.75].

[0087] Specifically, the control mechanism controls the floating drive mechanism according to the floating tendency characterization parameter, including:

[0088] If the driving area is a floating drive mode tendency category, the height of the water inlet is corrected based on the suspension movement difference, the rotation speed of the rotary cutting device is adjusted based on the floating tendency characterization parameter, the control mechanism controls the operation of the floating mechanism and the floating drive mechanism, the drainage difference is determined based on the obtained water outlet flow rate, and whether to correct the rotation speed of the rotary cutting device is determined based on the drainage difference;

[0089] If the driving area is in the crawler drive mode tendency category, the travel drive mechanism is controlled to continue running.

[0090] Specifically, the control mechanism corrects the height of the water inlet based on the difference in suspension movement, wherein:

[0091] The correction amplitude of the water inlet height determined by the control module is proportional to the difference in suspension movement.

[0092] In this embodiment, optionally,

[0093] The suspension movement difference Y is compared with the first preset suspension comparison threshold Y1 and the second preset suspension comparison threshold Y2.

[0094] If Y≤Y1, the correction amplitude of the water inlet height is determined to be the first predetermined height correction amplitude h1, and h1=0.11h0;

[0095] If Y1<Y≤Y2, the correction amplitude of the water inlet height is determined as the second predetermined height correction amplitude h2, and h2=0.23h0;

[0096] If Y>Y2, the correction amplitude of the water inlet height is determined to be the third predetermined height correction amplitude h3, and h3=0.29h0;

[0097] Among them, h0 is the initial height of the water inlet, Y1=1.2Y0, Y2=1.4Y0.

[0098] Specifically, the control mechanism corrects the height of the water inlet based on the difference in suspension movement. The difference in suspension movement characterizes the specific situation of underwater suspended matter. The greater the difference in suspension movement, the more floating debris rises from the ground underwater. The height of the water inlet is adjusted higher to reduce the suction of suspended matter and surface sludge, thereby improving the smoothness of the operation of the floating drive mechanism and further improving the operating efficiency of the amphibious vehicle.

[0099] Specifically, the control mechanism is used to adjust the rotation speed of the rotary cutting device based on the difference in suspension movement, wherein:

[0100] The rotation speed of the rotary cutting device determined by the control mechanism is proportional to the amount of the suspension movement difference.

[0101] In this embodiment, optionally,

[0102] The floating tendency characterization parameter F is compared with the first preset characterization comparison threshold F1 and the second preset characterization comparison threshold F2,

[0103] If F≤F1, the rotation speed of the rotary cutting device is determined as the first rotation speed V1, and V1=1.1V0 is set;

[0104] If F1<F≤F2, the rotation speed of the rotary cutting device is determined as the second rotation speed V2, and V2=1.17V0;

[0105] If F>F2, the rotation speed of the rotary cutting device is determined as the third rotation speed V3, and V3=1.23V0;

[0106] Wherein, V0 is the initial rotation speed of the rotary cutting device, F1=0.6F0, F2=0.8F0.

[0107] Specifically, the control mechanism is used to obtain the water flow rate to determine the drainage difference, including:

[0108] Used to draw a flow velocity time domain curve based on the outlet water flow velocity;

[0109] To obtain the duration of each interval in which the slope of the velocity time domain curve is less than zero;

[0110] It is used to calculate the proportion of the duration of each interval to the total duration of the velocity time domain curve to obtain the drainage difference.

[0111] Specifically, the control mechanism is used to determine whether to correct the rotation speed of the rotary cutting device based on the drainage difference, including:

[0112] If the drainage difference is less than or equal to the preset drainage difference, the rotary cutting device is controlled to continue to operate at the current rotation speed;

[0113] If the drainage difference is greater than a preset drainage difference, the rotation speed of the rotary cutting device is corrected based on the drainage difference.

[0114] Specifically, the preset drainage difference amount P0 is selected within the interval [0.18, 0.24].

[0115] Specifically, the control mechanism is used to correct the rotation speed of the rotary cutting device based on the drainage difference, wherein:

[0116] The correction range of the rotation speed of the rotary cutting device determined by the control mechanism is proportional to the amount of drainage difference.

[0117] In this embodiment, optionally,

[0118] The drainage difference P is compared with the first preset drainage comparison threshold value P1 and the second preset drainage comparison threshold value P2,

[0119] If P≤P1, the correction amplitude of the rotation speed of the rotary cutting device is determined as the first rotation speed correction amplitude S1, and S1=0.11S0;

[0120] If P1<P≤P2, the correction amplitude of the rotation speed of the rotary cutting device is determined as the second rotation speed correction amplitude S2, and S2=0.23S0;

[0121] If P>P2, the correction amplitude of the rotation speed of the rotary cutting device is determined as the third rotation speed correction amplitude S3, and S3=0.32S0 is set;

[0122] Wherein, S0 is the current rotation speed of the rotary cutting device, P1=1.7P0, P2=2.2P0.

[0123] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0124] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A hybrid rear drive system based on an amphibious vehicle, characterized in that: include: A floating mechanism, which includes a plurality of floating air bags symmetrically arranged on both sides of the amphibious vehicle and an inflating device connected to each floating air bag; A crawler mechanism, comprising a plurality of crawlers located on the chassis of the amphibious vehicle and used for driving the amphibious vehicle to move by rotation; The floating drive mechanism includes a plurality of pumping modules arranged at the front side of the amphibious vehicle for pumping water and a plurality of water jet propulsion modules arranged at the rear side of the amphibious vehicle corresponding to each pumping module. The pumping modules include a water inlet, a water delivery pipe connected to the water inlet, and a rotary cutting device arranged on the inner side wall of the water delivery pipe for breaking up blockages. A lifting mechanism connected to the water inlet to control the height of the water inlet; A travel drive mechanism, which is used to drive the crawler mechanism to operate; The feature collection mechanism includes an image detector arranged at the front side of the amphibious vehicle to obtain underwater image information, a vibration sensor arranged on the chassis of the amphibious vehicle to obtain the vibration frequency of the amphibious vehicle, and a detection pump arranged at the outlet of the water jet propulsion module to obtain the water outlet flow rate; A feature analysis mechanism, which is connected to the feature acquisition mechanism, is used to obtain the obstacle density features of the underwater image information and calculate the floating tendency characterization parameters in combination with the vibration frequency, wherein the obstacle density features include obstacle distribution features and suspension movement difference; A control mechanism, which is used to classify the driving mode tendency category of the driving area according to the floating tendency characterization parameter, and control the floating driving mechanism according to the driving mode tendency category, including: The height of the water inlet is corrected based on the difference in suspended movement, the rotation speed of the rotary cutting device is adjusted based on the floating tendency characterization parameter, the control mechanism controls the operation of the floating mechanism and the floating drive mechanism, the drainage difference is determined based on the obtained water outlet flow rate, and whether to correct the rotation speed of the rotary cutting device is determined based on the drainage difference; or, the walking drive mechanism is controlled to continue to operate.

2. The hybrid rear drive system based on an amphibious vehicle according to claim 1, characterized in that: The feature analysis mechanism is used to obtain the obstacle density features of the underwater image information, including: Select the floating objects in each water image information; For a single underwater image information, calculate the ratio of the frame selection area to the total area of ​​the underwater image information; Calculate the average value of each area ratio to obtain the obstacle distribution characteristics; The underwater image information is compared to obtain the ratio of the overlapping area of ​​each underwater image information to the total area of ​​the underwater image information, and the suspension movement difference is obtained.

3. The hybrid rear drive system based on an amphibious vehicle according to claim 2, characterized in that: The characteristic analysis unit calculates the floating tendency characterization parameter according to formula (1): In formula (1), F represents the floating tendency characterization parameter, Z represents the obstacle distribution feature, Y represents the suspension movement difference, D represents the vibration frequency, α represents the obstacle weight coefficient, β represents the suspension weight coefficient, γ represents the vibration weight coefficient, Z0 represents the average value of each obstacle distribution feature, Y0 represents the average value of each historical suspension movement difference, and D0 represents the average value of each historical vibration frequency.

4. The hybrid rear drive system based on an amphibious vehicle according to claim 3, characterized in that: The control mechanism divides the driving mode tendency categories of the driving area based on the floating tendency characterization parameter, including: If the floating tendency characterization parameter is less than or equal to the preset floating tendency characterization parameter, the driving area is classified into a floating driving mode tendency category; If the floating tendency characterization parameter is greater than the preset floating tendency characterization parameter, the driving area is divided into a track drive mode tendency category.

5. The hybrid rear drive system based on an amphibious vehicle according to claim 4, characterized in that: The control mechanism controls the floating driving mechanism according to the floating tendency characterization parameter, including: If the driving area is a floating drive mode tendency category, the height of the water inlet is corrected based on the suspension movement difference, the rotation speed of the rotary cutting device is adjusted based on the floating tendency characterization parameter, the control mechanism controls the operation of the floating mechanism and the floating drive mechanism, the drainage difference is determined based on the obtained water outlet flow rate, and whether to correct the rotation speed of the rotary cutting device is determined based on the drainage difference; If the driving area is in the crawler drive mode tendency category, the travel drive mechanism is controlled to continue running.

6. The hybrid rear drive system based on an amphibious vehicle according to claim 5, characterized in that: The control mechanism corrects the height of the water inlet based on the difference in suspension movement, wherein: The correction amplitude of the water inlet height determined by the control module is proportional to the difference in suspension movement.

7. The hybrid rear drive system based on an amphibious vehicle according to claim 6, characterized in that: The control mechanism is used to adjust the rotation speed of the rotary cutting device based on the difference in suspension movement, wherein: The rotation speed of the rotary cutting device determined by the control mechanism is proportional to the amount of the suspension movement difference.

8. The hybrid rear drive system based on an amphibious vehicle according to claim 7, characterized in that: The control mechanism is used to obtain the water flow rate to determine the drainage difference, including: Used to draw a flow velocity time domain curve based on the outlet water flow velocity; To obtain the duration of each interval in which the slope of the velocity time domain curve is less than zero; It is used to calculate the proportion of the duration of each interval to the total duration of the velocity time domain curve to obtain the drainage difference.

9. The hybrid rear drive system based on an amphibious vehicle according to claim 8, characterized in that: The control mechanism is used to determine whether to correct the rotation speed of the rotary cutting device based on the drainage difference, and includes: If the drainage difference is less than or equal to the preset drainage difference, the rotary cutting device is controlled to continue to operate at the current rotation speed; If the drainage difference is greater than a preset drainage difference, the rotation speed of the rotary cutting device is corrected based on the drainage difference.

10. The hybrid rear drive system based on an amphibious vehicle according to claim 9, characterized in that: The control mechanism is used to correct the rotation speed of the rotary cutting device based on the drainage difference, wherein: The correction range of the rotation speed of the rotary cutting device determined by the control mechanism is proportional to the amount of drainage difference.

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