Configuration-variable crawler-type amphibious unmanned platform and system

Abstract

The invention discloses a variable-configuration crawler-type amphibious unmanned platform and a variable-configuration crawler-type amphibious unmanned system. A control cabin of the unmanned platform is fixedly mounted on a rack, and a rear power cabin and a front power cabin are symmetrically distributed on the two sides of the control cabin; the rear engine compartment and the front engine compartment are rotatably mounted on the rack; a rear propeller is mounted at the rear end of the rear power cabin; crawler wheels are mounted on the outer sides of the front power cabin and the rear power cabin; the crawler belt is mounted on the front and rear crawler wheels; coaxial propellers are mounted in the crawler wheels; a microcomputer, a main controller, a power line carrier communication module and a battery are mounted in the control bin; a track driving motor, a transmission mechanism and a rear propeller driving motor are mounted in the rear power cabin; and a rotating motor and a front propeller driving motor are mounted in the front power cabin. The unmanned platform has the moving capability in land, water and underwater environments, and can realize switching between a land and underwater crawler belt running mode and an underwater swimming mode.

Description

Technical Field

[0001] The present invention relates to the technical field of amphibious unmanned platforms, and in particular to a variable-configuration tracked amphibious unmanned platform and system. Background Art

[0002] An amphibious platform is a cross-domain special equipment that can travel on land and sail in water. Compared with conventional unmanned vehicles, unmanned ships and unmanned submersibles, it can flexibly realize movement in cross-medium environments on land and water. Due to its excellent environmental adaptability, it has broad application prospects in disaster relief, resource exploration, military and other fields.

[0003] The existing conventional wheeled / tracked amphibious unmanned platforms are usually structurally evolved from all-terrain vehicles or unmanned boats. They usually only have land-underwater or land-surface amphibious movement capabilities, a single movement mode, and limited adaptability to amphibious environments. They can hardly meet the operational requirements of search and detection tasks in complex amphibious environments. Summary of the invention

[0004] The present invention provides a variable configuration crawler-type amphibious unmanned platform and system. The unmanned platform is driven by crawlers when walking on land and underwater, and is driven by propellers when swimming in water. It has the ability to move in land, water and underwater environments, and can switch between land and underwater crawler driving modes and swimming modes in water.

[0005] The present invention adopts the following specific technical solutions:

[0006] The present invention provides a variable-configuration crawler-type amphibious unmanned platform, which includes a frame, a control cabin, a front drive cabin, a rear drive cabin, front track wheels, rear track wheels, tracks, a rear propeller, and a camera module;

[0007] The unmanned platform has two motion modes underwater: track driving mode and swimming mode; the control cabin is fixedly installed on the frame, and the rear power cabin and the front power cabin are symmetrically distributed on both sides; the rear power cabin and the front power cabin are rotatably installed on the frame; the front power cabin is fixedly connected to the front end of the rear power cabin, and the rear end of the rear power cabin is equipped with the rear propeller; the outer side of the front power cabin is equipped with front track wheels; the outer side of the rear power cabin is equipped with rear track wheels; the crawler is installed on the outer peripheral side of the front track wheel and the rear track wheel; a coaxial front propeller is installed in the front track wheel; a coaxial rear propeller is installed in the rear track wheel; the camera module is installed in the control cabin;

[0008] A microcomputer, a main controller, a power carrier communication module and a battery are installed in the control compartment; the microcomputer is connected to the camera module and the main controller, and is used to process the image information sent by the camera module, and generate an obstacle avoidance instruction when there is an obstacle and send it to the main controller to control the unmanned platform to avoid the obstacle; the power carrier communication module is connected to the microcomputer for external communication;

[0009] The rear power compartment is equipped with a track drive motor, a transmission mechanism and a rear propeller drive motor; the track drive motor drives the rear track wheel or the rear propeller to rotate through the transmission mechanism; the rear propeller drive motor is used to drive the rear propeller to rotate;

[0010] A rotating motor and a front propeller driving motor are installed in the front power compartment; the front propeller driving motor is used to drive the front propeller to rotate; the rotating motor is connected to the main controller, and is used to drive the front power compartment and the rear power compartment to rotate according to the control signal received from the main controller to change the thrust direction of the front propeller and the rear propeller, and at the same time cooperate with the speed adjustment of the front propeller and the rear propeller to control the unmanned platform to achieve pitch, roll, yaw and translation movements in the underwater swimming mode.

[0011] Furthermore, the transmission mechanism includes a first clutch, a planetary reducer, an output bevel gear, an input bevel gear, a long shaft, a coupling and a second clutch;

[0012] The rear propeller is fixedly mounted on the output shaft of the rear propeller drive motor;

[0013] The rear track wheel shaft at the center of the rear track wheel passes through the output shaft of the rear propeller drive motor and the input bevel gear is fixedly installed behind the rear propeller drive motor;

[0014] The crawler drive motor is connected to the planetary reducer through the first clutch; the output bevel gear is installed on the output shaft of the planetary reducer; the output bevel gear is meshed with the input bevel gear;

[0015] The crawler drive motor is sequentially connected to the rear propeller through the long shaft, the coupling and the second clutch; the long shaft passes through the first clutch, the planetary reducer and the output bevel gear, and is coaxially arranged with the crawler drive motor and the rear propeller;

[0016] When the first clutch is engaged and the second clutch is disengaged, the power of the track drive motor is transmitted to the rear track wheel to realize track drive; when the first clutch is disengaged and the second clutch is engaged, the power of the track drive motor is transmitted to the rear propeller to realize the rear propeller drive.

[0017] Furthermore, the output shaft of the rotating motor is fixedly connected to the frame;

[0018] The front propeller is fixedly mounted on the output shaft of the front propeller driving motor;

[0019] The front track wheel shaft at the center of the front track wheel passes through the output shaft of the front propeller drive motor and the front propeller drive motor.

[0020] Furthermore, it also includes a depth sensor and a ground ranging sensor installed in the control cabin;

[0021] The depth sensor and the ground ranging sensor are both connected to the main controller via a serial bus;

[0022] The depth sensor is used to measure the depth of the unmanned platform below the water surface;

[0023] The underwater distance measuring sensor is used to measure the distance between the unmanned platform and the bottom of the water.

[0024] Furthermore, the front power compartment and the rear power compartment are connected by bolts.

[0025] Furthermore, it also includes an inertial measurement unit installed in the control cabin;

[0026] The inertial measurement unit is connected to the main controller.

[0027] In addition, the present invention also provides an amphibious unmanned system, which includes the above-mentioned unmanned platform, a ground control platform and a communication cable;

[0028] The ground control platform is connected to the power carrier communication module via the communication cable for transmitting control instructions and image information.

[0029] Furthermore, the ground control platform includes a ground control computer, a power carrier communication ground terminal and an operating handle;

[0030] The power carrier communication ground terminal is connected to the ground control computer and the operating handle, and is connected to the power carrier communication module via a communication cable for transmitting control instructions and image information.

[0031] Furthermore, the communication cable is a power twisted pair cable.

[0032] The variable configuration crawler-type amphibious unmanned platform of the present invention has the following beneficial effects:

[0033] 1. The unmanned platform of the present invention adopts a variable configuration structure, so that the unmanned platform can walk by tracks on land and underwater, and swim by propeller drive in water. It has the ability to move in land, water and underwater environments, so that the unmanned platform has two motion modes of propeller-driven swimming and track walking underwater, and can freely switch motion modes according to different working environments; when the unmanned platform is on a flat underwater ground for search operations, the track walking mode can reduce power consumption; when the unmanned system encounters an obstacle, it can switch to the swimming mode to directly cross the obstacle without changing the route or giving up the mission; therefore, the unmanned platform can change the configuration according to different environments, which improves the adaptability of the unmanned platform to the environment, especially in the complex terrain of the seabed.

[0034] 2. The unmanned platform of the present invention has a bilaterally symmetrical design in its overall layout, with a low layout and compact design. Since the diameters of the front and rear track wheels are greater than the height of the frame, the height of the control compartment, the height of the front drive compartment and the height of the rear drive compartment, the unmanned platform can travel normally through the tracks regardless of whether the upper and lower surfaces are in contact with the ground, which can avoid the problem of loss of control caused by rollover when the unmanned system moves in a rugged environment. At the same time, it can significantly reduce water resistance when traveling in water and has a certain wave resistance ability.

[0035] 3. The unmanned platform of the present invention can enable the track drive motor to drive the rear track wheel or the rear propeller to rotate through the transmission system of the rear power compartment, that is, one track drive motor can drive the rear track wheel and the rear propeller respectively, thereby reducing the number of drive motors and reducers, which not only reduces the number of parts, but also helps to reduce the weight of the unmanned platform.

[0036] 4. The unmanned platform of the present invention can be equipped with a detection payload to perform inspection, search, detection and other tasks in complex amphibious operating environments such as near-shore shallow waters. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a schematic diagram of the overall structure of the amphibious unmanned platform of the present invention;

[0038] Figure 2 This is a schematic diagram of the internal structure of the rear power compartment;

[0039] Figure 3 This is a schematic diagram of the internal structure of the rear power compartment;

[0040] Figure 4It is a cross-sectional view of the front power compartment;

[0041] Figure 5 This is a schematic diagram of the internal structure of the front power compartment;

[0042] Figure 6 This is a schematic diagram of the internal structure of the control cabin;

[0043] Figure 7 This is the internal side view of the control cabin;

[0044] Figure 8 This is a schematic diagram of the structure of the unmanned platform before the change;

[0045] Fig. 9 This is a schematic diagram of the structure of the unmanned platform after the change;

[0046] Fig.10 This is a three-dimensional picture of the unmanned platform after the change;

[0047] Fig.11 It is a schematic diagram of the working status of the amphibious unmanned platform of the present invention.

[0048] Among them, 1-unmanned platform; 2-ground control platform; 3-communication cable; 11-frame; 12-control compartment; 13-front drive compartment; 14-rear drive compartment; 15-front track wheel; 16-rear track wheel; 17-track; 18-rear propeller; 19-camera module; 20-front propeller; 21-rear propeller; 22-microcomputer; 23-main controller; 24-power carrier communication module; 25-battery; 26-track drive motor; 27-rear propeller drive motor; 28-rotating motor; 29-front propeller drive motor; 30-first clutch; 31-planetary reducer; 32-output bevel gear; 33-input bevel gear; 34-long shaft; 35-coupling; 36-second clutch; 37-rear track wheel shaft; 38-front track wheel shaft; 39-depth sensor; 40-ground ranging sensor. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] Embodiment 1

[0051] like Figure 1As shown in the structure, this embodiment provides a variable configuration crawler-type amphibious unmanned platform 1, which includes a frame 11, a control compartment 12, a front drive compartment 13, a rear drive compartment 14, a front track wheel 15, a rear track wheel 16, a crawler 17, a rear propeller 18 and a camera module 19;

[0052] The unmanned platform 1 has two motion modes underwater: a crawler driving mode and a swimming mode; a control cabin 12 is fixedly installed on the frame 11, and a rear power cabin and a front power cabin are symmetrically distributed on both sides, that is, the control cabin 12 is the center of the entire unmanned platform 1, a rear power cabin and a front power cabin are installed on the left side of the control cabin 12, and a rear power cabin and a front power cabin are also installed on the right side of the control cabin 12; the rear power cabin and the front power cabin can be rotatably installed on the frame 11, such as Figure 8 As shown, the rear power compartment and the front power compartment can rotate in the direction of the arrows at the same time. Fig. 9 and Fig.10 In accordance with Figure 8 Schematic diagram of the structure after rotation in the direction of the arrow. Fig. 9 and Fig.10 It is a structural diagram when the rear power compartment and the front power compartment are rotated 90° upwards. During actual operation, the rear power compartment and the front power compartment can also be rotated downwards, and the rotation angle can be arbitrarily selected between -90° and 90°; the front power compartment is fixedly connected to the front end of the rear power compartment, and the front power compartment and the rear power compartment are connected by bolts to form the power assembly of the entire unmanned platform 1; a rear propeller 18 is installed at the rear end of the rear power compartment; front track wheels 15 are installed on the outside of the front power compartment; rear track wheels 16 are installed on the outside of the rear power compartment; tracks 17 are installed on the outer peripheral sides of the front track wheels 15 and the rear track wheels 16; a coaxial front propeller 20 is installed in the front track wheel 15; a coaxial rear propeller 21 is installed in the rear track wheel 16; a camera module 19 is installed in the control cabin 12, as shown in FIG. Figure 1 As shown, the camera module 19 is installed at the front end of the control cabin 12 and can capture image data directly in front of the platform.

[0053] like Figure 6 and Figure 7As shown, a microcomputer 22, a main controller 23, a power carrier communication module 24 and a battery 25 are installed in the control compartment 12; the microcomputer 22 is connected to the camera module 19 and the main controller 23, and is used to process the image information sent by the camera module 19, and generate obstacle avoidance instructions when there are obstacles and send them to the main controller 23 to control the unmanned platform 1 to avoid obstacles; the power carrier communication module 24 is connected to the microcomputer 22 for external communication. The battery 25 in the control compartment 12 is connected to the main controller 23 through a waterproof connector, and communicates using CAN signals. The control compartment 12 communicates with the ground through the power carrier communication module 24, and the unmanned platform 1 and the ground station use power twisted pair as the transmission medium, and transmit control instructions by superimposing carrier signals of different frequencies on the power line.

[0054] like Figure 2 and Figure 3 As shown, a track drive motor 26, a transmission mechanism and a rear propeller drive motor 27 are installed in the rear power compartment; the track drive motor 26 drives the rear track wheel 16 or the rear propeller 18 to rotate through the transmission mechanism; the rear propeller drive motor 27 is used to drive the rear propeller 21 to rotate; the transmission mechanism includes a first clutch 30, a planetary reducer 31, an output bevel gear 32, an input bevel gear 33, a long shaft 34, a coupling 35 and a second clutch 36; the rear propeller 21 is fixedly mounted on the output shaft of the rear propeller drive motor 27; the rear track wheel shaft 37 at the center of the rear track wheel 16 passes through the output shaft of the rear propeller drive motor 27 and the rear propeller drive motor 27, and an input bevel gear 33 is fixedly mounted thereon; the track drive motor 26 is connected to the track wheel 16 through the first clutch 30 and the rear propeller drive motor 27; The planetary reducer 31 is connected in transmission; the output bevel gear 32 is installed on the output shaft of the planetary reducer 31; the output bevel gear 32 is meshed with the input bevel gear 33; the track drive motor 26 is connected in transmission with the rear propeller 18 through the long shaft 34, the coupling 35 and the second clutch 36 in sequence; the long shaft 34 runs through the first clutch 30, the planetary reducer 31 and the output bevel gear 32, and is coaxially arranged with the track drive motor 26 and the rear propeller 18; when the first clutch 30 is engaged and the second clutch 36 is disconnected, the power of the track drive motor 26 is transmitted to the rear track wheel 16 to realize the track drive; when the first clutch 30 is disconnected and the second clutch 36 is engaged, the power of the track drive motor 26 is transmitted to the rear propeller 18 to realize the drive of the rear propeller 18. Since the planetary reducer 31 has the characteristics of small size and high transmission ratio, the use of the planetary reducer 31 can reduce the occupied space and weight, thereby reducing the volume and weight of the rear power compartment and improving the endurance.

[0055] like Figure 4 and Figure 5As shown, a rotary motor 28 and a front propeller drive motor 29 are installed in the front power compartment; the front propeller drive motor 29 is used to drive the front propeller 20 to rotate; the rotary motor 28 is connected to the main controller 23, and is used to drive the front power compartment and the rear power compartment to rotate according to the control signal received from the main controller 23 to change the thrust direction of the front propeller 20 and the rear propeller 21, and at the same time, cooperate with the speed adjustment of the front propeller 20 and the rear propeller 21 to control the unmanned platform 1 to achieve pitch, roll, yaw and translation movement when in the underwater swimming mode. The output shaft of the rotary motor 28 is fixedly connected to the frame 11; the front propeller 20 is fixedly installed on the output shaft of the front propeller drive motor 29; the front track wheel shaft 38 at the center of the front track wheel 15 passes through the output shaft of the front propeller drive motor 29 and the front propeller drive motor 29. Both the front propeller 20 and the rear propeller 21 can be fixedly connected to the output shaft of the propeller drive motor through a tension ring. At the same time, a sealing ring is installed between the track wheel shaft and the output shaft of the propeller drive motor, which can prevent water from entering the rear power compartment when the propeller rotates. Both the front power compartment and the rear power compartment are provided with a sealing shell, which realizes the underwater sealing of the front power compartment and the rear power compartment.

[0056] The unmanned platform 1 also includes a depth sensor 39, a ground distance sensor 40 and an inertial measurement unit installed in the control cabin 12; the depth sensor 39 and the ground distance sensor 40 are connected to the main controller 23 through a serial bus; the depth sensor 39 is used to measure the depth of the unmanned platform 1 below the water surface; the underwater distance sensor is used to measure the distance between the unmanned platform 1 and the bottom of the water; the inertial measurement unit is connected to the main controller 23. The depth sensor 39 and the ground distance sensor 40 are connected to the main controller 23 through a serial bus, and feedback the depth information of the unmanned platform 1 in the water and the height information from the bottom of the water to the main controller 23, so as to stably control the unmanned platform 1 to swim at a certain depth in the water.

[0057] The above-mentioned unmanned platform 1 adopts a variable configuration structure, so that the unmanned platform 1 can walk by tracks on land and underwater, and swim by propeller drive in water. It has the ability to move in land, water and underwater environments, so that the unmanned platform 1 has two movement modes of propeller-driven swimming and tracked walking underwater, and can freely switch movement modes according to different working environments; when the unmanned platform 1 is on a flat underwater ground for search operations, the tracked walking mode can reduce power consumption; when the unmanned system encounters an obstacle, it can switch to the swimming mode to directly cross the obstacle without changing the route or abandoning the mission; therefore, the unmanned platform 1 can change the configuration according to different environments, which improves the adaptability of the unmanned platform 1 to the environment, especially in the complex terrain of the seabed.

[0058] The above-mentioned unmanned platform 1 has a bilaterally symmetrical design in its overall layout, with a low layout and compact design. Since the diameters of the front and rear track wheels 16 are greater than the height of the frame 11, the height of the control compartment 12, the height of the front drive compartment 13, and the height of the rear drive compartment 14, the unmanned platform 1 can travel normally through the tracks regardless of whether the upper and lower surfaces are in contact with the ground, which can avoid the problem of loss of control caused by rollover when the unmanned system moves in a rugged environment. At the same time, it can significantly reduce water resistance when traveling in water and has a certain wave resistance ability.

[0059] The above-mentioned unmanned platform 1 can enable the track drive motor 26 to drive the rear track wheel 16 or the rear propeller 18 to rotate through the transmission system of the rear power compartment, that is, a track drive motor 26 can drive the rear track wheel 16 and the rear propeller 18 respectively, thereby reducing the number of drive motors and reducers, which not only reduces the number of parts, but also helps to reduce the weight of the unmanned platform 1.

[0060] Embodiment 2

[0061] This embodiment also provides an amphibious unmanned system, such as Fig.11 As shown, the unmanned system includes the unmanned platform 1, the ground control platform 2 and the communication cable 3; the ground control platform 2 is connected to the power carrier communication module 24 through the communication cable 3 for transmitting control instructions and image information. The communication cable 3 is a power twisted pair. At the same time, the unmanned platform 1 can also be powered by the communication cable 3.

[0062] The ground control platform 2 includes a ground control computer, a power carrier communication ground terminal and an operating handle; the power carrier communication ground terminal is connected to the ground control computer and the operating handle, and is connected to the power carrier communication module 24 via a communication cable 3 for transmitting control instructions and image information.

[0063] The above-mentioned unmanned system realizes signal transmission between the ground control platform 2 and the unmanned platform 1 through the communication cable 3, so that it can communicate with the unmanned platform 1 on the ground, which facilitates the control and monitoring of the unmanned platform 1.

[0064] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A variable-configuration crawler-type amphibious unmanned platform, characterized in that: It includes a frame, a control compartment, a front drive compartment, a rear drive compartment, front track wheels, rear track wheels, tracks, rear propellers and a camera module; The unmanned platform has two motion modes underwater: track driving mode and swimming mode; the control cabin is fixedly installed on the frame, and the rear power cabin and the front power cabin are symmetrically distributed on both sides; the rear power cabin and the front power cabin are rotatably installed on the frame; the front power cabin is fixedly connected to the front end of the rear power cabin, and the rear end of the rear power cabin is equipped with the rear propeller; the outer side of the front power cabin is equipped with front track wheels; the outer side of the rear power cabin is equipped with rear track wheels; the crawler is installed on the outer peripheral side of the front track wheel and the rear track wheel; a coaxial front propeller is installed in the front track wheel; a coaxial rear propeller is installed in the rear track wheel; the camera module is installed in the control cabin; The control compartment is equipped with a microcomputer, a main controller, a power carrier communication module and a battery; The microcomputer is connected to the camera module and the main controller, and is used to process the image information sent by the camera module, and generate an obstacle avoidance instruction when there is an obstacle and send it to the main controller to control the unmanned platform to avoid the obstacle; the power carrier communication module is connected to the microcomputer for external communication; The rear power compartment is equipped with a track drive motor, a transmission mechanism and a rear propeller drive motor; the track drive motor drives the rear track wheel or the rear propeller to rotate through the transmission mechanism; the rear propeller drive motor is used to drive the rear propeller to rotate; A rotating motor and a front propeller driving motor are installed in the front power compartment; The front propeller drive motor is used to drive the front propeller to rotate; the rotating motor is connected to the main controller, and is used to drive the front power compartment and the rear power compartment to rotate according to the control signal received from the main controller to change the thrust direction of the front propeller and the rear propeller, and at the same time cooperate with the speed adjustment of the front propeller and the rear propeller to control the unmanned platform to achieve pitch, roll, yaw and translation movements in the underwater swimming mode.

2. The amphibious unmanned platform according to claim 1, characterized in that: The transmission mechanism includes a first clutch, a planetary reducer, an output bevel gear, an input bevel gear, a long shaft, a coupling and a second clutch; The rear propeller is fixedly mounted on the output shaft of the rear propeller drive motor; The rear track wheel shaft at the center of the rear track wheel passes through the output shaft of the rear propeller drive motor and the input bevel gear is fixedly installed behind the rear propeller drive motor; The crawler drive motor is connected to the planetary reducer through the first clutch; the output bevel gear is installed on the output shaft of the planetary reducer; the output bevel gear is meshed with the input bevel gear; The crawler drive motor is sequentially connected to the rear propeller through the long shaft, the coupling and the second clutch; the long shaft passes through the first clutch, the planetary reducer and the output bevel gear, and is coaxially arranged with the crawler drive motor and the rear propeller; When the first clutch is engaged and the second clutch is disengaged, the power of the track drive motor is transmitted to the rear track wheel to realize track drive; when the first clutch is disengaged and the second clutch is engaged, the power of the track drive motor is transmitted to the rear propeller to realize the rear propeller drive.

3. The amphibious unmanned platform according to claim 2, characterized in that: The output shaft of the rotating motor is fixedly connected to the frame; The front propeller is fixedly mounted on the output shaft of the front propeller driving motor; The front track wheel shaft at the center of the front track wheel passes through the output shaft of the front propeller drive motor and the front propeller drive motor.

4. The amphibious unmanned platform according to claim 1, characterized in that: It also includes a depth sensor and a ground ranging sensor installed in the control cabin; The depth sensor and the ground ranging sensor are both connected to the main controller via a serial bus; The depth sensor is used to measure the depth of the unmanned platform below the water surface; The underwater distance measuring sensor is used to measure the distance between the unmanned platform and the bottom of the water.

5. The amphibious unmanned platform according to claim 1, characterized in that: The front power compartment and the rear power compartment are connected via bolts.

6. The amphibious unmanned platform according to claim 1, characterized in that: Also included is an inertial measurement unit installed in the control cabin; The inertial measurement unit is connected to the main controller.

7. The amphibious unmanned platform according to any one of claims 1 to 6, characterized in that: The front track wheel and the rear track wheel have the same diameter, and the diameter of the front track wheel is greater than the height of the frame, the height of the control compartment, the height of the front drive compartment, and the height of the rear drive compartment.

8. An amphibious unmanned system, characterized in that: comprising an unmanned platform, a ground control platform and a communication cable as described in claims 1-7; The ground control platform is connected to the power carrier communication module via the communication cable for transmitting control instructions and image information.

9. The amphibious unmanned system according to claim 8, characterized in that: The ground control platform includes a ground control computer, a power carrier communication ground terminal and an operating handle; The power carrier communication ground terminal is connected to the ground control computer and the operating handle, and is connected to the power carrier communication module via a communication cable for transmitting control instructions and image information.

10. The amphibious unmanned system according to claim 8, characterized in that: The communication cable is a power twisted pair cable.

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