A variable configuration tracked amphibious unmanned platform and system

Abstract

The application discloses a variable configuration track type amphibious unmanned platform and system, and the control bin of the unmanned platform is fixedly installed on the frame, and rear power cabins and front power cabins are symmetrically arranged on both sides of the frame; the rear power cabins and the front power cabins are rotatably installed on the frame; rear end of the rear power cabin is provided with a rear propeller; track wheels are installed on the outer sides of the front and rear power cabins; tracks are installed on the front and rear track wheels; coaxial propellers are installed in the track wheels; a microcomputer, a main controller, a power carrier communication module and a battery are installed in the control bin; track drive motors, transmission mechanisms and rear propeller drive motors are installed in the rear power cabins; rotary motors and front propeller drive motors are installed in the front power cabins. The unmanned platform has the moving ability in the land, water and underwater environments, and can realize the switching between the land and underwater track driving mode and the swimming mode in the water.

Description

TECHNICAL FIELD

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

[0002] Amphibious platforms are a kind of cross-domain special equipment that can travel on land and sail in water. Compared with conventional unmanned vehicles, unmanned ships and unmanned underwater vehicles, they can flexibly realize movement in water-land cross-medium environment. Due to their excellent environmental adaptability, they have wide application prospects in disaster relief, resource exploration and military fields.

[0003] The existing conventional wheel / tracked amphibious unmanned platforms are usually evolved from all-terrain vehicles or unmanned ships. They usually only have land-water bottom or land-water surface amphibious movement capability, the movement mode is single, the adaptability to amphibious environment is limited, and it is difficult to meet the operation requirements of search and detection tasks in complex amphibious environment. SUMMARY

[0004] The present application provides a variable configuration tracked amphibious unmanned platform and system. The walking of the unmanned platform on land and underwater is realized by a track, and the swimming in water is driven by a propeller. It has the movement capability in land, water and underwater environments, and can realize the switching between land and underwater track driving mode and swimming mode in water.

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

[0006] The present application provides a variable configuration tracked amphibious unmanned platform. The unmanned platform comprises a rack, a control bin, a front drive bin, a rear drive bin, a front side track wheel, a rear side track wheel, a track, a rear propeller and a camera module.

[0007] The unmanned platform has two movement modes of track driving mode and swimming mode underwater. The control bin is fixedly installed on the rack, 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 rack. 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 installed with the rear propeller. The outer side of the front power cabin is installed with a front side track wheel. The outer side of the rear power cabin is installed with a rear side track wheel. The track is installed on the outer circumferential side of the front side track wheel and the rear side track wheel. The front side propeller is coaxially installed in the front side track wheel. The rear side propeller is coaxially installed in the rear side track wheel. The camera module is installed on the control bin.

[0008] The control bin is internally provided with a microcomputer, a main controller, a power carrier communication module and a battery; the microcomputer is connected with the camera module and the main controller, used for processing image information sent by the camera module and generating an obstacle avoidance instruction when there is an obstacle to send to the main controller to control the unmanned platform to avoid the obstacle; the power carrier communication module is connected with the microcomputer, used for external communication;

[0009] The rear power cabin is internally provided with a track drive motor, a transmission mechanism and a rear propeller drive motor; the track drive motor drives the rear track wheels 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] The front power cabin is internally provided with a rotating motor and a front propeller drive motor; the front propeller drive motor is used to drive the front propeller to rotate; the rotating motor is connected with the main controller, used for driving the front power cabin and the rear power cabin to rotate according to the control signal received by the main controller to change the thrust direction of the front propeller and the rear propeller, and meanwhile, the rotating speed of the front propeller and the rear propeller is adjusted to realize the pitching, rolling, yawing and translation movement of the unmanned platform in the underwater swimming mode.

[0011] Further, the transmission mechanism comprises 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 installed on the output shaft of the rear propeller drive motor;

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

[0014] The track drive motor is transmissionally connected with the planetary reducer through the first clutch; the output shaft of the planetary reducer is provided with the output bevel gear; the output bevel gear is engaged with the input bevel gear;

[0015] The track drive motor is transmissionally connected with the rear propeller in sequence through the long shaft, the coupling and the second clutch; the long shaft is arranged through the first clutch, the planetary reducer and the output bevel gear, and is coaxially arranged with the track 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 side track wheel, realizing 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, realizing the rear propeller drive.

[0017] Further, the output shaft of the rotating motor is fixedly connected with the frame;

[0018] The front side propeller is fixedly installed on the output shaft of the front propeller drive motor;

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

[0020] Further, a depth sensor and a ground ranging sensor are further installed in the control cabin;

[0021] The depth sensor and the ground ranging sensor are connected with the main controller through a serial bus;

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

[0023] The underwater ranging sensor is used for measuring the distance between the unmanned platform and the water bottom.

[0024] Further, the front power cabin and the rear power cabin are connected through bolts.

[0025] Further, an inertial measurement unit is further installed in the control cabin;

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

[0027] In addition, the application further provides an amphibious unmanned system, which comprises the unmanned platform, a ground control platform and a communication cable;

[0028] The ground control platform is connected with the power carrier communication module through the communication cable, and is used for transmitting control instructions and image information.

[0029] Further, the ground control platform comprises a ground control computer, a power carrier communication ground end and an operation handle;

[0030] The power carrier communication ground end is connected with the ground control computer and the operation handle, and is connected with the power carrier communication module through a communication cable, and is used for transmitting control instructions and image information.

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

[0032] The variable configuration tracked amphibious unmanned platform has the following beneficial effects:

[0033] 1、The unmanned platform adopts a variable configuration structure, so that the unmanned platform realizes walking through the tracked device on land and the bottom of water, realizes swimming through the propeller drive in water, has the moving ability in land, water and the bottom of water, so that the unmanned platform has two motion modes of propeller propulsion swimming and tracked walking under water, and the motion mode can be freely switched according to different working environments; when the unmanned platform is on the flat ground under water to perform search operation, the tracked walking mode can reduce power consumption; when the unmanned system encounters an obstacle, the swimming mode can be switched to directly cross the obstacle, without changing the route or abandoning the task; therefore, the unmanned platform can change the configuration according to different environments, and the adaptability of the unmanned platform to the environment is improved, especially in the complex terrain of the seabed.

[0034] 2、The unmanned platform is designed to be left-right symmetrical, low and compact in overall layout, so that the unmanned platform can normally travel through the tracked device when contacting the ground from top to bottom, the out-of-control problem caused by the side turning of the unmanned system when moving in rugged environment can be avoided, and the water resistance can be significantly reduced when moving in water, and a certain wave resistance is achieved.

[0035] 3、The unmanned platform can drive the rear tracked wheel or the rear propeller to rotate through the transmission system of the rear power cabin, that is, one tracked drive motor can drive the rear tracked wheel and the rear propeller, so that the number of drive motors and reducers is reduced, the number of parts is reduced, and the weight of the unmanned platform is also reduced.

[0036] 4、The unmanned platform can carry a detection load, and is used for performing tasks such as inspection, search and detection in complex amphibious working environments such as near-shore shallow water areas. DETAILED DESCRIPTION

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

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

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

[0040] Figure 4It is a sectional view of the front power cabin;

[0041] Figure 5 It is a schematic diagram of the internal structure of the control cabin;

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

[0043] Figure 7 It is a schematic diagram of the internal structure of the control cabin;

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

[0045] Figure 9 It is a schematic diagram of the structure of the unmanned platform after the change;

[0046] Figure 10 It is a perspective view of the unmanned platform after the change;

[0047] Figure 11 It is a schematic diagram of the working state of the amphibious unmanned platform.

[0048] Wherein, 1-unmanned platform; 2-ground control platform; 3-communication cable; 11-frame; 12-control cabin; 13-front drive cabin; 14-rear drive cabin; 15-front side track wheel; 16-rear side track wheel; 17-track; 18-rear propeller; 19-camera module; 20-front side propeller; 21-rear side propeller; 22-microcomputer; 23-main controller; 24-power carrier communication module; 25-battery; 26-track drive motor; 27-rear propeller drive motor; 28-rotary 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 technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0050] Embodiment one

[0051] As Figure 1As shown in the structure, the embodiment provides a variable configuration tracked amphibious unmanned platform 1, which comprises a frame 11, a control bin 12, a front drive bin 13, a rear drive bin 14, a front side tracked wheel 15, a rear side tracked wheel 16, a tracked belt 17, a rear propeller 18, and a camera module 19;

[0052] The unmanned platform 1 has two motion modes of tracked driving mode and swimming mode underwater; the control bin 12 is fixedly installed on the frame 11, and rear power cabins and front power cabins are symmetrically distributed on both sides, that is, the control bin 12 is the center of the whole unmanned platform 1, one rear power cabin and one front power cabin are installed on the left side of the control bin 12, and one rear power cabin and one front power cabin are also installed on the right side of the control bin 12; the rear power cabin and the front power cabin are rotatably installed on the frame 11, as shown in Figure 8 , the rear power cabin and the front power cabin can be rotated in the arrow direction at the same time, Figure 9 and Figure 10 are structure schematic diagrams after the rear power cabin and the front power cabin are rotated in the arrow direction in Figure 8 , and Figure 9 and Figure 10 are structure schematic diagrams when the rear power cabin and the front power cabin are upwardly rotated by 90°, in the actual operation process, the rear power cabin and the front power cabin can also be downwardly rotated, and the rotation angle can be arbitrarily selected between -90°-90°; the front power cabin is fixedly connected to the front end of the rear power cabin, and the front power cabin and the rear power cabin constitute a power assembly of the whole unmanned platform 1 through bolt connection; the rear end of the rear power cabin is installed with the rear propeller 18; the outer side of the front power cabin is installed with the front side tracked wheel 15; the outer side of the rear power cabin is installed with the rear side tracked wheel 16; the tracked belt 17 is installed on the outer circumferential side of the front side tracked wheel 15 and the rear side tracked wheel 16; the front side tracked wheel 15 is installed with coaxial front side propellers 20; the rear side tracked wheel 16 is installed with coaxial rear side propellers 21; the camera module 19 is installed on the control bin 12, as shown in Figure 1 , the camera module 19 is installed on the front end of the control bin 12, and can capture image data in front of the platform.

[0053] As shown in Figure 6 and Figure 7As shown, the control bin 12 is installed with a microcomputer 22, a main controller 23, a power carrier communication module 24 and a battery 25; the microcomputer 22 is connected with the camera module 19 and the main controller 23, used for processing the image information sent by the camera module 19, and generating an obstacle avoidance instruction when there is an obstacle to send to the main controller 23 to control the unmanned platform 1 to avoid the obstacle; the power carrier communication module 24 is connected with the microcomputer 22, used for external communication. The battery 25 in the control bin 12 is connected with the main controller 23 through a waterproof connector and communicates using a CAN signal. The control bin 12 communicates with the ground through the power carrier communication module 24. The unmanned platform 1 and the ground station use power double-twisted wires as transmission media, and transmit control instructions by superimposing carrier signals of different frequencies on the power line.

[0054] As shown in Figure 2 and Figure 3 As shown, the rear power cabin is installed with a track drive motor 26, a transmission mechanism and a rear propeller drive motor 27; 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 installed on the output shaft of the rear propeller drive motor 27; the rear track wheel shaft 37 in 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 is fixedly installed with the input bevel gear 33 behind; the track drive motor 26 is transmissionally connected with the planetary reducer 31 through the first clutch 30; the output bevel gear 32 is installed on the output shaft of the planetary reducer 31; the output bevel gear 32 is engaged with the input bevel gear 33; the track drive motor 26 is transmissionally connected with the rear propeller 18 through the long shaft 34, the coupling 35 and the second clutch 36 in sequence; the long shaft 34 is arranged 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 track driving; 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 rear propeller 18 driving. Since the planetary reducer 31 has the characteristics of small volume 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 cabin and improving the endurance.

[0055] As shown in Figure 4 and Figure 5As shown, the front power cabin is internally installed with a rotating motor 28 and a front propeller driving motor 29; the front propeller driving motor 29 is used to drive the front propeller 20 to rotate; the rotating motor 28 is connected with the main controller 23, and is used to drive the front power cabin and the rear power cabin to rotate according to the control signal of the main controller 23 received, so as to change the thrust direction of the front propeller 20 and the rear propeller 21, and to realize the pitching, rolling, yawing and translation motion of the unmanned platform 1 in the underwater swimming mode by cooperating with the rotation speed adjustment of the front propeller 20 and the rear propeller 21. The output shaft of the rotating motor 28 is fixedly connected with the frame 11; the front propeller 20 is fixedly installed on the output shaft of the front propeller driving motor 29; the front track wheel shaft 38 in the center of the front track wheel 15 penetrates through the output shaft of the front propeller driving motor 29 and is connected with the front propeller driving motor 29. The front propeller 20 and the rear propeller 21 can be fixedly connected with the output shaft of the propeller driving motor through the tension ring. Meanwhile, a sealing ring is installed between the track wheel shaft and the output shaft of the propeller driving motor, and water can be prevented from entering the rear power cabin when the propeller rotates through the sealing ring. The front power cabin and the rear power cabin are both provided with a sealed shell, and the front power cabin and the rear power cabin are sealed underwater through the sealed shell.

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

[0057] The unmanned platform 1 adopts a variable configuration structure, so that the unmanned platform 1 realizes walking through the track on land and the water bottom, realizes swimming in the water through the propeller driving, has the moving ability in the land, water and water bottom environment, and simultaneously has the propeller propulsion swimming and track walking two motion modes underwater, and can freely switch the motion mode according to the different operation environment; when the unmanned platform 1 is in the underwater flat ground for search operation, the track walking mode can reduce the power consumption; when the unmanned system encounters an obstacle, the swimming mode can be switched to directly cross the obstacle, without the need to change the route or give up the task; therefore, the unmanned platform 1 can change the configuration according to the different environment, and improves the adaptability of the unmanned platform 1 to the environment, especially has strong adaptability in the complex seabed terrain.

[0058] The aforementioned unmanned platform 1 features a symmetrical design, a low profile, and a compact layout. Because the diameter of the front and rear track wheels 16 is greater than the height of the frame 11, the control compartment 12, the front drive compartment 13, and the rear drive compartment 14, the unmanned platform 1 can travel normally on the tracks regardless of whether it is in contact with the ground from the top or bottom. This avoids the loss of control caused by rollover when the unmanned system is moving in rugged environments. At the same time, it can significantly reduce water resistance when traveling in water and has a certain wave resistance capability.

[0059] The aforementioned unmanned platform 1 can drive the rear track wheel 16 or the rear propeller 18 to rotate through the transmission system of the rear power compartment. That is, one 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. This not only reduces the number of parts, but also helps to reduce the weight of the unmanned platform 1.

[0060] Example 2

[0061] This embodiment also provides an amphibious unmanned system, such as Figure 11 As shown, the unmanned system includes the aforementioned unmanned platform 1, ground control platform 2, and communication cable 3. The ground control platform 2 is connected to the power line carrier communication module 24 via the communication cable 3 for transmitting control commands and image information. The communication cable 3 is a twisted-pair power cable. Simultaneously, power can also be supplied to the unmanned platform 1 via the communication cable 3.

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

[0063] The aforementioned unmanned system enables signal transmission between the ground control platform 2 and the unmanned platform 1 via communication cable 3, thereby facilitating communication between the ground and the unmanned platform 1 and enabling convenient control and monitoring of the unmanned platform 1.

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

Claims

1. A variable-configuration tracked amphibious unmanned platform, characterized in that, It includes a frame, control compartment, front power compartment, rear power compartment, front track wheel, rear track wheel, track, rear propeller, and camera module; This unmanned platform has two movement modes underwater: tracked and swimming. The control compartment is fixedly mounted on the frame, with a rear power compartment and a front power compartment symmetrically distributed on both sides. The rear and front power compartments are rotatably mounted on the frame. The front power compartment is fixedly connected to the front end of the rear power compartment, and a rear propeller is mounted at the rear end of the rear power compartment. Front track wheels are mounted on the outer sides of the front power compartments, and rear track wheels are mounted on the outer sides of the rear power compartments. Tracks are mounted on the outer circumference of the front and rear track wheels. Coaxial front propellers are mounted inside the front track wheels, and coaxial rear propellers are mounted inside the rear track wheels. The camera module is mounted in the control compartment. The control compartment is equipped with a microcomputer, a main controller, a power line carrier communication module, and batteries. 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 obstacle avoidance commands when there are obstacles, and send them to the main controller to control the unmanned platform to avoid obstacles; the power line 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. The forward power compartment is equipped with a rotary motor and a front propeller drive motor. The front propeller drive motor is used to drive the front propeller to rotate; the rotary motor is connected to the main controller and is used to drive the front power pod and the rear power pod 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. At the same time, in conjunction with the speed adjustment of the front propeller and the rear propeller, the unmanned platform can realize pitch, roll, yaw and translation movements in underwater operation mode.

2. The amphibious unmanned platform as described in 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 axle at the center of the rear track wheel passes through the output shaft of the rear propeller drive motor and is fixedly mounted with the input bevel gear behind the rear propeller drive motor; The track drive motor is connected to the planetary reducer via the first clutch; the output bevel gear is mounted on the output shaft of the planetary reducer; the output bevel gear meshes with the input bevel gear; The track drive motor is sequentially connected to the rear propeller via 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 coaxial with the track 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 achieve 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 achieve rear propeller drive.

3. The amphibious unmanned platform as described in claim 2, characterized in that, The output shaft of the rotary motor is fixedly connected to the frame; The front propeller is fixedly mounted on the output shaft of the front propeller drive motor; The front track wheel axle 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 as described in claim 1, characterized in that, It also includes a depth sensor and a ground ranging sensor installed in the control cabin; Both the depth sensor and the ground ranging sensor are 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 ground ranging sensor is used to measure the distance between the unmanned platform and the bottom surface of the water.

5. The amphibious unmanned platform as described in claim 1, characterized in that, The front power compartment and the rear power compartment are connected by bolts.

6. The amphibious unmanned platform as described in claim 1, characterized in that, It also includes an inertial measurement unit installed inside the control compartment; The inertial measurement unit is connected to the main controller.

7. The amphibious unmanned platform as described in any one of claims 1-6, 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 power compartment, and the height of the rear power compartment.

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

9. The amphibious unmanned system as described in claim 8, characterized in that, The ground control platform includes a ground control computer, a power line carrier communication ground terminal, and an operating handle. The ground terminal of the power line carrier communication is connected to the ground control computer and the operating handle, and is also connected to the power line carrier communication module via a communication cable for transmitting control commands and image information.

10. The amphibious unmanned system as described in claim 8, characterized in that, The communication cable is a power twisted pair.

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