Cross paddling propulsion system, water surface vehicle and navigation control method

Abstract

The invention discloses a cross paddling propulsion system, a water surface vehicle and a navigation control method. The crossed paddling propulsion system comprises a spherical main body and two groups of annular paddling mechanisms, the two groups of annular paddling mechanisms are distributed in a cross shape in an up-and-down staggered manner, the annular paddling mechanisms are fixed on the outer surface of the spherical main body, and the annular paddling mechanisms are arranged in a vertical plane; the annular paddling mechanism comprises a fixed support, a slewing bearing outer ring, a slewing bearing inner ring, a paddling plate and a power transmission device. When overlooked, the two annular paddling mechanisms are distributed up and down in a cross shape in a staggered mode, the rotating speed and the rotating direction of the two annular paddling mechanisms can be controlled correspondingly to conduct paddling driving, the driving direction can be adjusted by adjusting the magnitude and the direction of the two groups of paddling thrust correspondingly, and complex instant multi-direction movement can be achieved; in addition, the spherical main body structure is balanced in stress and higher in stability, and the wind wave resistance of the water surface vehicle is improved.

Description

Technical Field

[0001] The present application relates to the technical field of surface vehicles, and in particular to a cross-stroke propulsion system, a surface vehicle and a navigation control method. Background Art

[0002] Traditional surface vehicles mostly use hull or pontoon structures and rely on linear propulsion systems. These designs have certain limitations in terms of stability, maneuverability, and adaptability to complex water surface environments. Traditional hull designs are prone to losing balance in environments with drastic changes in water flow. Existing unmanned surface vehicles mostly use propellers as propulsion devices and rudders as control devices. Their maneuverability is weak, especially when sailing at low speeds. When facing complex terrain and changing environments, they often show weaknesses such as insufficient maneuverability and poor stability, making it difficult to achieve complex multi-directional movement and precise autonomous navigation. Summary of the invention

[0003] The embodiments of the present application provide a cross-stroke propulsion system, a surface vehicle and a navigation control method, which can solve the technical problems of insufficient maneuverability and poor stability caused by the current linear propulsion system used in surface vehicles.

[0004] The embodiment of the present application provides a cross-stroke propulsion system, including a spherical body and two sets of annular stroke mechanisms;

[0005] The two groups of annular paddling mechanisms are staggered up and down in a cross shape, the annular paddling mechanisms are fixed on the outer surface of the spherical body, and the annular paddling mechanisms are arranged in a vertical plane;

[0006] The diameters of the two groups of annular paddling mechanisms are both larger than the diameter of the spherical body, the diameters of the two groups of annular paddling mechanisms are different, and the annular paddling mechanisms are spaced apart from the outer surface of the spherical body;

[0007] The annular paddling mechanism includes a fixed bracket, a slewing bearing outer ring, a slewing bearing inner ring, a paddling board and a power transmission device, the slewing bearing outer ring is fixed to the outer surface of the spherical body by the fixed bracket, the slewing bearing inner ring is slidably arranged in the slewing bearing outer ring, a plurality of paddling boards are arranged at intervals on the outer side of the slewing bearing inner ring, the power transmission device is fixed on the spherical body, and the power transmission device engages with the inner side of the slewing bearing inner ring to drive the slewing bearing inner ring to rotate forward or reverse relative to the slewing bearing outer ring.

[0008] Furthermore, a horizontally arranged equatorial ring is provided on the outer side of the spherical body, and the fixed bracket is connected to the equatorial ring; and / or a slide groove is provided between the outer rings of the slewing bearing, and both sides of the inner ring of the slewing bearing are slidably arranged in the slide groove.

[0009] Furthermore, an annular rack is provided on the inner side of the inner ring of the slewing bearing, and the power transmission device comprises a transmission gear, which is meshed with the annular rack;

[0010] The power transmission device further comprises an electric motor, a seat bearing and a bevel reversing gear, wherein the electric motor is connected to the seat bearing, a first end of the seat bearing is meshed with the bevel reversing gear, and a second end of the seat bearing is connected to the transmission gear.

[0011] Furthermore, the motor is arranged in the spherical body, the conical reversing gear is fixed on the outer ring of the slewing bearing, and the seat bearing passes through the side wall of the spherical body and extends outside the spherical body to mesh with the conical reversing gear.

[0012] Furthermore, the annular paddling mechanism also includes a water retaining sleeve, both ends of which are respectively connected to the fixed bracket, the water retaining sleeve is located in the upper hemisphere of the spherical body, the outer ring of the slewing bearing, the inner ring of the slewing bearing and the paddling plate are fixed in the water retaining sleeve, and an opening is provided at the meshing position of the transmission gear and the annular rack of the inner ring of the slewing bearing.

[0013] Furthermore, a hemispherical counterweight platform and a counterweight block are provided in the spherical body. The counterweight platform is horizontally embedded in the bottom of the spherical body, and the counterweight block is connected to the counterweight platform. The posture of the spherical body is maintained under the gravity of the counterweight block.

[0014] Furthermore, the cross-stroke propulsion system further includes a damping pendulum ball, and the damping pendulum ball is suspended inside the spherical body;

[0015] Wherein, the damping pendulum ball includes a metal sphere, a limiting rope, a connecting ring, a top fixing part and a plurality of surrounding fixing parts, the top fixing part is connected to the inner top surface of the spherical body, the surrounding fixing parts are connected to the hemispherical counterweight platform, the top of the metal sphere is connected to the top fixing part through the connecting ring, and the bottom of the metal sphere is connected to the surrounding fixing parts through the limiting rope and the connecting ring.

[0016] An embodiment of the present application provides a surface vehicle, the surface vehicle comprising the cross-stroke propulsion system described above;

[0017] Among them, the surface vehicle also includes a control system component, which is arranged in the spherical body; the control system component includes a controller, an inertial measurement unit, a GPS positioning module, a motor driver and a power supply; the power supply is connected to the controller, the inertial measurement unit, the GPS positioning module and the motor driver, the motor driver is connected to the power transmission device, and the controller is connected to the inertial measurement unit, the GPS positioning module and the motor driver.

[0018] The present application provides a navigation control method for a surface vehicle, which is used for the surface vehicle described above. The navigation control method includes:

[0019] Constructing a plane coordinate system, taking the geometric center of the surface vehicle as the coordinate origin of the plane coordinate system, the plane of the plane coordinate system is parallel to the water surface, and selecting the directions indicated by the two groups of annular paddling mechanisms as the positive directions of the x-axis and the positive directions of the y-axis respectively;

[0020] The position of the vehicle itself is acquired in the plane coordinate system, and based on the positional relationship between the position of the vehicle itself and the navigation target position, the rotation speed and direction of the two groups of annular paddling mechanisms of the surface vehicle are controlled so that the surface vehicle moves toward the target position.

[0021] Furthermore, the navigation control method of the surface vehicle also includes:

[0022] Acquire the coordinates (x, y) of the target position in the plane coordinate system;

[0023] The rowing thrust of the annular rowing mechanism corresponding to the x-axis direction is set to The rowing thrust of the annular rowing mechanism corresponding to the y-axis direction is set to Where t is time, K P is the proportionality coefficient, K I is the integration coefficient, K D is the differential coefficient.

[0024] The cross-row propulsion system, surface vehicle and navigation control method provided in the embodiments of the present application are provided with a cross-row propulsion system including a spherical main body and two groups of annular rowing mechanisms. When viewed from above, the two groups of annular rowing mechanisms are cross-shaped and staggered up and down. The rotation speed and direction of the two groups of annular rowing mechanisms can be controlled separately for rowing drive. The driving direction can be adjusted by separately adjusting the size and direction of the two groups of rowing thrusts, and complex instant multi-directional movement can be achieved. In addition, the spherical main body structure is subjected to balanced force and has greater stability, thereby improving the surface vehicle's ability to resist wind and waves. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The technical solution and other beneficial effects of the present application will be made apparent by describing in detail the specific implementation methods of the present application in conjunction with the accompanying drawings.

[0026] Figure 1 A schematic diagram of the structure of the cross-stroke propulsion system provided in an embodiment of the present application.

[0027] Figure 2 A schematic structural diagram of a spherical body provided in an embodiment of the present application.

[0028] Figure 3 A schematic diagram of the structure of the annular paddling mechanism provided in an embodiment of the present application.

[0029] Figure 4 A schematic diagram of the structure of a power transmission device provided in an embodiment of the present application.

[0030] Figure 5 A schematic diagram of the structure of the damping pendulum ball provided in an embodiment of the present application.

[0031] Figure 6 A schematic diagram of the structure of the control system components provided in an embodiment of the present application.

[0032] Figure 7 A flowchart of a navigation control method for a surface vehicle provided in an embodiment of the present application.

[0033] Figure 8 A schematic diagram of a plane coordinate system provided in an embodiment of the present application.

[0034] Fig. 9 A control logic block diagram of a control system component provided in an embodiment of the present application.

[0035] The markings in the figure are as follows:

[0036] Spherical body 1, equatorial ring 11, counterweight platform 12, counterweight block 13, annular paddling mechanism 2, fixed bracket 21, slewing bearing outer ring 22, slewing bearing inner ring 23, annular rack 231, paddling board 24, power transmission device 25, motor 251, seat bearing 252, conical reversing gear 253, transmission gear 254, water retaining sleeve 26, damping pendulum ball 3, metal sphere 31, limiting rope 32, connecting ring 33, top fixing part 34, surrounding fixing part 35, control system component 4, controller 41, inertial measurement unit 42, GPS positioning module 43, motor driver 44, power supply 45. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present application.

[0038] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0039] In the description of this application, it should be noted that, 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, an electrical connection, or mutual communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0040] An embodiment of the present application provides a cross-stroke propulsion system suitable for surface vehicles.

[0041] For details, please refer to Figure 1 The cross-row propulsion system includes a spherical body 1 and two groups of annular rowing mechanisms 2; the two groups of annular rowing mechanisms 2 are distributed in a cross shape and staggered up and down, the annular rowing mechanisms 2 are fixed on the outer surface of the spherical body 1, and the annular rowing mechanisms 2 are arranged in a vertical plane; the diameters of the two groups of annular rowing mechanisms 2 are both larger than the diameter of the spherical body 1, the diameters of the two groups of annular rowing mechanisms 2 are different, and the annular rowing mechanisms 2 are spaced apart from the outer surface of the spherical body 1.

[0042] See also Figure 3 The annular paddling mechanism 2 includes a fixed bracket 21, a slewing bearing outer ring 22, a slewing bearing inner ring 23, a paddling board 24 and a power transmission device 25. The slewing bearing outer ring 22 is fixed to the outer surface of the spherical body 1 through the fixed bracket 21. The slewing bearing inner ring 23 is slidably arranged in the slewing bearing outer ring 22. A plurality of paddling boards 24 are arranged at intervals on the outer side of the slewing bearing inner ring 23. The power transmission device 25 is fixed on the spherical body 1. The power transmission device 25 engages with the inner side of the slewing bearing inner ring 23 to drive the slewing bearing inner ring 23 to rotate forward or reverse relative to the slewing bearing outer ring 22.

[0043] The present application sets up a cross-row propulsion system including a spherical main body 1 and two groups of annular rowing mechanisms 2. The two groups of annular rowing mechanisms 2 are cross-shaped and staggered up and down. The two groups of annular rowing mechanisms 2 can be controlled to rotate forward or reverse to drive the rowing. The driving direction can be adjusted by two rowing thrusts. The power transmission device 25 drives the two groups of crossed rowing boards 24 to rotate forward or reverse to achieve multi-directional autonomous control, and can realize complex multi-directional movement. In addition, the spherical main body 1 has a balanced force structure and is more stable, thereby improving maneuverability and stability.

[0044] The cross-stroke propulsion system adopts a spherical structure and a cross-stroke plate layout to achieve efficient, multi-angle propulsion and stable water floating capabilities, and has autonomous navigation and control functions to adapt to various mission requirements.

[0045] The spherical body 1 provides buoyancy and support, and ensures the stability of the spherical body 1 on the horizontal plane during travel, avoiding the risk of capsizing of traditional ships, and having extremely superior sailing stability and wind and wave resistance.

[0046] See also Figure 1 , Figure 2 A horizontally arranged equatorial ring 11 is disposed on the outer side of the spherical body 1 , and the fixing bracket 21 is connected to the equatorial ring 11 .

[0047] The number of the fixing brackets 21 is preferably four, and the two sets of slewing bearing outer rings 22 are fixed to the equatorial ring 11 on the outer side of the spherical body 1 by the four fixing brackets 21 .

[0048] The spherical body 1 adopts a hollow structure with a diameter of about 40 cm, consisting of two parts, upper and lower, made of high-strength composite materials, with good impact resistance and airtight waterproof performance. A sealed cabin is provided inside, encapsulating the control system, battery pack and power system to ensure the safe operation of the device in water.

[0049] Furthermore, a slide groove is provided between the outer rings 22 of the slewing bearing, and both sides of the inner ring 23 of the slewing bearing are slidably disposed in the slide groove.

[0050] See also Figure 3 An annular rack 231 is provided on the inner side of the slewing bearing inner ring 23 , and the power transmission device 25 includes a transmission gear 254 , which is meshed with the annular rack 231 .

[0051] See also Figure 4 The power transmission device 25 also includes an electric motor 251, a seat bearing 252 and a bevel reversing gear 253. The electric motor 251 is connected to the seat bearing 252, the first end of the seat bearing 252 is meshed with the bevel reversing gear 253, and the second end of the seat bearing 252 is connected to the transmission gear 254.

[0052] The motor 251 drives the transmission gear 254 through the seat bearing 252 to drive the inner ring of the slewing bearing 23 to rotate, thereby driving the paddle board 24 to rotate.

[0053] The motor 251 uses a high-efficiency brushless DC motor (BLDC) to provide stable power output. The motor 251 is powered by a lithium-ion battery pack and has long battery life and environmental protection characteristics. The output shaft of the motor 251 is connected to a pair of conical reversing gears 253 through a seat bearing 252 to achieve power reversal. It transmits torque and allows a certain angle of deviation to ensure flexibility and stability. The transmission gear 254 is made of high-strength steel or alloy to ensure wear resistance and durability.

[0054] See also Figure 1 The motor 251 is arranged in the spherical body 1, the conical reversing gear 253 is fixed on the outer ring of the slewing bearing 22, and the seat bearing 252 passes through the side wall of the spherical body 1 and extends to the outside of the spherical body 1 to engage with the conical reversing gear 253.

[0055] The motor 251 is placed and fixed on the counterweight platform 12 inside the sphere, and transmits power to the transmission gear 254 after reversing through the seat bearing 252 and the bevel gear reversing gear. The transmission gear 254 meshes with the annular rack 231 of the inner ring of the slewing bearing 23, thereby driving the paddle 24 to rotate and paddle.

[0056] Furthermore, the annular paddling mechanism 2 further includes a water retaining sleeve 26, both ends of which are connected to the fixed bracket 21, the water retaining sleeve 26 is located in the upper hemisphere of the spherical body 1, the slewing bearing outer ring 22 is fixed in the water retaining sleeve 26, the slewing bearing inner ring 23 and the paddling board 24 are located in the water retaining sleeve 26, and an opening is provided at the meshing position of the transmission gear 254 and the annular rack 231 of the slewing bearing inner ring 23. The water retaining sleeve 26 can curb the influence of the splash of the paddling board 24 on the travel speed and the vehicle, reduce the interference of the water flow on the spherical body 1, and enhance the water surface stability.

[0057] See also Figure 2 A counterweight platform 12 and a counterweight block 13 are provided in the spherical body 1. The counterweight platform 12 is horizontally embedded in the bottom of the spherical body 1. The counterweight block 13 is connected to the counterweight platform 12. The position of the spherical body 1 is maintained under the action of the gravity of the counterweight block 13.

[0058] Preferably, the counterweight block 13 is a solid hemisphere. The solid hemisphere with a larger mass is embedded inside the spherical body 1 to lower the center of gravity of the entire spherical body 1. The battery pack and control-related components can be placed on the counterweight platform 12 on the upper part. In addition, a damping pendulum ball 3 is installed inside the spherical body 1 to weaken its own inertia and the impact of external force, further improving the stability of the cross-stroke propulsion system. Please refer to Figure 1 The cross-stroke propulsion system further includes a damping pendulum ball 3, which is suspended inside the spherical body 1. The damping pendulum ball 3 is used to reduce the external force impact on the spherical body 1 and improve stability.

[0059] See also Figure 5 The damping pendulum ball 3 includes a metal sphere 31, a limiting rope 32, a connecting ring 33, a top fixing piece 34 and a plurality of surrounding fixing pieces 35, wherein the top fixing piece 34 is connected to the inner top surface of the spherical body 1, and the surrounding fixing pieces 35 are connected to the counterweight platform 12. The top of the metal sphere 31 is connected to the top fixing piece 34 through the connecting ring 33, and the bottom of the metal sphere 31 is connected to the surrounding fixing pieces 35 through the limiting rope 32 and the connecting ring 33.

[0060] An embodiment of the present application provides a surface vehicle, which includes the cross-stroke propulsion system described above.

[0061] See also Figure 1 , Figure 6The surface vehicle also includes a control system component 4, which is arranged in the spherical body 1; the control system component 4 includes a controller 41, an inertial measurement unit 42, a GPS positioning module 43, a motor driver 44 and a power supply 45; the power supply 45 is connected to the controller 41, the inertial measurement unit 42, the GPS positioning module 43 and the motor driver 44, the motor driver 44 is connected to the power transmission device 25, and the controller 41 is connected to the inertial measurement unit 42, the GPS positioning module 43 and the motor driver 44.

[0062] The power source 45 includes a battery pack. The surface vehicle performs real-time data processing and generates driving instructions based on the positioning data of the GPS positioning module 43 and the inertial direction data of the inertial measurement unit 42. The controller 41 of the control system component 4 is linked with the power transmission device 25 to adjust the steering and speed of the two groups of paddles 24 respectively to achieve autonomous multi-directional control.

[0063] The controller 41 is preferably a central processing unit, which performs real-time calculations and decisions, supports remote monitoring and control, and can transmit data and receive instructions with a shore-based control center through a wireless communication module.

[0064] In order to facilitate quick replacement and maintenance, the controller 41 is provided with a standardized module interface. Different mission modules can be installed as needed, such as water quality monitoring sensors, environmental perception equipment, robotic arms, etc., to further expand the functions of the aircraft and broaden the application scenarios.

[0065] The surface vehicle has a simple structure and relatively low cost. It has strong anti-environmental interference capability and high stability. Through the spherical body and the cross-stroke propulsion system, it can realize multi-directional control and surface autonomous navigation functions, thereby improving the flexibility and stability of the vehicle. The autonomous navigation function of the vehicle is helpful for the execution of automated tasks in complex water environments, and can be widely used in large-scale water areas for long-term high-density environmental monitoring of water quality and waves, inspection of surface facilities, maritime inspections and search and rescue, and many other tasks.

[0066] The surface vehicle is a tracked spherical surface vehicle, which has the advantages of high maneuverability, high stability, autonomous navigation and multifunctionality.

[0067] High maneuverability: The cross-paddle design supports multi-directional control, enabling precise navigation in complex environments and enabling the vehicle to move flexibly in various complex water surface environments.

[0068] High stability: The spherical hull structure provides good stability and impact resistance.

[0069] Autonomous navigation: Intelligent navigation systems and algorithms ensure that the vehicle can complete its mission safely and efficiently even without human operation.

[0070] Versatility: Different mission modules can be flexibly configured according to mission requirements to expand the scope of application.

[0071] like Figure 7 As shown, an embodiment of the present application provides a navigation control method for a surface vehicle, which is used for the surface vehicle mentioned above, and the navigation control method includes:

[0072] S1. construct a plane coordinate system, with the geometric center of the surface vehicle as the coordinate origin of the plane coordinate system, the plane of the plane coordinate system is parallel to the water surface, and the directions indicated by the two groups of annular paddling mechanisms are respectively selected as the positive directions of the x-axis and the positive directions of the y-axis;

[0073] S2. Acquire the position of the vehicle itself in the plane coordinate system, and control the rotation speed and direction of the two groups of annular paddling mechanisms of the surface vehicle based on the positional relationship between the position of the vehicle itself and the navigation target position so that the surface vehicle moves toward the target position.

[0074] like Figure 8 As shown, the navigation control method of the surface vehicle also includes:

[0075] Acquire the coordinates (x, y) of the target position in the plane coordinate system;

[0076] The rowing thrust of the annular rowing mechanism corresponding to the x-axis direction is set to The rowing thrust of the annular rowing mechanism corresponding to the y-axis direction is set to Where t is time, K P is the proportionality coefficient, K I is the integration coefficient, K D is the differential coefficient.

[0077] like Fig. 9 As shown, in combination with the surface vehicle described above, the control system component combines the data of the inertial measurement unit and the GPS positioning module to monitor the position and heading of the surface vehicle in real time. Through the intelligent algorithm, the control system component adjusts the operating parameters of the motor, and transmits them to the transmission gear after the power transmission device is reversed, further driving the paddle fixed on the inner ring of the slewing bearing to rotate, pushing the surface vehicle forward or backward. According to the relative position relationship between the surface vehicle and the target position, the speed and direction of the motors of the two groups of the annular paddling mechanisms are adjusted respectively, so as to achieve acceleration, deceleration and U-turn in any direction of the vehicle.

[0078] The motor driver converts the thrust into the speed and steering instructions of the corresponding motor. This control method is used to control the speed and steering of the two sets of thruster motors according to the relative position relationship with the target position, thereby approaching the target position. This control method is also applicable to dynamic positioning scenarios, and it is relatively easy to stay at the target position even in the presence of environmental interference.

[0079] The cross-row propulsion system, surface vehicle and navigation control method provided in the embodiments of the present application are provided with a cross-row propulsion system including a spherical main body and two groups of annular rowing mechanisms. When viewed from above, the two groups of annular rowing mechanisms are cross-shaped and staggered up and down. The rotation speed and direction of the two groups of annular rowing mechanisms can be controlled separately for rowing drive. The driving direction can be adjusted by separately adjusting the size and direction of the two groups of rowing thrusts, and complex instant multi-directional movement can be achieved. In addition, the spherical main body structure is subjected to balanced force and has greater stability, thereby improving the surface vehicle's ability to resist wind and waves.

[0080] The above is a detailed introduction to a cross-stroke propulsion system, a surface vehicle and a navigation control method provided in the embodiments of the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the technical solutions and core ideas of the present application. Ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some of the technical features therein with equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cross-stroke propulsion system, characterized in that: include: A spherical body and two sets of annular paddling mechanisms; The two groups of annular paddling mechanisms are staggered up and down in a cross shape, the annular paddling mechanisms are fixed on the outer surface of the spherical body, and the annular paddling mechanisms are arranged in a vertical plane; The diameters of the two groups of annular paddling mechanisms are both larger than the diameter of the spherical body, the diameters of the two groups of annular paddling mechanisms are different, and the annular paddling mechanisms are spaced apart from the outer surface of the spherical body; The annular paddling mechanism includes a fixed bracket, a slewing bearing outer ring, a slewing bearing inner ring, a paddling board and a power transmission device, the slewing bearing outer ring is fixed to the outer surface of the spherical body by the fixed bracket, the slewing bearing inner ring is slidably arranged in the slewing bearing outer ring, a plurality of paddling boards are arranged at intervals on the outer side of the slewing bearing inner ring, the power transmission device is fixed on the spherical body, and the power transmission device engages with the inner side of the slewing bearing inner ring to drive the slewing bearing inner ring to rotate forward or reverse relative to the slewing bearing outer ring.

2. The cross-stroke propulsion system according to claim 1, characterized in that: A horizontally arranged equatorial ring is provided on the outer side of the spherical body, and the fixed bracket is connected to the equatorial ring; and / or a slide groove is provided between the outer rings of the slewing bearing, and both sides of the inner ring of the slewing bearing are slidably arranged in the slide groove.

3. The cross-stroke propulsion system according to claim 1, characterized in that: An annular rack is provided on the inner side of the inner ring of the slewing bearing, and the power transmission device comprises a transmission gear, which is meshed with the annular rack; The power transmission device further comprises an electric motor, a seat bearing and a bevel reversing gear, wherein the electric motor is connected to the seat bearing, a first end of the seat bearing is meshed with the bevel reversing gear, and a second end of the seat bearing is connected to the transmission gear.

4. The cross-stroke propulsion system according to claim 3, characterized in that: The motor is arranged in the spherical body, the conical reversing gear is fixed on the outer ring of the slewing bearing, and the seat bearing passes through the side wall of the spherical body and extends to the outside of the spherical body to mesh with the conical reversing gear.

5. The cross-stroke propulsion system according to claim 3, characterized in that: The annular paddling mechanism also includes a water retaining sleeve, both ends of which are respectively connected to the fixed bracket, the water retaining sleeve is located in the upper hemisphere of the spherical body, the outer ring of the slewing bearing is fixed in the water retaining sleeve, the inner ring of the slewing bearing and the paddling plate are located in the water retaining sleeve, and an opening is provided at the meshing position of the transmission gear and the annular rack of the inner ring of the slewing bearing.

6. The cross-stroke propulsion system according to claim 1, characterized in that: A hemispherical counterweight platform and a counterweight block are arranged in the spherical body. The counterweight platform is horizontally embedded in the bottom of the spherical body. The counterweight block is connected to the counterweight platform. The posture of the spherical body is maintained under the gravity of the counterweight block.

7. The cross-stroke propulsion system according to claim 6, characterized in that: The cross-stroke propulsion system further comprises a damping pendulum ball, wherein the damping pendulum ball is suspended inside the spherical body; Wherein, the damping pendulum ball includes a metal sphere, a limiting rope, a connecting ring, a top fixing part and a plurality of surrounding fixing parts, the top fixing part is connected to the inner top surface of the spherical body, the surrounding fixing parts are connected to the counterweight platform, the top of the metal sphere is connected to the top fixing part through the connecting ring, and the bottom of the metal sphere is connected to the surrounding fixing parts through the limiting rope and the connecting ring.

8. A surface vehicle, characterized in that: The surface craft comprises the cross-stroke propulsion system according to any one of claims 1 to 7; Among them, the surface vehicle also includes a control system component, which is arranged in the spherical body; the control system component includes a controller, an inertial measurement unit, a GPS positioning module, a motor driver and a power supply; the power supply is connected to the controller, the inertial measurement unit, the GPS positioning module and the motor driver, the motor driver is connected to the power transmission device, and the controller is connected to the inertial measurement unit, the GPS positioning module and the motor driver.

9. A navigation control method for a surface vehicle, used for the surface vehicle according to claim 8, characterized in that: The navigation control method comprises: Constructing a plane coordinate system, taking the geometric center of the surface vehicle as the coordinate origin of the plane coordinate system, the plane of the plane coordinate system is parallel to the water surface, and selecting the directions indicated by the two groups of annular paddling mechanisms as the positive directions of the x-axis and the positive directions of the y-axis respectively; The position of the vehicle itself is acquired in the plane coordinate system, and based on the positional relationship between the position of the vehicle itself and the navigation target position, the rotation speed and direction of the two groups of annular paddling mechanisms of the surface vehicle are controlled so that the surface vehicle moves toward the target position.

10. The navigation control method for a surface vehicle according to claim 9, characterized in that: Also includes: Acquire the coordinates (x, y) of the target position in the plane coordinate system; The rowing thrust of the annular rowing mechanism corresponding to the x-axis direction is set to The rowing thrust of the annular rowing mechanism corresponding to the y-axis direction is set to Where t is time, K P is the proportionality coefficient, K I is the integration coefficient, K D is the differential coefficient.

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