Amphibious vehicle driving control method and system

Abstract

The invention belongs to the field of automation control, and particularly relates to an amphibious vehicle driving control method and system.The amphibious vehicle comprises a power battery and an engine which are installed at the bottom of the vehicle; a right front independent driving motor, a left front independent driving motor, a right rear independent driving motor and a left rear independent driving motor are fixedly mounted at the bottom of the vehicle; tires are arranged on transmission shafts of the left front independent driving motor and the right front independent driving motor as well as the right rear independent driving motor and the left rear independent driving motor; a left water propeller and a right water propeller are installed at the bottom of the vehicle, outer rearview mirrors are installed on the left side wall and the right side wall of the vehicle, an air inlet of an engine is connected with an air inlet waterproof valve, an air outlet of the engine is connected with an air outlet waterproof valve, and water depth detection sensors are integrated in the two outer rearview mirrors. The problem that in the prior art, combined driving of wheels and a water propeller is not fully considered is solved.

Description

Technical Field

[0001] The invention belongs to the field of automatic control and relates to a driving control method and system for an amphibious vehicle. Background Art

[0002] Amphibious vehicles are a new type of transportation that can travel on water and land. They have both the land performance of cars and the water driving performance of ships. They have a wide range of application values ​​in military and civilian fields. In scenes with complex land and water terrain, they can cross rivers, lakes and seas without being restricted by bridges and ships, and can play their transportation functions in both military and civilian fields. They have broad application prospects in special fields such as disaster relief and rescue, and also have certain applications in the tourism industry.

[0003] At present, amphibious vehicles mainly rely on wheels when driving on land, and rely on water propellers when driving on water. However, in deep water areas or complex terrain, relying solely on wheels or water propellers may not provide sufficient traction or stability, causing the vehicle to have difficulty in driving or even malfunction. In addition, when traditional amphibious vehicles are driving in water, there is also a lack of sufficient consideration for the waterproof protection of the engine air intake and exhaust ports, which can easily damage the engine due to water ingress. Summary of the invention

[0004] In order to solve the problem that the prior art does not fully consider the combined drive of wheels and water propellers, and that relying solely on tire drive in deep water areas may not provide sufficient traction, the present invention provides an amphibious vehicle drive control method and system.

[0005] In a first aspect, the present invention provides an amphibious vehicle, which adopts the following technical solution:

[0006] An amphibious vehicle comprises a power battery 14 and an engine 11 fixedly mounted on the bottom of the vehicle, a right front independent drive motor 2, a left front independent drive motor 3, a right rear independent drive motor 4, and a left rear independent drive motor 5 fixedly mounted on the bottom of the vehicle, and the transmission shafts of the left front independent drive motor 3, the right front independent drive motor 2, the right rear independent drive motor 4, and the left rear independent drive motor 5 are all provided with tires 1;

[0007] A left water propeller 8 and a right water propeller 9 are installed at the bottom of the vehicle, exterior rearview mirrors 15 are installed on the left and right side walls of the vehicle, an engine air inlet 16 is connected to an air inlet waterproof valve 12, an engine exhaust port is connected to an exhaust waterproof valve 13, and water depth detection sensors 17 are integrated inside the exterior rearview mirrors 15 on the left and right sides of the vehicle.

[0008] In a second aspect, the present invention provides an amphibious vehicle driving control method, which adopts the following technical solution:

[0009] A method for driving and controlling an amphibious vehicle includes the following modes:

[0010] In the normal or shallow wading mode, the four tires 1 of the amphibious vehicle are all on the ground, the amphibious vehicle adopts the normal or shallow wading power mode, and the left water propeller 8 and the right water propeller 9 do not participate in the driving;

[0011] In deep wading or beaching mode, at least one tire 1 of the amphibious vehicle is on the ground, and the four-wheel independent drive motor is mainly used. When the amphibious vehicle has difficulty moving forward through the tire 1, the left water propeller 8 and the right water propeller 9 assist in pushing;

[0012] In the navigation mode, all four tires 1 of the vehicle are off the ground, and the power of the left water propeller 8 and the right water propeller 9 is the main power. According to the conditions, the four-wheel independent drive motors assist the amphibious vehicle in navigation.

[0013] Preferably, the conventional or shallow wading mode comprises the following steps:

[0014] Normal mode: the amphibious vehicle adopts the normal off-road power mode; Shallow wading mode: the amphibious vehicle adopts the wading power mode; the height of the vehicle suspension is adjusted to the highest state;

[0015] When the range-extended vehicle is in the normal or shallow wading mode, the engine 11 keeps running. If the power battery 14 is fully charged, charging is stopped, that is, the engine 11 stops running.

[0016] Preferably, the deep wading or beaching mode comprises the following steps:

[0017] The height of the vehicle suspension is adjusted to the highest position;

[0018] When the range-extended vehicle is in deep wading or beaching mode, the engine 11 stops running, and the air intake waterproof valve 12 and the exhaust waterproof valve 13 remain closed.

[0019] Preferably, the navigation mode comprises the following steps:

[0020] The steering of the left water propeller 8 and the right water propeller 9 can be used, the steering driven by the four-wheel independent drive motor can be used, and the suspension height of the vehicle is adjusted to the highest state;

[0021] When the range-extended vehicle is in the cruising mode, the engine 11 stops running, and the air intake waterproof valve 12 and the exhaust waterproof valve 13 remain closed.

[0022] Preferably, a driving control method for an amphibious vehicle comprises the following steps:

[0023] S11, determining whether the amphibious vehicle is in a drivable state;

[0024] S12, determining whether the amphibious vehicle is in a non-navigation mode;

[0025] S13, measuring the water depth, the slip rate of the tire 1, and the suspension height, and presetting the water depth threshold, the slip rate threshold, and the suspension height threshold;

[0026] S14, comparing the water depth value with the water depth threshold, the slip rate of tire 1 with the slip rate threshold, and the suspension height with the suspension height threshold, and switching to an appropriate mode according to the comparison result;

[0027] S15, when the vehicle is going downhill, the position of the water depth detection sensor 17 is higher than the engine air intake 16, and the water depth value is corrected according to the downhill slope to determine whether to close the air intake waterproof valve 12 of the engine 11.

[0028] Preferably, step S11 comprises the following steps:

[0029] Determine whether the amphibious vehicle is in a drivable state. If the water depth detection sensor 17 can work normally and the suspension of the vehicle can work normally, it means that the amphibious vehicle meets the drivable state.

[0030] If the water depth detection sensor 17 works abnormally or even does not work, the suspension of the amphibious vehicle works abnormally or even does not work, and the amphibious vehicle cannot automatically switch modes, if at least one of the three situations occurs, it means that the amphibious vehicle does not meet the drivable state.

[0031] Preferably, step S14 comprises the following steps:

[0032] Water depth thresholds, including a first depth threshold, a second depth threshold, and a third depth threshold;

[0033] Comparing the water depth value with the first depth threshold, the second depth threshold, and the third depth threshold, comparing the slip rate of tire 1 with the slip rate threshold, and comparing the suspension height with the suspension height threshold;

[0034] According to step S12, it is determined that the amphibious vehicle is in the non-navigation mode. If the water depth is ≤ the first depth threshold, the vehicle switches to the normal mode; if the first depth threshold < water depth < the second depth threshold, the vehicle switches to the shallow wading mode; if the second depth threshold ≤ water depth ≤ the third depth threshold, the slip rate of at most three tires 1 exceeds the slip rate threshold, and the suspension height of at most three tires 1 exceeds the suspension height threshold, the vehicle switches to the deep wading mode;

[0035] If the water depth is greater than the third depth threshold, the slip rate of the four tires 1 exceeds the slip rate threshold, and the suspension height of the four tires 1 exceeds the suspension height threshold, the vehicle switches to the navigation mode;

[0036] According to step S12, it is determined that the amphibious vehicle is in the navigation mode. If the first depth threshold < water depth < third depth threshold, the slip rate of at most three tires 1 exceeds the slip rate threshold, and the suspension height of at most three tires 1 exceeds the suspension height threshold, the vehicle switches to the beaching mode; if the water depth is ≤ the first depth threshold, the vehicle self-checks and there is no fault, the vehicle switches to the normal mode;

[0037] If the water depth is ≤ the first depth threshold, the vehicle self-inspection has a fault, and the vehicle switches to the post-navigation inspection mode. The power of the post-navigation inspection mode adopts the conventional power mode, the left water thruster 8 and the right water thruster 9 do not work, the height of the vehicle suspension is adjusted to the height of the conventional mode, the engine 11 stops running, and the air intake waterproof valve 12 and the exhaust waterproof valve 13 remain closed; after the vehicle is inspected and repaired to have no faults and the fault code is eliminated, the vehicle switches to the conventional mode.

[0038] Preferably, step S15 satisfies the following formula:

[0039] h1=h2-Lsin(α+β)

[0040] Among them, h1 is the height of the engine air intake 16 from the water surface; h2 is the height of the water depth detection sensor 17 from the water surface (the water depth detection sensor 17 is integrated inside the exterior rearview mirrors 15 on both sides of the vehicle, and the maximum value is h2); L represents the straight-line distance between the water depth detection sensor and the engine air intake parallel to the plane formed by the X-axis and Z-axis of the vehicle body; α represents the angle between the straight line L and the X-axis direction 19 of the vehicle body; β represents the slope of the vehicle downhill, and β is calculated by means of a gyroscope or the like;

[0041] A height threshold of the height of the engine air inlet 16 from the water surface is set. When h1<the height threshold, the engine 11 stops running, and the air intake waterproof valve 12 and the exhaust waterproof valve 13 remain closed.

[0042] In a third aspect, the present invention provides an amphibious vehicle drive control system, which adopts the following technical solution:

[0043] An amphibious vehicle driving control system, comprising:

[0044] A drivable state judgment module is used to judge whether the amphibious vehicle is in a drivable state;

[0045] A non-navigation mode determination module, used to determine whether the amphibious vehicle is in a non-navigation mode;

[0046] The threshold setting module measures the water depth, the slip rate of the tire 1, and the suspension height, and pre-sets the water depth threshold, the slip rate threshold, and the suspension height threshold;

[0047] An intelligent mode switching module is used to compare the water depth value with the water depth threshold, the slip rate of tire 1 with the slip rate threshold, and the suspension height with the suspension height threshold, and switch the appropriate mode according to the comparison result;

[0048] The air intake waterproof valve 12 opening and closing module is used when the vehicle is going downhill. The water depth value is corrected according to the slope of the downhill slope to determine whether to close the air intake waterproof valve 12 of the engine 11.

[0049] In summary, the present invention includes the following beneficial technical effects:

[0050] 1. The extended-range vehicle is equipped with an air intake waterproof valve 12 and an exhaust waterproof valve 13. When the extended-range vehicle enters deep wading mode or navigation mode, if the vehicle self-checks and finds a fault, the vehicle switches to the post-navigation waiting mode. The power of the post-navigation waiting mode adopts the conventional power mode. After the vehicle is inspected and repaired to be fault-free and the fault code is eliminated, the vehicle switches to the conventional mode, which greatly improves the user experience and satisfaction.

[0051] 2. Through the joint control of the four-wheel independent motors and the water propeller, intelligent mode switching can be performed at the same time, and with the help of auxiliary devices such as the air intake waterproof valve 12 and the exhaust waterproof valve 13, the off-road traffic capability of the vehicle is greatly improved, which can bring users multiple experience values ​​such as flood escape, off-road navigation, and water rescue;

[0052] 3. Automatically switch to the most appropriate driving mode based on the water depth, tire slip rate, and suspension height, compared with the water depth threshold, slip rate threshold, and suspension height threshold. This intelligent switching not only improves driving convenience, but also effectively ensures the stability and safety of the vehicle in different environments;

[0053] 4. In specific scenarios such as downhill sections, the present invention uses a water depth detection sensor 17 integrated in the exterior rearview mirror 15 to monitor the water depth in real time and correct the water depth value according to the downhill slope, and intelligently determine whether to close the engine's air intake waterproof valve 12, thereby effectively avoiding the risk of damage to the engine 11 due to water ingress and extending the service life of the engine 11. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a structural schematic diagram of an amphibious vehicle.

[0055] Figure 2 It is a schematic diagram of water depth detection combined with slope correction for an amphibious vehicle.

[0056] Figure 3 It is a schematic diagram of an amphibious vehicle's water thruster-assisted beaching.

[0057] Figure 4It is a schematic diagram of the mode conversion of the drive system of an amphibious vehicle.

[0058] Figure 5 The invention is a framework schematic diagram of an amphibious vehicle drive control system.

[0059] Figure numerals: 1. tire; 2. right front independent drive motor; 3. left front independent drive motor; 4. right rear independent drive motor; 5. left rear independent drive motor; 6. front axle differential lock; 7. rear axle differential lock; 8. left water thruster; 9. right water thruster; 10. mechanical connection assembly; 11. engine; 12. air intake waterproof valve; 13. exhaust waterproof valve; 14. power battery; 15. exterior rearview mirror; 16. engine air intake; 17. water depth detection sensor; 18. wading level; 19. X-axis direction of vehicle body; 20. Z-axis direction of vehicle body. DETAILED DESCRIPTION

[0060] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0061] The following is combined with Figure 1-5 The present invention is described.

[0062] See attached Figure 1-3 The present invention provides an amphibious vehicle, including a power battery 14 installed at the bottom of the vehicle. A right front independent drive motor 2 and a left front independent drive motor 3 are fixedly installed at the bottom of the vehicle. The left front independent drive motor 3 and the right front independent drive motor 2 are arranged in front of the power battery 14. The left front independent drive motor 3 and the right front independent drive motor 2 are coaxially arranged. A front axle differential lock 6 is connected between the left front independent drive motor 3 and the right front independent drive motor 2 through a mechanical connection component 10.

[0063] See attached Figure 1-3The right rear independent drive motor 4 and the left rear independent drive motor 5 are fixedly installed at the bottom of the vehicle. The right rear independent drive motor 4 and the left rear independent drive motor 5 are arranged behind the power battery 14. The right rear independent drive motor 4 and the left rear independent drive motor 5 are coaxially arranged. The rear axle differential lock 7 is connected between the right rear independent drive motor 4 and the left rear independent drive motor 5 through a mechanical connection component 10. The transmission shafts of the left front independent drive motor 3 and the right front independent drive motor 2 that are separated from each other are installed with tires 1 through a mechanical connection component 10. The transmission shafts of the right rear independent drive motor 4 and the left rear independent drive motor 5 that are separated from each other are installed with tires 1 through a mechanical connection component 10. The left water propeller 8 and the right water propeller 9 are installed at the bottom of the vehicle near the rear side of itself, and the left and right side walls of the vehicle are respectively installed with exterior rearview mirrors 15.

[0064] See attached Figure 1-3 The front axle differential lock 6 and the rear axle differential lock 7 are opened and closed according to the amphibious vehicle's needs for normal straight driving or turning in the water. An engine 11 is provided at the bottom of the vehicle near the front of the vehicle. The engine 11 is used to convert the heat energy of gasoline combustion into electrical energy stored in the power battery 14. The engine air intake 16 is fixedly connected to an air intake waterproof valve 12, and the engine exhaust port is fixedly connected to an exhaust waterproof valve 13. The exterior rearview mirrors 15 on the left and right sides of the vehicle are internally integrated with water depth detection sensors 17. Figure 2 As shown, a wading horizontal plane 18 , an X-axis direction 19 of the vehicle body, and a Z-axis direction 20 of the vehicle body are marked.

[0065] See attached Figure 4 The present invention also proposes a driving control method for an amphibious vehicle, the purpose of which is to utilize the four tires 1 of the extended-range vehicle, the method for the joint control of the independent driving motor and the dual thrusters on water and its intelligent mode switching, including the following modes:

[0066] 1. Conventional or shallow wading mode, the four tires 1 of the amphibious vehicle are all on the ground, the amphibious vehicle adopts the conventional or shallow wading power mode, and the left water propeller 8 and the right water propeller 9 do not participate in driving;

[0067] Specifically, in the normal mode, the amphibious vehicle adopts the normal off-road power mode, the left water thruster 8 and the right water thruster 9 do not participate in the driving, and the height of the vehicle suspension is the normal mode. In the shallow wading mode, the amphibious vehicle adopts the wading power mode, the left water thruster 8 and the right water thruster 9 do not participate in the driving, the steering of the right front independent drive motor 2, the left front independent drive motor 3, the right rear independent drive motor 4, and the left rear independent drive motor 5 is available, and the height of the vehicle suspension is adjusted to the highest state;

[0068] Among them, when the extended-range vehicle is in the normal or shallow wading mode, the engine 11 keeps running. If the power battery 14 is fully charged, the charging is stopped, that is, the engine 11 stops running.

[0069] 2. In deep wading or beaching mode, at least one tire 1 of the amphibious vehicle is on the ground. At this time, the four-wheel independent drive motors are mainly used. If the amphibious vehicle has difficulty moving forward through the tire 1, the left water propeller 8 and the right water propeller 9 are used for auxiliary propulsion;

[0070] Specifically, in deep wading or beaching mode, the amphibious vehicle adopts the wading power mode, at this time, the tire 1 on the ground is driven forward by the independent drive motor. If the amphibious vehicle has difficulty moving forward, the dual propellers on the water assist in pushing and the steering is unavailable, the steering of the four-wheel independent drive motor is unavailable, and the height of the vehicle suspension is adjusted to the highest state;

[0071] Among them, when the extended-range vehicle is in deep wading or beaching mode, the engine 11 stops running, and the air intake waterproof valve 12 and the exhaust waterproof valve 13 remain closed to avoid water flowing into the interior of the engine 11 through the air intake waterproof valve 12 and the exhaust waterproof valve 13.

[0072] 3. Navigation mode: All four tires 1 of the vehicle are off the ground. At this time, the left water propeller 8 and the right water propeller 9 are the main power. If the amphibious vehicle needs to continue to increase the speed or assist the amphibious vehicle to turn in the water, the four-wheel independent drive motors assist the amphibious vehicle to navigate according to the conditions;

[0073] Specifically, in the navigation mode, the left water propeller 8 and the right water propeller 9 are the main power. If the amphibious vehicle needs to continue to increase the speed or assist the amphibious vehicle to turn in the water, the four-wheel independent drive motor assists the amphibious vehicle to navigate according to the conditions. The steering of the left water propeller 8 and the right water propeller 9 can be used, and the steering driven by the four-wheel independent drive motor can be used, and the height of the vehicle suspension is adjusted to the highest state;

[0074] Among them, when the extended-range vehicle is in the navigation mode, the engine 11 stops running, and the air intake waterproof valve 12 and the exhaust waterproof valve 13 remain closed to avoid water flowing into the interior of the engine 11 through the air intake waterproof valve 12 and the exhaust waterproof valve 13.

[0075] A method for driving and controlling an amphibious vehicle comprises the following steps:

[0076] S11, determining whether the amphibious vehicle is in a drivable state;

[0077] S12, determining whether the amphibious vehicle is in a non-navigation mode;

[0078] S13, measuring the water depth, the slip rate of the tire 1, and the suspension height, and presetting the water depth threshold, the slip rate threshold, and the suspension height threshold;

[0079] S14, comparing the water depth value with the water depth threshold, the slip rate of tire 1 with the slip rate threshold, and the suspension height with the suspension height threshold, and switching to an appropriate mode according to the comparison result;

[0080] S15, when the vehicle is going downhill, the position of the water depth detection sensor 17 is higher than the engine air intake 16, and the water depth value is corrected according to the downhill slope to determine whether the air intake waterproof valve 12 of the engine 11 needs to be closed.

[0081] In one embodiment of the present invention, step S11 includes the following steps:

[0082] Determine whether the amphibious vehicle is in a drivable state. If the water depth detection sensor 17 can work normally and the suspension of the vehicle can work normally, it means that the amphibious vehicle meets the drivable state.

[0083] If the water depth detection sensor 17 works abnormally or even does not work, the suspension of the amphibious vehicle works abnormally or even does not work, and the amphibious vehicle cannot automatically switch modes, if at least one of the three situations occurs, it means that the amphibious vehicle does not meet the drivable state, and the instrument of the amphibious vehicle will alarm.

[0084] In one embodiment of the present invention, step S13 includes the following steps:

[0085] The water depth detection sensor 17 measures the water depth of the amphibious vehicle. The amphibious vehicle's own vehicle computer can self-test the slip rate and suspension height of the tire 1, and pre-set the water depth threshold, slip rate threshold, and suspension height threshold;

[0086] The water depth threshold includes a first depth threshold, a second depth threshold, and a third depth threshold.

[0087] In one embodiment of the present invention, step S14 includes the following steps:

[0088] Comparing the water depth value with the first depth threshold, the second depth threshold, and the third depth threshold, comparing the slip rate of tire 1 with the slip rate threshold, and comparing the suspension height with the suspension height threshold;

[0089] According to step S12, it is determined that the amphibious vehicle is in the non-navigation mode, and if the water depth is ≤ the first depth threshold, the vehicle switches to the normal mode;

[0090] If the first depth threshold < water depth < second depth threshold, the vehicle switches to shallow wading mode;

[0091] If the second depth threshold ≤ water depth ≤ third depth threshold, the slip rates of at most three tires 1 exceed the slip rate threshold, and the suspension heights of at most three tires 1 exceed the suspension height threshold, the vehicle switches to deep wading mode;

[0092] If the water depth is greater than the third depth threshold, the slip rate of the four tires 1 exceeds the slip rate threshold, and the suspension height of the four tires 1 exceeds the suspension height threshold, the vehicle switches to navigation mode.

[0093] According to step S12, it is determined that the amphibious vehicle is in the navigation mode. If the first depth threshold < water depth < third depth threshold, the slip rate of at most three tires 1 exceeds the slip rate threshold, and the suspension height of at most three tires 1 exceeds the suspension height threshold, the vehicle switches to the beaching mode; if the water depth is ≤ the first depth threshold, and the vehicle self-checks without fault, the vehicle switches to the normal mode;

[0094] If the water depth is ≤ the first depth threshold and the vehicle self-inspection has a fault, the vehicle switches to the post-navigation waiting mode. The power of the post-navigation waiting mode adopts the conventional power mode, the left water thruster 8 and the right water thruster 9 do not work, the height of the vehicle suspension is adjusted to the height of the conventional mode, the engine 11 stops running, and the air intake waterproof valve 12 and the exhaust waterproof valve 13 remain closed; after the vehicle is inspected and repaired to no fault and the fault code is eliminated, the vehicle switches to the conventional mode.

[0095] In one embodiment of the present invention, step S15 satisfies the following formula:

[0096] h1=h2-Lsin(α+β)

[0097] Among them, h1 is the height of the engine air intake 16 from the water surface; h2 is the height of the water depth detection sensor 17 from the water surface (the water depth detection sensor 17 is integrated inside the exterior rearview mirrors 15 on both sides of the vehicle, and the maximum value is h2); L represents the straight-line distance between the water depth detection sensor and the engine air intake parallel to the plane formed by the X-axis and Z-axis of the vehicle body; α represents the angle between the straight line L and the X-axis direction 19 of the vehicle body; β represents the slope of the vehicle downhill, and β is calculated by means of a gyroscope or the like;

[0098] A height threshold of the height of the engine air inlet 16 from the water surface is set. When h1<the height threshold, the engine 11 stops running, and the air intake waterproof valve 12 and the exhaust waterproof valve 13 remain closed.

[0099] See attached Figure 5 The present invention also proposes an amphibious vehicle driving control system, which includes a drivable state judgment module, a non-navigation mode judgment module, a threshold setting module, an intelligent mode switching module, and an air intake waterproof valve 12 opening and closing module;

[0100] A drivable state judgment module is used to judge whether the amphibious vehicle is in a drivable state;

[0101] A non-navigation mode determination module, used to determine whether the amphibious vehicle is in a non-navigation mode;

[0102] The threshold setting module measures the water depth, the slip rate of the tire 1, and the suspension height, and pre-sets the water depth threshold, the slip rate threshold, and the suspension height threshold;

[0103] An intelligent mode switching module is used to compare the water depth value with the water depth threshold, the slip rate of tire 1 with the slip rate threshold, and the suspension height with the suspension height threshold, and switch the appropriate mode according to the comparison result;

[0104] The air intake waterproof valve 12 opening and closing module is used when the vehicle is going downhill. The water depth value is corrected according to the slope of the downhill slope to determine whether to close the air intake waterproof valve 12 of the engine 11.

[0105] The modules described above may be implemented in whole or in part through software, hardware, or a combination thereof, supporting processors embedded in or independent of a computer device in hardware form, and also supporting memories stored in a computer device in software form, so that the processor can call and execute operations corresponding to the modules described above.

[0106] The above embodiments are only used to illustrate the technical solutions of the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, ordinary technicians in the 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 spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. An amphibious vehicle, characterized in that: The invention comprises a power battery (14) and an engine (11) fixedly mounted on the bottom of the vehicle; a right front independent drive motor (2), a left front independent drive motor (3), a right rear independent drive motor (4), and a left rear independent drive motor (5) are fixedly mounted on the bottom of the vehicle; and the transmission shafts of the left front independent drive motor (3), the right front independent drive motor (2), the right rear independent drive motor (4), and the left rear independent drive motor (5) are all provided with tires (1); A left water propeller (8) and a right water propeller (9) are installed at the bottom of the vehicle, and exterior rearview mirrors (15) are installed on the left and right side walls of the vehicle. The air inlet of the engine (11) is connected to an air inlet waterproof valve (12), and the exhaust port of the engine (11) is connected to an exhaust waterproof valve (13). Water depth detection sensors (17) are integrated inside the exterior rearview mirrors (15) on the left and right sides of the vehicle.

2. A driving control method for an amphibious vehicle, based on the amphibious vehicle according to claim 1, characterized in that: The following modes are included: In a conventional or shallow wading mode, all four tires (1) of the amphibious vehicle are on the ground, the amphibious vehicle adopts a conventional or shallow wading power mode, and the left water propeller (8) and the right water propeller (9) are not involved in driving; In deep wading or beaching mode, at least one tire (1) of the vehicle is on the ground, and the four-wheel independent drive motor is used as the main propulsion, and the left water propeller (8) and the right water propeller (9) assist in propulsion; In the navigation mode, all four tires (1) of the vehicle are off the ground, the left water propeller (8) and the right water propeller (9) are used as the main power, and the four-wheel independent drive motors assist in navigation.

3. The driving control method of an amphibious vehicle according to claim 2 is characterized in that , the conventional or shallow wading mode comprises the following steps: Normal mode: the amphibious vehicle adopts the normal off-road power mode; Shallow wading mode: the amphibious vehicle adopts the wading power mode; the height of the vehicle suspension is adjusted to the highest state; When the range-extended vehicle is in a normal or shallow wading mode, the engine (11) keeps running, and if the power battery (14) is fully charged, charging is stopped, i.e. the engine (11) stops running.

4. The driving control method of an amphibious vehicle according to claim 2 is characterized in that The deep wading or beaching mode includes the following steps: The height of the vehicle suspension is adjusted to the highest position; When the range-extended vehicle is in deep wading or beaching mode, the engine (11) stops running, and the air intake waterproof valve (12) and the exhaust waterproof valve (13) remain closed.

5. The driving control method of an amphibious vehicle according to claim 2 is characterized in that ,The navigation mode comprises the following steps: The steering of the left water propeller (8) and the right water propeller (9) is available, the steering driven by the four-wheel independent drive motor is available, and the suspension height of the vehicle is adjusted to the highest state; When the range-extended vehicle is in the navigation mode, the engine (11) stops running, and the air intake waterproof valve (12) and the exhaust waterproof valve (13) remain closed.

6. The driving control method of an amphibious vehicle according to claim 2, characterized in that: The following steps are involved: S11, determining whether the amphibious vehicle is in a drivable state; S12, determining whether the amphibious vehicle is in a non-navigation mode; S13, measuring the water depth, the slip rate of the tire (1), and the suspension height, and presetting a water depth threshold, a slip rate threshold, and a suspension height threshold; S14, comparing the water depth value with the water depth threshold, the slip rate of the tire (1) with the slip rate threshold, and the suspension height with the suspension height threshold, and switching to an appropriate mode according to the comparison result; S15, when the vehicle is on a downhill section, the position of the water depth detection sensor (17) is higher than the engine air intake (16), and the water depth value is corrected according to the downhill slope to determine whether to close the air intake waterproof valve (12) of the engine (11).

7. The driving control method of an amphibious vehicle according to claim 2, characterized in that: Step S11 includes the following steps: Determining whether the amphibious vehicle is in a drivable state, if the water depth detection sensor (17) can work normally and the suspension of the vehicle can work normally, it means that the amphibious vehicle meets the drivable state; If the water depth detection sensor (17) works abnormally or even does not work, the suspension of the amphibious vehicle works abnormally or even does not work, and the amphibious vehicle cannot automatically switch modes, if at least one of the three situations occurs, it means that the amphibious vehicle does not meet the drivable state.

8. The driving control method of an amphibious vehicle according to claim 2, characterized in that: Step S14 includes the following steps: Water depth thresholds, including a first depth threshold, a second depth threshold, and a third depth threshold; Comparing the water depth value with the first depth threshold, the second depth threshold, and the third depth threshold, comparing the slip rate of the tire (1) with the slip rate threshold, and comparing the suspension height with the suspension height threshold; According to step S12, it is determined that the amphibious vehicle is in the non-navigation mode. If the water depth is less than or equal to the first depth threshold, the vehicle switches to the normal mode; if the first depth threshold is less than or equal to the water depth and less than or equal to the second depth threshold, the vehicle switches to the shallow wading mode; if the second depth threshold is less than or equal to the water depth and less than or equal to the third depth threshold, the slip rate of at most three tires (1) exceeds the slip rate threshold, and the suspension height of at most three tires (1) exceeds the suspension height threshold, the vehicle switches to the deep wading mode; If the water depth is greater than the third depth threshold, the slip rate of the four tires (1) exceeds the slip rate threshold, and the suspension height of the four tires (1) exceeds the suspension height threshold, the vehicle switches to the navigation mode; According to step S12, it is determined that the amphibious vehicle is in the navigation mode. If the first depth threshold is less than the water depth and less than the third depth threshold, the slip rate of at most three tires (1) exceeds the slip rate threshold, and the suspension height of at most three tires (1) exceeds the suspension height threshold, the vehicle switches to the beaching mode; if the water depth is less than or equal to the first depth threshold, the vehicle self-checks and has no faults, the vehicle switches to the normal mode; If the water depth is less than or equal to the first depth threshold, the vehicle self-checks for a fault, and the vehicle switches to a post-navigation waiting mode. The power of the post-navigation waiting mode adopts a conventional power mode, the left water propeller (8) and the right water propeller (9) do not work, the height of the vehicle suspension is adjusted to the height of the conventional mode, the engine (11) stops running, and the air intake waterproof valve (12) and the exhaust waterproof valve (13) remain closed; after the vehicle is inspected and repaired to be fault-free and the fault code is eliminated, the vehicle switches to the conventional mode.

9. The driving control method of an amphibious vehicle according to claim 2, characterized in that: Step S15, satisfies the following formula: h1=h2-Lsin(α+β) Wherein, h1 is the height of the engine air intake (16) from the water surface; h2 is the height of the water depth detection sensor (17) from the water surface; L represents the straight-line distance between the water depth detection sensor (17) and the engine air intake (16) parallel to the plane formed by the X-axis and Z-axis of the vehicle body; α represents the angle between the straight line L and the X-axis direction (19) of the vehicle body; β represents the slope of the vehicle going downhill, and β is calculated by means of a gyroscope or the like; A height threshold of the height of the engine air inlet (16) from the water surface is set, and when h1 is less than the height threshold, the engine (11) stops running, and the air intake waterproof valve (12) and the exhaust waterproof valve (13) remain closed.

10. An amphibious vehicle driving control system, based on an amphibious vehicle driving control method according to any one of claims 2 to 9, characterized in that: include: A drivable state judgment module is used to judge whether the amphibious vehicle is in a drivable state; A non-navigation mode determination module, used to determine whether the amphibious vehicle is in a non-navigation mode; A threshold setting module measures the water depth, the slip rate of the tire (1), and the suspension height, and pre-sets the water depth threshold, the slip rate threshold, and the suspension height threshold; An intelligent mode switching module is used to compare the value of the water depth with the water depth threshold, the slip rate of the tire (1) with the slip rate threshold, and the suspension height with the suspension height threshold, and switch the appropriate mode according to the comparison result; The air intake waterproof valve (12) opening and closing module is used when the vehicle is traveling on a downhill section. The water depth value is corrected according to the downhill slope to determine whether to close the air intake waterproof valve (12) of the engine (11).

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