Novel amphibious widened unmanned vehicle (boat)

Abstract

The invention discloses a three-in-one amphibious unmanned vehicle (boat) overall framework which is composed of a vehicle body structure, a vehicle body adjusting system, an unmanned driving device and a control system of the unmanned driving device. A transverse adjusting part of the vehicle body width adjusting system is composed of a telescopic rod piece and a control and execution system, and the control and execution system is arranged in the middle body. The driving device and the control system thereof comprise driving hardware and control hardware and software. The running hardware covers a land running system and an underwater navigation system, and the land running hardware is provided with two sets of active crawler belts or rolling wheels at the front part and two driven wheels at the rear part; the driving wheel is composed of a motor and a rotating chain, and the motor and the rotating chain are located on a bottom plate frame in the side body. The underwater sailing hydrodynamic device adopts a water spraying or propeller propelling system at the tail section of the side body. The unmanned driving control software is distributed in the superstructure and the side body. The land running speed of the vehicle (boat) is 3-80 km / h, and the water running speed of the vehicle (boat) is 2-30 km / h.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned vehicles (boats), and particularly to an amphibious variable-width unmanned vehicle (boat). Background Art

[0002] With the continuous development of technology, the application scenarios of unmanned vehicles (boats) are becoming more and more extensive. In some complex geographical environments, such as areas with both land and water, ordinary unmanned vehicles (boats) cannot meet the traffic requirements, so amphibious unmanned vehicles (boats) have emerged as the times require.

[0003] However, the existing amphibious unmanned vehicle (boat) body structures are relatively single, their adaptability to driving or sailing environments is poor, and their configurations and design methods have not kept up with the development of current technology. For example: the width of its vehicle (boat) body is generally fixed. When driving on land, a wider vehicle (boat) body may be restricted by narrow channels, reducing its passability; while when sailing on water, a narrower vehicle body will affect the driving stability, reducing its comprehensive sailing performance and economy. Summary of the Invention

[0004] The purpose of the present invention is to provide an amphibious variable-width unmanned vehicle (boat), which can adjust the width of the vehicle (boat) body according to different driving environments (land or water), and improve the traffic capacity and stability of the unmanned vehicle (boat) in different environments.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows.

[0006] The overall framework of a three-body amphibious unmanned vehicle (boat) is composed of a vehicle (boat) body structure (2), a vehicle (boat) body adjustment system (3), and an unmanned driving device and its control system (4).

[0007] The vehicle (boat) body structure (2) is characterized in that: the lower part of the vehicle (boat) body structure (5) is composed of three equally spaced parallel slender bodies connected horizontally, and the overall superstructure (6) forms the vehicle (boat) body structure (2).

[0008] The left and right slender bodies (7) of the lower part of the vehicle (boat) body structure (5) have exactly the same shape and scale, and the outer shape of the middle slender body (8) is similar to or exactly the same as that of the left and right slender bodies (7).

[0009] Each slender body is composed of a head, a middle section, and a tail.

[0010] The middle section of the slender body is a cylinder, and the cross-sectional shape of the cylinder is a semi-ellipse (9-1), or a composite shape of a semi-circle and a rectangle (9-2), or a composite shape of a semi-ellipse and a rectangle (9-3), or an approximate semi-ellipse (9-4), or an approximate composite shape of a semi-circle and a rectangle (9-5), or an approximate composite shape of a semi-ellipse and a rectangle (9-6).

[0011] The first section of the slender body gradually decreases in two equal proportions from the above-mentioned middle section cross-sectional shape along the length direction forward, and the tail section gradually decreases in two equal proportions from the above-mentioned middle section cross-sectional shape along the length direction backward, and the reduction ratio is a compound quadratic function or an approximate quadratic function law.

[0012] The maximum length L of the slender body is 1.2-7.8 meters, the maximum width B is 0.08-0.12L, and the maximum height H is 0.12-0.26L.

[0013] The integral superstructure (6) is a rectangular parallelepiped (10-1), or a column with an isosceles trapezoidal cross section (10-2), or a column with a polygonal cross section (10-3), or a column approximately rectangular parallelepiped (10-4), or a column approximately with an isosceles trapezoidal cross section (10-5), or a column approximately with a polygonal cross section (10-6).

[0014] The maximum length Ls of the integral superstructure (6) is 0.9-1.02L, the maximum width Bs is 0.3-0.5L, and the maximum height Hs is 0.18-0.26L. The land speed is 3-80km / h, and the water speed is 2-30km.

[0015] The vehicle (boat) body transverse width adjustment system is composed of a telescopic rod (11) and a control and execution system (12), wherein the telescopic rod (11) dynamically connects the outer slender body and the middle slender body (8).

[0016] The telescopic rods (11) are three sets in total and are respectively arranged at the front, middle and rear positions of the top of the middle sections of the three slender bodies, with one end of the telescopic rods being fixed to the inner and outer walls of the outer side bodies and the other end being fixed to the middle side bodies.

[0017] The cross section of the telescopic member is rectangular or arcuate, with an aspect ratio of 3--5 and a maximum width Bss of 0.03--0.06L; the control and execution system is arranged in the middle body.

[0018] The driving device of the vehicle (boat) and its control system are characterized in that the driving hardware device and its control hardware and software system constitute the driving device of the unmanned vehicle (boat) and its control system.

[0019] The described driving hardware device includes a land driving and a water navigation system.

[0020] The land driving hardware device (13) mainly consists of two sets of active caterpillar tracks or rolling wheels at the front and two passive wheels at the rear.

[0021] The caterpillar track driving device is arranged at the head of the middle section of the outer body, with about half inside the middle section and about half sinking outside (in contact with the ground).

[0022] The roller is arranged at the tail of the middle section of the outer body, with about half inside the middle section and about half sinking outside (in contact with the ground).

[0023] The active caterpillar track or rolling wheel consists of a motor and a rotating chain connecting the motor to the caterpillar track driving wheel or rolling wheel. The motor and the connecting chain are arranged on the bottom plate frame inside the middle section or the head section of the side body.

[0024] The water navigation hydrodynamic device (14) can be two sets of water jet or propeller propulsion systems arranged at the tail section of the side body.

[0025] The unmanned driving (navigation) control software system is respectively arranged inside the superstructure and the side body.

[0026] The amphibious variable-width unmanned vehicle (boat) of the present invention can adjust the width of the vehicle (boat) body according to the driving environment and the type of goods carried through a width-changing mechanism. When the width is increased, the cargo hold capacity increases, the cargo volume is increased, and the economic benefit is improved.

[0027] When driving on land, reducing the width of the vehicle body enables it to easily pass through narrow passages, improving the passability of the unmanned vehicle on complex land terrains.

[0028] When driving on water, increasing the width of the vehicle (boat) body increases the stability of the unmanned vehicle (boat), reduces the risk of capsizing, improves safety, and also enhances the comprehensive navigation performance, thus further improving the economic efficiency. Specific implementation plan

[0029] The following describes the specific implementation manner of the present invention to facilitate those skilled in the art of this technology to understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific implementation manner. For those ordinary skilled in the art of this technology, as long as various changes are within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions created using the concept of the present invention are within the scope of protection.

[0030] As shown in Figures 1 and 2, the overall framework (1) of a three-body type amphibious unmanned vehicle (boat) consists of a vehicle (boat) body structure (2), a vehicle (boat) body adjustment system (3), and an unmanned driving device and its control system (4).

[0031] As shown in Figure 3, the vehicle body structure is composed of a lower part structure (5) of the vehicle (boat) formed by three equally spaced parallel slender bodies connected by transverse activities and an integral superstructure (6) fixed to the top of the middle part of the lower vehicle (boat) body.

[0032] As shown in Figure 3, the left and right slender bodies (7) of the lower part structure (5) of the vehicle (boat) body have exactly the same shape and size, and the outer shape of the middle slender body (8) is similar to or exactly the same as that of the left and right slender bodies (7).

[0033] As shown in Figures 7, 8, 9, 10, 11, and 12, each slender body is composed of a head, a middle section, and a tail section. The middle section is a cylinder, and the cross-sectional shape of the cylinder is a semicircle, or a semi-ellipse (9-1), or a composite shape of a semicircle and a rectangle (9-2), or a composite shape of a semi-ellipse and a rectangle (9-3), an approximate semicircle, or an approximate semi-ellipse (9-4), or a composite shape of an approximate semicircle and a rectangle (9-5), or a composite shape of an approximate semi-ellipse and a rectangle (9-6); the head section gradually shrinks in equal proportion according to two scales forward along the length direction from the cross-sectional shape of the middle section, and the tail section gradually shrinks in equal proportion according to two scales backward along the length direction from the cross-sectional shape of the middle section, and the shrinkage ratio conforms to the law of a quadratic function or an approximate quadratic function; the maximum length L of the slender body is 1.2 - 7.8 meters, its maximum width B is 0.08 - 0.12L, and its maximum height H is 0.12 - 0.26L; it provides multiple choices for engineering designers and is conducive to providing technical support for optimizing the best solution based on the actual application background.

[0034] As shown in Figures 3, 13, 14, and 15, the integral superstructure (6) is a cuboid (10-1), or a cylinder with an isosceles trapezoid cross-section (10-2), or a cylinder with a polygonal cross-section (10-3). Its maximum length Ls is 0.9 - 1.02L, its maximum width Bs is 0.3 - 0.5L, and its maximum height Hs is 0.18 - 0.26L. The land travel speed is 3 - 80 km / h, and the water navigation speed is 2 - 30 km.

[0035] As shown in FIGS. 3, 5 and 6, the lateral width adjustment system of the vehicle (boat) body consists of telescopic rod members (11) fixed to the upper part of the middle lower vehicle (boat) body and a control and execution system (12). The telescopic rod members (11) are dynamically connected to the outer slender body and the middle slender body (8). There are three sets in total, which are respectively arranged at the front, middle and rear positions at the top of the middle section of the three slender bodies. One end of each is fixed to the inner and outer walls of the outer body, and the other end is fixed to the inner side of the middle side body. The cross-section of the telescopic member is rectangular or arched, with an aspect ratio of 3 - 5, and the maximum width Bss is 0.03 - 0.06L. The control and execution system is arranged in the intermediate body.

[0036] As shown in FIG. 1, the driving device and its control system are composed of a driving hardware device and its control hardware and software system for the unmanned vehicle (boat) driving device and its control system.

[0037] As shown in FIG. 1, the driving hardware device includes a land driving and a water navigation system.

[0038] As shown in FIG. 1, the land driving hardware device (13) mainly consists of two sets of front active crawler type or rolling wheels and two rear passive wheels. The former is arranged at the head of the middle section of the outer body, with about half inside the middle section and about half sinking outside it (in contact with the ground). The latter is arranged at the tail of the middle section of the outer body, with about half inside the middle section and about half sinking outside it (in contact with the ground). The active crawler type or rolling wheels are composed of a motor and a rotating chain connecting the motor and the crawler drive wheel or rolling wheel. The motor and the connecting chain are arranged on the bottom plate frame inside the middle section or the head section of the side body.

[0039] As shown in FIG. 1, the water propulsion device (14) for water navigation can be two sets of water jet or propeller propulsion systems arranged at the tail section of the side body.

[0040] As shown in FIG. 1, the unmanned driving (navigation) control software system is respectively arranged inside the superstructure and the side body.

[0041] Although the specific implementation modes of the invention have been described in detail in conjunction with the attached drawings, it should not be construed as a limitation on the protection scope of this patent. Within the scope described in the claims, various modifications and deformations that can be made by those skilled in the art without creative labor still fall within the protection scope of this patent. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] FIG. 1 is a side view of a three - body type amphibious unmanned vehicle (boat) according to an embodiment of the present invention.

[0043] FIG. 2 is a top view of a three - body type amphibious unmanned vehicle (boat) according to an embodiment of the present invention.

[0044] Figure 3 is the front view of the three - body type amphibious unmanned vehicle (boat) according to the embodiment of the present invention.

[0045] Figure 4 is the rear view of the three - body type amphibious unmanned vehicle (boat) according to the embodiment of the present invention.

[0046] Figure 5 is the cross - section of the telescopic member (11) of the three - body type amphibious unmanned vehicle (boat) according to the embodiment of the present invention Figure 1 The cross - section of the telescopic member is rectangular.

[0047] Figure 6 is the cross - section of the telescopic member (11) of the three - body type amphibious unmanned vehicle (boat) according to the embodiment of the present invention Figure 2 The cross - section of the telescopic member is bow - shaped.

[0048] Figure 7 is the cross - section of the middle section of the slender body at the lower part of the three - body type amphibious unmanned vehicle (boat) according to the embodiment of the present invention Figure 1 Semi - ellipse (9 - 1).

[0049] Figure 8 is the cross - section of the middle section of the slender body at the lower part of the three - body type amphibious unmanned vehicle (boat) according to the embodiment of the present invention Figure 2 Compound shape of semi - circle and rectangle (9 - 2).

[0050] Figure 9 is the cross - section of the middle section of the slender body at the lower part of the three - body type amphibious unmanned vehicle (boat) according to the embodiment of the present invention Figure 3 Compound shape of semi - ellipse and rectangle (9 - 3).

[0051] Figure 10 is the cross - section of the middle section of the slender body at the lower part of the three - body type amphibious unmanned vehicle (boat) according to the embodiment of the present invention Figure 4 Approximate semi - ellipse (9 - 4).

[0052] Figure 11 is the cross - section of the middle section of the slender body at the lower part of the three - body type amphibious unmanned vehicle (boat) according to the embodiment of the present invention Figure 5 Approximate compound shape of semi - circle and rectangle (9 - 5).

[0053] Figure 12 is the cross - section of the middle section of the slender body at the lower part of the three - body type amphibious unmanned vehicle (boat) according to the embodiment of the present invention Figure 8 Approximate compound shape of semi - ellipse and rectangle (9 - 6).

[0054] Figure 13 is the cross - section of the integral superstructure (6) of the three - body type amphibious unmanned vehicle (boat) according to the embodiment of the present invention Figure 1 The integral superstructure (6) is a cuboid (10 - 1).

[0055] Figure 14 is the cross - section of the integral superstructure (6) of the three - body type amphibious unmanned vehicle (boat) according to the embodiment of the present invention Figure 2 A column with an isosceles trapezoid cross - section (10 - 2).

[0056] Figure 15 is a cross-section of the integral superstructure (6) of the three-body type amphibious unmanned vehicle (boat) according to an embodiment of the present invention. Figure 3 A column (10-3) with a polygonal cross-section.

Claims

1. A three-body amphibious unmanned vehicle (boat) overall structure (1) is composed of a vehicle (boat) body structure (2), a vehicle (boat) body adjustment system (3) and an unmanned driving device and its control system (4).

2. The body structure of a three-body type amphibious unmanned vehicle (boat), characterized in that: The vehicle (boat) body structure (2) is composed of three parallel slender bodies connected laterally at equal intervals to form a vehicle (boat) body lower structure (5) and an integral superstructure (6); the left and right slender bodies (7) of the vehicle (boat) body lower structure (5) are completely identical in shape and scale, and the middle slender body (8) is similar or completely identical in appearance to the left and right slender bodies (7); each slender body is composed of three sections: a head, a middle, and a tail; the middle section is a cylinder, and the cylinder is semi-elliptical (9-1), or a composite shape of a semicircle and a rectangle (9-2), or a composite shape of a semi-ellipse and a rectangle (9-3), or an approximate semi-elliptical (9-4), or an approximate composite shape of a semicircle and a rectangle (9-5), or an approximate composite shape of a semi-ellipse and a rectangle (9-6); the cross-sectional shape of the head section gradually decreases in proportion to the two scales along the length direction from the middle section, and the tail section decreases from the middle section to the middle section. The cross-sectional shape gradually decreases in proportion to the two scales in the longitudinal direction, and the reduction ratio complies with a quadratic function or a law approximating a quadratic function; the maximum length L of the slender body is 1.2-7.8 meters, the maximum width B is 0.08-0.12L, and the maximum height H is 0.12-0.26L; the integral superstructure (6) is a rectangular parallelepiped (10-1), or a column with an isosceles trapezoidal cross section (10-2), or a column with a polygonal cross section (10-3), or a nearly rectangular parallelepiped (10-4), or a column with an approximately isosceles trapezoidal cross section (10-5), or a column with an approximately polygonal cross section (10-6), the maximum length Ls is 0.9-1.02L, the maximum width Bs is 0.3-0.5L, and the maximum height Hs is 0.18-0.26L. The land speed is 3-80km / h, and the water speed is 2-30kn.

3. A vehicle (boat) body width adjustment system (3) for the overall framework of a three-body type amphibious unmanned vehicle (boat), characterized in that: The vehicle (boat) body transverse width adjustment system is composed of a telescopic rod (11) and a control and execution system (12). The telescopic rod (11) dynamically connects the outer slender body and the middle slender body (8). There are three sets of telescopic rods, which are respectively arranged at the top front, middle and rear positions of the middle sections of the three slender bodies. One end of the telescopic rod is fixed to the inner and outer walls of the outer body and the other end is fixed to the middle body. The cross section of the telescopic rod is rectangular or arched, and its aspect ratio is 3-5, and the maximum width Bss is 0.03-0.06L; the control and execution system is arranged in the middle body.

4. Traveling device and control system (4) of a three-body type amphibious unmanned vehicle (boat), characterized in that: The driving hardware device and its control hardware and software system constitute the unmanned vehicle (boat) driving device and its control system. It consists of a land travel and a water navigation system. The land travel hardware device (13) is mainly composed of two sets of active tracked or rolling wheels at the front and two passive wheels at the rear. The former are arranged at the head of the middle section of the outer body, with about half inside the middle section and about half sinking outside (in contact with the ground). The latter are arranged at the tail of the middle section of the outer body, with about half inside the middle section and about half sinking outside (in contact with the ground). The active tracked or rolling wheels are composed of a motor and a rotating chain connecting the motor to the tracked drive wheel or rolling wheel. The motor and the connecting chain are arranged on the bottom plate frame inside the middle section or the head section of the side body. The water propulsion device (14) for water navigation can be two sets of water jet or propeller propulsion systems arranged at the tail section of the side body. The unmanned travel (navigation) control software system is respectively arranged inside the superstructure and the side body.

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