Amphibious vehicle water auxiliary buoyancy and motion attitude control system and vehicle

Abstract

The application belongs to the technical field of amphibious vehicles, and particularly relates to an auxiliary buoyancy and motion posture control system for an amphibious vehicle in water and the vehicle, which comprises: a power and water flow distribution unit for generating and distributing high-pressure water flow; a virtual hydrofoil unit comprising two virtual hydrofoil generating devices, the two virtual hydrofoil generating devices being connected with the power and water flow distribution unit respectively, each virtual hydrofoil generating device being used for receiving the high-pressure water flow distributed by the power and water flow distribution unit and shaping the high-pressure water flow into a shape identical to that of a solid hydrofoil surface to form a virtual hydrofoil; and a control unit comprising two virtual hydrofoil control devices, the two virtual hydrofoil control devices being connected with the two virtual hydrofoil generating devices one by one respectively, each virtual hydrofoil control device being used for adjusting the attack angle and the sweepback angle of the virtual hydrofoil generated by the corresponding virtual hydrofoil generating device. The application can achieve a function similar to that of a solid hydrofoil by using a smaller structure.

Description

Technical Field

[0001] This invention belongs to the field of amphibious vehicle technology, specifically relating to an amphibious vehicle's water-assisted buoyancy and motion posture control system and vehicle. Background Technology

[0002] With the rapid development of modern technology and the continuous improvement of people's living standards, car users' demands for travel modes are becoming increasingly diversified, especially in terms of travel safety, which has reached an unprecedented level. Against this backdrop, the trend of multi-purpose development of civilian vehicles is becoming more and more obvious, meaning that vehicles not only need to be able to drive on land, but also should be able to pass through emergency situations in complex environments such as waterways.

[0003] Currently, the automotive industry has conducted preliminary explorations and practices to address this need, launching a series of civilian vehicles with basic amphibious capabilities. For example, some models have implemented emergency buoyancy control devices, utilizing components such as water spray pipes and pumps, to achieve this function after the vehicle falls into water. These devices can provide buoyancy to the vehicle in emergencies, helping it stay on the water's surface and thus increasing the chances of passenger survival.

[0004] Furthermore, the emergence of technologies such as vehicle controllers and buoyancy control systems has further enhanced the safety and stability of vehicles navigating waterways. These systems can identify the vehicle's buoyancy pattern and intelligently control it according to the actual situation, ensuring smooth vehicle movement in water.

[0005] However, while these technologies meet the basic requirements of civilian amphibious vehicles to some extent, many challenges remain in practical applications. The placement of large solid hydrofoils is a major obstacle due to the overall layout limitations of civilian amphibious vehicles. Solid hydrofoils, as an effective auxiliary buoyancy device, can significantly improve a vehicle's speed and stability in water. However, in civilian amphibious vehicles, limited space makes it difficult to install large solid hydrofoils, thus restricting their performance in water-crossing conditions.

[0006] Therefore, it is necessary to develop a new amphibious vehicle water-assisted buoyancy and motion attitude control system and vehicle. Summary of the Invention

[0007] The purpose of this invention is to provide an amphibious vehicle water-assisted buoyancy and motion attitude control system and vehicle, which can achieve functions similar to those of a solid hydrofoil with a smaller structure.

[0008] In a first aspect, the amphibious vehicle water-assisted buoyancy and motion attitude control system of the present invention includes: Power and water flow distribution unit, used to generate and distribute high-pressure water flow; The virtual hydrofoil unit includes two virtual hydrofoil generating devices, which are respectively connected to the power and water flow distribution unit. Each virtual hydrofoil generating device is used to receive the high-pressure water flow distributed by the power and water flow distribution unit and shape the high-pressure water flow into a shape equivalent to the surface of a physical hydrofoil to form a virtual hydrofoil. The control unit includes two virtual hydrofoil control devices, which are respectively connected to two virtual hydrofoil generating devices. Each virtual hydrofoil control device is used to adjust the angle of attack and sweep angle of the virtual hydrofoil generated by the corresponding virtual hydrofoil generating device.

[0009] Optionally, the power and water flow distribution unit includes: High-pressure water pumps are used to generate high-pressure water flow. The water supply pipeline connects the high-pressure water pump and the virtual hydrofoil generating device, distributing high-pressure water flow to the two virtual hydrofoil generating devices. The high-pressure water pump provides the core power source, and the water supply pipeline enables efficient water flow distribution. The dual lateral outlets ensure symmetrical water flow distribution to the two virtual hydrofoils, improving system balance.

[0010] Optionally, the high-pressure water pump includes a high-pressure water pump body, a bottom inlet located at the bottom of the high-pressure water pump body, and lateral outlets symmetrically arranged on the left and right sides of the high-pressure water pump body; the high-pressure water pump body draws water through the bottom inlet and outputs high-pressure water flow through the lateral outlets; the high-pressure water pump adopts shaftless pump technology, with an integrated impeller and rotor design to achieve structural miniaturization.

[0011] The water supply pipeline includes two water supply pipes, one end of which is connected to two corresponding lateral water outlets, and the other end of which is connected to two corresponding virtual hydrofoil generating devices. The lateral water outlet layout reduces water flow turning losses and improves pump efficiency. The symmetrical design ensures balanced water flow pressure on both sides of the virtual hydrofoils, avoids yaw moment, and improves navigation stability.

[0012] Optionally, the virtual hydrofoil generation device includes a water inlet pipe, an angle-of-attack adjustment gear, an inner guide shell, and an outer guide shell. A gap exists between the inner and outer guide shells to form a shaping cavity. This shaping cavity is connected to a power and water flow distribution unit via the water inlet pipe. The high-pressure water flow enters the shaping cavity through the water inlet pipe and is ejected at high speed according to the airfoil shape, forming a virtual hydrofoil. The shaping cavity formed by the gap between the inner and outer guide shells constrains the high-pressure water flow into a specific airfoil shape, simulating the hydrodynamic effects of a physical hydrofoil.

[0013] Optionally, a uniform gap is formed between the inner and outer flow guide shells to create the shaped cavity; The inlet end of the water inlet pipe is connected to the power and water flow distribution unit, and the outlet end of the water inlet pipe is provided with multiple circumferentially distributed diversion holes. The high-pressure water flow enters the shaping cavity through the diversion holes and is ejected at high speed according to the airfoil shape to form a virtual hydrofoil. The circumferentially distributed diversion hole design ensures uniform water flow, avoids local eddies, and improves the lift coefficient and propulsion efficiency of the virtual hydrofoil.

[0014] Optionally, the virtual hydrofoil control device includes a virtual hydrofoil control housing, an angle-of-attack control motor assembly, an angle-of-attack control gear, a connecting gear, a sweep angle control motor assembly, and a sweep angle control gear; The virtual hydrofoil control housing includes an angle-of-attack control housing and a sweep angle control housing; The angle of attack control gear and the angle of attack adjustment gear of the virtual hydrofoil generation device are both installed in the angle of attack control housing, and the angle of attack control gear and the angle of attack adjustment gear are meshed; the angle of attack control motor assembly is connected to the angle of attack control gear, and the angle of attack control motor assembly drives the angle of attack adjustment gear to rotate through the angle of attack control gear, so as to realize the adjustment of the angle of attack; The sweep angle control housing is mounted on the angle of attack control housing. Both the connecting gear and the sweep angle control gear are installed within the sweep angle control housing, and the connecting gear meshes with the sweep angle control gear. The sweep angle control motor assembly is connected to the sweep angle control gear. The sweep angle control motor assembly drives the angle of attack control housing to rotate via the sweep angle control gear and the connecting gear. Simultaneously, the rotation of the angle of attack control housing drives the virtual hydrofoil generating device to rotate, thereby adjusting the sweep angle. The angle of attack and sweep angle are adjusted through the cooperation of the motor assembly and the gear system.

[0015] Optionally, the virtual hydrofoil control device further includes a data acquisition module, a wireless signal receiving module, and an adaptive control module. The data acquisition module is connected to the wireless signal receiving module, the wireless signal receiving module is connected to the adaptive control module, and the adaptive control module is connected to the angle of attack control motor assembly and the sweep angle control motor assembly, respectively. The acquisition module is used to acquire the vehicle's attitude and speed information; The wireless signal receiving module is used to receive the attitude and speed information; The adaptive control module controls the rotation direction, speed, and time of the angle-of-attack control motor assembly and the sweep angle control motor assembly based on the attitude and speed information, thereby adjusting the angle of attack and sweep angle. The adaptive control module adjusts control parameters in a closed loop based on real-time sensor data (attitude, speed) to achieve dynamic optimal control. For example, it automatically reduces the angle of attack and increases the sweep angle during high-speed navigation, and increases the angle of attack and reduces the sweep angle during low-speed navigation.

[0016] Optionally, the acquisition module includes an attitude sensor and a speed sensor, wherein the attitude sensor is used to acquire the vehicle's attitude information; The speed sensor is used to collect the vehicle's speed information.

[0017] Optionally, the attitude sensor, adaptive control module, and wireless signal receiving module are all housed within the virtual hydrofoil control housing. The virtual hydrofoil control housing is waterproof, and housing the electronic components within it effectively extends their lifespan.

[0018] Secondly, the present invention provides a vehicle comprising a vehicle body and an amphibious vehicle water-assisted buoyancy and motion attitude control system as described in the present invention, wherein the amphibious vehicle water-assisted buoyancy and motion attitude control system is installed on the vehicle body to provide water-assisted buoyancy and motion attitude control for the vehicle.

[0019] The beneficial effects of this invention are: 1. This invention utilizes a specially designed virtual hydrofoil generation device to shape a surface equivalent to a physical hydrofoil using high-speed water flow, thereby achieving the equivalent function of a physical hydrofoil. This innovation not only overcomes the difficulty of installing large physical hydrofoils on traditional civilian amphibious vehicles, but also significantly improves the vehicle's auxiliary buoyancy and navigation performance in water.

[0020] 2. The power and water flow distribution unit in this invention includes a high-pressure water pump and a water supply pipeline, which can efficiently generate and distribute high-pressure water flow to two virtual hydrofoil generating devices. Through the design of the water inlet pipe and the diversion hole, the high-pressure water flow is uniformly introduced into the shaping cavity and sprayed at high speed according to the shape of the airfoil, forming a stable and efficient virtual hydrofoil.

[0021] 3. This invention enables precise adjustment of the angle of attack and sweep angle of the virtual hydrofoil through a virtual hydrofoil control device. This adjustment not only achieves motion attitude control of the vehicle when navigating in water, but also allows the vehicle to turn more flexibly, improving the stability and safety of water navigation.

[0022] 4. This invention combines a data acquisition module, a wireless signal receiving module, and an adaptive control module to collect vehicle attitude and speed information in real time, and intelligently adjust the angle of attack and sweep angle of the virtual hydrofoil based on this information. This adaptive control strategy enables the vehicle to automatically adjust its navigation attitude according to changes in the aquatic environment, further optimizing its navigation performance.

[0023] 5. The implementation of this invention significantly improves the water mobility of civilian amphibious vehicles. By providing additional auxiliary buoyancy and flexible motion attitude control, the vehicle can navigate more stably and efficiently in complex aquatic environments, meeting the needs of modern car users for diversified travel modes and safety. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the amphibious vehicle's water-assisted buoyancy and motion attitude control system as described in the embodiments of this application; Figure 2 This is a schematic diagram of the high-pressure water pump described in the embodiments of this application; Figure 3 This is a schematic diagram of the virtual hydrofoil generation device described in the embodiments of this application; Figure 4 This is a schematic diagram of the external structure of the virtual hydrofoil control device described in the embodiments of this application; Figure 5 This is a schematic diagram of the internal structure of the virtual hydrofoil control device described in the embodiments of this application; Figure 6 This is a schematic diagram of the control section in an embodiment of this application; In the diagram: 1. High-pressure water pump; 1-1. Bottom inlet; 1-2. High-pressure water pump body; 1-3. Side outlet; 1-4. First mounting structure; 2. Water supply pipeline; 3. Virtual hydrofoil generation device; 3-1. Inlet pipe; 3-2. Diverter hole; 3-3. Angle of attack adjustment gear; 3-4. Outer guide shell; 4. Virtual hydrofoil control device; 4-1. Angle of attack control housing; 4-2. Angle of attack control motor assembly; 4-3. Angle of attack control gear; 4-4. Sweep angle control housing; 4-5. Connecting gear; 4-6. Sweep angle control motor assembly; 4-7. Sweep angle control gear; 4-8. Second mounting structure; 5. Acquisition module; 6. Wireless signal receiving module; 7. Adaptive control module. Detailed Implementation

[0025] The embodiments of the present invention will be described below with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention and not for limiting the scope of protection of the present invention.

[0026] like Figure 1As shown in this embodiment, an amphibious vehicle water-assisted buoyancy and motion attitude control system includes a power and water flow distribution unit, a virtual hydrofoil unit, and a control unit. The power and water flow distribution unit generates and distributes high-pressure water flow. The virtual hydrofoil unit includes two virtual hydrofoil generating devices 3, each connected to the power and water flow distribution unit. Each virtual hydrofoil generating device 3 receives the high-pressure water flow distributed by the power and water flow distribution unit and shapes the high-pressure water flow into a shape equivalent to the surface of a physical hydrofoil, forming a virtual hydrofoil. The control unit includes two virtual hydrofoil control devices 4, each connected to one of the two virtual hydrofoil generating devices 3. Each virtual hydrofoil control device 4 adjusts the angle of attack and sweep angle of the virtual hydrofoil generated by the corresponding virtual hydrofoil generating device 3.

[0027] like Figure 1 and Figure 2 As shown, in one possible embodiment, the power and water flow distribution unit includes a high-pressure water pump 1 and a water supply line 2. The high-pressure water pump 1 is used to generate a high-pressure water flow. The water supply line 2 is used to connect the high-pressure water pump 1 and the virtual hydrofoil generating devices 3, distributing the high-pressure water flow to the two virtual hydrofoil generating devices 3.

[0028] like Figure 2 As shown, in one possible embodiment, the high-pressure water pump 1 includes a high-pressure water pump body 1-2, a bottom inlet 1-1 located at the bottom of the high-pressure water pump body 1-2, and side outlets 1-3 symmetrically arranged on the left and right sides of the high-pressure water pump body 1-2. The high-pressure water pump employs shaftless pump technology, with an integrated impeller and rotor design to achieve a miniaturized structure. The high-pressure water pump body 1-2 draws water through the bottom inlet 1-1 and outputs high-pressure water flow through the side outlets 1-3. The water supply pipeline 2 includes two water supply pipes, one end of which is connected to each of the two side outlets 1-3, and the other end of which is connected to each of the two virtual hydrofoil generating devices 3. The high-pressure water pump body 1-2 draws water and generates high-pressure water flow through electric drive or other driving methods. After the high-pressure water pump 1 is started, it draws water through the bottom inlet 1-1 and outputs the high-pressure water flow generated by the high-pressure water pump body 1-2 through the side outlet 1-3. Then, it is input into the virtual hydrofoil generating device 3 through the water supply pipeline 2.

[0029] like Figure 2 As shown, in one possible embodiment, the high-pressure water pump 1 further includes a first mounting structure 1-4 disposed on the top of the high-pressure water pump body 1-2, and the high-pressure water pump 1 is connected to the vehicle body by bolts through the first mounting structure 1-4.

[0030] like Figure 3As shown, in one possible embodiment, the virtual hydrofoil generating device 3 has a water inlet pipe 3-1, an angle-of-attack adjustment gear 3-3, an inner guide shell, and an outer guide shell 3-4. The water inlet end of the water inlet pipe 3-1 is connected to the power and water flow distribution unit, specifically, the water inlet pipe 3-1 is connected to the water supply pipe on the corresponding side. There is a gap between the inner guide shell and the outer guide shell 3-4, forming a shaping cavity. The water outlet end of the water inlet pipe 3-1 passes through the angle-of-attack adjustment gear 3-3 and connects to the shaping cavity. High-pressure water flows through the water inlet pipe 3-1 into the shaping cavity and is sprayed at high speed according to the shape of the wing surface, forming a virtual hydrofoil. The virtual hydrofoil generating device 3 uses high-speed water flow to shape a shape equivalent to the wing surface of a solid hydrofoil, thereby realizing the equivalent function of a solid hydrofoil. This innovation not only overcomes the problem that traditional civilian amphibious vehicles are difficult to install large solid hydrofoils, but also significantly improves the vehicle's auxiliary buoyancy and navigation performance in water.

[0031] like Figure 3 As shown, in one possible embodiment, the inner flow guide shell (see...) Figure 3 The dotted line portion (in the diagram) and the outer guide shell 3-4 have a uniform gap, forming a shaped cavity. The inlet end of the water inlet pipe 3-1 is connected to the power and water flow distribution unit, and the outlet end of the water inlet pipe 3-1 is provided with multiple circumferentially distributed diversion holes 3-2. The high-pressure water flow generated by the high-pressure water pump 1 is input into the inlet pipe 3-1 of the virtual hydrofoil generating device 3 through the water supply pipe 2, and then introduced into the shaped cavity formed by the inner guide shell and the outer guide shell 3-4 through the diversion holes 3-2. It is then sprayed at high speed according to the shaped airfoil to form a virtual hydrofoil, so as to achieve the equivalent function of a physical hydrofoil and provide auxiliary buoyancy for the vehicle during navigation.

[0032] like Figure 4 and Figure 5As shown, in one possible embodiment, the virtual hydrofoil control device 4 includes a virtual hydrofoil control housing, an angle-of-attack control motor assembly 4-2, an angle-of-attack control gear 4-3, a connecting gear 4-5, a sweep angle control motor assembly 4-6, and a sweep angle control gear 4-7. The virtual hydrofoil control housing includes an angle-of-attack control housing 4-1 and a sweep angle control housing 4-4. The angle-of-attack control gear 4-3 and the angle-of-attack adjustment gear 3-3 of the virtual hydrofoil generating device 3 are both installed inside the angle-of-attack control housing 4-1, and the angle-of-attack control gear 4-3 meshes with the angle-of-attack adjustment gear 3-3. The angle-of-attack control motor assembly 4-2 is connected to the angle-of-attack control gear 4-3, and the angle-of-attack control motor assembly 4-2 provides torque to the angle-of-attack control gear 4-3, driving the angle-of-attack adjustment gear 3-3 to rotate, thereby adjusting the angle of attack of the virtual hydrofoil generating device 3. The sweep angle control housing 4-4 ​​is mounted on the angle of attack control housing 4-1, and the angle of attack control housing 4-1 can rotate relative to the sweep angle control housing 4-4. Both the connecting gear 4-5 and the sweep angle control gear 4-7 are mounted inside the sweep angle control housing 4-4, and the connecting gear 4-5 and the sweep angle control gear 4-7 mesh with each other. The lower part of the connecting gear 4-5 is welded to the angle of attack control housing 4-1. The sweep angle control motor assembly 4-6 provides torque to the sweep angle control gear 4-7, driving the connecting gear 4-5 to rotate. Simultaneously, the rotation of the connecting gear 4-5 drives the angle of attack control housing 4-1 to rotate, and the rotation of the angle of attack control housing 4-1 simultaneously drives the entire virtual hydrofoil generation device 3 to rotate, thereby adjusting the sweep angle.

[0033] In this embodiment, the virtual hydrofoil control device 4 adjusts the angle of attack and sweep angle of the virtual hydrofoil through motor drive and gear transmission, ensuring the vehicle's navigation stability under different hydrological conditions and maintaining the optimal sweep angle at different speeds. Furthermore, by differentially adjusting the sweep angles of the two virtual hydrofoils, the drag on both sides is made inconsistent, enabling the amphibious vehicle to turn while navigating in water.

[0034] like Figure 6As shown, in one possible embodiment, the virtual hydrofoil control device 4 further includes a data acquisition module 5, a wireless signal receiving module 6, and an adaptive control module 7. The data acquisition module 5 is connected to the wireless signal receiving module 6, the wireless signal receiving module 6 is connected to the adaptive control module 7, and the adaptive control module 7 is connected to the angle-of-attack control motor assembly 4-2 and the sweep angle control motor assembly 4-6, respectively. The data acquisition module 5 is used to acquire the vehicle's attitude and speed information. The wireless signal receiving module 6 is used to receive the vehicle's attitude and speed information. The adaptive control module 7 controls the rotation direction, rotation speed, and rotation time of the angle-of-attack control motor assembly 4-2 and the sweep angle control motor assembly 4-6 based on the attitude and speed information to adjust the angle of attack and sweep angle. This system integrates the data acquisition module 5, the adaptive control module 7, and the wireless signal receiving module 6, enabling adaptive intelligent control of the virtual hydrofoil and steering control of the vehicle during water navigation. The adaptive control module 7 adjusts the control parameters in a closed loop based on real-time sensor data (attitude, speed) to achieve dynamic optimal control. For example, when sailing at high speed, the angle of attack is automatically reduced and the sweep angle is increased; when sailing at low speed, the angle of attack is increased and the sweep angle is reduced.

[0035] In one possible embodiment, the acquisition module 5 includes an attitude sensor and a speed sensor, wherein the attitude sensor is used to acquire the vehicle's attitude information; and the speed sensor is used to acquire the vehicle's speed information.

[0036] In one possible embodiment, the attitude sensor, adaptive control module 7, and wireless signal receiving module 6 are all housed within the virtual hydrofoil control housing. The virtual hydrofoil control housing is waterproof, and housing the electronic components within it effectively extends their lifespan.

[0037] like Figure 4 As shown, in one possible embodiment, the top of the sweep angle control housing 4-4 ​​is provided with a second mounting structure 4-8 for providing a mounting point for the virtual hydrofoil control device 4, which is connected to a bolt on the vehicle body via the second mounting structure 4-8.

[0038] In this embodiment of the application, a vehicle includes a vehicle body and an amphibious vehicle water-assisted buoyancy and motion attitude control system as described in this embodiment of the application. The amphibious vehicle water-assisted buoyancy and motion attitude control system is installed on the vehicle body to provide water-assisted buoyancy and motion attitude control for the vehicle.

[0039] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A water-assisted buoyancy and motion attitude control system for an amphibious vehicle, characterized in that, include: Power and water flow distribution unit, used to generate and distribute high-pressure water flow; The virtual hydrofoil unit includes two virtual hydrofoil generating devices (3). The two virtual hydrofoil generating devices (3) are respectively connected to the power and water flow distribution unit. Each virtual hydrofoil generating device (3) is used to receive the high-pressure water flow distributed by the power and water flow distribution unit and shape the high-pressure water flow into a shape equivalent to the surface of a physical hydrofoil to form a virtual hydrofoil. The control unit includes two virtual hydrofoil control devices (4), which are respectively connected to two virtual hydrofoil generating devices (3). Each virtual hydrofoil control device (4) is used to adjust the angle of attack and sweep angle of the virtual hydrofoil generated by the corresponding virtual hydrofoil generating device (3). The virtual hydrofoil generating device (3) has an inlet pipe (3-1), an angle of attack adjustment gear (3-3), an inner guide shell and an outer guide shell (3-4). There is a gap between the inner guide shell and the outer guide shell (3-4) to form a shaping cavity. The shaping cavity is connected to the power and water flow distribution unit through the inlet pipe (3-1). The high-pressure water flow enters the shaping cavity through the inlet pipe (3-1) and is sprayed at high speed according to the shape of the airfoil to form a virtual hydrofoil.

2. The amphibious vehicle water-assisted buoyancy and motion attitude control system according to claim 1, characterized in that, The power and water flow distribution unit includes: High-pressure water pump (1) is used to generate high-pressure water flow; Water supply pipeline (2) is used to connect the high-pressure water pump (1) and the virtual hydrofoil generating device (3) to distribute high-pressure water flow to the two virtual hydrofoil generating devices (3).

3. The amphibious vehicle water-assisted buoyancy and motion attitude control system according to claim 2, characterized in that, The high-pressure water pump (1) includes a high-pressure water pump body (1-2), a bottom inlet (1-1) located at the bottom of the high-pressure water pump body (1-2), and side outlets (1-3) symmetrically arranged on the left and right sides of the high-pressure water pump body (1-2); the high-pressure water pump body (1-2) draws water through the bottom inlet (1-1) and outputs high-pressure water flow through the side outlets (1-3); The water supply pipeline (2) includes two water supply pipes. One end of each water supply pipe is connected to one of the two side outlets (1-3), and the other end of each water supply pipe is connected to one of the two virtual hydrofoil generating devices (3).

4. The amphibious vehicle water-assisted buoyancy and motion attitude control system according to claim 3, characterized in that, The inner guide shell and the outer guide shell (3-4) have a uniform gap to form the shaping cavity; The inlet end of the water inlet pipe (3-1) is connected to the power and water flow distribution unit. The outlet end of the water inlet pipe (3-1) is provided with multiple circumferentially distributed diversion holes (3-2). The high-pressure water flow enters the shaping cavity through the diversion holes (3-2) and is sprayed at high speed according to the shape of the wing surface to form a virtual hydrofoil.

5. The amphibious vehicle water-assisted buoyancy and motion attitude control system according to claim 3, characterized in that, The virtual hydrofoil control device (4) includes a virtual hydrofoil control housing, an angle-of-attack control motor assembly (4-2), an angle-of-attack control gear (4-3), a connecting gear (4-5), a sweep angle control motor assembly (4-6), and a sweep angle control gear (4-7). The virtual hydrofoil control housing includes an angle-of-attack control housing (4-1) and a sweep angle control housing (4-4). The angle of attack control gear (4-3) and the angle of attack adjustment gear (3-3) of the virtual hydrofoil generation device (3) are both installed in the angle of attack control housing (4-1), and the angle of attack control gear (4-3) meshes with the angle of attack adjustment gear (3-3); the angle of attack control motor assembly (4-2) is connected to the angle of attack control gear (4-3), and the angle of attack control motor assembly (4-2) drives the angle of attack adjustment gear (3-3) to rotate through the angle of attack control gear (4-3) to achieve the adjustment of the angle of attack; The sweep angle control housing (4-4) is mounted on the angle of attack control housing (4-1). The connecting gear (4-5) and the sweep angle control gear (4-7) are both mounted inside the sweep angle control housing (4-4), and the connecting gear (4-5) and the sweep angle control gear (4-7) mesh with each other. The sweep angle control motor assembly (4-6) is connected to the sweep angle control gear (4-7). The sweep angle control motor assembly (4-6) drives the angle of attack control housing (4-1) to rotate through the sweep angle control gear (4-7) and the connecting gear (4-5). When the angle of attack control housing (4-1) rotates, it drives the virtual hydrofoil generation device (3) to rotate, so as to realize the adjustment of the sweep angle.

6. The amphibious vehicle water-assisted buoyancy and motion attitude control system according to claim 5, characterized in that, The virtual hydrofoil control device (4) further includes a data acquisition module (5), a wireless signal receiving module (6), and an adaptive control module (7). The data acquisition module (5) is connected to the wireless signal receiving module (6), the wireless signal receiving module (6) is connected to the adaptive control module (7), and the adaptive control module (7) is connected to the angle of attack control motor assembly (4-2) and the sweep angle control motor assembly (4-6) respectively. The acquisition module (5) is used to acquire the vehicle's attitude and speed information; The wireless signal receiving module (6) is used to receive the attitude and speed information; The adaptive control module (7) controls the rotation direction, rotation speed and rotation time of the angle of attack control motor assembly (4-2) and the sweep angle control motor assembly (4-6) based on the attitude and speed information, so as to adjust the angle of attack and sweep angle.

7. The amphibious vehicle water-assisted buoyancy and motion attitude control system according to claim 6, characterized in that, The acquisition module (5) includes an attitude sensor and a speed sensor; the attitude sensor is used to acquire the vehicle's attitude information; the speed sensor is used to acquire the vehicle's speed information.

8. The amphibious vehicle water-assisted buoyancy and motion attitude control system according to claim 7, characterized in that, The attitude sensor, adaptive control module, and wireless signal receiving module are all housed within the virtual hydrofoil control housing.

9. A vehicle, characterized in that, The system includes a vehicle body and an amphibious vehicle water-assisted buoyancy and motion attitude control system as described in any one of claims 1 to 8. The amphibious vehicle water-assisted buoyancy and motion attitude control system is installed on the vehicle body to provide water-assisted buoyancy and motion attitude control for the vehicle.

Images