A manned waterjet vehicle for offshore personnel transfer and a control method thereof

Abstract

The application discloses a manned water-jet aircraft for offshore personnel transfer and a control method thereof, comprising a manned operating platform, a posture adjusting unit, an auxiliary mounting platform, a sensor unit, a water-jet unit, a control unit and a power supply unit, the auxiliary mounting platform is arranged below the manned operating platform, the posture adjusting unit is arranged between the manned operating platform and the auxiliary mounting platform, the top of the posture adjusting unit is movably connected with the bottom of the manned operating platform, the bottom of the posture adjusting unit is movably connected with the top of the auxiliary mounting platform, the posture adjusting unit is in communication connection with the control unit, the water-jet unit is arranged at the bottom of the auxiliary mounting platform and is in communication connection with the control unit, the sensor unit is arranged on the auxiliary mounting platform and is in communication connection with the control unit, the control unit is integrated on the manned operating platform, and the power supply unit is arranged on the manned operating platform. The application has the advantages of facilitating the fast operation of the carried personnel, requiring low physical quality of the carried personnel, and low cost.

Description

Technical Field

[0001] This invention relates to the technical field of offshore wind power operation and maintenance, and in particular to a manned water jet aircraft for personnel transfer at sea and its control method. Background Technology

[0002] The rapid development of offshore wind power projects and the increasing number of wind power and related energy facilities along the coast have placed higher demands on the daily operation and maintenance of these facilities. Due to the dense deployment of wind power equipment and its location in strong winds and high waves, large engineering transport vessels cannot directly dock and transport maintenance personnel to designated locations. Maintenance personnel can only access wind power operation platforms using small and medium-sized transport vessels via boarding bridges and cranes. However, these smaller vessels are prone to complex swaying due to environmental factors, and existing landing procedures are cumbersome, unable to flexibly adjust to water surface fluctuations, and lack convenient and reliable safety protection measures.

[0003] Most existing low-cost aircraft are designed for independent operation and lack manned capabilities; manned flying cars are currently only tested in terrestrial environments and have not yet been applied to marine scenarios; conventional wearable water jet aircraft are currently only used for commercial performances, and their high requirements for users' physical fitness and operational skills make them inconvenient for maintenance personnel to operate directly. Therefore, there is an urgent need to design a convenient landing method that is easy for maintenance personnel to quickly learn and has lower requirements for personnel's physical fitness. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a manned water jet aircraft for personnel transfer at sea and its control method, which has the advantages of being easy for personnel to learn quickly, having low requirements for the physical fitness of personnel, and being low in cost.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A manned water-jet aircraft for personnel transfer at sea includes a manned operating platform, an attitude adjustment unit, an auxiliary mounting platform, a sensor unit, a water-jet unit, a control unit, and a power supply unit. The manned operating platform carries personnel and receives their commands. The auxiliary mounting platform is located below the manned operating platform. The attitude adjustment unit is positioned between the manned operating platform and the auxiliary mounting platform, with its top movably connected to the bottom of the manned operating platform and its bottom movably connected to the top of the auxiliary mounting platform. It is also communicatively connected to the control unit and adjusts its attitude according to control commands from the control unit to maintain the manned operating platform in a dynamically horizontal position. The water-jet unit is located at the bottom of the auxiliary mounting platform and is communicatively connected to the control unit, adjusting its attitude according to control commands from the control unit. The system adjusts the water spray volume and direction, thereby regulating the overall flight altitude and direction. The sensor unit, mounted on the auxiliary installation platform and connected to the control unit, acquires the altitude and attitude information of the auxiliary installation platform. The control unit, integrated on the manned operation platform, receives commands and calculates the target angle required by the attitude adjustment unit based on the attitude information of the auxiliary installation platform and the current actual angle of the attitude adjustment unit. It then issues corresponding control commands to the attitude adjustment unit. Furthermore, it determines the required thrust based on the flight altitude, calculates the valve opening of the water spray unit using the thrust, adjusts the water spray volume, and issues corresponding control commands to the water spray unit. The power supply unit, located on the manned operation platform, provides power to the manned operation platform, attitude adjustment unit, water spray unit, and control unit.

[0007] Furthermore, the manned operation platform includes a support platform, a standing platform, an operating table, an auxiliary landing device, and a landing motor disposed on top of the support platform, and a first spherical hinge support, a pressure rod, and a hinge support disposed at the bottom of the support platform. The standing platform is located at the top center of the support platform, and the operating table and the auxiliary landing device are respectively located on the front and rear sides of the standing platform. The top of the operating table is equipped with a control device for controlling the movement of the entire machine, and the control unit is integrated inside the control device. The bottom of the auxiliary landing device is hinged to the support platform, and the landing motor is communicatively connected to the control unit and the auxiliary landing device. The landing device is driven by a landing motor to switch between a horizontal and vertical position. When the auxiliary landing device is in a horizontal position, it is connected to a fixed pile on the transport ship via a clamping mechanism. Then, the personnel are moved from the transport ship to the standing platform via the auxiliary landing device. The first spherical hinge support is located at the bottom center of the support platform. One end of the pressure rod is connected to the first spherical hinge support via a spherical hinge, and the other end extends downward to connect to the auxiliary installation platform. There are four hinge supports, which are evenly spaced along the circumference of the bottom of the support platform and are used to connect the attitude adjustment unit.

[0008] Furthermore, the attitude adjustment unit includes an attitude adjustment main arm, a main arm motor, three adjustment rod assemblies, four connecting shaft parts, and four attitude adjustment motors. The outer circumference of the auxiliary mounting platform is evenly distributed with four motor slots. The four attitude adjustment motors are respectively installed inside the four motor slots and are communicatively connected to the control unit. The output shafts of the four attitude adjustment motors are respectively connected to the bottom ends of the four connecting shaft parts via splines. The top ends of the attitude adjustment main arm and the three adjustment rod assemblies are respectively connected to the four hinged supports of the manned operating platform. The bottom end of the attitude adjustment main arm is provided with a first motor mounting position for installing the main arm motor. The main arm motor is installed inside the first motor mounting position and is communicatively connected to the control unit. The output shaft of the main arm motor engages with a spline hole at the top end of one of the connecting shaft parts via a spline. The connection is achieved by rotating the connecting shaft parts via the main arm motor, thereby adjusting the angle of the main arm. The bottom ends of the three adjusting rod assemblies are respectively hinged to the top ends of the other three connecting shaft parts. Each adjusting rod assembly includes a type I rod, a type II rod, and a rod motor. The bottom end of the type II rod is hinged to the top end of the corresponding connecting shaft part, and its top end is provided with a second motor mounting position for mounting the rod motor. The rod motor is installed inside the second motor mounting position and communicates with the control unit. The output shaft of the rod motor is connected to the spline hole at the bottom end of the type I rod through a spline. The top end of the type I rod is hinged to the hinge support of the manned operating platform. The type I rod is rotated by the rod motor, thereby adjusting the included angle between the type II rod and the type I rod. The central axes of the spline holes at the bottom and top ends of the connecting shaft parts are perpendicular to each other.

[0009] Furthermore, the sensor unit includes a height sensor for acquiring height information of the auxiliary installation platform and an attitude sensor for acquiring attitude information of the auxiliary installation platform.

[0010] Furthermore, the auxiliary installation platform includes a platform body, a second spherical hinge support, a sleeve, and support cylinders. The outer circumferential surface of the platform body has four motor slots evenly distributed for installing the attitude adjustment motor of the attitude adjustment unit. The second spherical hinge support is located at the top center of the platform body and is connected to the other end of the pressure rod of the manned operation platform via a spherical hinge. The sleeve is coaxially sleeved on the outside of the second spherical hinge support and the pressure rod, and damping material is provided between the sleeve and the pressure rod. There are four support cylinders, evenly spaced along the circumference of the bottom of the platform body, for installing the water spray unit. Each support cylinder is provided with a structural reinforcing rib between it and the platform body. The platform body has four steering motion guide slots evenly distributed along the circumference, wherein the extension directions of any two adjacent steering motion guide slots are perpendicular to each other.

[0011] Furthermore, the water spray unit includes a power spray pipe, a steering structure, a water valve control motor, a water flow regulator, a water pressure sensor, a five-way pipe, and a steering control motor. The water flow regulator is generally polygonal and annular, with four first through holes evenly distributed along its inner circumference and four flow regulating structures evenly distributed along its outer circumference. Each flow regulating structure has a second through hole on its outer end face, and each second through hole has a first groove structure for connecting the power spray pipe. The first and second through holes correspond one-to-one, and each first through hole is coaxially arranged with its corresponding second through hole. Each flow regulating structure has a water pressure sensor inside for real-time monitoring of the water supply pressure. The sensor is communicatively connected to the control unit. Each valve in the flow regulation structure is connected to a water valve control motor for adjusting the water flow rate of the power water spray pipe. The water valve control motor is communicatively connected to the control unit, and adjusts the valve opening via the water valve control motor, thereby controlling the water flow rate of the power water spray pipe. The five-way pipe includes a rigid five-way body and an inlet bend. The rigid five-way body includes one connection port and four outlet ports. The four outlet ports are connected one-to-one with four first through holes. A second groove structure for connecting the inlet bend is provided at the connection port. One end of the inlet bend is provided with a second protrusion structure that matches the second groove structure. The second protrusion structure and the second groove structure work together to achieve… The two are now movably connected. The other end of the water inlet bend is the water inlet and is connected to the external water supply hose of the marine transport ship. There are four power water jet pipes, which are arranged in a cross shape around the water flow regulator. The four power water jet pipes are movably connected to the four second through holes one-to-one. The power water jet pipe includes a rigid straight pipe structure and a rigid bend pipe structure. One end of the rigid straight pipe structure is provided with a first protrusion structure, which is movably connected to a first groove structure. The other end of the rigid straight pipe structure is connected to one end of the rigid bend pipe structure. The other end of the rigid bend pipe structure is the water jet nozzle, which is bent downwards. There are four steering control motors, which are evenly spaced circumferentially. The components are evenly distributed on the top of the auxiliary installation platform and located inside the four steering motion guide slots of the auxiliary installation platform. Each rigid straight pipe structure is connected to a steering component. The four steering components correspond one-to-one with the four steering motion guide slots and the four steering control motors. Each steering component extends upward and passes through the corresponding steering motion guide slot, and then connects with the slider structure of the control arm of the corresponding steering control motor. Each steering component is provided with a guide slot for the slider structure to move up and down. The steering control motor is communicatively connected to the control unit. The steering control motor drives the steering component to rotate the power water spray pipe, thereby adjusting the spray direction of the power water spray pipe.

[0012] Furthermore, based on the attitude information of the auxiliary installation platform and the current actual angle of the attitude adjustment unit, the target angle required by the attitude adjustment unit is calculated, as follows:

[0013] When the auxiliary installation platform is in a pitch position, obtain the planar pitch angle of the auxiliary installation platform. And obtain the current actual angle of the main arm motor of the attitude adjustment unit. and the current actual angle of the rod motor ;

[0014] Based on the plane pitch angle The current actual angle of the main arm motor and the current actual angle of the rod motor The formula for determining whether the current attitude of the manned operation platform is horizontal is as follows:

[0015] ;

[0016] If the left and right sides of the judgment formula are equal, it means that the manned operation platform is in a horizontal state in the pitch direction, thus maintaining the current angle of the main arm motor and the rod motor;

[0017] If the left and right sides of the judgment formula are not equal, it indicates that the manned operating platform has not reached a horizontal state in the pitch direction. Therefore, based on the kinematic relationship model and combined with the planar pitch angle of the auxiliary installation platform, the target angle required by the attitude adjustment unit is calculated, which is the target angle of the main arm motor. and the target angle of the rod motor ;

[0018] The kinematic relationship model is as follows:

[0019] ;

[0020] in, , , These are the lengths of the main attitude adjustment arm, Class I rods, and Class II rods of the attitude adjustment unit, respectively. This refers to the distance between the attitude adjustment main arm and Class I rods of the attitude adjustment unit and the hinged support of the manned operation platform. The distance between the main attitude adjustment arm and Class II rod of the attitude adjustment unit and the hinge point of the auxiliary installation platform; To assist in adjusting the pitch angle of the installation platform; The initial installation angle for attitude adjustment of the main arm and auxiliary installation platform. The initial installation angle between the Type I and Type II links of the attitude adjustment unit;

[0021] Next, the control unit controls the main arm motor and the rod motor to rotate to the corresponding target angle, thereby adjusting the manned operation platform to a horizontal state;

[0022] The control unit then obtains the actual angles of the main arm motor and the link motor after adjustment, and inputs the actual angles back into the kinematic relationship model to form a complete pitch attitude control closed loop, continuously maintaining the horizontal state of the manned operating platform.

[0023] Furthermore, based on the attitude information of the auxiliary installation platform and the current actual angle of the attitude adjustment unit, the target angle required by the attitude adjustment unit is calculated, as follows:

[0024] When the auxiliary installation platform is in a roll position, obtain the angle of rotation of the auxiliary installation platform in the roll direction. And obtain the current actual angle of the attitude adjustment motor of the main arm motor closest to the attitude adjustment unit. ;

[0025] According to the angle of the roll direction and from the current practical perspective Determine whether the current attitude of the manned operation platform is horizontal;

[0026] If the current actual angle Negative values ​​and the angle of rotation in the roll direction If they are equal, it means that the manned operating platform is in a horizontal position, and thus the angle of the current attitude adjustment motor is maintained.

[0027] If the current actual angle Negative values ​​and the angle of rotation in the roll direction If they are not equal, it means that the manned operating platform has not reached a horizontal state, and the target angle required by the attitude adjustment unit will be output, which is the target angle of the attitude adjustment motor. , ;

[0028] Next, the control unit controls the attitude adjustment motor closest to the main arm motor to rotate to the corresponding target angle, thereby adjusting the manned operation platform to a horizontal state.

[0029] The control unit then obtains the actual angle of the attitude adjustment motor closest to the main arm motor after adjustment, and judges whether the current attitude of the manned operation platform is horizontal based on the actual angle, forming a complete roll attitude control closed loop to continuously maintain the horizontal state of the manned operation platform.

[0030] Furthermore, the required thrust is determined based on the flight altitude, and then the valve opening of the water spray unit is calculated based on the thrust to adjust the water spray volume, as follows:

[0031] The waterjet aircraft initializes by calibrating the sensor units, acquiring the actual altitude at the time of calibration, and locking it to the initial altitude. This serves as a benchmark for subsequent dynamic stability.

[0032] After initialization is complete, the control unit collects the commands from the passengers in real time and enters the command judgment stage;

[0033] If there is an ascending or descending command, the acceleration will be adjusted according to the preset value. The thrust of the power spray pipe of the water spray unit is calculated as follows:

[0034] ;

[0035] in, For the first water spray unit The thrust of each power water jet pipe, The total mass of the waterjet aircraft when it is carrying a person. It is the acceleration due to gravity;

[0036] Obtain the water supply pressure of the power spray pipe Based on the thrust of the power water jet pipe and water supply pressure The valve opening of the flow regulation structure of each power water spray unit is calculated based on fluid dynamics formulas, as shown in the following formula:

[0037] ;

[0038] in, The cross-sectional area of ​​the water jet nozzle of the power water jet pipe. For the first The valve opening of the flow regulation structure corresponding to each power water spray pipe;

[0039] The control unit controls the water valve of the water spray unit to rotate the motor, thereby adjusting the valve opening of the flow regulation structure of the water spray unit, thus changing the thrust of the power water spray pipe, and ultimately achieving the adjustment of flight altitude;

[0040] If there are no ascending or descending commands, the system will enter the altitude maintenance phase to obtain the current actual altitude. And calculate the current actual height. With locked height height difference As shown in the following formula:

[0041] ;

[0042] Among them, the locked height The height is the value at the moment the previous command ended. If no ascending or descending command was executed beforehand, the height is locked. equal to initial height ;

[0043] Based on height difference Calculate target acceleration and achieve the target acceleration. The settings are as follows:

[0044] ;

[0045] in, Preset time parameters;

[0046] Based on the target acceleration The thrust required for the water jet unit's power jet hose to maintain the current altitude is calculated as follows:

[0047] ;

[0048] in, For the first water spray unit The power jet nozzles provide the thrust required to maintain the current altitude;

[0049] Obtain the water supply pressure of the power spray pipe Based on the thrust required by the power jet to maintain the current altitude. and water supply pressure The valve opening of the flow regulation structure of each power water spray unit is calculated based on fluid dynamics formulas, as shown in the following formula:

[0050] ;

[0051] in, The cross-sectional area of ​​the water jet nozzle of the power water jet pipe. For the first The valve opening of the flow regulation structure corresponding to each power water spray pipe;

[0052] The control unit controls the water valve of the water spray unit to rotate the motor, which in turn adjusts the valve opening of the flow regulation structure of the water spray unit, thereby changing the thrust of the power water spray pipe and ultimately maintaining the flight altitude.

[0053] A control method for a manned waterjet aircraft used for personnel transfer at sea includes a start-up mode, a detachment from a fixed stake mode, a movement to a target location mode, and a shutdown mode.

[0054] The startup modes are as follows:

[0055] The auxiliary landing device of the user operation platform is in a flat position when it is not in use, and the auxiliary landing device is connected to the fixed pile on the sea transport ship. The water jet aircraft is attached to the sea surface next to the sea transport ship.

[0056] The water jet unit is connected to the external water supply hose on the ocean transport ship, and the personnel are moved from the ocean transport ship to the manned operation platform through the auxiliary landing device.

[0057] The personnel send a start command to the control unit through the manned operation platform. The control unit then controls the water spray unit to be in an initial vertical downward position, and at the same time controls the attitude adjustment unit to make the manned operation platform in an initial horizontal state.

[0058] The situations where the fixed pile mode is disengaged are as follows:

[0059] Water is supplied to the water jet unit by a sea transport ship to ensure that the water jet aircraft remains balanced;

[0060] The personnel send a command to the control unit to detach from the fixed pile through the manned operation platform. The control unit then controls the auxiliary landing device to detach from the fixed pile. At the same time, the control unit determines the required thrust based on the flight altitude, and then calculates the valve opening of the water spray unit based on the thrust to adjust the water spray volume, thereby raising the flight altitude of the water spray aircraft.

[0061] After the water jet aircraft rises away from the fixed pile, it hovers dynamically at the preset height. The control unit controls the auxiliary landing device to switch to a vertical state, thus completing the detachment from the maritime transport ship.

[0062] The movement to the target location mode is as follows:

[0063] The personnel send ascent or descent commands to the control unit through the manned operation platform. The control unit determines the required thrust based on the flight altitude, then calculates the valve opening of the water spray unit based on the thrust, and then adjusts the valve opening of the water spray unit to increase or decrease the water spray volume, thereby raising or lowering the flight altitude of the water spray aircraft.

[0064] The personnel on the transport vehicle send forward, backward, clockwise, or counterclockwise rotation commands to the control unit through the manned operation platform. The control unit then adjusts the water spray direction of the water spray unit and adjusts the water spray volume to generate forward thrust, backward thrust, clockwise rotation torque, or counterclockwise rotation torque while balancing gravity. This causes the water spray aircraft to move forward, backward, or rotate clockwise or counterclockwise in the horizontal plane.

[0065] The shutdown mode is as follows:

[0066] After the water jet aircraft approaches the fixed pile at the target location, the personnel on the transport vehicle send a docking command to the control unit through the manned operation platform. The control unit then controls the auxiliary landing device to switch to a flat position, thereby aligning the clamping mechanism of the auxiliary landing device with the fixed pile and clamping it, thus completing the connection between the auxiliary landing device and the fixed pile.

[0067] Next, the power supply unit is shut down, the water jet aircraft stops, and the personnel are moved from the manned operation platform to the work platform via the auxiliary landing device. The water supply from the external water supply hose is then turned off, completing the shutdown process.

[0068] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0069] 1. With the water jet aircraft of this invention, the personnel can quickly get started without long-term balance training, and can accurately control the aircraft to perform flight actions according to the specified trajectory according to the actual movement needs, thus achieving a unity of ease of operation and precision of action.

[0070] 2. This invention acquires the altitude and attitude information of the aircraft, calculates and outputs execution commands through the control unit, controls each motor to drive the corresponding actuators to move, and adjusts the positional relationship between each actuator. During flight, it realizes functions such as stable landing connection, ascent, descent, hovering, turning and forward and backward, and enables the platform to always maintain a relatively stable horizontal state. It effectively overcomes the discomfort caused by the turbulence and complex movements caused by the combined action of wind and water flow when using equipment such as boarding bridges and cranes.

[0071] Furthermore, this invention features a flexible structure and lightweight design. The control unit adjusts the posture by regulating various actuators, significantly improving transport efficiency. The system's structural modules are highly replaceable, resulting in low modification costs for the login platform and convenient maintenance. Attached Figure Description

[0072] Figure 1 This is a schematic diagram of the overall structure of the water jet aircraft of the present invention.

[0073] Figure 2 This is one of the structural schematic diagrams of the manned operation platform of the present invention.

[0074] Figure 3 This is the second schematic diagram of the manned operation platform of the present invention.

[0075] Figure 4 This is one of the structural schematic diagrams of the attitude adjustment unit and auxiliary installation platform of the present invention.

[0076] Figure 5 This is the second schematic diagram of the posture adjustment unit and auxiliary installation platform of the present invention.

[0077] Figure 6 This is a three-dimensional schematic diagram of the water spray unit of the present invention.

[0078] Figure 7 This is a bottom view of the water spray unit of the present invention.

[0079] Figure 8 This is a schematic diagram of the structure of the power water spray pipe of the present invention.

[0080] Figure 9 This is a schematic diagram of the water flow regulator of the present invention.

[0081] Figure 10 This is a schematic diagram of the structure of the five-way pipe of the present invention.

[0082] Figure 11 This is a schematic diagram of the water jet aircraft of the present invention in the pitch leveling state.

[0083] Figure 12 This is a structural schematic diagram of the water jet aircraft of the present invention in translational motion.

[0084] Figure 13 This is a structural schematic diagram of the water jet aircraft of the present invention in its rotational motion state.

[0085] Figure 14 This is a control logic diagram for maintaining the dynamic level of the manned platform in the water jet aircraft of the present invention.

[0086] Figure 15 This is the control logic diagram for the water jet propulsion of the water jet aircraft of the present invention.

[0087] The attached diagram lists the components represented by each number as follows:

[0088] 1-Manned operating platform, 2-Attitude adjustment unit, 3-Auxiliary installation platform, 4-Water spray unit, 101-Bearing platform, 102-Standing platform, 103-Operating table, 104-Auxiliary landing device, 105-First spherical hinge support, 106-Pressure rod, 107-Hinge support, 201-Attitude adjustment main arm, 202-Class I rod, 203-Class II rod, 204-Connecting shaft parts, 205-Attitude adjustment motor, 301-Platform body, 302-Second spherical hinge support, 303-Sleeve, 3 04-Support cylinder, 3011-Steering motion guide groove, 401-Power water spray pipe, 402-Steering structural component, 403-Water valve control motor, 404-Water flow regulator, 405-Five-way pipe, 406-Steering control motor, 4011-Rigid straight pipe structure, 4012-Rigid bent pipe structure, 4013-First protrusion structure, 4041-First through hole, 4042-Flow regulation structure, 4043-Second through hole, 4044-First groove structure, 4051-Rigid five-way body, 4052-Water inlet bend. Detailed Implementation

[0089] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0090] like Figures 1 to 10 As shown, this embodiment provides a manned water jet aircraft for personnel transfer at sea, including a manned operating platform 1, an attitude adjustment unit 2, an auxiliary mounting platform 3, a sensor unit, a water jet unit 4, a control unit, and a power supply unit. The manned operating platform 1 carries personnel and receives their commands. The auxiliary mounting platform 3 is located below the manned operating platform 1. The attitude adjustment unit 2 is located between the manned operating platform 1 and the auxiliary mounting platform 3, with its top movably connected to the bottom of the manned operating platform 1 and its bottom movably connected to the top of the auxiliary mounting platform 3. It is also communicatively connected to the control unit and adjusts its attitude according to the control commands from the control unit to keep the manned operating platform 1 dynamically level. The water jet unit 4 is located at the bottom of the auxiliary mounting platform 3 and is communicatively connected to the control unit. The control commands adjust the water spray volume and direction, thereby adjusting the overall flight altitude and direction of the aircraft. The sensor unit is mounted on the auxiliary installation platform 3 and communicates with the control unit to acquire the altitude and attitude information of the auxiliary installation platform 3. The control unit is integrated on the manned operation platform 1 to receive commands and calculate the target angle required by the attitude adjustment unit 2 based on the attitude information of the auxiliary installation platform 3 and the current actual angle of the attitude adjustment unit 2. Then, it sends corresponding control commands to the attitude adjustment unit 2. It also determines the required thrust based on the flight altitude, calculates the valve opening of the water spray unit 4 based on the thrust, adjusts the water spray volume, and sends corresponding control commands to the water spray unit 4. The power supply unit is mounted on the manned operation platform 1 to supply power to the manned operation platform 1, the attitude adjustment unit 2, the water spray unit 4, and the control unit.

[0091] like Figures 2 to 3As shown, the manned operation platform 1 includes a support platform 101, a standing platform 102, an operating console 103, an auxiliary landing device 104, and a landing motor located on top of the support platform 101, and a first spherical hinge support 105, a pressure rod 106, and a hinge support 107 located at the bottom of the support platform 101. The standing platform 102 is located at the top center of the support platform 101. The operating console 103 and the auxiliary landing device 104 are located on the front and rear sides of the standing platform 102, respectively. The top of the operating console 103 is equipped with a control device for controlling the movement of the entire machine. The control device adopts an electronic steering wheel with integrated function buttons. It requires circuit design to convert the steering wheel angle information into electrical signals. Therefore, the electronic steering wheel has a steering angle sensor installed inside the rotor connected to the steering wheel to collect the actual steering wheel angle information. Its working principle is: a single-chip microcomputer is selected as the MCU to drive a 12V current to the coils wound around two semi-circular iron cores. The rotor is installed inside the two semi-circular iron cores. When the rotor rotates to different angles, the inductance of the two inductors changes. When the self-induced potential difference between the two coils changes, the MCU detects the voltage difference and converts it into angle information, which is then input as an electrical signal to the control unit. The control unit is integrated inside the operating device. The bottom of the auxiliary landing device 104 is hinged to the support platform 101. The landing motor is communicatively connected to the control unit and driven by the auxiliary landing device 104. The landing motor drives the auxiliary landing device 104 to switch between a flat or vertical state. When the auxiliary landing device 104 is in a flat state, it is connected to the fixed pile on the sea transport ship through the clamping mechanism on it. Then, the personnel are moved from the sea transport ship to the standing platform 102 through the auxiliary landing device 104. The first spherical hinge support 105 is located at the bottom center of the support platform 101. One end of the pressure rod 106 is connected to the first spherical hinge support 105 through a ball joint, and the other end extends downward to connect to the auxiliary installation platform 3. There are four hinge supports 107, which are evenly arranged at equal intervals along the circumference of the bottom of the support platform 101 and are used to connect the attitude adjustment unit 2.

[0092] like Figures 4 to 5As shown, the attitude adjustment unit 2 includes an attitude adjustment main arm 201, a main arm motor, three adjustment rod assemblies, four connecting shaft parts 204, and four attitude adjustment motors 205. The auxiliary mounting platform 3 has four motor slots evenly distributed on its outer circumference. The four attitude adjustment motors 205 are respectively installed inside the four motor slots and are communicatively connected to the control unit. The output shafts of the four attitude adjustment motors 205 are respectively connected to the bottom ends of the four connecting shaft parts 204 via splines. The top ends of the attitude adjustment main arm 201 and the three adjustment rod assemblies are respectively connected to the four hinge supports 107 of the manned operation platform 1. The bottom end of the attitude adjustment main arm 201 is provided with a first motor mounting position for installing the main arm motor. The main arm motor is installed inside the first motor mounting position and is communicatively connected to the control unit. The output shaft of the main arm motor is connected to the spline hole at the top end of one of the connecting shaft parts 204 via a spline. The lever arm motor drives the connecting shaft part 204 to rotate, thereby adjusting the angle of the main arm 201. The bottom ends of the three adjusting rod assemblies are respectively hinged to the top ends of the other three connecting shaft parts 204. Each adjusting rod assembly includes a type I rod 202, a type II rod 203, and a rod motor. The bottom end of the type II rod 203 is hinged to the top end of the corresponding connecting shaft part 204. Its top end is provided with a second motor mounting position for mounting the rod motor. The rod motor is installed inside the second motor mounting position and communicates with the control unit. The output shaft of the rod motor is connected to the spline hole at the bottom end of the type I rod 202 through a spline. The top end of the type I rod 202 is hinged to the hinge support 107 of the manned operating platform 1. The rod motor drives the type I rod 202 to rotate, thereby adjusting the included angle between the type II rod 203 and the type I rod 202. The central axes of the spline holes at the bottom and top ends of the connecting shaft parts 204 are perpendicular to each other.

[0093] The sensor unit includes a height sensor (using a TDK ICP-10125 sensor in this embodiment) for acquiring height information of the auxiliary installation platform 3 and an attitude sensor (using an MPU6050 six-axis sensor in this embodiment) for acquiring attitude information of the auxiliary installation platform 3.

[0094] The auxiliary installation platform 3 includes a platform body 301, a second spherical hinge support 302, a sleeve 303, and a support cylinder 304. The outer circumferential surface of the platform body 301 has four motor slots evenly distributed for mounting the attitude adjustment motor 205 of the attitude adjustment unit 2. The second spherical hinge support 302 is located at the top center of the platform body 301 and is connected to the other end of the pressure rod 106 of the manned operating platform 1 via a spherical hinge. The sleeve 303 is coaxially sleeved around the second spherical hinge support 302 and the pressure rod 106, and a damping material is provided between the sleeve 303 and the pressure rod 106. Elastic materials (e.g., springs) are used around the first spherical hinge support 105, the second spherical hinge support 302, the pressure rod 106, and the sleeve 303. By connecting the two platforms, a spring damping system can be formed to absorb load changes and vibrations between the two platforms caused by the movement of the mechanism. The kinetic energy is converted into elastic potential energy, and then into heat energy for dissipation, which can reduce most of the instability caused by vibration. There are four support cylinders 304, which are evenly spaced along the circumference of the bottom of the platform body 301 and are used to install the power water spray pipe 401. Each support cylinder 304 is provided with a structural reinforcing rib between itself and the platform body 301. Four steering motion guide grooves 3011 are evenly distributed along the circumference of the platform body 301. The extension directions of any two adjacent steering motion guide grooves 3011 are perpendicular to each other. The steering motion guide grooves 3011 restrict the movement of the steering structure 402 and prevent disengagement.

[0095] like Figures 6 to 10As shown, the water spray unit 4 includes a power water spray pipe 401, a steering structure 402, a water valve control motor 403, a water flow regulator 404, a water pressure sensor, a five-way pipe 405, and a steering control motor 406. The water flow regulator 404 is generally polygonal and annular. Its inner circumference has four first through holes 4041 evenly distributed along the circumference, and its outer circumference has four flow regulating structures 4042 evenly distributed along the circumference. Each flow regulating structure 4042 has a second through hole 4043 on its outer end face. Each second through hole 4043 has a first groove structure 4044 for connecting the power water spray pipe 401. The first through holes 4041 and second through holes 4043 correspond one-to-one, and each first through hole 4041 corresponds to a second through hole 4043. The flow regulation structure 4042 is coaxially configured with a water pressure sensor inside for real-time monitoring of the water supply pressure. The water pressure sensor is communicatively connected to the control unit. Each flow regulation structure 4042's valve is connected to a water valve control motor 403 for adjusting the water flow of the power spray pipe 401. The water valve control motor 403 is communicatively connected to the control unit. Adjusting the valve opening via the water valve control motor 403 controls the water flow of the power spray pipe 401. When the valve of the flow regulation structure 4042 is aligned with the axis of the second through hole 4043, the water flow reaches its maximum. As the valve continues to rotate, the water flow gradually decreases. When the valve is perpendicular to the axis of the second through hole 4043, the water flow reaches its minimum. The five-way pipe 405 includes a rigid five-way body 4051 and an inlet bend 4052. The rigid five-way body 4051 includes a connection port and four outlets. The four outlets are connected to four first through holes 4041 one-to-one. The connection port is provided with a second groove structure for connecting the inlet bend 4052. One end of the inlet bend 4052 is provided with a second protrusion structure that matches the second groove structure. The two are movably connected through the cooperation of the second protrusion structure and the second groove structure. The other end of the inlet bend 4052 is a water inlet and is connected to the external water supply hose of the marine transport ship. There are four power water jet pipes 401, which are arranged in a cross shape around the water flow regulator 404. 401 is movably connected to four second through holes 4043 respectively. The power water spray pipe 401 includes a rigid straight pipe structure 4011 and a rigid bent pipe structure 4012. One end of the rigid straight pipe structure 4011 is provided with a first protrusion structure 4013, which is movably connected to a first groove structure 4044. The other end of the rigid straight pipe structure 4011 is connected to one end of the rigid bent pipe structure 4012. The other end of the rigid bent pipe structure 4012 is a water spray nozzle and is bent downwards. Four steering control motors 406 are evenly distributed circumferentially on the top of the auxiliary mounting platform 3 and are located inside the four steering motion guide grooves 3011 of the auxiliary mounting platform 3.Each rigid straight tube structure 4011 is connected to a steering structure component 402. The four steering structure components 402 correspond one-to-one with four steering motion guide grooves 3011 and four steering control motors 406. Each steering structure component 402 extends upward and passes through the corresponding steering motion guide groove 3011, then connects with the slider structure of the control arm of the corresponding steering control motor 406. Each steering structure component 402 is provided with a guide groove for the slider structure to move up and down. The steering control motor 406 is communicatively connected to the control unit. The steering control motor 406 drives the steering structure 402 to rotate the power water jet pipe 401. Then, the rotational motion of the steering control motor 406 controls the steering structure 402 to move left and right within the steering motion guide groove 3011. Simultaneously, the slider structure moves up and down within the guide groove, thereby causing the power water jet pipe 401 to rotate around the central axis of its rigid straight pipe structure 4011. Ultimately, this changes the water jet direction of the rigid curved pipe structure 4012. By changing the direction of the power water jet pipe 401, the water jet aircraft can achieve rotational and translational motion in the horizontal plane.

[0096] When the auxiliary installation platform 3 is in a pitch position, its motion process can be simplified as a planar five-bar linkage motion in the longitudinal section, such as... Figure 5 As shown, the control unit calculates the target angle required by the attitude adjustment unit 2 based on the attitude information of the auxiliary installation platform 3 and the current actual angle of the attitude adjustment unit 2, as follows:

[0097] S1.1 Obtain the planar pitch angle of the auxiliary installation platform 3 (i.e., the second plane). The initial planar attitude detection is completed; the current actual angle of the main arm motor (i.e., the first motor) of the attitude adjustment unit 2 is obtained. The current actual angle of the rod motor (i.e., the second motor) ;

[0098] S1.2, Based on the plane pitch angle The current actual angle of the main arm motor and the current actual angle of the rod motor The formula for determining whether the current attitude of the manned operation platform 1 (i.e., the first plane) is horizontal is as follows:

[0099] ;

[0100] If the left and right sides of the judgment formula are equal, it means that the manned operation platform 1 is in a horizontal state in the pitch direction, thereby maintaining the current angle of the main arm motor and the rod motor;

[0101] If the left and right sides of the judgment formula are not equal, it means that the manned operation platform 1 has not reached a horizontal state in the pitch direction. Then, based on the kinematic relationship model and combined with the planar pitch angle of the auxiliary installation platform 3, the target angle required by the attitude adjustment unit 2, that is, the target angle of the main arm motor, is calculated. and the target angle of the rod motor Clearly define the direction and range of motor adjustment;

[0102] The kinematic relationship model is as follows:

[0103] ;

[0104] in, , , These are the lengths of the attitude adjustment main arm 201, type I rod 202, and type II rod 203 of the attitude adjustment unit 2, respectively. The distance between the attitude adjustment main arm 201 and the Class I rod 202 of the attitude adjustment unit 2 and the hinged support 107 of the manned operation platform 1. The distance between the hinge point of the attitude adjustment main arm 201 and the Class II rod 203 of the attitude adjustment unit 2 and the auxiliary installation platform 3; To assist in adjusting the pitch angle of installation platform 3; The initial installation angle of the main arm 201 and the auxiliary installation platform 3 for attitude adjustment. The initial installation angle between type I rod 202 and type II rod 203 of attitude adjustment unit 2;

[0105] S1.3 Next, the control unit controls the main boom motor and the rod motor to rotate to the corresponding target angles, respectively. That is, the control unit calculates the angle error of the main boom motor through the "calculate angle error" module. Angular error of lever motor These two error values ​​are then input into the PID control adjustment loop to generate the corresponding motor drive control signal, thereby adjusting the manned operation platform 1 to a horizontal state;

[0106] S1.4 The control unit obtains the actual angles of the main arm motor and the rod motor after adjustment, and inputs the actual angles back into the kinematic relationship model to form a complete pitch attitude control closed loop, continuously maintaining the horizontal state of the manned operation platform 1.

[0107] When the auxiliary installation platform 3 is in a roll posture, the control unit calculates the target angle required by the attitude adjustment unit 2 based on the attitude information of the auxiliary installation platform 3 and the current actual angle of the attitude adjustment unit 2, as follows:

[0108] S2.1 Obtain the roll angle of the auxiliary installation platform 3. The initial detection of the planar roll attitude is completed; the current actual angle of the attitude adjustment motor 205 of the main arm motor closest to the attitude adjustment unit 2 is obtained. The initial angle of the attitude adjustment motor 205 is 0 when it is initially in a horizontal state;

[0109] S2.2, Angle based on the roll direction and from the current practical perspective Determine whether the current posture of the manned operation platform 1 is horizontal;

[0110] If the current actual angle Negative values ​​and the angle of rotation in the roll direction If they are equal, it means that the manned operating platform 1 is in a horizontal state, and thus maintains the current attitude adjustment motor 205 angle;

[0111] If the current actual angle Negative values ​​and the angle of rotation in the roll direction If they are not equal, it means that the manned operating platform 1 has not reached a horizontal state, and then the target angle required by the attitude adjustment unit 2 is output, that is, the target angle of the attitude adjustment motor 205. , ;

[0112] S2.3 Next, the control unit controls the attitude adjustment motor 205 closest to the main arm motor to rotate to the corresponding target angle. That is, the control unit calculates the angle error of the attitude adjustment motor 205 through the "calculate angle error" module. The angle error of the other three attitude adjustment motors 205 only needs to be multiplied by the corresponding proportional coefficient to achieve torque compensation. The error value is input into the PID control adjustment loop to generate the corresponding motor drive control signal, thereby adjusting the manned operation platform 1 to a horizontal state.

[0113] S2.4 The control unit obtains the actual angle of the attitude adjustment motor 205 closest to the main arm motor after adjustment, and judges whether the current attitude of the manned operation platform 1 is horizontal based on the actual angle, forming a complete roll attitude control closed loop, and continuously maintaining the horizontal state of the manned operation platform 1.

[0114] The control unit determines the required thrust based on the flight altitude, and then calculates the valve opening of the water spray unit 4 based on the thrust to adjust the water spray volume, as follows:

[0115] S3.1 Initialize the waterjet aircraft, calibrate the sensor unit, obtain the actual altitude at the time of calibration, and lock it as the initial altitude. This serves as a benchmark for subsequent dynamic stability.

[0116] S3.2 After initialization is completed, the control unit collects the instructions of the transported personnel in real time and enters the instruction judgment stage;

[0117] S3.3 If there is an ascent or descent command (i.e., the passenger operates the ascent button S1 or the descent button S2), then according to the preset acceleration... Calculate the thrust of the power spray pipe 401 of the water spray unit 4. In this embodiment, the preset acceleration for upward movement is +0.5 m / s². 2 The preset acceleration for descent is -0.5 m / s². 2 As shown in the following formula:

[0118] ;

[0119] in, For the fourth water spray unit The thrust of the 401 power water jet pipe, The total mass of the waterjet aircraft when it is carrying a person. It is the acceleration due to gravity;

[0120] Obtain the water supply pressure of the power water spray pipe 401 According to the thrust of the power water jet pipe 401 and water supply pressure The valve opening of the flow regulation structure 4042 corresponding to each power water spray pipe 401 is calculated based on fluid dynamics formulas, as shown in the following formula:

[0121] ;

[0122] in, The cross-sectional area of ​​the nozzle of the 401 power water spray pipe is... For the first The valve opening of the flow regulating structure 4042 corresponding to the power water spray pipe 401 is in the range of 0~1, where 0 is the valve closed and 1 is the valve fully open.

[0123] The control unit controls the water valve of the water spray unit 4 to rotate the motor 403, thereby adjusting the valve opening of the flow regulation structure 4042 of the water spray unit 4, thus changing the thrust of the power water spray pipe 401, and finally achieving the adjustment of the flight altitude.

[0124] S3.4 If there is no ascending or descending command, the system enters the altitude maintenance phase to obtain the current actual altitude. And calculate the current actual height. With locked height height difference As shown in the following formula:

[0125] ;

[0126] Among them, the locked height The height is the value at the moment the previous command ended. If no ascending or descending command was executed beforehand, the height is locked. equal to initial height ;

[0127] Based on height difference Calculate target acceleration and achieve the target acceleration. The settings are as follows:

[0128] ;

[0129] in, Preset time parameters;

[0130] Based on the target acceleration The thrust required for the power spray pipe 401 of the water spray unit 4 to maintain the current altitude is calculated as follows:

[0131] ;

[0132] in, For the fourth water spray unit One power water jet 401 provides the thrust required to maintain the current altitude;

[0133] Obtain the water supply pressure of the power water spray pipe 401 The thrust required to maintain the current altitude according to the power water jet pipe 401 and water supply pressure The valve opening of the flow regulation structure 4042 corresponding to each power water spray pipe 401 is calculated based on fluid dynamics formulas, as shown in the following formula:

[0134] ;

[0135] in, The cross-sectional area of ​​the nozzle of the 401 power water spray pipe is... For the first The valve opening of the flow regulating structure 4042 corresponding to the power water spray pipe 401 is in the range of 0~1, where 0 is the valve closed and 1 is the valve fully open.

[0136] The control unit controls the water valve of the water spray unit 4 to rotate the motor 403, thereby adjusting the valve opening of the flow regulation structure 4042 of the water spray unit 4, thus changing the thrust of the power water spray pipe 401, and ultimately maintaining the flight altitude.

[0137] like Figures 11 to 15As shown, this embodiment also provides a control method for a manned waterjet aircraft used for personnel transfer at sea, including a start-up mode, a detachment from a fixed stake mode, a movement to a target location mode, and a shutdown mode.

[0138] The startup modes are as follows:

[0139] The auxiliary landing device 104 of the user operation platform 1 is in a flat position when it is not in use, and the auxiliary landing device 104 is connected to the fixed pile on the sea transport ship. The water jet aircraft is attached to the sea surface next to the sea transport ship.

[0140] The water spray unit 4 is connected to the external water supply hose on the sea transport ship, and the personnel are moved from the sea transport ship to the manned operation platform 1 through the auxiliary landing device 104.

[0141] The personnel send a start command to the control unit through the manned operation platform 1. The control unit then controls the water spray unit 4 to be in the initial position of vertical downward, and at the same time controls the attitude adjustment unit 2 to make the manned operation platform 1 in the initial horizontal state.

[0142] The situations where the fixed pile mode is disengaged are as follows:

[0143] A high-speed water jet is supplied to water jet unit 4 by a sea transport ship to ensure that the water jet aircraft remains balanced;

[0144] The personnel send a command to the control unit to detach from the fixed pile through the manned operation platform 1. The control unit then controls the auxiliary landing device 104 to detach from the fixed pile. At the same time, the control unit determines the required thrust based on the flight altitude, and then calculates the valve opening of the water spray unit 4 based on the thrust to adjust the water spray volume, thereby raising the flight altitude of the water spray aircraft.

[0145] After the water jet aircraft rises away from the fixed pile, it hovers dynamically at the preset height. The auxiliary landing device 104 is switched to a vertical state by the control unit to complete the detachment from the sea transport ship.

[0146] The movement to the target location mode is as follows:

[0147] The personnel send ascent or descent commands to the control unit through the manned operation platform 1. The control unit determines the required thrust based on the flight altitude, then calculates the valve opening of the water spray unit 4 based on the thrust, and then adjusts the valve opening of the water spray unit 4 to increase or decrease the water spray volume, thereby raising or lowering the flight altitude of the water spray aircraft.

[0148] The personnel on the transport vehicle send forward or backward commands to the control unit through the manned operation platform 1. The control unit then adjusts the water spray direction of the water spray unit 4 so that the resultant force of the water spray in the horizontal plane is directed in the forward or backward direction. At the same time, the water valve control motor 403 receives a compensation signal and changes the water spray volume, so that the water spray of the water spray unit 4 generates a forward thrust or a backward thrust while balancing gravity, thereby causing the water spray aircraft to move forward or backward.

[0149] The personnel send clockwise or counterclockwise rotation commands to the control unit through the manned operation platform 1. The control unit then adjusts the water spray direction of the water spray unit 4. A pair of power water spray pipes 401 with rigid straight pipe structure 4011 on the same straight line generate a rotational torque in one direction through the thrust provided by the water spray. Another pair of power water spray pipes 401 generate a torque in the opposite direction. At the same time, the water valve control motor 403 receives a compensation signal and changes the water spray volume, so that the water spray of the water spray unit 4 generates a clockwise or counterclockwise rotational torque while balancing gravity. According to the direction of steering wheel rotation, the reverse thrust torque provided by the power water spray pipe 401 in the corresponding rotation direction is greater than the torque in the other direction, thereby making the water spray aircraft rotate in the corresponding direction on the horizontal plane. The water spray compensation signal corresponding to each steering wheel rotation angle is designed through a preset program to keep the rotational motion stable.

[0150] The shutdown mode is as follows:

[0151] After the water jet aircraft approaches the fixed pile at the target location, the personnel on the transport vehicle send a docking command to the control unit through the manned operation platform 1. The control unit then controls the auxiliary landing device 104 to switch to a flat position, thereby aligning the clamping mechanism of the auxiliary landing device 104 with the fixed pile and clamping it, thus completing the connection between the auxiliary landing device 104 and the fixed pile.

[0152] Next, the power supply unit is shut down, the water jet aircraft stops, and the personnel are moved from the manned operation platform 1 to the work platform via the auxiliary landing device 104. The water supply from the external water supply hose is then turned off, and the shutdown is completed.

[0153] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope disclosed in the present invention, based on the technical solution and inventive concept of the present invention, shall fall within the scope of protection of the present invention.

Claims

1. A manned waterjet aircraft for personnel transfer at sea, characterized in that: The system includes a manned operation platform (1), a posture adjustment unit (2), an auxiliary installation platform (3), a sensor unit, a water spray unit (4), a control unit, and a power supply unit. The manned operation platform (1) is used to carry and transport personnel and receive instructions from them. It includes a carrying platform (101), a standing platform (102), an operating table (103), an auxiliary landing device (104), and a landing motor located on top of the carrying platform (101), as well as a first spherical hinge support (105), a pressure rod (106), and a hinge support (107) located at the bottom of the carrying platform (101). The standing platform (102) is located at the top center of the carrying platform (101). The control panel (103) and the auxiliary landing device (104) are located on the front and rear sides of the standing platform (102), respectively. The top of the control panel (103) is equipped with a control device for controlling the movement of the entire machine. The control unit is integrated inside the control device. The bottom of the auxiliary landing device (104) is hinged to the support platform (101). The landing motor is communicatively connected to the control unit and driven by the auxiliary landing device (104). The landing motor drives the auxiliary landing device (104) to switch between a flat or vertical position. When the auxiliary landing device (104) is in a flat position, it is connected to the fixed piles on the sea transport ship through the clamping mechanism on it, and then the personnel are transported. The auxiliary landing device (104) moves the vessel from the sea transport ship to the standing platform (102). The first spherical hinge support (105) is located at the bottom center of the support platform (101). One end of the pressure rod (106) is connected to the first spherical hinge support (105) by a spherical hinge, and the other end extends downward to connect to the auxiliary installation platform (3). There are four hinge supports (107), which are evenly spaced along the circumference of the bottom of the support platform (101) and are used to connect the attitude adjustment unit (2). The auxiliary installation platform (3) is located below the manned operation platform (1). The attitude adjustment unit (2) is located between the manned operation platform (1) and the auxiliary installation platform. (3) Between them, its top is movably connected to the bottom of the manned operation platform (1), its bottom is movably connected to the top of the auxiliary installation platform (3), and it is communicatively connected to the control unit, so as to adjust its own attitude according to the control command of the control unit, so as to keep the manned operation platform (1) dynamically horizontal; the water spray unit (4) is set at the bottom of the auxiliary installation platform (3) and is communicatively connected to the control unit, so as to adjust the water spray volume and water spray direction according to the control command of the control unit, thereby adjusting the flight altitude and flight direction of the whole machine; the sensor unit is set on the auxiliary installation platform (3) and is communicatively connected to the control unit, so as to obtain the altitude information and attitude information of the auxiliary installation platform (3);The control unit is integrated on the manned operation platform (1) and is used to receive instructions, calculate the target angle required by the attitude adjustment unit (2) based on the attitude information of the auxiliary installation platform (3) and the current actual angle of the attitude adjustment unit (2), and then issue corresponding control instructions to the attitude adjustment unit (2), as well as determine the required thrust based on the flight altitude, and then calculate the valve opening of the water spray unit (4) through the thrust to adjust the water spray volume, and then issue corresponding control instructions to the water spray unit (4); the power supply unit is set on the manned operation platform (1) and is used to supply power to the manned operation platform (1), the attitude adjustment unit (2), the water spray unit (4) and the control unit.

2. The manned waterjet aircraft for personnel transfer at sea according to claim 1, characterized in that: The attitude adjustment unit (2) includes an attitude adjustment main arm (201), a main arm motor, three adjustment rod assemblies, four connecting shaft parts (204), and four attitude adjustment motors (205). The outer circumference of the auxiliary installation platform (3) is evenly distributed with four motor slots. The four attitude adjustment motors (205) are respectively installed in the four motor slots and are respectively connected to the control unit. The output shafts of the four attitude adjustment motors (205) are respectively connected to the bottom ends of the four connecting shaft parts (204) one by one through splines. The top ends of the attitude adjustment main arm (201) and the three adjustment rod assemblies are respectively connected to the four hinge supports (107) of the manned operation platform (1). The bottom end of the attitude adjustment main arm (201) is provided with a first motor mounting position for installing the main arm motor. The main arm motor is installed in the first motor mounting position and is connected to the control unit. The output shaft of the main arm motor is connected to the spline hole at the top end of one of the connecting shaft parts (204) through splines. The motor drives the connecting shaft part (204) to rotate, thereby adjusting the angle of the attitude adjustment main arm (201). The bottom ends of the three adjustment rod assemblies are respectively hinged to the top ends of the other three connecting shaft parts (204). Each adjustment rod assembly includes a type I rod (202), a type II rod (203), and a rod motor. The bottom end of the type II rod (203) is hinged to the top end of the corresponding connecting shaft part (204), and its top end is provided with a second motor mounting position for mounting the rod motor. The rod motor is mounted on... The second motor is installed inside the control unit and communicates with it. The output shaft of the rod motor is connected to the spline hole at the bottom of the type I rod (202) through a spline. The top of the type I rod (202) is hinged to the hinge support (107) of the manned operation platform (1). The type I rod (202) is driven to rotate by the rod motor, thereby adjusting the included angle between the type II rod (203) and the type I rod (202). The central axes of the spline holes at the bottom and top of the connecting shaft part (204) are perpendicular to each other.

3. The manned waterjet aircraft for personnel transfer at sea according to claim 1, characterized in that: The sensor unit includes a height sensor for acquiring height information of the auxiliary installation platform (3) and an attitude sensor for acquiring attitude information of the auxiliary installation platform (3).

4. The manned waterjet aircraft for personnel transfer at sea according to claim 1, characterized in that: The auxiliary installation platform (3) includes a platform body (301), a second spherical hinge support (302), a sleeve (303), and a support cylinder (304). The outer circumferential surface of the platform body (301) is evenly distributed with four motor slots for installing the attitude adjustment motor (205) of the attitude adjustment unit (2). The second spherical hinge support (302) is located at the top center of the platform body (301), and is connected to the other end of the pressure rod (106) of the manned operation platform (1) via a ball joint. The sleeve (303) is coaxially sleeved on the second spherical hinge support (304). The sleeve (303) and the pressure rod (106) are outside the sleeve (302) and the pressure rod (106), and a damping material is provided between the sleeve (303) and the pressure rod (106). There are four support cylinders (304), which are evenly arranged at equal intervals along the bottom of the platform body (301) for installing water spray unit (4). Each support cylinder (304) is provided with a structural reinforcing rib between it and the platform body (301). Four steering motion guide grooves (3011) are evenly distributed along the circumference of the platform body (301), and the extension directions of any two adjacent steering motion guide grooves (3011) are perpendicular to each other.

5. The manned waterjet aircraft for personnel transfer at sea according to claim 1, characterized in that: The water spray unit (4) includes a power water spray pipe (401), a steering structure (402), a water valve control motor (403), a water flow regulator (404), a water pressure sensor, a five-way pipe (405), and a steering control motor (406). The water flow regulator (404) is generally polygonal in shape, with four first through holes (4041) evenly distributed along the circumference of its inner circumference and four flow adjustment structures (4042) evenly distributed along the circumference of its outer circumference. Each flow adjustment structure (4042) has a second through hole (4043) on its outer end face. Each second through hole (4043) has a first groove structure (4044) for connecting the power water spray pipe (401). The first through hole (4041) and the second through hole (4042) are connected to each other. 43) One-to-one correspondence, and each first through hole (4041) is coaxially arranged with the corresponding second through hole (4043). Each flow regulating structure (4042) is equipped with a water pressure sensor for real-time monitoring of water supply pressure. The water pressure sensor is communicatively connected to the control unit. Each valve of the flow regulating structure (4042) is connected to a water valve control motor (403) for adjusting the water spray volume of the power water spray pipe (401). The water valve control motor (403) is communicatively connected to the control unit. The valve opening is adjusted by the water valve control motor (403), thereby controlling the water spray volume of the power water spray pipe (401). The five-way pipe (405) includes a rigid five-way body (4051) and an inlet bend (4052). The rigid five-way... The main body (4051) includes a connection port and four water outlets. The four water outlets are connected to four first through holes (4041) one by one. The connection port is provided with a second groove structure for connecting the water inlet bend (4052). One end of the water inlet bend (4052) is provided with a second protrusion structure that matches the second groove structure. The two are movably connected by the cooperation of the second protrusion structure and the second groove structure. The other end of the water inlet bend (4052) is the water inlet and is connected to the external water supply hose of the marine transport ship. There are four power water jet pipes (401), which are arranged in a cross shape around the water flow regulator (404). The four power water jet pipes (401) are respectively movably connected to the four second through holes (4043) one by one. The connection includes a power water spray pipe (401) comprising a rigid straight pipe structure (4011) and a rigid bent pipe structure (4012). One end of the rigid straight pipe structure (4011) is provided with a first protrusion structure (4013), which is movably connected to a first groove structure (4044). The other end of the rigid straight pipe structure (4011) is connected to one end of the rigid bent pipe structure (4012), which is a water spray nozzle and is bent downwards. There are four steering control motors (406), which are evenly distributed around the top of the auxiliary installation platform (3) and are located inside the four steering motion guide grooves (3011) of the auxiliary installation platform (3).Each rigid straight pipe structure (4011) is connected to a steering structure component (402). The four steering structure components (402) correspond one-to-one with four steering motion guide slots (3011) and four steering control motors (406). Each steering structure component (402) extends upwards and passes through the corresponding steering motion guide slot (3011), then connects with the slider structure of the control arm of the corresponding steering control motor (406). Each steering structure component (402) is provided with a guide slot for the slider structure to move up and down. The steering control motor (406) is communicatively connected to the control unit. The steering control motor (406) drives the steering structure component (402) to rotate the power water spray pipe (401), thereby adjusting the spray direction of the power water spray pipe (401).

6. The manned waterjet aircraft for personnel transfer at sea according to claim 1, characterized in that: The target angle required by the attitude adjustment unit (2) is calculated based on the attitude information of the auxiliary installation platform (3) and the current actual angle of the attitude adjustment unit (2), as follows: When the auxiliary installation platform (3) is in a pitch position, obtain the plane pitch angle of the auxiliary installation platform (3). And obtain the current actual angle of the main arm motor of the attitude adjustment unit (2). and the current actual angle of the rod motor ; Based on the plane pitch angle The current actual angle of the main arm motor and the current actual angle of the rod motor The formula for determining whether the current attitude of the manned operation platform (1) is horizontal is as follows: ； If the left and right sides of the judgment formula are equal, it means that the manned operation platform (1) is in a horizontal state in the pitch direction, thereby maintaining the current angle of the main arm motor and the rod motor; If the left and right sides of the judgment formula are not equal, it means that the manned operation platform (1) has not reached a horizontal state in the pitch direction. Then, based on the kinematic relationship model and combined with the planar pitch angle of the auxiliary installation platform (3), the target angle required by the attitude adjustment unit (2) is calculated, that is, the target angle of the main arm motor. and the target angle of the rod motor ; The kinematic relationship model is as follows: ； in, , , The lengths of the main arm (201), Class I rod (202), and Class II rod (203) of the attitude adjustment unit (2), respectively; The distance between the attitude adjustment main arm (201) and the Class I rod (202) of the attitude adjustment unit (2) and the hinge support (107) of the manned operation platform (1) is given. The distance between the main arm (201) for attitude adjustment of the attitude adjustment unit (2) and the hinge point of the Class II rod (203) and the auxiliary installation platform (3); To assist in the pitch angle of the installation platform (3); The initial installation angle between the main arm (201) for attitude adjustment and the auxiliary installation platform (3) is given. The initial installation angle between the type I rod (202) and type II rod (203) of the attitude adjustment unit (2); Then the control unit controls the main arm motor and the rod motor to rotate to the corresponding target angle, thereby adjusting the manned operation platform (1) to a horizontal state; The control unit obtains the actual angles of the main arm motor and the rod motor after adjustment, and inputs the actual angles back into the kinematic relationship model to form a complete pitch attitude control closed loop, continuously maintaining the horizontal state of the manned operation platform (1).

7. The manned waterjet aircraft for personnel transfer at sea according to claim 1, characterized in that: The target angle required by the attitude adjustment unit (2) is calculated based on the attitude information of the auxiliary installation platform (3) and the current actual angle of the attitude adjustment unit (2), as follows: When the auxiliary installation platform (3) is in a rolling posture, obtain the rotation angle of the auxiliary installation platform (3) in the rolling direction. And obtain the current actual angle of the attitude adjustment motor (205) of the main arm motor closest to the attitude adjustment unit (2). ; According to the angle of the roll direction and from the current practical perspective Determine whether the current attitude of the manned operation platform (1) is horizontal; If the current actual angle Negative values ​​and the angle of rotation in the roll direction If they are equal, it means that the manned operating platform (1) is in a horizontal state, and thus maintains the current angle of the attitude adjustment motor (205); If the current actual angle Negative values ​​and the angle of rotation in the roll direction If they are not equal, it means that the manned operating platform (1) has not reached a horizontal state, and then outputs the target angle required by the attitude adjustment unit (2), that is, the target angle of the attitude adjustment motor (205). , ; Next, the control unit controls the attitude adjustment motor (205) closest to the main arm motor to rotate to the corresponding target angle, thereby adjusting the manned operation platform (1) to a horizontal state; The control unit obtains the actual angle of the attitude adjustment motor (205) closest to the main arm motor after adjustment, and judges whether the current attitude of the manned operation platform (1) is horizontal based on the actual angle, forming a complete roll attitude control closed loop, and continuously maintaining the horizontal state of the manned operation platform (1).

8. The manned waterjet aircraft for personnel transfer at sea according to claim 1, characterized in that: The required thrust is determined based on the flight altitude, and then the valve opening of the water spray unit (4) is calculated based on the thrust to adjust the water spray volume, as follows: The waterjet aircraft initializes by calibrating the sensor units, acquiring the actual altitude at the time of calibration, and locking it to the initial altitude. This serves as a benchmark for subsequent dynamic stability. After initialization is complete, the control unit collects the commands from the passengers in real time and enters the command judgment stage; If there is an ascending or descending command, the acceleration will be adjusted according to the preset value. The thrust of the power spray pipe (401) of the water spray unit (4) is calculated as follows: ； in, For the first water spray unit (4) The thrust of the power water jet pipe (401), The total mass of the waterjet aircraft when it is carrying a person. It is the acceleration due to gravity; Obtain the water supply pressure of the power water spray pipe (401) According to the thrust of the power water jet pipe (401) and water supply pressure And based on the fluid dynamics formula, the valve opening of the flow regulation structure (4042) of the water spray unit (4) corresponding to each power water spray pipe (401) is calculated as follows: ； in, The cross-sectional area of ​​the nozzle of the power water spray pipe (401) is... For the first The valve opening of the flow regulation structure (4042) corresponding to each power water spray pipe (401); The water valve of the water spray unit (4) is controlled by the control unit to rotate the motor (403), thereby adjusting the valve opening of the flow regulation structure (4042) of the water spray unit (4), thereby changing the thrust of the power water spray pipe (401), and finally realizing the adjustment of the flight altitude; If there are no ascending or descending commands, the system will enter the altitude maintenance phase to obtain the current actual altitude. And calculate the current actual height. With locked height height difference As shown in the following formula: ； Among them, the locked height The height is the value at the moment the previous command ended. If no ascending or descending command was executed beforehand, the height is locked. equal to initial height ; Based on height difference Calculate target acceleration and achieve the target acceleration. The settings are as follows: ； in, Preset time parameters; Based on the target acceleration The thrust required for the power water jet pipe (401) of the water jet unit (4) to maintain the current altitude is calculated as follows: ； in, For the first water spray unit (4) One power water jet (401) provides the thrust required to maintain the current altitude; Obtain the water supply pressure of the power water spray pipe (401) The thrust required to maintain the current altitude according to the power water jet (401) and water supply pressure And based on the fluid dynamics formula, the valve opening of the flow regulation structure (4042) of the water spray unit (4) corresponding to each power water spray pipe (401) is calculated as follows: ； in, The cross-sectional area of ​​the nozzle of the power water spray pipe (401) is... For the first The valve opening of the flow regulation structure (4042) corresponding to each power water spray pipe (401); The water valve of the water spray unit (4) is controlled by the control unit to rotate the motor (403), thereby adjusting the valve opening of the flow regulation structure (4042) of the water spray unit (4), thereby changing the thrust of the power water spray pipe (401) and finally maintaining the flight altitude.

9. The control method for a manned waterjet aircraft for personnel transfer at sea according to any one of claims 1 to 8, characterized in that: Includes start-up mode, detach from fixed stake mode, move to target location mode, and stop mode; The startup modes are as follows: The auxiliary landing device (104) of the unactivated manned operation platform (1) is in a flat position, and the auxiliary landing device (104) of the manned operation platform (1) is connected to the fixed pile on the sea transport ship, and the water jet aircraft is attached to the sea surface next to the sea transport ship. The water spray unit (4) is connected to the external water supply hose on the sea transport ship, and the personnel are moved from the sea transport ship to the manned operation platform (1) via the auxiliary landing device (104) of the manned operation platform (1); The personnel send a start command to the control unit through the manned operation platform (1). The control unit then controls the water spray unit (4) to be in the initial position of vertical downward, and at the same time controls the attitude adjustment unit (2) to make the manned operation platform (1) be in the initial horizontal state. The situations where the fixed pile mode is disengaged are as follows: Water is supplied to the water jet unit (4) by a sea transport ship to ensure that the water jet aircraft remains in balance; The personnel send a command to the control unit to detach from the fixed pile through the manned operation platform (1). The control unit then controls the auxiliary landing device (104) of the manned operation platform (1) to detach from the fixed pile. At the same time, the control unit determines the required thrust based on the flight altitude and then calculates the valve opening of the water spray unit (4) based on the thrust to adjust the water spray volume and thus raise the flight altitude of the water spray aircraft. After the water jet aircraft is lifted off the fixed pile, it hovers dynamically at the preset height. The auxiliary landing device (104) of the manned operation platform (1) is switched to the vertical state by the control unit to complete the detachment from the sea transport ship. The movement to the target location mode is as follows: The personnel send ascent or descent commands to the control unit through the manned operation platform (1). The control unit determines the required thrust based on the flight altitude, and then calculates the valve opening of the water spray unit (4) based on the thrust. Then, the valve opening of the water spray unit (4) is adjusted to increase or decrease the amount of water sprayed, thereby raising or lowering the flight altitude of the water spray aircraft. The personnel send forward, backward, clockwise or counterclockwise rotation commands to the control unit through the manned operation platform (1). The control unit then adjusts the water spray direction of the water spray unit (4) and adjusts the water spray volume so that the water spray unit (4) generates forward thrust, backward thrust, clockwise rotation torque or counterclockwise rotation torque while balancing gravity, thereby making the water spray aircraft move forward, backward, clockwise or counterclockwise in the horizontal plane. The shutdown mode is as follows: After the water jet aircraft approaches the fixed pile at the target location, the personnel on the transport platform (1) send a docking command to the control unit. The control unit then controls the auxiliary landing device (104) of the manned operating platform (1) to switch to a flat position, thereby aligning the clamping mechanism of the auxiliary landing device (104) of the manned operating platform (1) with the fixed pile and clamping it, thus completing the connection between the auxiliary landing device (104) of the manned operating platform (1) and the fixed pile. Next, the power supply unit is shut down, the water jet aircraft stops, and the personnel are moved to the work platform through the auxiliary landing device (104) of the manned operation platform (1). The water supply from the external water supply hose is turned off, and the shutdown is completed.

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