Amphibious heavy-load transportation platform, control system and method

Abstract

The invention relates to the technical field of amphibious heavy-load transportation, in particular to an amphibious heavy-load transportation platform and a control system and method.The amphibious heavy-load transportation platform comprises at least one sub-platform module and a power cabin assembly assembly; the power cabin assembly comprises a power cabin body, a power cabin horizontal oil cylinder, a power cabin vertical oil cylinder, a power support, a power support oil cylinder, a platform cabin body structure of at least one sub-platform module, a lifting supporting structure and a lifting oil cylinder. The power cabin assembly component controls the displacement and / or speed of at least one of the lifting oil cylinder, the power cabin horizontal oil cylinder, the power cabin up-down oil cylinder and the power support oil cylinder so as to control the water injection amount and / or the water discharge amount of the platform cabin body structure, and gravity center adjustment of the amphibious heavy-load carrying platform is achieved. Therefore, the problems that the gravity center of the amphibious heavy-load carrying object does not coincide with the gravity center of the amphibious heavy-load transportation platform, and consequently the stability and safety are low when the heavy-load platform runs are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of amphibious heavy load transportation, and in particular to an amphibious heavy load transportation platform, a control system and a method. BACKGROUND

[0002] Amphibious heavy load transportation is a transportation mode that realizes the cross-medium, long-distance or complex scene transfer of large-tonnage goods through a special platform that can pass through land and water environments.

[0003] In the related art, a hoist type water loading mode is adopted, which has high requirements for the underwater loading slope and the water bottom flatness, and has relatively high requirements for the land transportation road surface flatness; the frame type transportation platform structure has poor adaptability to concave-convex road surfaces, underwater slope surfaces, water buoyancy and water wave impact capacity, and it is difficult to ensure the stability and safety of the amphibious heavy load transportation platform in the case of heavy load. SUMMARY

[0004] The present application provides an amphibious heavy load transportation platform, a control system and a method to solve the problem that the center of gravity of the carried object of the amphibious heavy load does not coincide with the center of gravity of the amphibious heavy load transportation platform, resulting in low stability and safety of the heavy load platform during driving.

[0005] The first aspect of the present application provides an amphibious heavy load transportation platform, comprising: at least one sub-platform module and a power cabin assembly component; the power cabin assembly component comprises a power cabin body, a power cabin horizontal oil cylinder, a power cabin up-down oil cylinder, a power support and a power support oil cylinder, a platform cabin body structure of at least one sub-platform module, a lifting support structure and a lifting oil cylinder, wherein the power cabin body is fixedly connected with the power cabin horizontal oil cylinder horizontally, one end of the power support is connected with the power cabin horizontal oil cylinder through a pin shaft, the other end of the power support is connected with the platform cabin body structure through a pin shaft, the power cabin up-down oil cylinder is connected with the power support and the power cabin horizontal oil cylinder through a pin shaft, the power support oil cylinder is connected with the power support and the platform cabin body through a pin shaft, and the lifting oil cylinder controls the lifting support structure to perform a lifting action to drive the platform cabin body structure to perform a lifting action; the power cabin assembly component controls the displacement and / or speed of at least one of the lifting oil cylinder, the power cabin horizontal oil cylinder, the power cabin up-down oil cylinder and the power support oil cylinder to control the water injection amount and / or the water discharge amount of the platform cabin body structure, and realizes the center of gravity adjustment of the amphibious heavy load transportation platform.

[0006] Optionally, the platform cabin body structure comprises a middle cabin body, a left side cabin body, a right side cabin body and an elastic anti-collision rod, the middle cabin body comprises a top flat plate structure, a bottom arc structure and a plurality of compartments, and the structure of the left side cabin body and the right side cabin body each comprises a top flat plate structure, a bottom arc structure and a plurality of compartments.

[0007] Optionally, the compartment is equipped with a submersible pump set and a water level detection sensor. The submersible pump inlet of the submersible pump set is connected to a parallel double-inlet pipe and a waterproof switch valve. One end of the double-inlet pipe of the submersible pump inlet is connected to the outside of the compartment and the other end is connected to the inside of the compartment. The submersible pump outlet is connected to a parallel double-inlet pipe, one end of which is connected to the outside of the compartment and the other end is connected to the inside of the compartment. The water injection and drainage of the compartment is realized by controlling the waterproof switch valve. The water level sensor is arranged at the lowest point of the arc and at the connection position of the submersible pump or at the position of the compartment wall.

[0008] Optionally, when there are multiple elastic bumpers, at least one of the elastic bumpers is connected to a position sensor at its top, and the position sensor is used to detect the distance between the vehicle and the elastic bumper.

[0009] A second aspect of this application provides a control system for an amphibious heavy-duty transport platform. The control system is integrated within the power compartment assembly of the amphibious heavy-duty transport platform and includes: an energy subsystem for providing power and electricity to the amphibious heavy-duty transport platform; a signal subsystem for responding to center-of-gravity adjustment control commands of the amphibious heavy-duty transport platform, acquiring data from at least one sub-platform module of the amphibious heavy-duty transport platform, the sub-platform module data including at least one of lifting support displacement data, lifting support pressure data, cargo position data, and water level data of each compartment, processing the sub-platform module data of the amphibious heavy-duty transport platform to obtain data to be adjusted; and an adjustment subsystem for establishing adjustment parameters for each sub-platform module based on the data to be adjusted. The system utilizes a state-run dataset to construct a standard model for the center of gravity adjustment control of an amphibious transport platform. This model is used to determine the desired center of gravity stability benchmark corresponding to the center of gravity adjustment control requirements. Based on the state-run dataset and the desired center of gravity stability benchmark, the system calculates the center of gravity adjustment control data for the amphibious heavy-load transport platform. The control subsystem issues center of gravity adjustment control commands to the amphibious heavy-load transport platform. Based on the initial center of gravity counterweight data and the center of gravity adjustment control data, it controls the displacement and / or velocity of at least one of the following: lifting cylinder, power compartment horizontal cylinder, power compartment vertical cylinder, and power support cylinder. This controls the water injection and / or water release volume of the platform's hull structure, thereby achieving center of gravity adjustment for the amphibious heavy-load transport platform.

[0010] Optionally, an early warning subsystem is used to obtain the initial loading status risk level of the amphibious heavy-duty transport platform, calculate the displacement deviation of the lifting support and the pressure difference change of the lifting support based on the data to be adjusted, predict the loading and transportation risk level of the amphibious heavy-duty transport platform based on the displacement deviation of the lifting support and the pressure difference change of the lifting support, predict the center of gravity stability risk of the amphibious heavy-duty transport platform based on the loading and transportation risk level and the initial loading status risk level, and issue an early warning based on the center of gravity stability risk.

[0011] Optionally, the adjustment subsystem processes the state operation dataset and the expected center of gravity stability benchmark using the K-means clustering method to obtain center of gravity adjustment control data. The K-means clustering method includes: constructing datasets for each sub-platform module based on the state operation dataset; randomly selecting data subsystems from the expected center of gravity stability benchmark, calculating the first influence factor vector of the data-driven subsystem, whereby the data-driven subsystem includes at least one of the following: compartment water level data, position data, pressure data, displacement data, and center of gravity data; calculating the Euclidean distance between the datasets of each sub-platform module and the subsystem influence factors; clustering the data subsystems into corresponding data class systems based on the Euclidean distance, calculating the second influence factor vector of the data class systems, and calculating the Euclidean distance between the datasets of each sub-platform module and the second influence factor vector, until the second influence factor vector equals the first influence factor vector, to obtain the center of gravity adjustment control data.

[0012] Optionally, the control subsystem divides the weight and size information of the transported goods into transport standards based on a pre-built heavy-duty transport standard control library. It then performs matching calculations based on the division data and the center of gravity adjustment calibration control data in the center of gravity adjustment standard control library to obtain the initial center of gravity adjustment control data of the amphibious heavy-duty transport platform.

[0013] Optionally, the control subsystem is also used to: in the case of a single sub-platform module, control the combined adjustment of the water level center of gravity of the control platform module compartment, the leveling of the lifting support, and the position adjustment of the power compartment and counterweight blocks to achieve heavy-load land transportation and heavy-load underwater slope transportation. For heavy-load land transportation, based on controlling the displacement and leveling of the four-point lifting support of the single sub-platform, at least one of the power support cylinder, power rod cylinder, and power compartment leveling cylinder is adjusted to adjust the forward and backward offset of the center of gravity of the single sub-platform; for the transported object with symmetrical mass, all compartment water is emptied or the water injection volume of the left and right compartments is adjusted to adjust the left and right offset of the center of gravity of the single sub-platform, so that the center of gravity of the transported object and the center of gravity of the single sub-platform coincide within a pre-set stable range.

[0014] A third aspect of this application provides a control method for an amphibious heavy-load transport platform. The control method is used to control the aforementioned amphibious heavy-load transport platform. The method includes: responding to a center-of-gravity adjustment control command of the amphibious heavy-load transport platform; acquiring data from at least one sub-platform module of the amphibious heavy-load transport platform, the sub-platform module data including at least one of lifting support displacement data, lifting support pressure data, cargo position data, and water level data for each compartment; processing the sub-platform module data of the amphibious heavy-load transport platform to obtain data to be adjusted; and establishing a status operation dataset for each sub-platform module based on the data to be adjusted, thus constructing an amphibious ship transport platform. A standard model for center of gravity adjustment control is used to determine the desired center of gravity stability benchmark corresponding to the center of gravity adjustment control requirements. Based on the state operation dataset and the desired center of gravity stability benchmark, the center of gravity adjustment control data of the amphibious heavy-duty transport platform is calculated. The center of gravity adjustment control command of the amphibious heavy-duty transport platform is issued. Based on the initial center of gravity counterweight data and the center of gravity adjustment control data of the amphibious heavy-duty transport platform, the displacement and / or speed of at least one of the lifting cylinder, the power compartment horizontal cylinder, the power compartment vertical cylinder, and the power support cylinder are controlled to control the water injection and / or water release of the platform body structure, thereby realizing the center of gravity adjustment of the amphibious heavy-duty transport platform.

[0015] Therefore, this application has the following beneficial effects: The amphibious heavy-duty transport platform proposed in this application includes a power compartment, a power compartment horizontal cylinder, a power compartment vertical cylinder, a power support, a power support cylinder, a platform compartment structure of the sub-platform module, a lifting support structure, lifting cylinders, and other sub-platform modules and power compartment assembly components. This platform can solve the problem of heavy-duty loading, unloading, and transporting amphibious heavy-duty transport platforms under amphibious conditions. It also features adaptive overall transport center of gravity adjustment, enabling it to adapt to loading, unloading, and transporting heavy loads with different center of gravity offsets in amphibious operating environments. It possesses collaborative operation and reliability assurance control, improving the efficiency of amphibious heavy-duty transport. Therefore, it solves the problems of low stability and safety during heavy-duty platform operation caused by the misalignment of the center of gravity of the amphibious heavy-duty transport vehicle's cargo with the platform's center of gravity.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 This is an example diagram of an amphibious heavy-duty transportation platform provided according to an embodiment of this application; Figure 2 This is a structural example diagram of an amphibious heavy-duty transport platform provided according to an embodiment of this application; Figure 3 This is an example diagram of a platform cabin structure for a sub-platform module according to an embodiment of this application; Figure 4 This is a schematic diagram of the module composition of an amphibious vessel transport platform according to an embodiment of this application; Figure 5 This is a schematic diagram of the internal structure of a modular compartment of an amphibious vessel transport platform according to an embodiment of this application; Figure 6 This is a schematic diagram showing the distribution of displacement sensors inside a module compartment of an amphibious vessel transport platform according to an embodiment of this application. Figure 7 This is a block diagram of a control system for an amphibious heavy-duty transport platform according to an embodiment of this application; Figure 8 This is a schematic diagram of the connection of the center of gravity adjustment control system of an amphibious heavy-duty transport platform according to an embodiment of this application; Figure 9 This is a flowchart illustrating the adjustment of the center of gravity of an amphibious heavy-duty transport platform using the K-means clustering method according to an embodiment of this application. Figure 10 This is a flowchart of a control method for an amphibious heavy-duty transportation platform provided according to an embodiment of this application.

[0018] Explanation of reference numerals in the attached figures: A101 represents the power compartment, A102 represents the power compartment horizontal cylinder, A103 represents the power compartment vertical cylinder, A104 represents the power support cylinder, A105 represents the platform compartment structure, A106 represents the lifting support structure, A107 represents the drive and travel structure, A108 represents the lifting cylinder, and A109 represents the power support; B101 represents the middle compartment, B102 represents the left side compartment, B103 represents the right side compartment, B101a1~B101a11 represent the submersible pump assembly of the middle compartment, B102a1~B102a5 represent the submersible pump assembly of the left side compartment, and B103a1~B103a5 represent the submersible pump assembly of the right side compartment; B100 represents the platform compartment structure of the first subplatform module, and B111~B116 represent the first subplatform. The six elastic anti-collision bars of the platform cabin structure of the module are: B200 represents the platform cabin structure of the second sub-platform module, B211~B216 represent the six elastic anti-collision bars of the platform cabin structure of the second sub-platform module, B300 represents the platform cabin structure of the third sub-platform module, and B311~B316 represent the six elastic anti-collision bars of the platform cabin structure of the third sub-platform module; 6C~9C represent the four compartments on the right end, 10C~12C represent the three compartments in the middle, and 13C~16C represent the four compartments on the left end; B101b1~B101b23 represent the compartment water level sensors of the left side of the cabin, B102b1~B102b5 represent the compartment water level sensors of the left side of the cabin, and B103b1~B103b5 represent the compartment water level sensors of the right side of the cabin. Detailed Implementation

[0019] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0020] The following description, with reference to the accompanying drawings, describes an amphibious heavy-duty transport platform, control system, and method according to embodiments of this application. Addressing the issues mentioned in the background art, such as the misalignment of the center of gravity of the amphibious heavy-duty transport vehicle's cargo with the platform's center of gravity, leading to lower stability and safety during operation, this application provides an amphibious heavy-duty transport platform, control system, and method. This platform includes a power compartment, a power compartment horizontal cylinder, a power compartment vertical cylinder, a power support, a power support cylinder, a platform compartment structure of sub-platform modules, a lifting support structure, lifting cylinders, and other sub-platform modules and a power compartment assembly. This solution addresses the challenges of heavy-duty loading, unloading, and transport under amphibious conditions. Furthermore, it adaptively adjusts the overall transport center of gravity, enabling loading, unloading, and transport of heavy-duty cargo with varying center of gravity offsets in amphibious environments. It provides collaborative operation and reliable control, thereby improving the efficiency of amphibious heavy-duty transport. This solves the problem of low stability and safety of the amphibious heavy-duty transport platform due to the misalignment of the center of gravity of the cargo with that of the amphibious heavy-duty transport platform.

[0021] Specifically, Figure 1 This is an example diagram of an amphibious heavy-duty transportation platform provided in an embodiment of this application.

[0022] like Figure 1 As shown, the amphibious heavy-duty transport platform 1 includes: a sub-platform module 12, a power compartment assembly 11, a power compartment body A101, a power compartment horizontal cylinder A102, a power compartment vertical cylinder A103, a power support A109, a power support cylinder A104, a platform body structure A105, a lifting support structure A106, an A107 drive and travel structure, and a lifting cylinder A108.

[0023] The power compartment assembly 11 includes a power compartment body A101, a power compartment horizontal cylinder A102, a power compartment vertical cylinder A103, a power support A109 and a power support cylinder A104, a platform compartment structure A105 for at least one sub-platform module 12, a lifting support structure A106, and a lifting cylinder A108. The power compartment body A101 is horizontally fixedly connected to the power compartment horizontal cylinder A102. One end of the power support A109 is pin-connected to the power compartment horizontal cylinder A102, and the other end of the power support A109 is pin-connected to the platform compartment structure A105. The power compartment vertical cylinder A103 is connected to the power... The support A109 and the power compartment horizontal cylinder A102 are connected by a pin. The power support cylinder A104 is connected to the power support A109 and the platform body by a pin. The lifting cylinder A108 controls the lifting support structure A106 to perform lifting actions, thereby driving the platform body structure A105 to perform lifting actions. The power compartment assembly 11 controls the displacement and / or speed of at least one of the lifting cylinder A108, the power compartment horizontal cylinder A102, the power compartment vertical cylinder A103, and the power support cylinder A104, so as to control the water injection and / or water discharge of the platform body structure A105 and realize the center of gravity adjustment of the amphibious heavy-duty transport platform.

[0024] It is understood that the sub-platform module 12 in the amphibious heavy-duty transport platform 1 consists of a platform cabin structure A105, a lifting support structure A106, and a lifting cylinder A108. The power compartment assembly 11 in the amphibious heavy-duty transport platform 1 includes a power compartment body A101, a power compartment horizontal cylinder A102, a power compartment vertical cylinder A103, a power support A109, a power support cylinder A104, and the platform cabin structure A105, lifting support structure A106, and lifting cylinder A108 of the sub-platform module 12. The lifting cylinder A108... 108 controls the lifting support structure A106 to perform lifting actions, thereby driving the platform cabin structure A105 to perform lifting actions. Through the power cabin assembly component 11, the displacement and / or speed of the control cylinders, power cabin horizontal cylinder A102, power cabin vertical cylinder A103, and power support cylinder A104 are controlled, thereby controlling the water injection and / or water discharge of the platform cabin structure A105. This achieves a combined center of gravity adjustment method that combines platform module compartment water level center of gravity adjustment with lifting support leveling and power cabin and counterweight position adjustment, adapting to heavy-load land transportation and underwater slope heavy-load transportation.

[0025] Specifically, in the amphibious heavy-duty transport platform 1, the first sub-platform module 12 and the second sub-platform module 12 are connected by James hooks, the second sub-platform module 12 and the third sub-platform module 12 are connected by James hooks, and the electrical and drive hydraulic pipelines between the sub-platform modules 12 are connected by quick-connect couplings and flexible pipelines.

[0026] like Figure 2As shown, the power compartment A101 is horizontally fixedly connected to the power compartment horizontal cylinder A102. One end of the power support A104 is connected to the power compartment horizontal cylinder A102 by a pin, and the other end of the power support A104 is connected to the platform compartment structure A105 by a pin. The power compartment vertical cylinder A103 is connected to the power support A109 and the power compartment horizontal cylinder A102 by pins. The power support cylinder A104 is connected to the power support A109 and the platform compartment by pins. The lifting cylinder A108 controls the drive structure A107 to perform lifting actions, thereby driving the platform compartment structure A105 to perform lifting actions. The power compartment assembly 11 controls the displacement and / or speed of the lifting cylinder A108, the power compartment horizontal cylinder A102, the power compartment vertical cylinder A103, and the power support cylinder A104 to control the water injection and / or water discharge of the platform compartment structure A105, thereby realizing the adjustment of the center of gravity of the amphibious heavy-duty transport platform.

[0027] Based on the center of gravity adjustment control path, the center of gravity adjustment stability target of the amphibious heavy-duty transport platform 1 is tracked and compensated using the displacement data of the road surface lifting support, the pressure data of the road surface lifting support, the displacement data of the water surface lifting support, the pressure data of the water surface lifting support, and the water level information data of each sub-platform compartment.

[0028] Furthermore, in the embodiments of this application, the platform cabin structure A105 includes a middle cabin, a left cabin, a right cabin, and an elastic anti-collision bar. The middle cabin includes a top flat plate structure, a bottom arc-shaped structure, and multiple compartments. The structures of the left cabin and the right cabin both include a top flat plate structure, a bottom arc-shaped structure, and multiple compartments.

[0029] The intermediate compartment is located at the center of the platform's A105 compartment structure, connecting the left and right compartments and the top / bottom structure to ensure overall structural stability. The left compartment is an auxiliary compartment located on the left side of the intermediate compartment, used to monitor the water level data of the bulkhead. The right compartment is an auxiliary compartment located on the right side of the intermediate compartment, also used to monitor the water level data of the bulkhead. Elastic anti-collision bars are installed inside the compartment to buffer impact forces. The flat plate structure is a flat plate-like structure located at the top of the compartment to protect it. The bottom arc-shaped structure is a curved surface structure located at the bottom of the compartment to optimize the stress distribution at the bottom. A bulkhead is the interior of a single compartment, divided into small, independent sections by partitions, layers, baffles, and other structures.

[0030] Understandably, the platform's A105 hull structure includes a middle hull, a left hull, a right hull, and elastic anti-collision bars. The middle, left, and right hulls all have a top flat plate structure, a bottom arc-shaped structure, and multiple compartments. Through modular partitioning and active protection by elastic anti-collision bars, the middle hull bears critical value. For cargoes with symmetrical mass, the water volume in all compartments is emptied or the water volume in the left and right hulls is adjusted appropriately to adjust the left and right offset of the center of gravity of the individual sub-platform, achieving a stable range where the center of gravity of the cargo coincides with the center of gravity of the individual sub-platform.

[0031] Specifically, such as Figure 3 As shown, the platform cabin structure A105 of the first sub-platform module 12 includes a middle cabin B101, a left cabin B102, a right cabin B103, and an elastic anti-collision bar. like Figure 4 As shown, the elastic anti-collision bars are designated as B111~B116, B211~B216, and B311~B316; like Figure 5 As shown, the middle compartment has a flat top structure and an arc-shaped bottom structure, divided into 11 compartments (6C~16C), 4 compartments on each side (6C~9C, 13C~16C), and 3 compartments in the middle (10C~12C).

[0032] Furthermore, in the embodiments of this application, the compartment is equipped with a submersible pump set and a water level detection sensor. The submersible pump inlet of the submersible pump set is connected to a parallel double-inlet pipe and a waterproof switch valve. One end of the submersible pump inlet double-inlet pipe is connected to the outside of the compartment and the other end is connected to the inside of the compartment. The submersible pump outlet is connected to a parallel double-inlet pipe, one end of which is connected to the outside of the compartment and the other end is connected to the inside of the compartment. Water injection and drainage of the compartment are realized by controlling the waterproof switch valve. The water level sensor is arranged at the lowest point of the arc and at the connection position of the submersible pump or at the position of the compartment wall.

[0033] Among them, the submersible pump set is a combination of pressurizing and conveying equipment that operates completely immersed in liquid; the water level detection sensor is a sensing device that monitors the liquid level in real time and converts the data into an electrical signal to feed back to the control system; the submersible pump inlet is the port on the submersible pump body used to draw in liquid; the dual-inlet pipeline is a pipeline system that delivers liquid from two independent liquid sources to the same equipment; the waterproof switch valve is a valve that can control the on / off state or flow regulation of liquid in the pipeline in humid, immersion or underwater environments; the bulkhead is the wall panel in a sealed compartment that separates the internal space of the compartment or forms the external boundary of the compartment.

[0034] Understandably, submersible pump units and water level detection sensors are installed in the compartments of the middle, left, and right hulls. The submersible pump units control the waterproof switch valves to fill and drain water from the compartments, and the water level sensors are used to detect the water level data of the compartments. For cargoes with symmetrical mass, the water volume of all compartments is emptied or the water volume of the left and right hulls is adjusted appropriately to adjust the left and right offset of the center of gravity of the individual sub-platform, so as to achieve a stable range where the center of gravity of the cargo coincides with the center of gravity of the individual sub-platform.

[0035] Specifically, such as Figure 3 As shown, the middle compartment has a flat top structure and an arc-shaped bottom structure, with four compartments on each of the left and right ends and three compartments in the middle. Each compartment is equipped with one submersible pump set, for a total of three submersible pump sets (B101a1~B101a11). The submersible pump inlet is connected to a parallel double-inlet pipe and a waterproof switch valve. One end of the submersible pump inlet double-inlet pipe is connected to the outside of the compartment and the other end is connected to the inside of the compartment. The submersible pump outlet is connected to a parallel double-inlet pipe, one end of which is connected to the outside of the compartment and the other end is connected to the inside of the compartment. Water injection and drainage of the compartments are achieved by controlling the waterproof switch valve set. like Figure 6 As shown, each of the eight compartments (6C~16C) at the left and right ends is equipped with five water level sensors (B101b1~B101b5, B101b21~B101b25), and the three middle compartments (10C~12C) are equipped with fifteen water level sensors (B101b6~B101b20) to monitor the water level data of the compartments. Five water level sensors (B101b6~B101b10) in the first intermediate compartment are respectively connected to the submersible pump at the lowest point of the arc and two water level sensors are arranged at each end of the left and right walls of the first intermediate compartment (10C); five water level sensors (B101b11~B101b15) in the second intermediate compartment (11C) are respectively connected to the submersible pump at the lowest point of the arc and one water level sensor is arranged at each end of the front, rear, left and right walls of the second intermediate compartment; five water level sensors (B101b16~B101b20) in the third intermediate compartment (12C) are respectively connected to the submersible pump at the lowest point of the arc and two water level sensors are arranged at each end of the left and right walls of the third intermediate compartment. The right-side hull has a flat top and bottom structure, divided into 5 compartments (1C~5C). Each compartment is equipped with one submersible pump set (B103a1~B103a5). The submersible pump inlet is connected to a parallel double-inlet pipe and a waterproof switch valve. One end of the submersible pump inlet double-inlet pipe is connected to the outside of the hull, and the other end is connected to the inside of the hull. The filling and emptying of the compartments are achieved by controlling the waterproof switch valve set. Each compartment is equipped with one water level detection sensor (B103b1~B103b5) to detect the water level data of the compartment. The left-side hull has the same structure as the right-side hull, and the number of submersible pump sets and water level detection sensors is the same and symmetrically arranged.

[0036] Furthermore, in an embodiment of this application, when there are multiple elastic bumper bars, at least one of the multiple elastic bumper bars is connected to a position sensor at its top, and the position sensor is used to detect the distance between the vehicle and the elastic bumper bar.

[0037] Understandably, position sensors are connected to the top of multiple elastic bumpers. These position sensors are used to detect the distance between the vehicle and the elastic bumpers, providing early warning of potential collisions and pre-collision warnings. This can protect the elastic bumpers and extend the lifespan of the components.

[0038] Specifically, such as Figure 4 As shown, the platform cabin structure A105 of the first sub-platform module is equipped with 6 elastic anti-collision bars (B111~B116), with 3 bars evenly distributed on the left and right sides. The tops of the 2 elastic anti-collision bars at the left and right front ends are connected to position sensors to detect the distance between the heavy load and the elastic anti-collision bars at the left and right front ends. The second and third sub-platform modules have the same structural features as the first sub-platform module.

[0039] In summary, the amphibious heavy-duty transport platform 1 proposed in this application embodiment consists of a sub-platform module 12 and a power compartment assembly 11. The sub-platform module 12 consists of a platform body structure A105, a lifting support structure A106, and a lifting cylinder A108. The power compartment assembly 11 in the amphibious heavy-duty transport platform 1 includes a power compartment body A101, a power compartment horizontal cylinder A102, a power compartment vertical cylinder A103, a power support A109, a power support cylinder A104, the platform body structure A105 of the sub-platform module 12, the lifting support structure A106, and the lifting cylinder. Cylinder A108 controls the lifting support structure A106 to perform lifting actions, thereby driving the platform cabin structure A105 to perform lifting actions. The displacement and / or speed of the hydraulic cylinders, power cabin horizontal hydraulic cylinder A102, power cabin vertical hydraulic cylinder A103, and power support hydraulic cylinder A104 are controlled by the power cabin assembly component 11. This controls the water injection and / or water discharge of the platform cabin structure A105, realizing a combined center of gravity adjustment method that combines platform module compartment water level center of gravity adjustment with lifting support leveling and power cabin and counterweight position adjustment, adapting to heavy-load land transportation and underwater slope heavy-load transportation.

[0040] Next, the control system of the amphibious heavy-duty transportation platform proposed according to the embodiments of this application is described with reference to the accompanying drawings.

[0041] Figure 7 This is a block diagram of the control system of the amphibious heavy-duty transport platform according to an embodiment of this application.

[0042] like Figure 7 As shown, the control system 700 of the amphibious heavy-duty transport platform includes: an energy subsystem 701, a signal subsystem 702, an adjustment subsystem 703, and a control subsystem 704.

[0043] The system comprises: an energy subsystem 701, which provides power and electricity to the amphibious heavy-duty transport platform; a signal subsystem 702, which responds to the center-of-gravity adjustment control commands of the amphibious heavy-duty transport platform, acquires data from at least one sub-platform module of the amphibious heavy-duty transport platform, including at least one data point such as lifting support displacement data, lifting support pressure data, cargo position data, and water level data of each compartment, and processes the sub-platform module data to obtain the data to be adjusted; and an adjustment subsystem 703, which establishes a status operation dataset for each sub-platform module based on the data to be adjusted, and constructs a center-of-gravity adjustment control standard for the amphibious ship transport platform. The model uses a standard model for center of gravity adjustment control to determine the desired center of gravity stability benchmark corresponding to the center of gravity adjustment control requirements. Based on the state operation dataset and the desired center of gravity stability benchmark, the center of gravity adjustment control data of the amphibious heavy-duty transport platform is calculated. The control subsystem 704 is used to issue center of gravity adjustment control commands to the amphibious heavy-duty transport platform. Based on the initial center of gravity counterweight data and center of gravity adjustment control data of the amphibious heavy-duty transport platform, it controls the displacement and / or speed of at least one of the following: lifting cylinder, power compartment horizontal cylinder, power compartment up and down cylinder, and power support cylinder A105, so as to control the water injection and / or water discharge of the platform body structure and realize the center of gravity adjustment of the amphibious heavy-duty transport platform.

[0044] Understandably, the control system 700 of the amphibious heavy-load transport platform is located within the power compartment assembly of the amphibious heavy-load transport platform. The control system 700 of the amphibious heavy-load transport platform has an energy subsystem 701 that provides power and electricity to the amphibious heavy-load transport platform, a signal subsystem 702 that responds to the center of gravity adjustment control command of the amphibious heavy-load transport platform, an adjustment subsystem 703 that calculates the center of gravity adjustment control data of the amphibious heavy-load transport platform, and a control subsystem 704 that controls the water injection and / or water release of the platform's cabin structure, thereby realizing the center of gravity adjustment of the amphibious heavy-load transport platform.

[0045] Specifically, the center of gravity adjustment control system of the amphibious heavy-duty transport platform is connected as follows: Figure 8 As shown, the energy subsystem 701 includes an engine and a battery pack. The system is based on the engine and battery pack to build the power drive system and power supply system of the amphibious ship carrier platform. The signal subsystem 702 is equipped with a sensor signal processing component and a data processing unit. The data processing unit of the signal subsystem 702 is used to process the lifting support displacement data, lifting support pressure data, cargo position data, and water level data of each compartment using the sensor signal processing component to obtain the leveling data of the amphibious ship carrier platform. After the sensor signal processing component receives and processes the sensor signals of its respective platform, it performs a judgment sub-platform module unit to determine whether it has received the road surface center of gravity adjustment control command and / or the water surface center of gravity adjustment control command of the amphibious ship carrier platform. If the signal subsystem 702 receives the road surface center of gravity adjustment control command and / or the water surface center of gravity adjustment control command, it acquires the lifting support displacement data, lifting support pressure data, cargo position data, and water level data of each compartment of the amphibious ship carrier platform. The adjustment subsystem 703 includes: an acquisition unit, a construction unit, and a stability integration unit. The acquisition unit is used to acquire data processed by the signal system and establish a state operation dataset for each module of the heavy-duty transport platform. The construction unit is used to construct a standard model for the center of gravity adjustment control of the amphibious transport platform, and to establish a desired center of gravity stability benchmark for the amphibious transport platform corresponding to various working conditions or variable working conditions. The stability integration unit is used to process data such as the displacement data of the lifting support, the pressure data of the lifting support, the position data of the transported goods, and the water level data of each compartment, which affect the center of gravity. It uses the K-means clustering method to divide the data of multiple sub-platform modules into several categories, identifies subsystems with similar or identical performance or state results, classifies them as targets, and uses the Euclidean distance metric method to track and calculate the corresponding support point and compartment water level stability integration processing of the amphibious transport platform. The control subsystem 704 is used to control the displacement and speed of the hydraulic cylinders of the output lifting support, the displacement and speed of the horizontal hydraulic cylinders of the output power compartment, the vertical hydraulic cylinders of the power compartment, and the hydraulic cylinders of the power support, and the water injection and discharge of the submersible pump group of the output compartment. Based on Simulink, an active disturbance rejection controller and a controlled object model are built to perform active disturbance rejection synchronization error control, so that the sub-platform modules can coordinate control and adopt an adjacent cross-coupling control strategy to jointly realize the center of gravity adjustment control of the amphibious heavy-duty transport platform.

[0046] Furthermore, in the embodiments of this application, the early warning subsystem is used to obtain the initial loading state risk level of the amphibious heavy-duty transport platform, calculate the displacement deviation of the lifting support and the pressure difference change of the lifting support based on the data to be adjusted, predict the loading and transportation risk level of the amphibious heavy-duty transport platform based on the displacement deviation of the lifting support and the pressure difference change of the lifting support, predict the center of gravity stability risk of the amphibious heavy-duty transport platform based on the loading and transportation risk level and the initial loading state risk level, and issue an early warning based on the center of gravity stability risk.

[0047] Among them, the initial loading status risk level is the risk level classified by assessing the weight, volume, and distribution of the load before or in the early stage after the amphibious heavy-duty transport platform begins loading the cargo, combined with parameters such as the platform's own load-bearing capacity and structural strength; the lifting support displacement deviation is the difference between the actual displacement of the platform's lifting support structure and the preset target displacement; the lifting support pressure difference refers to the pressure difference between different lifting support units of the platform; and the center of gravity stability risk is the risk level of whether the platform's center of gravity exceeds the safe and stable range and may tilt or overturn, based on the platform's current center of gravity position and dynamic change trend.

[0048] Understandably, by using the early warning subsystem, the initial loading status risk level can be obtained, the displacement deviation and pressure difference change of the lifting support can be calculated, and the loading and transportation risk level and center of gravity stability risk of the amphibious heavy-duty transport platform can be predicted, thus providing an early warning. Specifically, the early warning subsystem includes a data acquisition unit, a calculation and early warning unit, and a calculation and prediction unit. The data acquisition unit is used to acquire processed data from the signal system. The calculation and early warning unit is used to compare the data with the standard model for center of gravity adjustment control to determine the risk level of the initial loading state of the transport platform. The calculation and prediction unit uses the Bayesian-LSTM model to identify the displacement deviation of the lifting support and the pressure difference change of the lifting support to predict the risks of loading heavy loads or transporting heavy loads on the transport platform. Based on the Bayesian-LSTM model, it uses the water level data of the corresponding compartments during the center of gravity adjustment process to predict the risk of center of gravity stability.

[0049] Further, in the embodiments of this application, the adjustment subsystem 703 processes the state operation dataset and the expected center of gravity stability benchmark using the K-means clustering method to obtain center of gravity adjustment control data. The K-means clustering method includes: constructing datasets for each sub-platform module based on the state operation dataset; randomly selecting data subsystems from the expected center of gravity stability benchmark, calculating the first influence factor vector of the data-based subsystem, wherein the data-based subsystem includes at least one of compartment water level data, position data, pressure data, displacement data, and center of gravity data; calculating the Euclidean distance between the datasets of each sub-platform module and the subsystem influence factors; clustering the data subsystems into corresponding data class systems based on the Euclidean distance, calculating the second influence factor vector of the data class systems, and calculating the Euclidean distance between the datasets of each sub-platform module and the second influence factor vector, until the second influence factor vector equals the first influence factor vector, to obtain the center of gravity adjustment control data.

[0050] Among them, K-means clustering is an unsupervised machine learning clustering algorithm that divides a set of unordered data into K preset number of categories according to similarity, so that the data points within each category have high similarity and the data points between clusters have low similarity. The compartment water level data is the height, volume or liquid level percentage of water in each independent compartment of the amphibious heavy-duty transport platform. The position data is the spatial coordinates or relative position information of key objects related to center of gravity control. The pressure data is the real-time pressure value of the platform's lifting support system. The displacement data is the actual movement distance of the platform's movable structure. The center of gravity data is the core data describing the overall spatial position of the center of gravity of the amphibious heavy-duty transport platform. Euclidean distance is a mathematical method for calculating the straight-line distance between two points in space. The first influence factor vector is an ordered set of values ​​composed of the core factors that directly determine the stability of the center of gravity of the amphibious heavy-duty transport platform. The second influence factor vector is an initial vector extracted and calculated from the actual data class system after the data subsystem is clustered, representing the initial / dynamic influence of the center of gravity in the current actual operation of the platform.

[0051] Understandably, the adjustment subsystem 703 uses the K-means clustering method to construct datasets for each subset platform module based on the state operation dataset and the expected center of gravity stability benchmark. This involves calculating the first influence factor vector of the data-driven subsystem, the data of the data-driven subsystem, the Euclidean distance between the datasets of each sub-platform module and the influence factors of the subsystem, and the second influence factor vector of the data-driven system. This process yields the center of gravity adjustment control data, which can transform complex sub-platform state data into precise and executable basis for center of gravity adjustment. This ensures the scientific validity and accuracy of the center of gravity data for adjusting the transport vehicle and the amphibious heavy-duty transport platform.

[0052] Specifically, the center-of-gravity adjustment process of the amphibious heavy-duty transport platform affects the leveling signal using the K-means clustering method, and the steps are divided as follows: Figure 9 As shown: Step 1: Construct dataset C for each module of the heavy-duty transportation platform; Step 2: Randomly select the influence factors of the subsystem (compartment water level data, position data, pressure data, displacement data, and center of gravity data, etc.) as the initial average influence factor vector C'; Step 3: Calculate the distance between each influencing factor between C and C' using the Euclidean distance metric. Step 4: Divide the subsystem into corresponding class systems based on the most recent average vector; Step 5: Calculate the new average impact factor vector C'1. If C' ≠ C'1, let C' = C'1 and repeat step 3. Step 6: If C'=C'1, output the class system partitioning result. To avoid excessive iteration time, set the maximum number of loops (the maximum number of loops is selected according to the number of platform modules). When the maximum number of loops is reached, the program terminates and outputs the structure.

[0053] Furthermore, in the embodiments of this application, the control subsystem 704 divides the weight and size information of the transported goods into transport standards based on a pre-built heavy-duty transport standard control library, and performs matching calculations based on the division data and the center of gravity adjustment calibration control data in the center of gravity adjustment standard control library to obtain the initial center of gravity adjustment control data of the amphibious heavy-duty transport platform.

[0054] The heavy-load transportation standard control library is a collection of standardized technical specifications, control parameters, operating procedures, and safety thresholds used to uniformly guide the design of heavy-load transportation and ensure the safety of the transportation process.

[0055] Understandably, by pre-constructing a heavy-duty transportation standard control library in the control subsystem 704, the weight and size information of the transported goods are classified according to transportation standards, and the center of gravity adjustment calibration control data in the control library is matched and calculated to obtain the initial center of gravity adjustment control data of the amphibious heavy-duty transportation platform. This can provide a scientific, accurate, and standardized basis for the initial center of gravity control of the amphibious heavy-duty transportation platform, ensuring the stability, safety, and efficiency of heavy-duty transportation in complex environments.

[0056] Specifically, the control system inputs the load and size information of the transport vehicle, selects the initial center of gravity counterweight data from the heavy-duty transport standard control library, selects the transport mode of the amphibious heavy-duty transport platform, selects the operating boundary conditions of the heavy-duty transport platform, and runs the initial standard control state; it acquires the position sensor signals between the transport vehicle and the amphibious heavy-duty transport platform, the water level sensor signals of each sub-platform compartment of the amphibious heavy-duty transport platform, and the outrigger position and pressure signals processed by the signal system, and waits for the center of gravity adjustment data; the center of gravity adjustment system divides the system into several classes using the K-means clustering method, and identifies the specific... Subsystems with similar or identical performance or state results are categorized and set as targets. Using a target-oriented approach, the Euclidean distance metric is employed to track and calculate the control data for the center of gravity adjustment of the amphibious heavy-duty transport platform. Based on the modular connection of multiple sub-platforms, an adjacent cross-coupling control method is used to coordinate the response control of the water level of each sub-compartment and the position of the lowering outriggers of each sub-platform. An active disturbance rejection controller and a controlled object model are built using Simulink to perform active disturbance rejection synchronization error control. Finally, an adjacent cross-coupling control strategy is used to jointly achieve the center of gravity adjustment control of the amphibious heavy-duty transport platform.

[0057] Furthermore, in the embodiments of this application, the control subsystem 704 is also used to: when operating a single sub-platform module, control the combined adjustment of the water level center of gravity of the platform module compartment, the leveling of the lifting support, and the position adjustment of the power compartment and counterweight block to achieve heavy-load land transportation and heavy-load underwater slope transportation. For heavy-load land transportation, based on controlling the displacement leveling of the four-point lifting support of the single sub-platform, at least one of the power support cylinder, the power rod cylinder, and the power compartment horizontal cylinder is adjusted to adjust the forward and backward offset of the center of gravity of the single sub-platform; for a cargo with symmetrical mass, all compartment water is emptied or the water injection volume of the left and right compartments is adjusted to adjust the left and right offset of the center of gravity of the single sub-platform, so that the center of gravity of the cargo and the center of gravity of the single sub-platform coincide within a preset stable range.

[0058] Understandably, when using a single sub-platform module, the control subsystem 704 controls the center of gravity adjustment and forward / backward offset of the combined platform modules, thereby adjusting the left / right offset of the center of gravity of the single sub-platform. This ensures that the center of gravity of the transported goods and the center of gravity of the single sub-platform coincide within a pre-set stable range. This can guarantee the stability, safety, and controllability of heavy-duty transportation at the basic unit level, optimize the stress on the sub-platform structure, and extend the service life of the equipment.

[0059] Specifically, for a single sub-platform module, a combination of adjusting the water level center of gravity of the platform module compartments, leveling the lifting supports, and adjusting the position of the power compartment and counterweight blocks is used to adjust the center of gravity, adapting to both land-based heavy-load transportation and underwater slope-based heavy-load transportation. For land-based heavy-load transportation, based on controlling the displacement of the four-point lifting supports to level the single sub-platform, the hydraulic cylinders of the power support, the upper and lower hydraulic cylinders of the power compartment, and the horizontal hydraulic cylinder of the power compartment are adjusted to adjust the forward and backward offset of the center of gravity of the single sub-platform. For loads with symmetrical mass, the water volume of all compartments is emptied or the water volume of the left and right compartments is adjusted appropriately to adjust the left and right offset of the center of gravity of the single sub-platform, achieving a stable range where the center of gravity of the load coincides with the center of gravity of the single sub-platform.

[0060] In summary, the amphibious heavy-duty transport platform proposed in this application includes a power compartment, a power compartment horizontal cylinder, a power compartment vertical cylinder, a power support, a power support cylinder, a platform compartment structure of the sub-platform module, a lifting support structure, lifting cylinders, and other sub-platform modules and power compartment assembly components. It can solve the problem of heavy-duty loading, unloading, and transporting amphibious heavy-duty transport platforms under amphibious conditions. Moreover, it can adaptively adjust the overall transport center of gravity, enabling it to adapt to the loading, unloading, and transport of heavy loads with different center of gravity offsets in amphibious operating environments. It has collaborative operation and reliability assurance control, thus improving the efficiency of amphibious heavy-duty transport.

[0061] Next, referring to the accompanying drawings, a control method for an amphibious heavy-duty transport platform according to an embodiment of this application is described. The control method is used to control the amphibious heavy-duty transport platform as described above.

[0062] like Figure 10 As shown, the control method for this amphibious heavy-duty transport platform includes the following steps: In step S1001, in response to the center of gravity adjustment control command of the amphibious heavy-duty transport platform, at least one sub-platform module data of the amphibious heavy-duty transport platform is acquired. The sub-platform module data includes at least one of the following: lifting support displacement data, lifting support pressure data, cargo position data, and water level data of each compartment. The sub-platform module data of the amphibious heavy-duty transport platform is processed to obtain the data to be adjusted.

[0063] Among them, the center of gravity adjustment control command is a set of commands issued by the control subsystem to the actuator to adjust the center of gravity position of the platform itself or the carrier.

[0064] It is understandable that by responding to the center of gravity adjustment control command of the amphibious heavy-duty transport platform, acquiring module data such as the displacement data of the lifting support, the pressure data of the lifting support, the position data of the transported goods, and the water level data of each compartment of the amphibious heavy-duty transport sub-platform, and processing them to obtain the data to be adjusted, the dynamic stability of the platform and the safety of the transport structure can be ensured, and the operational efficiency can be improved.

[0065] Specifically, it determines whether a control command for adjusting the center of gravity of the amphibious heavy-duty transport platform's surface and / or its water surface is received. If such a command is received, the system acquires the displacement data, pressure data, displacement data, and water level information of the platform's surface lifting supports, as well as the water level information of each sub-platform compartment. Using a sensor signal processing component, the system processes the displacement data, pressure data, and water level information of the surface lifting supports and water surface compartments to obtain the adjustment data for the amphibious heavy-duty transport platform.

[0066] This application embodiment obtains module data such as lifting support displacement data, lifting support pressure data, cargo position data, and water level data of each compartment of the amphibious heavy-duty transport sub-platform by responding to the center of gravity adjustment control command of the amphibious heavy-duty transport platform, and processes the data to be adjusted to ensure the dynamic stability of the platform and the safety of the transport structure, thereby improving operational efficiency.

[0067] In step S1002, a state operation dataset of each sub-platform module is established based on the data to be adjusted, a standard model for the center of gravity adjustment control of the amphibious ship transport platform is constructed, the expected center of gravity stability benchmark corresponding to the center of gravity adjustment control requirements is determined using the standard model for the center of gravity adjustment control, and the center of gravity adjustment control data of the amphibious heavy-load transport platform is calculated based on the state operation dataset and the expected center of gravity stability benchmark.

[0068] Among them, the standard model for center of gravity adjustment control is a mathematical framework based on dynamic principles that describes the mechanism by which the system achieves dynamic optimization of the center of gravity position by actively adjusting the mass distribution; the center of gravity stability benchmark is a quantitative index system for determining whether the system is in a stable state; and the center of gravity adjustment control data is the information flow that supports the operation of the closed-loop control system.

[0069] It is understood that the embodiments of this application establish the state operation dataset of each sub-platform module and the center of gravity adjustment control standard model by using the data to be adjusted, determine the center of gravity adjustment control requirements and the expected center of gravity stability benchmark by using the center of gravity adjustment control standard model, and calculate the center of gravity adjustment control data of the amphibious heavy-duty transport platform. This can ensure the stability and reliability of the platform under complex environments and heavy-duty conditions, and guarantee the operational safety under extreme conditions.

[0070] Specifically, the geological and slope information of the bottom surface of at least one target transport area is collected. A target water area database is constructed based on the bottom surface information of each amphibious heavy-duty transport platform. The center of gravity adjustment calibration control data of the amphibious heavy-duty transport platform is matched and calculated with the bottom surface information data of each target water area and the weight, length, width and height characteristics of the transported goods. The center of gravity adjustment target is the range of the center of gravity of the amphibious heavy-duty transport platform and the center of gravity of the heavy-duty transported goods. The center of gravity adjustment control path is constructed and the initial center of gravity adjustment control data is output. Based on the center of gravity adjustment control path, the center of gravity adjustment stability target of the amphibious heavy-duty transport platform is tracked and compensated using the displacement data of the road surface lifting support, the pressure data of the road surface lifting support, the displacement data of the water surface lifting support, the pressure data of the water surface lifting support, the water level information of each sub-platform compartment, and the center of gravity adjustment stability target of the amphibious heavy-duty transport platform.

[0071] The system is divided into several classes using the K-means clustering method. Subsystems with similar or identical performance or state results are identified, categorized, and set as targets. The Euclidean distance metric is used to track and calculate the center of gravity adjustment control data of the amphibious heavy-duty transport platform. An active disturbance rejection controller and a controlled object model are built using Simulink to perform active disturbance rejection synchronization error control. An adjacent cross-coupling control strategy is adopted to jointly realize the center of gravity adjustment control of the amphibious heavy-duty transport platform.

[0072] This application embodiment establishes a state operation dataset and a center of gravity adjustment control standard model for each sub-platform module by using the data to be adjusted. The center of gravity adjustment control standard model is used to determine the center of gravity adjustment control requirements and the expected center of gravity stability benchmark. The center of gravity adjustment control data of the amphibious heavy-duty transport platform is calculated, which can ensure the stability and reliability of the platform under complex environments and heavy-duty conditions, and guarantee the operational safety under extreme conditions.

[0073] In step S1003, a control command for adjusting the center of gravity of the amphibious heavy-duty transport platform is issued. Based on the initial center of gravity counterweight data and center of gravity adjustment control data of the amphibious heavy-duty transport platform, the displacement and / or speed of at least one of the following is controlled: lifting cylinder, power compartment horizontal cylinder, power compartment up and down cylinder, and power support cylinder, so as to control the water injection and / or water discharge of the platform body structure and realize the center of gravity adjustment of the amphibious heavy-duty transport platform.

[0074] It is understood that the embodiments of this application issue a center of gravity adjustment control command to the amphibious heavy-duty transport platform, adjust the platform's initial center of gravity counterweight data and center of gravity adjustment control data, control the displacement and / or speed of the power compartment assembly components and the water injection and / or water release of the sub-platform modules, thereby realizing the center of gravity adjustment of the amphibious heavy-duty transport platform, ensuring the reliability of collaborative operations and improving the efficiency of amphibious heavy-duty transport.

[0075] Specifically, it determines whether a control command for adjusting the ground center of gravity of the amphibious heavy-duty transport platform and / or a control command for adjusting the water surface center of gravity of the amphibious heavy-duty transport platform have been received. If such a control command is received, the system acquires the displacement data, pressure data, displacement data, and pressure data of the ground lifting support, as well as the water level information of each sub-platform compartment. The system then uses sensor signal processing components to process the displacement data, pressure data, displacement data, and pressure data of the ground lifting support, and the water surface lifting support. The water level information of each sub-platform compartment is used to obtain the adjustment data of the amphibious heavy-duty transport platform. Based on the center of gravity adjustment control path, the displacement data of the road surface lifting support, the pressure data of the road surface lifting support, the displacement data of the water surface lifting support, the pressure data of the water surface lifting support, the water level information of each sub-platform compartment, and the center of gravity adjustment stability target of the amphibious heavy-duty transport platform are tracked and compensated. The displacement and / or speed of at least one of the lifting cylinder, the power compartment horizontal cylinder, the power compartment upper and lower cylinder, and the power support cylinder are controlled to control the water injection and / or water release of the platform body structure, so as to realize the center of gravity adjustment of the amphibious heavy-duty transport platform.

[0076] This application embodiment issues a center of gravity adjustment control command to the amphibious heavy-duty transport platform, adjusts the platform's initial center of gravity counterweight data and center of gravity adjustment control data, controls the displacement and / or speed of the power compartment assembly components and the water injection and / or water release volume of the sub-platform modules, thereby realizing the center of gravity adjustment of the amphibious heavy-duty transport platform, ensuring the reliability of collaborative operations and improving the efficiency of amphibious heavy-duty transport.

[0077] In summary, the control method for the amphibious heavy-load transport platform proposed in this application constructs a standard model for the center-of-gravity adjustment control of the amphibious ship transport platform. Within the sub-platform module, it responds to the center-of-gravity adjustment control command of the amphibious heavy-load transport platform, controlling the displacement and / or speed of the power compartment assembly components and the water injection and / or water release volume of the sub-platform module. This achieves the center-of-gravity adjustment of the amphibious heavy-load transport platform, ensuring the safety and reliability of collaborative operations and improving the efficiency of amphibious heavy-load transport.

[0078] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0079] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0080] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0081] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any of the following techniques known in the art, or a combination thereof: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0082] Those skilled in the art will understand that all or part of the steps of the methods implementing the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0083] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. An amphibious heavy-duty transport platform, characterized in that, include: At least one sub-platform module and powertrain assembly; The power compartment assembly includes a power compartment body, a power compartment horizontal cylinder, a power compartment vertical cylinder, a power support and a power support cylinder, a platform compartment structure of at least one sub-platform module, a lifting support structure, and a lifting cylinder. The power compartment is horizontally and fixedly connected to the power compartment horizontal cylinder. One end of the power support is connected to the power compartment horizontal cylinder by a pin, and the other end of the power support is connected to the platform compartment structure by a pin. The power compartment upper and lower cylinders are connected to the power support and the power compartment horizontal cylinder by pins. The power support cylinder is connected to the power support and the platform compartment by pins. The lifting cylinder controls the lifting support structure to perform lifting actions, thereby driving the platform compartment structure to perform lifting actions. The power compartment assembly controls the displacement and / or speed of at least one of the lifting cylinder, the power compartment horizontal cylinder, the power compartment vertical cylinder, and the power support cylinder, in order to control the water injection and / or water discharge of the platform cabin structure and realize the center of gravity adjustment of the amphibious heavy-duty transport platform.

2. The amphibious heavy-duty transport platform according to claim 1, characterized in that, The platform cabin structure includes a middle cabin, a left cabin, a right cabin, and an elastic anti-collision bar. The middle cabin includes a top flat plate structure, a bottom arc-shaped structure, and multiple compartments. The structures of the left and right cabins both include a top flat plate structure, a bottom arc-shaped structure, and multiple compartments.

3. The amphibious heavy-duty transport platform according to claim 2, characterized in that, The compartment is equipped with a submersible pump set and a water level detection sensor. The submersible pump inlet is connected to a parallel double-inlet pipe and a waterproof switch valve. One end of the submersible pump inlet double-inlet pipe is connected to the outside of the compartment, and the other end is connected to the inside of the compartment. The submersible pump outlet is connected to a parallel double-inlet pipe, one end of which is connected to the outside of the compartment, and the other end is connected to the inside of the compartment. The water injection and drainage of the compartment is achieved by controlling the waterproof switch valve. The water level sensor is arranged at the lowest point of the arc, at the connection position with the submersible pump, or at the position of the compartment wall.

4. The amphibious heavy-duty transport platform according to claim 3, characterized in that, When there are multiple elastic bumper bars, at least one of the elastic bumper bars is connected to a position sensor at its top, and the position sensor is used to detect the distance between the vehicle and the elastic bumper bar.

5. A control system for an amphibious heavy-duty transport platform, characterized in that, The control system is integrated within the power compartment assembly of the amphibious heavy-duty transport platform as described in any one of claims 1-4, and the control system includes: The energy subsystem provides power and electricity to the amphibious heavy-duty transport platform. The signal subsystem is used to respond to the center of gravity adjustment control command of the amphibious heavy-duty transport platform, acquire at least one sub-platform module data of the amphibious heavy-duty transport platform, the sub-platform module data includes at least one of the following: lifting support displacement data, lifting support pressure data, cargo position data, and water level data of each compartment; and process the sub-platform module data of the amphibious heavy-duty transport platform to obtain the data to be adjusted. The adjustment subsystem establishes a state operation dataset for each sub-platform module based on the data to be adjusted, constructs a standard model for the center of gravity adjustment control of the amphibious ship transport platform, uses the standard model for the center of gravity adjustment control to determine the expected center of gravity stability benchmark corresponding to the center of gravity adjustment control requirements, and calculates the center of gravity adjustment control data of the amphibious heavy-load transport platform based on the state operation dataset and the expected center of gravity stability benchmark. The control subsystem is used to issue control commands for adjusting the center of gravity of the amphibious heavy-duty transport platform. Based on the initial center of gravity counterweight data of the amphibious heavy-duty transport platform and the center of gravity adjustment control data, it controls the displacement and / or speed of at least one of the lifting cylinder, the power compartment horizontal cylinder, the power compartment vertical cylinder, and the power support cylinder to control the water injection and / or water release of the platform's cabin structure, thereby realizing the center of gravity adjustment of the amphibious heavy-duty transport platform.

6. The control system of the amphibious heavy-duty transport platform according to claim 5, characterized in that, Also includes: The early warning subsystem is used to obtain the initial loading state risk level of the amphibious heavy-duty transport platform, calculate the displacement deviation of the lifting support and the pressure difference change of the lifting support based on the data to be adjusted, predict the loading and transportation risk level of the amphibious heavy-duty transport platform based on the displacement deviation of the lifting support and the pressure difference change of the lifting support, predict the center of gravity stability risk of the amphibious heavy-duty transport platform based on the loading and transportation risk level and the initial loading state risk level, and issue an early warning based on the center of gravity stability risk.

7. The control system of the amphibious heavy-duty transport platform according to claim 5, characterized in that, The adjustment subsystem processes the state operation dataset and the desired center of gravity stability benchmark using the K-means clustering method to obtain center of gravity adjustment control data. The K-means clustering method includes: Based on the aforementioned state running dataset, the datasets for each sub-platform module are constructed; A data subsystem is randomly selected from the desired center of gravity stability benchmark, and a first influence factor vector of the data subsystem is calculated. The data subsystem includes at least one of the following: compartment water level data, position data, pressure data, displacement data, and center of gravity data. Calculate the Euclidean distance between the datasets of each sub-platform module and the influence factor of the subsystem; The data subsystems are clustered into corresponding data class systems based on the Euclidean distance. The second influence factor vector of the data class system is calculated. The datasets of each sub-platform module are then compared with the second influence factor vector and the Euclidean distance, until the second influence factor vector equals the first influence factor vector, so as to obtain the center of gravity adjustment control data.

8. The control system of the amphibious heavy-duty transport platform according to claim 5, characterized in that, The control subsystem is based on a pre-built heavy-duty transportation standard control library. It divides the weight and size information of the transported goods into transportation standards, and performs matching calculations based on the division data and the center of gravity adjustment calibration control data in the center of gravity adjustment standard control library to obtain the initial center of gravity adjustment control data of the amphibious heavy-duty transportation platform.

9. The control system of the amphibious heavy-duty transport platform according to claim 5, characterized in that, The control subsystem is also used for: in the case of a single sub-platform module, to control the combined adjustment of the water level center of gravity of the control platform module compartment, the leveling of the lifting support, and the position adjustment of the power compartment and counterweight blocks to achieve heavy-load land transportation and heavy-load underwater slope transportation. In the case of heavy-load land transportation, based on the displacement leveling of the four-point lifting support of the single sub-platform, at least one of the power support cylinder, the power rod cylinder, and the power compartment leveling cylinder is adjusted to adjust the forward and backward offset of the center of gravity of the single sub-platform. For the transport of a symmetrical mass, all compartment water is emptied or the water injection volume of the left and right compartments is adjusted to adjust the left and right offset of the center of gravity of the single sub-platform, so that the center of gravity of the transport and the center of gravity of the single sub-platform coincide within a pre-set stable range.

10. A control method for an amphibious heavy-duty transport platform, characterized in that, The control method is used to control the amphibious heavy-duty transport platform as described in any one of claims 1-4, the method comprising: In response to the center of gravity adjustment control command of the amphibious heavy-duty transport platform, data of at least one sub-platform module of the amphibious heavy-duty transport platform is acquired. The sub-platform module data includes at least one of the following: lifting support displacement data, lifting support pressure data, cargo position data, and water level data of each compartment. The sub-platform module data of the amphibious heavy-duty transport platform is processed to obtain the data to be adjusted. Based on the data to be adjusted, establish the status operation dataset of each sub-platform module, construct the center of gravity adjustment control standard model of the amphibious ship carrier platform, use the center of gravity adjustment control standard model to determine the expected center of gravity stability benchmark corresponding to the center of gravity adjustment control requirements, and calculate the center of gravity adjustment control data of the amphibious heavy-load transport platform based on the status operation dataset and the expected center of gravity stability benchmark. The system issues a center of gravity adjustment control command for the amphibious heavy-duty transport platform. Based on the initial center of gravity counterweight data and the center of gravity adjustment control data of the amphibious heavy-duty transport platform, it controls the displacement and / or speed of at least one of the lifting cylinder, the power compartment horizontal cylinder, the power compartment vertical cylinder, and the power support cylinder to control the water injection and / or water release volume of the platform's cabin structure, thereby achieving center of gravity adjustment of the amphibious heavy-duty transport platform.

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