Navigation driving system of amphibious vehicle, amphibious vehicle and navigation driving control method

Abstract

The invention provides a navigation driving system of an amphibious vehicle, the amphibious vehicle and a navigation driving control method, and relates to the technical field of vehicles. The navigation driving system comprises a first propeller, a second propeller and a third propeller; the first propeller is arranged in the middle of the head of the amphibious vehicle; the second propeller is arranged on the left side of the tail part of the amphibious vehicle; the third propeller is arranged on the right side of the tail part of the amphibious vehicle; the first thruster, the second thruster and the third thruster are all used for providing driving force for the amphibious vehicle to sail in water, and the output angle of the driving force can be adjusted. According to the invention, the effect of flexibly controlling the attitude and driving force of the amphibious vehicle sailing in water can be achieved.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a navigation drive system for an amphibious vehicle, an amphibious vehicle, and a navigation drive control method. Background Technology

[0002] With the development of vehicle technology and the continuous expansion of personalized demands for off-road vehicles, amphibious vehicles are becoming a fashionable and widely accepted trend. Amphibious drive systems are more efficient and intelligent, greatly enhancing the adaptability and playability of these vehicles. In addition to basic off-road attributes, they can easily cross rivers and even lakes, and cope with sudden floods for emergency escape, truly covering all off-road scenarios. However, the attitude control of amphibious vehicles in water has become a significant challenge.

[0003] In related technologies, amphibious vehicles are propelled by four-wheeled water propulsion, but this method has the problem of difficulty in controlling the navigation attitude. Summary of the Invention

[0004] This application provides a navigation drive system for an amphibious vehicle, an amphibious vehicle, and a navigation drive control method to achieve flexible control of the amphibious vehicle's attitude and driving force while navigating in water.

[0005] In a first aspect, an embodiment of this application provides a navigation drive system for an amphibious vehicle, comprising: a first thruster, a second thruster, and a third thruster;

[0006] The first thruster is located in the middle of the front of the amphibious vehicle;

[0007] The second thruster is located on the left side of the rear of the amphibious vehicle;

[0008] The third thruster is located on the right side of the rear of the amphibious vehicle;

[0009] The first, second, and third thrusters are all used to provide the driving force for the amphibious vehicle to navigate in water, and the angle of the driving force output can be adjusted.

[0010] In one possible implementation, the first, second, and third thrusters are all mounted on the chassis of the amphibious vehicle.

[0011] In one possible implementation, the first thruster, the second thruster, and the third thruster are arranged in an isosceles triangle.

[0012] Secondly, embodiments of this application provide an amphibious vehicle, including: a vehicle body and a navigation drive system as described in various embodiments of the first aspect.

[0013] Thirdly, embodiments of this application provide a navigation drive control method for an amphibious vehicle, applied to the navigation drive system of an amphibious vehicle in various embodiments of the first aspect. The target thruster includes a first thruster, a second thruster, or a third thruster. The navigation drive control method for the amphibious vehicle includes:

[0014] Monitor the navigation attitude data of amphibious vehicles in the water;

[0015] Determine attitude adjustment requirements based on navigation attitude data;

[0016] Adjust the drive force output of the target thruster according to the attitude adjustment requirements to keep the amphibious vehicle in attitude balance.

[0017] In one possible implementation, the attitude adjustment requirement includes head hunching, and adjusting the drive force output of the target thruster according to the attitude adjustment requirement includes:

[0018] Based on the amphibious vehicle's descent angle, the driving force output angle of the first thruster is adjusted to a first direction, which is perpendicular to the vehicle body and pointing downwards.

[0019] In one possible implementation, the attitude adjustment requirement includes tilting towards the target side, which may be the left or right side. Based on the attitude adjustment requirement, the driving force output angle of the target thruster is adjusted, including:

[0020] Based on the amphibious vehicle's tilt angle on the target side, the driving force output angle of the target thruster located on the target side at the rear of the vehicle is adjusted in the first direction, and the driving force output of the target thruster located on the target side at the rear of the vehicle is increased. The second direction is the direction perpendicular to the vehicle body downwards.

[0021] In one possible implementation, it further includes: controlling the driving force output angle of the first thruster to adjust in a first direction so that the first thruster and the target thruster located on the target side at the rear of the vehicle coordinate to adjust the attitude of the amphibious vehicle.

[0022] In one possible implementation, it also includes:

[0023] In response to the detection that the amphibious vehicle is increasing its speed while traveling in a straight forward direction in the water, the first thruster increases its driving force output in the first direction to maintain the amphibious vehicle's attitude balance while traveling in a straight forward direction.

[0024] In one possible implementation, it includes:

[0025] In response to the detection that the amphibious vehicle is in a straight backward navigation state in the water, the driving force output direction of the second and third thrusters is adjusted to the second direction, which is parallel to the amphibious vehicle axis and points towards the front of the vehicle.

[0026] In one possible implementation, it includes:

[0027] In response to the detection that the amphibious vehicle is turning in the water, the difference in driving force between the second and third thrusters that can meet the steering requirements is determined based on the steering wheel angle information.

[0028] The driving force output of the second and third thrusters is adjusted according to the difference in driving force.

[0029] In one possible implementation, it also includes:

[0030] In response to the detection that the amphibious vehicle's operating conditions meet the floating conditions, the first, second, and third thrusters are activated to provide driving force for the amphibious vehicle;

[0031] In response to the detection that all wheels of the amphibious vehicle have touched the bottom, the wheels are started to rotate to provide driving force for the amphibious vehicle.

[0032] Fourthly, embodiments of this application provide a navigation drive control device for an amphibious vehicle, applied to the navigation drive system of an amphibious vehicle in various embodiments of the first aspect. The target thruster includes a first thruster, a second thruster, or a third thruster. The amphibious vehicle navigation drive control device includes:

[0033] The monitoring module is used to monitor the amphibious vehicle's navigation attitude data in the water;

[0034] The determination module is used to determine attitude adjustment requirements based on navigation attitude data.

[0035] The adjustment module is used to adjust the driving force output of the target thruster according to the attitude adjustment requirements, so as to keep the amphibious vehicle in attitude balance.

[0036] Fifthly, embodiments of this application provide a navigation drive control device for an amphibious vehicle, including: a memory and a processor;

[0037] The memory stores instructions that the computer executes;

[0038] The processor executes computer execution instructions stored in memory, causing the processor to perform the methods described in the various possible implementations of the third aspect above.

[0039] Sixthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed, are used to implement the methods in various possible implementations of the third aspect above.

[0040] In a seventh aspect, embodiments of this application provide a computer program product, including a computer program that, when executed, implements the methods described in the various possible implementations of the third aspect above.

[0041] The amphibious vehicle navigation drive system, amphibious vehicle, and navigation drive control method provided in this application embodiment, by setting thrusters with adjustable drive force output angles at the middle of the front, the left side of the rear, and the right side of the rear of the amphibious vehicle, flexibly controls the drive force output of the thrusters according to the navigation attitude data when the amphibious vehicle is navigating in water, so that the amphibious vehicle maintains attitude balance and achieves the effect of flexibly controlling the attitude of the amphibious vehicle in water navigation. Attached Figure Description

[0042] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0043] Figure 1 A schematic diagram of the amphibious vehicle's navigation drive system provided in this application embodiment. Figure 1 ;

[0044] Figure 2 This is a schematic diagram of the amphibious vehicle structure provided in an embodiment of this application;

[0045] Figure 3 A schematic flowchart of the amphibious vehicle navigation drive control method provided in the embodiments of this application;

[0046] Figure 4 Schematic diagram of the navigation drive system structure of the amphibious vehicle provided in the embodiments of this application Figure 2 ;

[0047] Figure 5 A schematic diagram of the amphibious vehicle navigation drive control device provided in the embodiments of this application;

[0048] Figure 6 This is a schematic diagram of the navigation drive control device for an amphibious vehicle provided in an embodiment of this application.

[0049] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concepts of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0050] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0051] Amphibious vehicles are typically designed for land use, and their unique design means they cannot simultaneously perform well in both land and water environments. Generally, upon entering the water, they are slightly submerged (front lower than rear). Furthermore, the position of occupants or cargo can cause the vehicle to tilt to the left or right. These factors severely impact the vehicle's water performance, especially the submersion issue. As vehicle speed increases, the submersion angle increases dramatically, potentially leading to rollover and limiting maximum speed. Similarly, side tilting not only affects straight-line navigation efficiency but also poses a significant risk during turns, potentially causing the vehicle to overturn and preventing high-speed maneuvers.

[0052] Among the relevant technologies, there are three main navigation and propulsion schemes: 1. Only four-wheeled water propulsion, no propulsion, and no attitude adjustment, used in emergency scenarios; 2. Four-wheeled water propulsion, with propulsion, but no attitude adjustment, used for emergency and underwater navigation, but with limited speed and poor navigation performance; 3. Four-wheeled water propulsion, with propulsion, and attitude adjustment, relying on floats or water tanks for attitude adjustment. These schemes have different application scenarios and requirements, but all suffer from poor underwater attitude control, affecting the driving experience of amphibious vehicles and posing a risk of high-speed rollover. Furthermore, under certain conditions, they also suffer from poor real-time performance, occupy significant vehicle space, and are not very practical.

[0053] This application provides a navigation drive system for an amphibious vehicle, which has dual functions: it can realize basic underwater navigation drive function, and it can also assist in attitude adjustment. The navigation drive system adopts an isosceles triangle arrangement, which not only provides a continuous driving force for the vehicle's water navigation, but also can adjust the direction and magnitude of the driving force output to adjust the vehicle's attitude. This allows the amphibious vehicle to navigate in a better attitude under various operating conditions, maximizing the underwater driving experience, expanding off-road playability, and effectively improving the underwater navigation efficiency of the amphibious vehicle.

[0054] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0055] Figure 1 A schematic diagram of the amphibious vehicle's navigation drive system provided in this application embodiment. Figure 1 .like Figure 1 As shown, the amphibious vehicle's navigation drive system includes: a first thruster 101, a second thruster 102, a third thruster 103, and a navigation controller 104; the first thruster 101 is located in the middle of the front of the amphibious vehicle; the second thruster 102 is located on the left side of the rear of the amphibious vehicle; the third thruster 103 is located on the right side of the rear of the amphibious vehicle; the first thruster 101, the second thruster 102, and the third thruster 103 are all used to provide driving force for the amphibious vehicle to navigate in water under the control of the navigation controller 104, and all of them can adjust the driving force output angle.

[0056] Optionally, the first, second, and third thrusters can be propeller-type thrusters, jet-type thrusters, or biomimetic thrusters. In one embodiment, the first, second, and third thrusters are all equipped with a pitch angle adjustment device, which can be used to adjust the driving force output angle.

[0057] Optionally, the first, second, and third thrusters can be mounted on the chassis or side of the amphibious vehicle, with both concealed and deployed modes. When the amphibious vehicle is detected entering water navigation mode, the first, second, and third thrusters deploy to provide power for the amphibious vehicle's underwater navigation. When the amphibious vehicle is detected exiting water navigation mode, the first, second, and third thrusters retract and conceal themselves, without affecting the amphibious vehicle's operation on land.

[0058] In one embodiment, the amphibious vehicle is equipped with an attitude sensing module. The vehicle controller acquires the navigation attitude data collected by the attitude sensing module and forwards the navigation attitude data to the navigation controller 104. The navigation controller 104 controls the driving force output of the first thruster, the second thruster and the third thruster according to the navigation attitude data, so that the amphibious vehicle maintains attitude balance when navigating in water.

[0059] The amphibious vehicle navigation drive system provided in this application embodiment is equipped with a three-point first thruster, a second thruster, and a third thruster to form a mechanical fulcrum. Each thruster can adjust the driving force output angle, so that the driving force and attitude adjustment have a coupling relationship. This allows the amphibious vehicle to realize the dual functions of driving force and attitude adjustment in a single system, flexibly control the attitude of the amphibious vehicle while navigating in water, and reduce the hardware complexity and design cost of the amphibious vehicle.

[0060] In one possible implementation, the first, second, and third thrusters are all mounted on the chassis of the amphibious vehicle.

[0061] To meet the complex operational requirements of amphibious operations, the first, second, and third propellers are all integrated into a single unit located in the vehicle's chassis area. Through a rational spacing and optimized positioning, these three components avoid interference with core structures on the chassis, such as the suspension system and transmission components. This ensures that when the vehicle is on the water, the propellers can fully contact the water flow and efficiently output driving force. Simultaneously, the chassis's protective structure reduces the impact and entanglement of debris in the water on the propellers, guaranteeing the stability of power output and the durability of the equipment during amphibious transitions.

[0062] The amphibious vehicle navigation drive system provided in this application embodiment has a first, second, and third thruster all mounted on the chassis of the amphibious vehicle. This centralized layout avoids spatial conflicts between the propulsion devices and key systems such as the vehicle's suspension, transmission, and braking, making the overall vehicle structure more compact and regular, and reducing assembly and maintenance difficulties. It also ensures that all thrusters are on the same horizontal reference plane, allowing them to simultaneously and efficiently cut through the water flow and form balanced thrust when traveling on the water surface, improving the vehicle's navigation stability and handling flexibility, and avoiding yaw or power loss. At the same time, the chassis's protective structure provides natural protection for the thrusters, reducing the risk of impact and entanglement with reefs and debris in the water, extending the equipment's service life, and allowing the thrusters to be closer to the water surface to achieve the optimal draft, ensuring the continuity and reliability of power output during amphibious transitions, and adapting to the driving needs of complex waters.

[0063] In one possible implementation, the first thruster, the second thruster, and the third thruster are arranged in an isosceles triangle.

[0064] To achieve balanced thrust and stable handling when the amphibious vehicle is traveling on water, the first, second, and third thrusters are designed with a scientifically sound isosceles triangle configuration. In one embodiment, the first thruster is positioned in the center of the front of the vehicle, while the second and third thrusters are symmetrically arranged on either side of the chassis's central axis, serving as the two vertices of the isosceles triangle. Through rigorous dimensional calibration and spacing planning, these three thrusters form a stable and efficient power layout. This layout allows the thrust of each thruster to work together to create a combined force, while the symmetrical structure counteracts the yaw torque caused by the impact of water flow on one side, ensuring that the vehicle responds sensitively and maintains a stable attitude when traveling straight or turning on the water.

[0065] The amphibious vehicle navigation drive system provided in this application embodiment features symmetrically arranged thrusters on both sides, which generate balanced lateral thrust. Combined with the thruster on the central axis, this creates a combined force, resulting in more even force distribution when the amphibious vehicle travels on the water surface. This effectively counteracts the yaw risk caused by water flow impact and wave interference, significantly improving straight-line stability and steering precision. The stable isosceles triangular structure concentrates power output, avoiding overload at a single point. At the same time, each thruster maintains an independent and reasonable operating space, reducing mutual interference from water flow and improving thrust conversion efficiency. This distribution also allows the amphibious vehicle to maintain dynamic balance when traveling in complex waters such as shallows and undercurrents, even if one thruster encounters slight obstruction, the other two thrusters can still maintain dynamic balance through the complementarity of the triangular layout, ensuring the continuity and safety of navigation.

[0066] Figure 2 This is a schematic diagram of an amphibious vehicle structure provided in an embodiment of this application. In one implementation, such as... Figure 2 As shown, this application embodiment provides an amphibious vehicle 20, including: a vehicle body 201 and a navigation drive system 202 as described in the above embodiment.

[0067] The amphibious vehicle provided in this application embodiment is equipped with a navigation drive system that includes spacing drive force output and attitude adjustment functions, making it more stable and flexible in water.

[0068] Figure 3 This is a schematic flowchart of the amphibious vehicle navigation drive control method provided in an embodiment of this application. Figure 3 As shown, this application provides a navigation drive control method for amphibious vehicles, applicable to, for example... Figure 1 In the illustrated navigation propulsion system, the target thruster includes a first thruster, a second thruster, or a third thruster, and the navigation propulsion control method includes:

[0069] S301, Monitor the navigation attitude data of amphibious vehicles in water.

[0070] Specifically, navigation attitude data can be acquired through the attitude perception module. For example, key attitude parameters such as pitch angle, roll angle, and yaw angle of the vehicle can be continuously collected through core equipment such as inertial measurement unit, attitude sensor, and positioning module. At the same time, auxiliary data such as navigation speed, heading deviation, hull tilt amplitude, and attitude change rate can be recorded simultaneously to accurately reflect the dynamic changes in the vehicle's attitude in complex water environments such as wind, waves, undercurrents, and shoals.

[0071] S302. Determine attitude adjustment requirements based on navigation attitude data.

[0072] Specifically, when the navigation attitude data indicates that the amphibious vehicle's bow angle is greater than the bow angle threshold, it is determined that the amphibious vehicle has a bow attitude adjustment requirement; when the navigation attitude data indicates that the amphibious vehicle's left or right roll angle is greater than the preset roll angle threshold, it is determined that the amphibious vehicle has a roll attitude adjustment requirement.

[0073] S303. Adjust the drive force output of the target thruster according to the attitude adjustment requirements so that the amphibious vehicle can maintain attitude balance.

[0074] For example, when it is determined that the amphibious vehicle needs to adjust its head-down posture, the first thruster is controlled to adjust the driving force output angle in a direction perpendicular to the downward direction of the vehicle; when it is determined that the amphibious vehicle needs to adjust its side-tilt posture, the thruster located on the side of the tilt is controlled to adjust the driving force output angle in a direction perpendicular to the downward direction of the vehicle, and the driving force output is increased adaptively to keep the amphibious vehicle's posture stable.

[0075] The amphibious vehicle navigation drive control method provided in this application fully utilizes the adjustable output direction of the propeller driving force in the navigation drive system. While providing driving force to the amphibious vehicle, the vehicle attitude is adjusted by adjusting the output direction of the driving force, so that the driving force and attitude adjustment have a coupling relationship. This enables the amphibious vehicle to realize the dual functions of driving force and attitude adjustment in a single system, reducing the hardware complexity and design cost of the amphibious vehicle, and improving the flexibility of the amphibious vehicle's attitude adjustment.

[0076] In one possible implementation, the attitude adjustment requirement includes head hunching, and adjusting the drive force output of the target thruster according to the attitude adjustment requirement includes:

[0077] Based on the amphibious vehicle's descent angle, the driving force output angle of the first thruster is adjusted to a first direction, which is perpendicular to the vehicle body and pointing downwards.

[0078] Specifically, during the amphibious vehicle's underwater navigation, the navigation drive controller receives vehicle attitude information forwarded by the vehicle controller in real time. When it determines that the descent angle is greater than a predetermined value (e.g., ≥2.5°), it controls the first thruster to operate, adjusting its drive force output angle in the first direction to provide driving force in that direction and increase the descent angle of the vehicle's nose. Similarly, for descent angle, when it determines that the descent angle is greater than a predetermined value (e.g., ≥2.5°), it controls the first thruster to operate, adjusting its drive force output angle in the opposite direction of the first direction to reduce driving force in that direction and decrease the descent angle of the vehicle's nose, thus resolving the vehicle's front-to-rear attitude balance issue. When a higher speed is required and the second and third thrusters are already operating at maximum thrust, controlling the drive force output angle of the first thruster can be used to assist in providing propulsion in the second direction for driving or braking, where the second direction is along the vehicle's axial direction.

[0079] The amphibious vehicle navigation drive control method provided in this application embodiment utilizes a first thruster installed at the front of the vehicle to adjust the driving force output angle when the amphibious vehicle is tucked in or raised, flexibly adjusting the amphibious vehicle's driving posture and ensuring the amphibious vehicle's stable posture when navigating in water.

[0080] In one possible implementation, the attitude adjustment requirement includes tilting towards the target side, which may be the left or right side. Based on the attitude adjustment requirement, the driving force output angle of the target thruster is adjusted, including:

[0081] Based on the amphibious vehicle's tilt angle on the target side, the driving force output angle of the target thruster located on the target side at the rear of the vehicle is adjusted in the first direction, and the driving force output of the target thruster located on the target side at the rear of the vehicle is increased. The first direction is the direction perpendicular to the vehicle body downwards.

[0082] Specifically, when the vehicle tilts to the left by more than a certain threshold, for example, when the tilt angle is ≥1°, the navigation controller controls and adjusts the driving force output angle of the second thruster to a certain angle, causing it to tilt backward in both directions. During the driving process, in addition to providing thrust to meet forward movement, the thruster will also decompose and provide a thrust in the opposite direction to reduce the tilt angle and ensure the vehicle's attitude balance.

[0083] Similarly, when the vehicle tilts to the right at an angle greater than a certain threshold, for example, when the tilt angle is ≥1°, the navigation controller controls and adjusts the driving force output angle of the third thruster to a certain angle, causing it to tilt backward in both directions. During the driving process, in addition to providing thrust to meet forward movement, the thruster will also decompose and provide a thrust in the opposite direction to the first direction to reduce the tilt angle and ensure the vehicle's attitude balance.

[0084] The amphibious vehicle navigation drive control method provided in this application embodiment utilizes a second and a third thruster located at the rear of the vehicle. When the amphibious vehicle is tilted, the driving force output angle of the second or third thruster is adjusted to provide upward support force to the tilted side of the amphibious vehicle, thereby reducing the tilt of the amphibious vehicle, flexibly adjusting the driving posture of the amphibious vehicle, and ensuring the stability of the amphibious vehicle when navigating in water.

[0085] In one possible implementation, it further includes: controlling the driving force output angle of the first thruster to adjust in a first direction so that the first thruster and the target thruster located on the target side at the rear of the vehicle coordinate to adjust the attitude of the amphibious vehicle.

[0086] Specifically, considering the rearward positioning of the second and third thrusters, simply relying on their individual adjustment of the driving force output angle in the first direction cannot completely and effectively resolve the vehicle's left or right tilting issues in some situations. In such cases, the first thruster can be used in conjunction to adjust the tilt posture. Specifically, by adjusting the thrust of the first thruster in the first direction, the left or right tilting problem can be resolved as a whole, achieving efficient coordinated vehicle posture adjustment.

[0087] The amphibious vehicle navigation drive control method provided in this application uses a first thruster, a second thruster, and a third thruster to coordinately adjust the attitude, thereby improving the effectiveness of left or right tilt attitude adjustment.

[0088] In one possible implementation, it also includes:

[0089] In response to the detection that the amphibious vehicle is increasing its speed while traveling in a straight forward direction in the water, the first thruster increases its driving force output in the first direction to maintain the amphibious vehicle's attitude balance while traveling in a straight forward direction.

[0090] When the vehicle is traveling in a straight line in the water, the navigation controller controls the first thruster to adjust the driving force output angle in real time to adjust the vehicle's nose-up angle. Moreover, as the vehicle speed increases, the nose-up angle will also increase adaptively, thereby reducing navigation resistance and ensuring that the vehicle can achieve maximum speed performance. At the same time, the controller controls the second and third thrusters to drive in the forward direction, so as to realize the vehicle's straight-line navigation in the water.

[0091] The amphibious vehicle navigation drive control method provided in this application increases the driving force output of the first thruster in the first direction when the amphibious vehicle increases its speed while sailing straight forward in the water. This can reduce navigation resistance and improve the amphibious vehicle's underwater navigation performance while ensuring the amphibious vehicle's attitude balance.

[0092] In one possible implementation, it includes:

[0093] In response to the detection that the amphibious vehicle is in a straight backward navigation state in the water, the driving force output direction of the second and third thrusters is adjusted to the second direction, which is parallel to the amphibious vehicle axis and points towards the front of the vehicle.

[0094] Specifically, when the amphibious vehicle is reversing in the water, the navigation controller controls the driving force output of the first thruster to an optimal state that can maintain the amphibious vehicle's attitude while reducing the resistance of reversing. At the same time, it controls the driving force output direction of the second and third thrusters to adjust in the second direction, so as to achieve reverse driving and realize stable reversing navigation of the vehicle in the water.

[0095] In one implementation, when the amphibious vehicle needs to stop while traveling in a straight line in the water, the navigation controller controls the first thruster to output the driving force to an optimal state that can maintain the amphibious vehicle's attitude while reducing the resistance of reversing, thereby increasing the navigation resistance and slowing down the amphibious vehicle. At the same time, the controller controls the left second thruster and the third thruster to first stop forward driving and then implement reverse thrust to achieve the purpose of smooth braking in the water.

[0096] The amphibious vehicle navigation drive control method provided in this application uses a second and a third thruster to provide reverse thrust when the amphibious vehicle needs to reverse in a straight line or brake, so that the amphibious vehicle can reverse efficiently or brake smoothly in the water.

[0097] In one possible implementation, it includes:

[0098] In response to the detection that the amphibious vehicle is turning in the water, the difference in driving force between the second and third thrusters that can meet the steering requirements is determined based on the steering wheel angle information.

[0099] The driving force output of the second and third thrusters is adjusted according to the difference in driving force.

[0100] Figure 4 Schematic diagram of the navigation drive system structure of the amphibious vehicle provided in the embodiments of this application Figure 2 In one implementation, such as Figure 4 As shown, the navigation controller can acquire not only attitude data from the vehicle controller, but also vehicle operation data, such as the navigation mode signal selected by the driver, steering wheel angle signal, accelerator pedal signal, and brake pedal signal. Based on the above operation data, it controls the driving force output of the first thruster, the second thruster, and the third thruster to ensure the amphibious vehicle's attitude balance under various working conditions.

[0101] Specifically, when the amphibious vehicle is in a straight-line navigation state on the water surface and the driver needs to adjust the driving direction, the navigation controller will respond to the operation command in real time. The signal acquisition module will accurately capture the steering angle parameters transmitted by the steering wheel, including key information such as the steering angle and rotation rate. After the core control unit quickly analyzes and calculates, it will generate differentiated driving commands and send them to the second and third thrusters respectively.

[0102] The second and third thrusters operate differentially according to commands. If a left turn is required, the second thruster on the left adjusts its drive force output appropriately, while the third thruster on the right maintains its original drive force output. The difference in drive force output between the two sides creates the steering torque. Conversely, when turning right, the third thruster on the right adjusts its drive force output, while the second thruster on the left maintains a stable output. This differential control mode allows the vehicle to form a reasonable steering trajectory in water, smoothly completing direction changes and ensuring precise and smooth steering, meeting the control requirements for surface navigation.

[0103] The amphibious vehicle navigation drive control method provided in this application embodiment allows the navigation controller to receive the steering wheel angle signal and control the differential operation of the second and third thrusters to achieve the steering function. At the same time, it implements dynamic control of the vehicle attitude according to the speed to achieve safe and stable steering.

[0104] In one possible implementation, it also includes:

[0105] In response to the detection that the amphibious vehicle's operating conditions meet the floating conditions, the first, second, and third thrusters are activated to provide driving force for the amphibious vehicle;

[0106] In response to the detection that all wheels of the amphibious vehicle have touched the bottom, the wheels are started to rotate to provide driving force for the amphibious vehicle.

[0107] Specifically, amphibious vehicles have three navigation modes to choose from when navigating in water: one is propeller-driven; the second is tire-driven; and the third is hybrid drive, which is driven by both propellers and tires.

[0108] In a real-time mode, the third mode mentioned above is the default mode. The three modes can be switched automatically according to the floating conditions, or they can be freely switched and selected through the central control screen.

[0109] For example, when the navigation mode is selected as propeller-driven, after the vehicle enters the water, the navigation controller receives attitude data from the attitude perception module forwarded by the vehicle controller to determine whether the amphibious vehicle is capable of buoyancy. For example, when any tire is in a suspended state, it is determined that buoyancy is possible, and the amphibious vehicle automatically switches to water navigation mode. The control operation in water is similar to that on land, i.e., shifting gears (D / N / R), pressing the accelerator / brake pedal, turning the steering wheel, etc. The vehicle navigation controller will control the propeller to drive the vehicle in the water, realizing actions such as forward, backward, steering, gliding, and braking. In this mode, the tires will not intervene in driving.

[0110] In another example, when the navigation mode is selected as tire drive, after the vehicle enters the water, the vehicle navigation controller will control the four-wheel drive vehicle to navigate in the water, realizing actions such as forward, backward, steering, gliding, and braking. In this mode, the thrusters will not intervene to drive, but the thrusters will intervene to adjust the vehicle's attitude.

[0111] In one example, when the navigation mode is selected as hybrid drive, after the vehicle enters the water, the navigation controller prioritizes propeller drive, with propeller drive as the primary drive and tire drive as the secondary drive. Only under extreme conditions, such as when high-speed navigation in water is required but propeller thrust is insufficient, or when the tires touch the bottom, tire drive will automatically intervene to assist drive, improving the vehicle's underwater navigation power and ability to get out of trouble.

[0112] In one implementation, the amphibious vehicle is a hybrid vehicle, and regardless of the mode described above, it is primarily electrically driven. If insufficient battery power is detected during navigation, for example, if the battery power is less than 20% of its rated capacity, the navigation controller will request the engine to be started to generate electricity in series to supply power to the high-voltage system, ensuring safe long-distance navigation in the water.

[0113] In one implementation, during the vehicle's navigation in water, the navigation controller receives attitude data forwarded from the vehicle attitude perception module by the vehicle controller to determine whether the vehicle has the conditions for buoyancy. If it has the conditions for buoyancy, it will use the thrusters to provide driving force to navigate in the water according to the selected navigation mode. When the attitude perception module detects that a tire has touched the bottom, but not all four wheels at the same time, it will not exit the buoyancy mode. Instead, the navigation controller will request the vehicle controller to control the tire drive to get out of trouble in time.

[0114] In one implementation, during the vehicle's water navigation process, the navigation controller receives attitude data forwarded from the vehicle attitude perception module by the vehicle controller to determine whether the vehicle has the conditions for buoyancy. If it does not have the conditions for buoyancy, that is, all four tires touch the bottom, the vehicle will automatically exit the water navigation mode and switch to the land driving mode. In the land driving mode, the propeller is prohibited from working.

[0115] The amphibious vehicle navigation drive control method provided in this application automatically switches the driving force source according to the working conditions of the amphibious vehicle, realizing adaptive adjustment of the driving force, enabling the amphibious vehicle to flexibly adjust the driving strategy on land and in water, and improving the off-road performance of the amphibious vehicle.

[0116] Figure 5 This is a schematic diagram of the navigation drive control device for an amphibious vehicle provided in an embodiment of this application. Figure 5 As shown, this application embodiment provides a navigation drive control device 50 for an amphibious vehicle, applied to the navigation drive system of an amphibious vehicle in various embodiments described above. The target thruster includes a first thruster, a second thruster, or a third thruster. The amphibious vehicle navigation drive control device includes:

[0117] Monitoring module 501 is used to monitor the navigation attitude data of amphibious vehicles in water;

[0118] The determination module 502 is used to determine the attitude adjustment requirements based on the navigation attitude data.

[0119] The adjustment module 503 is used to adjust the driving force output of the target thruster according to the attitude adjustment requirements so that the amphibious vehicle can maintain attitude balance.

[0120] In one possible implementation, the posture adjustment requirement includes head hunching, and the adjustment module 503 is specifically used for:

[0121] Based on the amphibious vehicle's descent angle, the driving force output angle of the first thruster is adjusted to a first direction, which is perpendicular to the vehicle body and pointing downwards.

[0122] In one possible implementation, the attitude adjustment requirement includes tilting towards a target side, which may be the left or right side, and the adjustment module 503 is specifically used for:

[0123] Based on the amphibious vehicle's tilt angle on the target side, the driving force output angle of the target thruster located on the target side at the rear of the vehicle is adjusted in the first direction, and the driving force output of the target thruster located on the target side at the rear of the vehicle is increased. The second direction is the direction perpendicular to the vehicle body downwards.

[0124] In one possible implementation, the adjustment module 503 is further configured to: control the driving force output angle of the first thruster to adjust in a first direction, so that the first thruster and the target thruster located on the target side at the rear of the vehicle coordinate to adjust the attitude of the amphibious vehicle.

[0125] In one possible implementation, the adjustment module 503 is further configured to:

[0126] In response to the detection that the amphibious vehicle is increasing its speed while traveling in a straight forward direction in the water, the first thruster increases its driving force output in the first direction to maintain the amphibious vehicle's attitude balance while traveling in a straight forward direction.

[0127] In one possible implementation, the adjustment module 503 is further configured to:

[0128] In response to the detection that the amphibious vehicle is in a straight backward navigation state in the water, the driving force output direction of the second and third thrusters is adjusted to the second direction, which is parallel to the amphibious vehicle axis and points towards the front of the vehicle.

[0129] In one possible implementation, the adjustment module 503 is further configured to:

[0130] In response to the detection that the amphibious vehicle is turning in the water, the difference in driving force between the second and third thrusters that can meet the steering requirements is determined based on the steering wheel angle information.

[0131] The driving force output of the second and third thrusters is adjusted according to the difference in driving force.

[0132] In one possible implementation, the adjustment module 503 is further configured to:

[0133] In response to the detection that the amphibious vehicle's operating conditions meet the floating conditions, the first, second, and third thrusters are activated to provide driving force for the amphibious vehicle;

[0134] In response to the detection that all wheels of the amphibious vehicle have touched the bottom, the wheels are started to rotate to provide driving force for the amphibious vehicle.

[0135] The amphibious vehicle navigation drive control device provided in this embodiment can execute the method provided in the above method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0136] Figure 6 This is a schematic diagram of the navigation drive control device for an amphibious vehicle provided in an embodiment of this application. Figure 6 As shown, the amphibious vehicle navigation drive control device 60 provided in this embodiment includes at least one processor 601 and a memory 602. Optionally, the amphibious vehicle navigation drive control device 60 further includes a communication interface 603. The processor 601, memory 602, and communication interface 603 are connected via a communication bus 604.

[0137] In a specific implementation, at least one processor 601 executes computer execution instructions stored in memory 602, causing at least one processor 601 to perform the above-described method.

[0138] The specific implementation process of processor 601 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0139] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0140] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0141] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0142] This application also provides a computer program product, including a computer program that, when executed, implements the above-described method.

[0143] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed, implement the above-described method.

[0144] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0145] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an application-specific integrated circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0146] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0147] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0148] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0149] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0150] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0151] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A navigation drive system for an amphibious vehicle, characterized in that, include: The first thruster, the second thruster, the third thruster, and the navigation controller; The first thruster is located in the middle of the front of the amphibious vehicle; The second thruster is located on the left side of the rear of the amphibious vehicle; The third thruster is located on the right side of the rear of the amphibious vehicle. The first thruster, the second thruster, and the third thruster are all used to provide driving force for the amphibious vehicle to navigate in water under the control of the navigation controller, and all of them can adjust the driving force output angle.

2. The amphibious vehicle navigation drive system according to claim 1, characterized in that, The first thruster, the second thruster, and the third thruster are all mounted on the chassis of the amphibious vehicle.

3. The amphibious vehicle navigation drive system according to claim 1, characterized in that, The first thruster, the second thruster, and the third thruster are arranged in an isosceles triangle.

4. An amphibious vehicle, characterized in that, include: The vehicle body and the navigation drive system of the amphibious vehicle as described in any one of claims 1 to 3.

5. A navigation drive control method for an amphibious vehicle, characterized in that, The navigation drive system of the amphibious vehicle as described in any one of claims 1 to 4, wherein the target thruster includes a first thruster, a second thruster, or a third thruster, and the navigation drive control method of the amphibious vehicle includes: Monitor the amphibious vehicle's navigation attitude data in the water; Determine attitude adjustment requirements based on the aforementioned flight attitude data; According to the attitude adjustment requirements, the driving force output of the target thruster is adjusted so that the amphibious vehicle maintains attitude balance.

6. The amphibious vehicle navigation and drive control method according to claim 5, characterized in that, The attitude adjustment requirement includes bowing, and the adjustment of the driving force output of the target thruster according to the attitude adjustment requirement includes: Based on the amphibious vehicle's descent angle, the driving force output angle of the first thruster is adjusted to a first direction, which is a direction perpendicular to the vehicle body and pointing downwards.

7. The amphibious vehicle navigation and drive control method according to claim 5, characterized in that, The attitude adjustment requirement includes tilting towards the target side, which includes the left or right side. Adjusting the driving force output angle of the target thruster according to the attitude adjustment requirement includes: Based on the lateral tilt angle of the amphibious vehicle on the target side, the driving force output angle of the target thruster located on the target side at the rear of the vehicle is adjusted in the first direction, and the driving force output of the target thruster located on the target side at the rear of the vehicle is increased. The second direction is the direction perpendicular to the vehicle body downward.

8. The navigation drive control method for an amphibious vehicle according to any one of claims 5 to 7, characterized in that, Also includes: The driving force output angle of the first thruster is controlled to be adjusted in the first direction so that the first thruster and the target thruster located on the target side at the rear of the vehicle can coordinate to adjust the attitude of the amphibious vehicle.

9. The navigation drive control method for an amphibious vehicle according to any one of claims 5 to 7, characterized in that, Also includes: In response to the detection that the amphibious vehicle increases its speed while traveling in a straight forward direction in the water, the driving force output of the first thruster in the first direction is increased so that the amphibious vehicle maintains its attitude balance while traveling in a straight forward direction.

10. The navigation drive control method for an amphibious vehicle according to any one of claims 5 to 7, characterized in that, include: In response to the detection that the amphibious vehicle is in a straight backward navigation condition in the water, the driving force output direction of the second thruster and the third thruster is adjusted in a second direction, which is a direction parallel to the axial direction of the amphibious vehicle and pointing towards the front of the vehicle.

11. The navigation drive control method for an amphibious vehicle according to any one of claims 5 to 7, characterized in that, include: In response to the detection that the amphibious vehicle is in a water-based turning condition, the difference in driving force between the driving force output of the second thruster and the third thruster that can meet the turning requirements is determined based on the steering wheel angle information. The driving force output of the second and third thrusters is adjusted according to the driving force difference.

12. The navigation drive control method for amphibious vehicles according to claim 5 or 7, characterized in that, Also includes: In response to the detection that the amphibious vehicle's operating conditions meet the floating conditions, the first thruster, the second thruster, and the third thruster are activated to provide driving force for the amphibious vehicle; In response to the detection that all wheels of the amphibious vehicle have touched the bottom, the wheels are started to rotate to provide driving force for the amphibious vehicle.

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