Unmanned amphibious vehicle attitude control system and method

Abstract

This invention discloses an attitude control system and method for an unmanned amphibious vehicle, belonging to the field of amphibious vehicle control technology. The system includes multiple arrayed compartment components for adjusting the vehicle's buoyancy and center of gravity distribution, pumps and pipeline solenoid valve groups for fluid transport, a liquid level sensor, an attitude detection unit, and an attitude control module. Based on the liquid level in each compartment and the vehicle's attitude data, the attitude control module comprehensively judges the vehicle's roll and pitch angles and their trends, and controls the pumps to transfer coolant, hydraulic oil, fuel, and ballast water between different compartments, achieving automatic balancing adjustment of the vehicle's attitude. When the attitude angle continuously exceeds a threshold, the system further achieves significant attitude correction through ballast water tank inflow / outflow and float expansion / contraction adjustment. This invention can effectively maintain the stable attitude of the unmanned amphibious vehicle during high sea state operations or when the vehicle is partially damaged, reducing the risk of sinking and improving navigation and operational safety.

Description

Technical Field

[0001] This invention belongs to the field of amphibious vehicle technology. Specifically, this invention relates to an attitude control system and method for an unmanned amphibious vehicle. Background Technology

[0002] Amphibious vehicles have the ability to travel on both land and water, and can also integrate the functions of various special application platforms. Amphibious engineering vehicles are often equipped with different high-power superstructure application platforms, and usually need to carry hundreds of liters of hydraulic oil, coolant and thousands of liters of fuel. When driving and operating in complex water environments, they are affected by various factors such as water flow and wind, and will have six degrees of freedom of movement such as roll, pitch and sway. Changes in the center of gravity and floating state during operation will increase the difficulty of attitude control.

[0003] With the rise of unmanned driving technology, amphibious vehicles and amphibious ships have also begun to add remote control and autonomous driving functions. When operating remotely or autonomously, the inability to fully and timely view changes in the internal and external environment of the vehicle or the damage to the vehicle body and water ingress can easily lead to attitude control imbalance and related safety issues.

[0004] When traditional amphibious vehicles operate in complex water environments, the only methods for adjusting their attitude are adjusting the angle of the bow and stern wave deflectors and inflating external floats. The wave deflector angle control method is simple and has limited effectiveness, while the external floats have drawbacks such as large size and weight and poor adjustability. When the load inside the vehicle changes significantly or the vehicle body is damaged and water enters, it can lead to safety issues such as loss of attitude control, especially in remote control operations or unmanned driving modes.

[0005] Meanwhile, since amphibious vehicles are special-purpose vehicles, they can carry multiple special superstructure platforms at the same time. Each time a superstructure is changed or a new function is added, the vehicle's center of gravity and floating state need to be recalibrated and adjusted, resulting in high development costs and a lack of modular universal chassis capabilities.

[0006] This invention provides an attitude control system and method for an unmanned amphibious vehicle, particularly concerning how to control the navigation attitude of an amphibious vehicle by employing multiple interconnected array-type cabin modules, thereby effectively reducing the risk of sinking of the amphibious vehicle in high sea state operating environments or when the vehicle body is damaged. Summary of the Invention

[0007] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention provides an attitude control system for an unmanned amphibious vehicle, with the purpose of effectively controlling the navigation attitude of the amphibious vehicle and reducing the risk of sinking when the amphibious vehicle is operating in high sea states or when the vehicle body is damaged.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is: an unmanned amphibious vehicle attitude control system, comprising: Several cabin components for adjusting the buoyancy and center of gravity distribution of the vehicle body, the cabin components including coolant tank, hydraulic oil tank, fuel tank, ballast balance water tank and retractable float; Several conveying components for conveying fluid between different compartments, the conveying components including pump bodies, pipelines and solenoid valves; Several level sensors are used to detect the liquid level status of each compartment; The attitude detection unit is used to collect the vehicle's attitude angles and angular velocities; and The attitude control module is communicatively connected to the liquid level sensor, attitude detection unit, each pump body, and electromagnetic switch valve. The attitude control module is used to determine the attitude state of the vehicle body based on the vehicle body attitude and liquid level data, and output control commands to adjust the fluid distribution between each compartment.

[0009] The attitude control module controls the conveying component to transfer fluid between the compartments based on the collected attitude angle and liquid level information, so as to achieve automatic balance control of the vehicle body attitude.

[0010] The coolant tank, hydraulic oil tank, and fuel oil tank are respectively configured as array-type compartments arranged symmetrically on the left and right or front and back, and the compartments are connected by pipelines, each of which is equipped with a corresponding electromagnetic switch valve.

[0011] The ballast balance water tank is connected to an external water source. The attitude control module adjusts the inflow and outflow of the ballast balance water tank by controlling the water pump and electromagnetic switch valve to change the buoyancy distribution of the vehicle body.

[0012] The retractable float is connected to the gas storage tank via a pipeline, and the attitude control module adjusts the inflation and deflation state of the retractable float by controlling the electromagnetic switch valve to adjust the local buoyancy.

[0013] The attitude detection unit includes a gyroscope attitude sensor, used to detect the vehicle's roll angle, pitch angle, and tilt angle.

[0014] The attitude control module includes a data acquisition interface, a control signal output interface, and a calculation unit. The calculation unit is used to calculate the attitude change trend of the vehicle body based on the acquired liquid level and attitude data, and output control signals to the control interfaces of each pump controller and electromagnetic switch valve.

[0015] The pump body includes a cooling water pump, a hydraulic oil pump, a fuel pump, and a ballast water pump. Each pump body controls its speed via a PWM signal to adjust the fluid delivery rate.

[0016] The attitude control module determines the fluid transfer direction based on the vehicle's attitude angle and change trend. When the vehicle's tilt or pitch angle exceeds a preset threshold, it controls the fluid in the corresponding compartment to be transferred to the opposite compartment. When the vehicle body attitude angle is detected to exceed the threshold for an extended period of time, the attitude control module controls the ballast balance water tank to enter or exit water, and controls the retractable float to extend or retract, so as to achieve dynamic adjustment of the vehicle body attitude.

[0017] Each of the coolant tank, hydraulic oil tank, and fuel oil tank is equipped with a corresponding spare compartment. The main compartment and the spare compartment are connected by pipelines and pumps to achieve rapid fluid transfer.

[0018] The present invention also provides an attitude control method for an unmanned amphibious vehicle, applied to the attitude control system of the unmanned amphibious vehicle, comprising the following steps: S1. Data Acquisition Phase: Liquid level data of each compartment is acquired through liquid level sensors, and vehicle body attitude angle and angular velocity are acquired through attitude detection unit. S2, Analysis Phase: The attitude control module calculates the trend of vehicle attitude change based on the collected data; S3, Judgment Stage: Determine whether the vehicle body tilt or pitch angle and its trend exceed the preset threshold. S4. Adjustment phase: When the vehicle body attitude exceeds the threshold, the attitude control module controls each pump and electromagnetic switch valve to transfer fluid between different compartments to achieve center of gravity adjustment. S5. Compensation Phase: When the vehicle's attitude exceeds the threshold for an extended period, the ballast balance tank's water intake and drainage, as well as the retractable floats' inflation and deflation, are controlled to achieve attitude correction.

[0019] The unmanned amphibious vehicle attitude control system of the present invention solves the problem of navigation attitude change and attitude control when traditional amphibious engineering vehicles or unmanned amphibious vehicles are operating on water, due to changes in the load of the superstructure system or damage to the vehicle body shell causing water to enter some compartments.

[0020] This attitude control system can detect changes in the six navigation attitude angles of the vehicle body based on the liquid level sensors in each of the onboard compartments, as well as the vehicle's inertial navigation sensors. It actively adjusts the liquid levels in different compartments of the array through the interconnected pipelines, electronic water pumps, and compressed air, effectively adjusting the vehicle's center of gravity and attitude. This avoids abnormal buoyancy caused by excessive changes in attitude such as roll and pitch due to changes in the center of gravity and attitude, and prevents dangers such as rollover and overturning of amphibious vehicles.

[0021] Meanwhile, this system also has the advantages of platform universality, multiple adjustment methods, modularity, lightweight, and high safety factor. It can be combined with an autonomous driving system and realize the real-time autonomous attitude adjustment function when working on water through intelligent control algorithms. Attached Figure Description

[0022] This manual includes the following figures, which illustrate the following: Figure 1This is a schematic diagram of the cabin distribution architecture of an amphibious vehicle attitude control system based on an array-type cabin, provided as an embodiment of the present invention.

[0023] Figure 2 This is a flowchart illustrating the data acquisition and transmission process of an amphibious vehicle attitude control system based on an array-type cabin, provided as an embodiment of the present invention.

[0024] Figure 3 A flowchart illustrating a control method for an amphibious vehicle attitude control system based on an array-type cabin, provided in an embodiment of the present invention. Detailed Implementation

[0025] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, in order to help those skilled in the art to have a more complete, accurate and in-depth understanding of the concept and technical solutions of the present invention, and to facilitate its implementation.

[0026] Firstly, such as Figures 1 to 3 As shown, this embodiment of the invention provides an attitude control system for an unmanned amphibious vehicle, comprising: Several cabin components for adjusting the buoyancy and center of gravity distribution of the vehicle body, the cabin components including coolant tank, hydraulic oil tank, fuel tank, ballast balance water tank and retractable float; Several conveying components for conveying fluid between different compartments, the conveying components including pump bodies, pipelines and solenoid valves; Several level sensors are used to detect the liquid level status of each compartment; The attitude detection unit is used to collect the vehicle's attitude angles and angular velocities; and The attitude control module is communicatively connected to the liquid level sensor, attitude detection unit, each pump body, and electromagnetic switch valve. The attitude control module is used to determine the attitude state of the vehicle body based on the vehicle body attitude and liquid level data, and output control commands to adjust the fluid distribution between each compartment.

[0027] The attitude control module controls the conveying components to transfer fluid between the compartments based on the collected attitude angle and liquid level information, so as to achieve automatic balance control of the vehicle body attitude.

[0028] Specifically, in order to overcome the shortcomings of the prior art, this invention provides an amphibious vehicle attitude control system and control method based on an array-type cabin. Multiple interconnected array-type cabin modules are used to control the navigation attitude of the amphibious vehicle, effectively reducing the risk of sinking of the amphibious vehicle in high sea state operating environments or when the vehicle body is damaged.

[0029] In this embodiment of the invention, the coolant tank, hydraulic oil tank, and fuel oil tank are respectively configured as array-type tanks arranged symmetrically on the left and right or front and back, and the tanks are connected by pipelines, each of which is equipped with a corresponding electromagnetic switch valve.

[0030] In this embodiment of the invention, the ballast balance water tank is connected to an external water source of the vehicle body, and the attitude control module adjusts the inflow and outflow of the ballast balance water tank by controlling the water pump and electromagnetic switch valve to change the buoyancy distribution of the vehicle body.

[0031] In this embodiment of the invention, the retractable float is connected to the gas storage tank through a pipeline, and the attitude control module adjusts the inflation and deflation state of the retractable float by controlling the electromagnetic switch valve to adjust the local buoyancy.

[0032] In this embodiment of the invention, the attitude detection unit includes a gyroscope attitude sensor for detecting the roll angle, pitch angle and tilt angle of the vehicle body.

[0033] In this embodiment of the invention, the attitude control module includes a data acquisition interface, a control signal output interface, and a calculation unit. The calculation unit is used to calculate the attitude change trend of the vehicle body based on the acquired liquid level and attitude data, and output control signals to each pump controller and electromagnetic switch valve control interface.

[0034] In this embodiment of the invention, the pump body includes a cooling water pump, a hydraulic oil pump, a fuel pump, and a ballast water pump. Each pump body controls its rotation speed via a PWM signal to adjust the fluid delivery rate.

[0035] In this embodiment of the invention, the attitude control module determines the fluid transfer direction based on the attitude angle and change trend of the vehicle body. When the vehicle body tilt or pitch angle exceeds a preset threshold, the fluid in the corresponding compartment is controlled to be transported to the opposite compartment. When the vehicle body attitude angle is detected to exceed the threshold for an extended period of time, the attitude control module controls the ballast balance water tank to enter or exit water, and controls the retractable float to extend or retract, so as to achieve dynamic adjustment of the vehicle body attitude.

[0036] In this embodiment of the invention, the coolant tank, hydraulic oil tank and fuel oil tank are each provided with a corresponding spare compartment. Each main compartment and the spare compartment are connected by pipelines and pumps to achieve rapid fluid transfer.

[0037] like Figure 1As shown, the coolant tank (i.e., the cooling water tank) is divided into two groups, left and right. The coolant spare tank is divided into three types: left, right, and front spare tanks, namely two groups of front coolant spare tanks, two groups of left coolant spare tanks, and two groups of right coolant spare tanks. The left and right coolant tanks, the spare tanks, and the coolant tanks are all connected by pipelines. Each pipeline is equipped with an electromagnetic switch valve, which controls the opening and closing of the pipeline. The opening and closing status is controlled by the electrical signal command issued by the attitude control module. Coolant can be quickly delivered between the coolant tank and each coolant spare tank by a high-flow-rate cooling water pump. Of the two sets of coolant tanks, the left coolant tank is connected via piping to both the front and left backup coolant tanks. The front backup coolant tank is located in front of the left coolant tank, and the left backup coolant tank is located to the left of the left coolant tank. The right coolant tank is connected via piping to another front and right backup coolant tank, located in front of the right coolant tank, and the right backup coolant tank is located to the right of the right coolant tank. The two sets of coolant tanks are situated between the left and right backup coolant tanks. The two sets of coolant tanks are symmetrically distributed and symmetrically positioned in the middle of the vehicle body. They are used to store coolant and serve as the main liquid source for attitude adjustment. The symmetrical distribution of the left and right backup coolant tanks, along with the symmetrical distribution of the two sets of front backup coolant tanks, forms an overall symmetrical left-right and front-rear distributed structural layout.

[0038] When a vehicle's attitude changes due to waves or load distribution on the water surface, the attitude control module automatically selects the appropriate electromagnetic switch valve and water pump combination based on the roll and pitch angle signals fed back by the attitude detection unit to control the transfer of coolant between different compartments. For example, when a leftward tilt is detected, the system instructs the coolant in the left coolant compartment to flow through the pipeline to the right reserve compartment to compensate for the vehicle's center of gravity; when a forward tilt is detected, the system instructs the coolant in the front reserve coolant compartment to flow back to the left coolant compartment, right coolant compartment, left reserve coolant compartment, or right reserve coolant compartment to achieve longitudinal balance adjustment.

[0039] Through the aforementioned structure and control method, this embodiment can achieve automatic attitude balance control of the unmanned amphibious vehicle using the existing cooling system medium without relying on an additional ballast water system. This structure has advantages such as fast response speed, high control precision, strong system redundancy, and high energy utilization, effectively improving the vehicle's stability and safety in complex water environments.

[0040] like Figure 1As shown, the hydraulic oil tank (i.e., hydraulic oil reservoir) is divided into two groups, left and right. The hydraulic oil spare compartments are divided into three types: left, right, and rear spare compartments, namely two rear spare compartments, two left spare compartments, and two right spare compartments. The left and right hydraulic oil tanks, the spare compartments, and the hydraulic oil reservoirs are all connected by pipelines. Each pipeline is equipped with an electromagnetic switch valve, which controls the opening and closing of the pipeline. The opening and closing status is controlled by the electrical signal command issued by the attitude control module. Hydraulic oil can be quickly delivered between the hydraulic oil tanks and each spare compartment through a high-flow hydraulic oil pump to achieve rapid adjustment of the vehicle's attitude. Of the two sets of hydraulic oil tanks, the left hydraulic oil tank is connected via pipelines to both the rear hydraulic oil reserve tank and the left hydraulic oil reserve tank. The rear hydraulic oil reserve tank is located behind the left hydraulic oil tank, and the left hydraulic oil tank is located behind the left coolant tank, with the left hydraulic oil reserve tank located to the left of the left hydraulic oil tank. The right hydraulic oil tank is connected via pipelines to another rear hydraulic oil reserve tank and the right hydraulic oil reserve tank, located behind the right hydraulic oil tank, and the right hydraulic oil tank is located behind the right coolant tank, with the right hydraulic oil reserve tank located to the right of the right hydraulic oil tank. The two sets of hydraulic oil tanks are located between the left and right hydraulic oil reserve tanks. The two sets of hydraulic oil tanks are symmetrically distributed and symmetrically positioned in the middle of the vehicle body, used to store hydraulic oil and serve as the main fluid source for attitude adjustment. The left and right hydraulic oil reserve tanks are symmetrically distributed, and the two sets of rear hydraulic oil reserve tanks are symmetrically distributed, forming an overall symmetrical left-right and front-rear distributed structural layout.

[0041] The attitude control module calculates the vehicle's center of gravity offset based on the roll angle, pitch angle, and trend signals detected by the gyroscope attitude sensor, combined with the real-time fluid level information from the fluid level sensors. It then controls the transfer of hydraulic oil between different compartments by controlling electromagnetic valves and hydraulic pumps. For example, when the vehicle tilts backward, the attitude control module controls the hydraulic pump to deliver hydraulic oil from the rear spare compartment to the front hydraulic oil tank, thereby adjusting the vehicle's center of gravity. When the vehicle tilts to the left, the attitude control module controls the delivery of hydraulic oil from the left compartment to the right compartment to counteract the tilt. Through this arrangement and control strategy, this embodiment provides an independent attitude compensation path based on hydraulic media, in addition to the coolant regulation system. When the coolant system's regulation capacity is insufficient or a local compartment is damaged, the hydraulic oil tank adjustment structure can still maintain the vehicle's attitude balance, enhancing the system's fault tolerance and reliability.

[0042] like Figure 1As shown, the fuel tank (i.e., fuel container) is divided into two groups, left and right. The fuel reserve compartments are divided into three types: left, right, and rear. There are two rear fuel reserve compartments, two left fuel reserve compartments, and two right fuel reserve compartments, respectively. The left and right fuel tanks, the fuel reserve compartments, and the fuel container and fuel reserve compartments are all connected by pipelines. Each pipeline is equipped with an electromagnetic switch valve, which controls the opening and closing of the pipeline. The opening and closing status is controlled by the electrical signal command issued by the attitude control module. Fuel can be quickly delivered between the fuel tank and each fuel reserve compartment through the fuel pump, so as to realize the rapid adjustment of the vehicle attitude. Of the two sets of fuel tanks, the left fuel tank is connected via pipelines to both the rear fuel reserve compartment and the left fuel reserve compartment. The rear fuel reserve compartment is located behind the left fuel tank, the left fuel tank is located behind the left hydraulic oil tank, and the left fuel reserve compartment is located to the left of the left fuel tank. The right fuel tank is connected via pipelines to another rear fuel reserve compartment and the right fuel reserve compartment. This rear fuel reserve compartment is located behind the right fuel tank, the right fuel tank is located behind the right hydraulic oil tank, and the right fuel reserve compartment is located to the right of the right fuel tank. The two sets of fuel tanks are located between the left and right fuel reserve compartments. The two sets of fuel tanks are symmetrically distributed and symmetrically positioned in the middle of the vehicle body. They are used to store fuel and serve as the main liquid source for attitude adjustment. The left and right fuel reserve compartments are symmetrically distributed, and the two sets of rear fuel reserve compartments are symmetrically distributed, forming an overall symmetrical left-right and front-rear distributed structural layout.

[0043] The attitude control module acquires the vehicle's roll angle, pitch angle, and trends using gyroscope attitude sensors, and combines this with fuel level data from fuel tank level sensors to calculate real-time changes in the vehicle's center of gravity. When the vehicle tilts to the left, the attitude control module controls the fuel pump and solenoid valve to allow fuel to flow from the left fuel tank to the right fuel tank; when the vehicle tilts backward, fuel is transferred from the rear spare fuel tank to the front fuel tank, thus achieving fine-tuning of attitude and redistribution of the center of gravity within a limited fluid mass. Through this arrangement and control method, this embodiment utilizes the fluid characteristics of the fuel system to assist in vehicle attitude balance adjustment, forming a three-layer attitude balance control system with coolant tank adjustment and hydraulic oil tank adjustment, providing mutual backup. When one system fails or a fuel tank is partially damaged, the other systems can still operate independently, significantly improving the vehicle's stability and redundancy safety capabilities.

[0044] like Figure 1As shown, the retractable floats are divided into left and right groups, namely the left front retractable float and the right front retractable float. The left and right front retractable floats are connected to a high-pressure air tank via pipelines. Electromagnetic valves are installed in the pipelines to control the opening and closing of the pipelines. The opening and closing of the pipelines is controlled by a control signal issued by the attitude control module, which in turn controls the inflation and deflation of the floats. When the electromagnetic valve is open, compressed gas from the high-pressure air tank enters the retractable floats through the pipelines, inflating and expanding the floats, thereby increasing the vehicle's buoyancy on the water surface. When the electromagnetic valve is closed or in the venting state, the gas inside the floats is released through the vent, causing the floats to contract and reducing the vehicle's buoyancy, thus achieving dynamic adjustment of the vehicle's buoyancy and attitude.

[0045] The left and right front retractable floats are located on the left and right sides or bottom edge of the front of the vehicle body. Two backup cooling water compartments are also located at the front of the vehicle body. Each float is connected to a high-pressure gas tank via piping, which contains an electromagnetic valve. The opening and closing of the electromagnetic valves is controlled by a control signal from the attitude control module, used to regulate the flow of gas between the retractable floats and the high-pressure gas tank.

[0046] During operation, the attitude control module uses the roll angle, pitch angle, and attitude change trend signals collected by the gyroscope attitude sensor to determine the vehicle's tilt direction and tilt amplitude in real time. When the detected vehicle attitude angle exceeds a set threshold, the system can automatically control the floats to differentially inflate and deflate. For example, when the vehicle tilts to the left for a duration exceeding the set threshold, the attitude control module controls the right front retractable float to inflate and deploy, while the left front retractable float deflates and contracts. When the vehicle tilts to the right for a duration exceeding the set threshold, the attitude control module controls the left front retractable float to inflate and deploy, while the right front retractable float deflates and contracts.

[0047] Furthermore, the retractable float can work in conjunction with the aforementioned coolant tank attitude adjustment structure. When the center of gravity adjustment of the liquid tank is insufficient to quickly balance the attitude, the attitude control module can simultaneously issue a gas adjustment command to control the float to inflate and deploy, thereby obtaining greater buoyancy compensation and realizing dual-system linkage control.

[0048] like Figure 1As shown, the ballast water tanks are divided into a left ballast water tank and a right ballast water tank, symmetrically located on both sides of the rear of the vehicle body, used to store or drain water to adjust the vehicle's attitude. The left ballast water tank is located behind the left fuel reserve compartment, and the right ballast water tank is located behind the right fuel reserve compartment. Both the left and right ballast water tanks are connected to an external water source via pipelines, each equipped with an electromagnetic valve in the middle of the pipeline to control its on / off state. The electromagnetic valves are controlled by electrical signals from the attitude control module, enabling automated opening and closing. To achieve rapid adjustment, a high-flow-rate water pump is installed in the pipelines to quickly inject or drain water into the ballast water tanks. When the vehicle tilts or its center of gravity shifts, the attitude control module, based on attitude data collected by attitude sensors, issues control commands to activate the corresponding electromagnetic valve and water pump, automatically balancing and restoring the vehicle's attitude by injecting or draining water into the left or right ballast water tank.

[0049] By setting up symmetrical ballast balance water tanks and an electronically controlled water pump system, the vehicle's attitude can be dynamically adjusted under complex or special operating conditions, improving the vehicle's stability and safety.

[0050] In this embodiment of the invention, the cooling water tank, ballast balance water tank, hydraulic oil tank, fuel tank, and each spare compartment are equipped with a liquid level sensor. Each liquid level sensor can send the collected analog signal to the liquid level data acquisition interface of the attitude control module.

[0051] In this embodiment of the invention, the attitude control module integrates a gyroscope attitude sensor, which can collect the angle and change rate of the vehicle body in six degrees of freedom. At the same time, combined with the liquid level acquisition signals of the above-mentioned compartments, the current vehicle body attitude and change trend are determined.

[0052] In this embodiment of the invention, the attitude control module can automatically output adjustment parameters to the coolant pump controller, hydraulic oil pump controller, fuel pump controller, and fuel pump controller based on the driver's input commands, the external control threshold parameters input by the remote control module and the autonomous driving system, by judging the trend and threshold of the roll angle and pitch angle, as well as the trend of the vehicle body tilting left, right, forward, and backward exceeding the threshold. Each controller outputs PWM signals to control the speed of each water pump and oil pump. At the same time, the on / off state of the electromagnetic switch valve group of each compartment's connecting pipeline is controlled through the switch valve group control interface.

[0053] The attitude control module can also significantly adjust the vehicle's attitude by controlling the inflow and drainage of ballast tanks and the expansion and contraction of floats based on whether the vehicle's attitude angle exceeds a threshold for an extended period, ensuring the safety of the vehicle during driving and operation. When the vehicle's left tilt angle exceeds the threshold for an extended period, the attitude control module controls the right rear ballast tank to inflate and the left front retractable float to inflate and deploy. When the vehicle's right tilt angle exceeds the threshold for an extended period, the attitude control module controls the left rear ballast tank to inflate and the right front retractable float to inflate and deploy. When the vehicle's rear tilt angle exceeds the threshold for an extended period, the attitude control module controls the ballast tanks to drain and the left and right front retractable floats to retract. When the vehicle's forward tilt angle exceeds the threshold for an extended period, the attitude control module controls the left rear ballast tank to inflate and the right front retractable float to inflate and deploy.

[0054] Secondly, such as Figure 3 As shown, this embodiment of the invention also provides an attitude control method for an unmanned amphibious vehicle, applied to the aforementioned attitude control system for an unmanned amphibious vehicle, comprising the following steps: S1. Data Acquisition Phase: Liquid level data of each compartment is acquired through liquid level sensors, and vehicle body attitude angle and angular velocity are acquired through attitude detection unit. S2, Analysis Phase: The attitude control module calculates the trend of vehicle attitude change based on the collected data; S3, Judgment Stage: Determine whether the vehicle body tilt or pitch angle and its trend exceed the preset threshold. S4. Adjustment phase: When the vehicle body attitude exceeds the threshold, the attitude control module controls each pump and electromagnetic switch valve to transfer fluid between different compartments to achieve center of gravity adjustment. S5. Compensation Phase: When the vehicle's attitude exceeds the threshold for an extended period, the ballast balance tank's water intake and drainage, as well as the retractable floats' inflation and deflation, are controlled to achieve attitude correction.

[0055] like Figure 3 As shown, in this embodiment of the invention, the liquid level of each array chamber and the attitude sensor of the gyroscope are collected by the attitude control module to comprehensively determine whether the trend of the roll angle and pitch angle exceeds the threshold, and whether the angle and trend of the vehicle body tilting to the left, right, forward and backward exceed the threshold.

[0056] In this embodiment of the invention, the attitude control module can control the water pumps and oil pumps to transfer and deliver cooling water, hydraulic oil, and fuel from the compartment through calculation results to control the vehicle's center of gravity position and attitude in real time. When the left tilt angle and trend of the vehicle exceeds the threshold, the attitude control module controls the cooling water pump to deliver cooling water to the right, controls the hydraulic oil pump to deliver hydraulic oil to the right, and controls the fuel pump to deliver fuel to the right.

[0057] In this embodiment of the invention, when the rightward tilt angle and trend of the vehicle body exceed the threshold, the attitude control module controls the cooling water pump to deliver cooling water to the left, controls the hydraulic oil pump to deliver hydraulic oil to the left, and controls the fuel pump to deliver fuel to the left.

[0058] In this embodiment of the invention, when the vehicle body tilt angle and trend exceed the threshold, the attitude control module controls the cooling water pump to deliver cooling water to the rear, controls the hydraulic oil pump to deliver hydraulic oil to the rear, and controls the fuel pump to deliver fuel to the rear.

[0059] In this embodiment of the invention, when the vehicle body tilt angle and trend exceed the threshold, the attitude control module controls the cooling water pump to deliver cooling water to the front, controls the hydraulic oil pump to deliver hydraulic oil to the front, and controls the fuel pump to deliver fuel to the front.

[0060] In this embodiment of the invention, the attitude control module can also significantly adjust the vehicle's attitude by controlling the inflow and drainage of ballast water tanks and the expansion and contraction of floats based on whether the vehicle's attitude angle exceeds a threshold for an extended period, thus ensuring the safety of the vehicle's driving and operation. When the vehicle's left tilt angle exceeds the threshold for an extended period, the attitude control module controls the right rear ballast water tank to inflate and deploy the left front float. When the vehicle's right tilt angle exceeds the threshold for an extended period, the attitude control module controls the left rear ballast water tank to inflate and deploy the right front float. When the vehicle's rear tilt angle exceeds the threshold for an extended period, the attitude control module controls the ballast water tanks to drain and the left and right floats to contract. When the vehicle's forward tilt angle exceeds the threshold for an extended period, the attitude control module controls the left ballast water tank to inflate and deploy the right float.

[0061] The present invention has been described above by way of example with reference to the accompanying drawings. Obviously, the specific implementation of the present invention is not limited to the above-described manner. Any non-substantial improvements made using the inventive concept and technical solution; or the direct application of the inventive concept and technical solution to other situations without modification, are all within the protection scope of the present invention.

Claims

1. An attitude control system for an unmanned amphibious vehicle, characterized in that, include: Several cabin components for adjusting the buoyancy and center of gravity distribution of the vehicle body, the cabin components including coolant tank, hydraulic oil tank, fuel tank, ballast balance water tank and retractable float; Several conveying components for conveying fluid between different compartments, the conveying components including pump bodies, pipelines and solenoid valves; Several level sensors are used to detect the liquid level status of each compartment; The attitude detection unit is used to collect the vehicle's attitude angles and angular velocities; and The attitude control module is communicatively connected to the liquid level sensor, attitude detection unit, each pump body, and electromagnetic switch valve. The attitude control module is used to determine the attitude state of the vehicle body based on the vehicle body attitude and liquid level data, and output control commands to adjust the fluid distribution between each compartment.

2. The unmanned amphibious vehicle attitude control system according to claim 1, characterized in that, The coolant tank, hydraulic oil tank, and fuel oil tank are respectively configured as array-type compartments arranged symmetrically on the left and right or front and back, and the compartments are connected by pipelines, each of which is equipped with a corresponding electromagnetic switch valve.

3. The unmanned amphibious vehicle attitude control system according to claim 1, characterized in that, The ballast balance water tank is connected to an external water source. The attitude control module adjusts the inflow and outflow of the ballast balance water tank by controlling the water pump and electromagnetic switch valve to change the buoyancy distribution of the vehicle body.

4. The unmanned amphibious vehicle attitude control system according to any one of claims 1 to 3, characterized in that, The retractable float is connected to the gas storage tank via a pipeline, and the attitude control module adjusts the inflation and deflation state of the retractable float by controlling the electromagnetic switch valve to adjust the local buoyancy.

5. The unmanned amphibious vehicle attitude control system according to any one of claims 1 to 3, characterized in that, The attitude detection unit includes a gyroscope attitude sensor, used to detect the vehicle's roll angle, pitch angle, and tilt angle.

6. The unmanned amphibious vehicle attitude control system according to any one of claims 1 to 3, characterized in that, The attitude control module includes a data acquisition interface, a control signal output interface, and a calculation unit. The calculation unit is used to calculate the attitude change trend of the vehicle body based on the acquired liquid level and attitude data, and output control signals to the control interfaces of each pump controller and electromagnetic switch valve.

7. The unmanned amphibious vehicle attitude control system according to any one of claims 1 to 3, characterized in that, The pump body includes a cooling water pump, a hydraulic oil pump, a fuel pump, and a ballast water pump. Each pump body controls its speed via a PWM signal to adjust the fluid delivery rate.

8. The unmanned amphibious vehicle attitude control system according to any one of claims 1 to 3, characterized in that, The attitude control module determines the fluid transfer direction based on the vehicle's attitude angle and change trend. When the vehicle's tilt or pitch angle exceeds a preset threshold, it controls the fluid in the corresponding compartment to be transferred to the opposite compartment. When the vehicle body attitude angle is detected to exceed the threshold for an extended period of time, the attitude control module controls the ballast balance water tank to enter or exit water, and controls the retractable float to extend or retract, so as to achieve dynamic adjustment of the vehicle body attitude.

9. The attitude control system for unmanned amphibious vehicles according to any one of claims 1 to 3, characterized in that, Each of the coolant tank, hydraulic oil tank, and fuel oil tank is equipped with a corresponding spare compartment. The main compartment and the spare compartment are connected by pipelines and pumps to achieve rapid fluid transfer.

10. An unmanned amphibious vehicle attitude control method, applied to the unmanned amphibious vehicle attitude control system as described in any one of claims 1 to 9, characterized in that, Includes the following steps: S1. Data Acquisition Phase: Liquid level data of each compartment is acquired through liquid level sensors, and vehicle body attitude angle and angular velocity are acquired through attitude detection unit. S2, Analysis Phase: The attitude control module calculates the trend of vehicle attitude change based on the collected data; S3, Judgment Stage: Determine whether the vehicle body tilt or pitch angle and its trend exceed the preset threshold. S4. Adjustment phase: When the vehicle body attitude exceeds the threshold, the attitude control module controls each pump and electromagnetic switch valve to transfer fluid between different compartments to achieve center of gravity adjustment. S5. Compensation Phase: When the vehicle's attitude exceeds the threshold for an extended period, the ballast balance tank's water intake and drainage, as well as the retractable floats' inflation and deflation, are controlled to achieve attitude correction.

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