Cross paddling propulsion system and water surface vehicle

Abstract

The utility model discloses a cross paddling propulsion system and a water surface vehicle. The crossed paddling propulsion system comprises a spherical main body and two groups of annular paddling mechanisms, the two groups of annular paddling mechanisms are distributed in a cross shape in an up-and-down staggered manner, the annular paddling mechanisms are fixed on the outer surface of the spherical main body, and the annular paddling mechanisms are arranged in a vertical plane; the annular paddling mechanism comprises a fixed support, a slewing bearing outer ring, a slewing bearing inner ring, a paddling plate and a power transmission device. When overlooked, the two annular paddling mechanisms are distributed up and down in a cross shape in a staggered mode, the rotating speed and the rotating direction of the two annular paddling mechanisms can be controlled correspondingly to conduct paddling driving, the driving direction can be adjusted by adjusting the magnitude and the direction of the two groups of paddling thrust correspondingly, and complex instant multi-direction movement can be achieved; in addition, the spherical main body structure is balanced in stress and higher in stability, and the wind wave resistance of the water surface vehicle is improved.

Description

Technical Field

[0001] This application relates to the technical field of surface vehicles, and particularly to a cross - water - skiing propulsion system and a surface vehicle. Background Art

[0002] Traditional surface vehicles mostly adopt hull or pontoon structures and rely on linear - direction propulsion systems. These designs have certain limitations in terms of stability, maneuverability, and adaptability to complex water surface environments. Traditional hull designs are prone to losing balance in environments with drastic water flow changes. Most existing unmanned surface vehicles use propellers as propulsion devices and rudders as control devices. Their maneuverability, especially at low speeds, is weak. When facing complex terrains and changing environments, they often show weaknesses such as insufficient maneuverability and poor stability, and it is difficult to achieve complex multi - directional movement and precise autonomous navigation. Summary of the Utility Model

[0003] Embodiments of this application provide a cross - water - skiing propulsion system and a surface vehicle, which can solve the technical problems of insufficient maneuverability and poor stability caused by the linear - direction propulsion system of current surface vehicles.

[0004] Embodiments of this application provide a cross - water - skiing propulsion system, including a spherical main body and two groups of annular water - skiing mechanisms;

[0005] The two groups of annular water - skiing mechanisms are distributed in a cross - shaped and vertically staggered manner. The annular water - skiing mechanisms are fixed on the outer surface of the spherical main body, and the annular water - skiing mechanisms are arranged in a vertical plane;

[0006] The annular water - skiing mechanism includes a fixed bracket, an outer ring of a slewing bearing, an inner ring of a slewing bearing, a water - skiing plate, and a power transmission device. The outer ring of the slewing bearing is fixed on the outer surface of the spherical main body through the fixed bracket. There are chutes between the outer rings of the slewing bearings. Both sides of the inner ring of the slewing bearing are slidably arranged in the chutes. The inner ring of the slewing bearing is slidably arranged inside the outer ring of the slewing bearing. A plurality of water - skiing plates are arranged at intervals on the outer side of the inner ring of the slewing bearing. An annular rack is arranged on the inner side of the inner ring of the slewing bearing. The power transmission device is fixed on the spherical main body. The power transmission device includes a transmission gear, and the transmission gear meshes with the annular rack to drive the inner ring of the slewing bearing to rotate forward or backward relative to the outer ring of the slewing bearing.

[0007] Further, an equatorial ring is horizontally arranged on the outer side of the spherical main body, and the fixed bracket is connected to the equatorial ring.

[0008] Furthermore, the diameters of the two sets of the annular water paddling mechanisms are both larger than the diameter of the spherical main body, the diameters of the two sets of the annular water paddling mechanisms are different, and the annular water paddling mechanisms are arranged at intervals from the outer surface of the spherical main body.

[0009] Furthermore, the power transmission device further includes a motor, a pedestal bearing and a tapered reversing gear. The motor is connected to the pedestal bearing, the first end of the pedestal bearing meshes with the tapered reversing gear, and the second end of the pedestal bearing is connected to the transmission gear.

[0010] Furthermore, the motor is arranged inside the spherical main body, the tapered reversing gear is fixed on the outer ring of the slewing bearing, and the pedestal bearing passes through the side wall of the spherical main body and extends outside the spherical main body to mesh with the tapered reversing gear.

[0011] Furthermore, the annular water paddling mechanism further includes a water retaining sleeve. The two ends of the water retaining sleeve are respectively connected to the fixed brackets. The water retaining sleeve is located in the upper hemisphere part of the spherical main body. The outer ring of the slewing bearing is fixed inside the water retaining sleeve, and the inner ring of the slewing bearing and the water paddling plate are provided with an opening at the meshing position of the transmission gear and the annular rack of the inner ring of the slewing bearing.

[0012] Furthermore, a hemispherical counterweight platform and counterweight blocks are arranged inside the spherical main body. The counterweight platform is horizontally embedded at the bottom of the spherical main body, and the counterweight blocks are connected to the counterweight platform. The spherical main body maintains its pose under the gravity of the counterweight blocks.

[0013] Furthermore, the cross water paddling propulsion system further includes a damping pendulum ball, and the damping pendulum ball is suspended inside the spherical main body.

[0014] Furthermore, the damping pendulum ball includes a metal sphere, a limiting rope, a connecting ring, a top fixing piece and a plurality of peripheral fixing pieces. The top fixing piece is connected to the inner top surface of the spherical main body, the peripheral fixing pieces are connected to the hemispherical counterweight platform, the top of the metal sphere is connected to the top fixing piece through the connecting ring, and the bottom of the metal sphere is connected to the peripheral fixing pieces through the limiting rope and the connecting ring.

[0015] Furthermore, a counterweight platform and counterweight blocks are arranged inside the spherical main body. The counterweight platform is horizontally arranged at the bottom of the spherical main body, and the counterweight blocks are arranged on the counterweight platform. The spherical main body maintains its pose under the gravity of the counterweight blocks.

[0016] An embodiment of the present application provides a water surface vehicle, and the water surface vehicle includes the cross water paddling propulsion system described above;

[0017] Among them, the surface vehicle further includes a control system assembly, and the control system assembly is disposed inside the spherical main body; the control system assembly includes a controller, an inertial measurement unit, a GPS positioning module, a motor driver, and a power source; the power source is connected to the controller, the inertial measurement unit, the GPS positioning module, and the motor driver, the motor driver is connected to the power transmission device, and the controller is connected to the inertial measurement unit, the GPS positioning module, and the motor driver.

[0018] In the cross - water - paddling propulsion system and the surface vehicle provided by the embodiments of the present application, when viewed from above, the two sets of the annular water - paddling mechanisms are distributed in a cross - shaped and vertically staggered manner. It can separately control the rotation speed and steering of the two sets of annular water - paddling mechanisms for water - paddling drive, can adjust the driving direction by separately adjusting the magnitude and direction of the two sets of water - paddling thrusts, can achieve complex instant multi - directional movement, and the spherical main - body structure has balanced force and stronger stability, enhancing the anti - wind - and - wave ability of the surface vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The following, in conjunction with the drawings, through a detailed description of the specific embodiments of the present application, will make the technical solutions and other beneficial effects of the present application obvious.

[0020] Figure 1 It is a schematic structural diagram of the cross - water - paddling propulsion system provided by the embodiments of the present application.

[0021] Figure 2 It is a schematic structural diagram of the spherical main body provided by the embodiments of the present application.

[0022] Figure 3 It is a schematic structural diagram of the annular water - paddling mechanism provided by the embodiments of the present application.

[0023] Figure 4 It is a schematic structural diagram of the power transmission device provided by the embodiments of the present application.

[0024] Figure 5 It is a schematic structural diagram of the damping pendulum ball provided by the embodiments of the present application.

[0025] Figure 6 It is a schematic structural diagram of the control system assembly provided by the embodiments of the present application.

[0026] Figure 7 It is a flowchart of the navigation control method of the surface vehicle provided by the embodiments of the present application.

[0027] Figure 8 It is a schematic diagram of the plane coordinate system provided by the embodiments of the present application.

[0028] Figure 9 It is a control logic block diagram of the control system assembly provided by the embodiments of the present application.

[0029] The markings in the figure are as follows:

[0030] Spherical main body 1, equatorial ring 11, counterweight platform 12, counterweight block 13, annular water paddling mechanism 2, fixed bracket 21, outer ring of slewing bearing 22, inner ring of slewing bearing 23, annular rack 231, water paddle 24, power transmission device 25, motor 251, pedestal bearing 252, tapered reversing gear 253, transmission gear 254, water retaining sleeve 26, damping pendulum ball 3, metal sphere 31, limiting rope 32, connecting ring 33, top fixing part 34, peripheral fixing part 35, control system assembly 4, controller 41, inertial measurement unit 42, GPS positioning module 43, motor driver 44, power supply 45. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.

[0032] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present application. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more, unless otherwise specifically defined.

[0033] In the description of the present application, it should be noted that unless otherwise clearly specified and defined, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection that allows mutual communication; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0034] An embodiment of the present application provides a cross - stroke propulsion system applicable to a surface vehicle.

[0035] Specifically, please refer to Figure 1 , the cross - stroke propulsion system includes a spherical main body 1 and two sets of annular stroke mechanisms 2; the two sets of annular stroke mechanisms 2 are distributed in a cross - shaped and vertically staggered manner, the annular stroke mechanisms 2 are fixed on the outer surface of the spherical main body 1, and the annular stroke mechanisms 2 are arranged in a vertical plane.

[0036] Please refer to Figure 3 , the annular stroke mechanism 2 includes a fixed bracket 21, an outer ring 22 of a slewing bearing, an inner ring 23 of a slewing bearing, a stroke plate 24, and a power transmission device 25. The outer ring 22 of the slewing bearing is fixed on the outer surface of the spherical main body 1 through the fixed bracket 21. There are chutes between the outer rings 22 of the slewing bearings. Both sides of the inner ring 23 of the slewing bearing are slidably arranged in the chutes. A plurality of the stroke plates 24 are spacedly arranged on the outer side of the inner ring 23 of the slewing bearing. An annular rack 231 is arranged on the inner side of the inner ring 23 of the slewing bearing. The power transmission device 25 is fixed on the spherical main body 1. The power transmission device 25 includes a transmission gear 254, and the transmission gear 254 meshes with the annular rack 231 to drive the inner ring 23 of the slewing bearing to rotate forward or backward relative to the outer ring 22 of the slewing bearing.

[0037] In the present application, by providing a cross - stroke propulsion system including a spherical main body 1 and two sets of annular stroke mechanisms 2, the two sets of annular stroke mechanisms 2 are distributed in a cross - shaped and vertically staggered manner, it is possible to control the forward or reverse rotation of the two sets of annular stroke mechanisms 2 for stroke driving, and the driving direction can be adjusted by two stroke thrusts. The power transmission device 25 drives the two sets of crossed stroke plates 24 to rotate forward or backward, realizing multi - direction autonomous control, enabling complex multi - direction movement, and the spherical main body 1 has a balanced force structure, stronger stability, and improved maneuverability and stability.

[0038] The cross - stroke propulsion system adopts a spherical structure and a cross - stroke plate layout to achieve efficient and multi - angle propulsion and stable water - floating ability, and has autonomous navigation and control functions to adapt to various mission requirements.

[0039] The spherical main body 1 provides buoyancy and support. During the traveling process, it ensures the stability of the spherical main body 1 on the horizontal plane, avoiding the risk of capsizing existing in traditional ships, and has extremely excellent navigation stability and wave - resistance ability.

[0040] Please refer to Figure 1 、 Figure 2 As shown in, a horizontally - arranged equatorial ring 11 is provided on the outer side of the spherical main body 1, and the fixed bracket 21 is connected to the equatorial ring 11.

[0041] Preferably, there are four fixed brackets 21. The outer rings 22 of two groups of slewing bearings are fixed on the equatorial ring 11 on the outer side of the spherical main body 1 by the four fixed brackets 21.

[0042] The spherical main body 1 adopts a hollow structure with a diameter of about 40 cm, and is composed of upper and lower parts. It is made of high - strength composite materials, with good impact - resistance and airtight waterproof performance. A sealed cabin is provided inside, which encapsulates a control system, a battery pack and a power system to ensure the safe operation of the equipment in water.

[0043] Furthermore, the diameters of the two groups of annular stroke - making mechanisms 2 are both larger than the diameter of the spherical main body 1. The diameters of the two groups of annular stroke - making mechanisms 2 are different, and the annular stroke - making mechanisms 2 are spaced from the outer surface of the spherical main body 1.

[0044] Please refer to Figure 4 As shown in, the power transmission device 25 further includes a motor 251, a pedestal bearing 252 and a tapered reversing gear 253. The motor 251 is connected to the pedestal bearing 252. The first end of the pedestal bearing 252 meshes with the tapered reversing gear 253, and the second end of the pedestal bearing 252 is connected to the transmission gear 254.

[0045] The motor 251 drives the transmission gear 254 through the pedestal bearing 252 to drive the inner ring 23 of the slewing bearing to rotate, and then drives the stroke - making plate 24 to rotate.

[0046] Among them, the motor 251 uses a high-efficiency brushless DC motor (BLDC) to provide a stable power output. The motor 251 is powered by a lithium-ion battery pack, having a long battery life and environmental protection characteristics. The output shaft of the motor 251 is connected to a pair of bevel reversing gears 253 through a pedestal bearing 252 to achieve power reversal. It transmits torque and allows a certain angle of deviation, ensuring flexibility and stability. The transmission gear 254 is made of high-strength steel or alloy to ensure wear resistance and durability.

[0047] Please refer to Figure 1 , the motor 251 is arranged inside the spherical main body 1, the bevel reversing gear 253 is fixed on the outer ring 22 of the slewing bearing, and the pedestal bearing 252 passes through the side wall of the spherical main body 1 and extends outside the spherical main body 1 to mesh with the bevel reversing gear 253.

[0048] The motor 251 is placed and fixed on the counterweight platform 12 inside the sphere. After power is reversed through the pedestal bearing 252 and the bevel gear reversing gear, the power is transmitted to the transmission gear 254. The transmission gear 254 meshes with the annular rack 231 of the inner ring 23 of the slewing bearing, thereby driving the water paddle 24 to rotate and paddle.

[0049] Furthermore, the annular water paddling mechanism 2 further includes a water baffle sleeve 26. The two ends of the water baffle sleeve 26 are respectively connected to the fixed bracket 21. The water baffle sleeve 26 is located in the upper hemisphere part of the spherical main body 1. The outer ring 22 of the slewing bearing is fixed inside the water baffle sleeve 26. The inner ring 23 of the slewing bearing and the water paddle 24 are located inside the water baffle sleeve 26. An opening is provided at the meshing position of the transmission gear 254 and the annular rack 231 of the inner ring 23 of the slewing bearing. The water baffle sleeve 26 can prevent the water splashed by the water paddle 24 from affecting the traveling speed and the vehicle, reduce the interference of the water flow on the spherical main body 1, and enhance the water surface stability.

[0050] Please refer to Figure 2 , a counterweight platform 12 and counterweight blocks 13 are arranged inside the spherical main body 1. The counterweight platform 12 is horizontally embedded at the bottom of the spherical main body 1. The counterweight blocks 13 are connected to the counterweight platform 12. Under the gravity of the counterweight blocks 13, the pose of the spherical main body 1 is maintained.

[0051] Preferably, the counterweight block 13 is a solid hemisphere. The spherical main body 1 is inlaid with a solid hemisphere with a large mass, which reduces the center of gravity of the entire spherical main body 1. The battery pack and related control components can be placed on the upper counterweight platform 12. In addition, a damping pendulum ball 3 is also installed inside the spherical main body 1 to weaken the influence of its own inertia and external impact, and further improve the stability of the cross water paddling propulsion system.

[0052] Please refer to Figure 1 , the cross - stroke propulsion system further includes a damping pendulum ball 3, and the damping pendulum ball 3 is suspended inside the spherical body 1. The damping pendulum ball 3 is used to reduce the external force impact on the spherical body 1 and improve stability.

[0053] Please refer to Figure 5 , the damping pendulum ball 3 includes a metal sphere 31, a limiting rope 32, a connecting ring 33, a top fixing member 34 and a plurality of peripheral fixing members 35. The top fixing member 34 is connected to the inner top surface of the spherical body 1, the peripheral fixing members 35 are connected to the counterweight platform 12, the top of the metal sphere 31 is connected to the top fixing member 34 through the connecting ring 33, and the bottom of the metal sphere 31 is connected to the peripheral fixing members 35 through the limiting rope 32 and the connecting ring 33.

[0054] An embodiment of the present application provides a watercraft, and the watercraft includes the cross - stroke propulsion system described above.

[0055] Please refer to Figure 1 、 Figure 6 , the watercraft further includes a control system assembly 4, and the control system assembly 4 is arranged inside the spherical body 1; the control system assembly 4 includes a controller 41, an inertial measurement unit 42, a GPS positioning module 43, a motor driver 44 and a power supply 45; the power supply 45 is connected to the controller 41, the inertial measurement unit 42, the GPS positioning module 43 and the motor driver 44, the motor driver 44 is connected to the power transmission device 25, and the controller 41 is connected to the inertial measurement unit 42, the GPS positioning module 43 and the motor driver 44.

[0056] The power supply 45 includes a battery pack. The watercraft performs real - time data processing and generates a driving instruction based on the positioning data of the GPS positioning module 43 and the inertial direction data of the inertial measurement unit 42. The controller 41 of the control system assembly 4 is linked with the power transmission device 25 to respectively adjust the steering and rotation speed of the two sets of paddles 24, realizing autonomous multi - directional control.

[0057] The controller 41 is preferably a central processing unit for real - time calculation and decision - making. It supports remote monitoring and control, and can perform data transmission and receive instructions through a wireless communication module with a shore - based control center.

[0058] For the convenience of quick replacement and maintenance, the controller 41 is provided with a standardized module interface. Different task modules, such as water quality monitoring sensors, environmental perception devices, robotic arms, etc., can be installed according to needs to further expand the functions of the watercraft and broaden the application scenarios.

[0059] The surface vehicle has a simple structure, relatively low cost, strong anti-environmental interference ability and high stability. Through the spherical main body and the cross-paddling propulsion system, it realizes multi-directional control and surface autonomous navigation functions, improving the flexibility and stability of the vehicle. The autonomous navigation function of the vehicle helps to perform automated tasks in complex water environments and can be widely used for long-term high-density water quality and wave environment monitoring in large areas of water, inspection of surface facilities, maritime patrol and search and rescue, and many other tasks.

[0060] The surface vehicle is a tracked spherical surface vehicle, which has the advantages of high mobility, high stability, autonomous navigation and versatility.

[0061] High mobility: The cross-paddling board design supports multi-directional control, enabling precise navigation in complex environments, so that the vehicle can move flexibly in various complex surface environments.

[0062] High stability: The spherical hull structure provides good stability and anti-impact ability.

[0063] Autonomous navigation: The intelligent navigation system and algorithms ensure that the vehicle can complete tasks safely and efficiently even when unmanned.

[0064] Versatility: Different task modules can be flexibly configured according to task requirements to expand the application scope.

[0065] As Figure 7 shown, based on the surface vehicle described above, an embodiment of the present application provides a navigation control method for a surface vehicle, and the navigation control method includes:

[0066] S1. Construct a plane coordinate system, with the geometric center of the surface vehicle as the origin of the plane coordinate system. The plane of the plane coordinate system is parallel to the water surface, and the directions pointed by two groups of annular paddling mechanisms are respectively selected as the positive direction of the x-axis and the positive direction of the y-axis;

[0067] S2. Obtain the position of the vehicle itself in the plane coordinate system, and according to the position relationship between the position of the vehicle itself and the target position of navigation, control the rotation speed and steering of the two groups of annular paddling mechanisms of the surface vehicle so that the surface vehicle moves towards the target position direction.

[0068] As Figure 8 shown, the navigation control method of the surface vehicle further includes:

[0069] Obtain the coordinates (x, y) of the target position in the plane coordinate system;

[0070] Set the paddling thrust of the annular paddling mechanism corresponding to the x-axis direction to Set the water paddling thrust of the annular water paddling mechanism corresponding to the y-axis direction to be where t is time, and K P is the proportionality coefficient, and K I is the integral coefficient, and K D is the differential coefficient.

[0071] As Figure 9 shown, in combination with the watercraft described above, the control system component combines the data of the inertial measurement unit and the GPS positioning module to monitor the position and heading of the watercraft in real time. Through intelligent algorithms, the control system component adjusts the operating parameters of the motor, and after reversing through the power transmission device, it is transmitted to the transmission gear, further driving the water paddling board fixed on the inner ring of the slewing bearing to rotate, pushing the watercraft forward or backward. According to the relative position relationship between the watercraft and the target position, by respectively adjusting the rotation speed and direction of the motors of the two groups of annular water paddling mechanisms, acceleration, deceleration, and turning in any direction of the watercraft can be achieved.

[0072] The motor driver converts the thrust into the rotation speed and steering commands of the corresponding motor. Through this control method, the rotation speed and direction of the two groups of thruster motors are controlled according to the relative position relationship with the target position, so as to approach the target position. This control method is also applicable to the dynamic positioning scenario, and it can stay at the target position point relatively easily even in the case of environmental factor interference.

[0073] In the cross water paddling propulsion system and watercraft provided by the embodiments of the present application, when viewed from above, the two groups of annular water paddling mechanisms are distributed in a cross shape and staggered up and down. The rotation speed and direction of the two groups of annular water paddling mechanisms can be respectively controlled for water paddling drive. The driving direction can be adjusted by respectively adjusting the magnitude and direction of the water paddling thrust of the two groups, and complex instant multi-directional movement can be realized. Moreover, the spherical main body structure is evenly stressed, with stronger stability, improving the anti-wave and anti-wind ability of the watercraft.

[0074] The above has introduced in detail a cross water paddling propulsion system and a watercraft provided by the embodiments of the present application. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The description of the above embodiments is only used to help understand the technical solution and its core idea of the present application; those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cross-stroke propulsion system, characterized in that, Comprising: A spherical main body and two sets of annular water-paddling mechanisms; The two sets of annular water-paddling mechanisms are vertically staggered in a cross shape, the annular water-paddling mechanisms are fixed on the outer surface of the spherical main body, and the annular water-paddling mechanisms are arranged in a vertical plane; The annular water-paddling mechanism includes a fixed bracket, an outer ring of a slewing bearing, an inner ring of a slewing bearing, a water-paddling plate and a power transmission device. The outer ring of the slewing bearing is fixed on the outer surface of the spherical main body through the fixed bracket. A chute is provided between the outer rings of the slewing bearings. Both sides of the inner ring of the slewing bearing are slidably arranged in the chute. A plurality of the water-paddling plates are spacedly arranged on the outer side of the inner ring of the slewing bearing. An annular rack is provided on the inner side of the inner ring of the slewing bearing. The power transmission device is fixed on the spherical main body. The power transmission device includes a transmission gear, and the transmission gear meshes with the annular rack to drive the inner ring of the slewing bearing to rotate forward or backward relative to the outer ring of the slewing bearing.

2. The cross-stroke propulsion system according to claim 1, wherein, An equatorial ring is horizontally arranged on the outer side of the spherical main body, and the fixed bracket is connected to the equatorial ring.

3. The cross-stroke propulsion system according to claim 1, wherein The diameters of the two sets of annular water-paddling mechanisms are both larger than the diameter of the spherical main body. The diameters of the two sets of annular water-paddling mechanisms are different, and the annular water-paddling mechanisms are spaced from the outer surface of the spherical main body.

4. The cross-stroke propulsion system according to claim 1, characterized in that, The power transmission device further includes a motor, a pedestal bearing and a tapered reversing gear. The motor is connected to the pedestal bearing. The first end of the pedestal bearing meshes with the tapered reversing gear, and the second end of the pedestal bearing is connected to the transmission gear.

5. The cross-stroke propulsion system according to claim 4, wherein The motor is arranged inside the spherical main body. The tapered reversing gear is fixed on the outer ring of the slewing bearing. The pedestal bearing passes through the side wall of the spherical main body and extends outside the spherical main body to mesh with the tapered reversing gear.

6. The cross-stroke propulsion system according to claim 4, wherein The annular water-paddling mechanism further includes a water-blocking sleeve. Both ends of the water-blocking sleeve are respectively connected to the fixed bracket. The water-blocking sleeve is located in the upper hemisphere part of the spherical main body. The outer ring of the slewing bearing is fixed inside the water-blocking sleeve. The inner ring of the slewing bearing and the water-paddling plate are located inside the water-blocking sleeve. An opening is provided at the meshing position of the transmission gear and the annular rack of the inner ring of the slewing bearing.

7. The cross-stroke propulsion system according to claim 1, wherein A hemispherical counterweight platform and counterweight blocks are arranged inside the spherical main body. The counterweight platform is horizontally embedded at the bottom of the spherical main body. The counterweight blocks are connected to the counterweight platform. The spherical main body maintains its pose under the gravity of the counterweight blocks.

8. The cross-stroke propulsion system according to claim 7, wherein The cross water-paddling propulsion system further includes a damping pendulum ball, and the damping pendulum ball is suspended inside the spherical main body.

9. The cross-stroke propulsion system according to claim 8, wherein, The damping pendulum ball includes a metal sphere, a limiting rope, a connecting ring, a top fixing piece and a plurality of surrounding fixing pieces. The top fixing piece is connected to the inner top surface of the spherical main body. The surrounding fixing pieces are connected to the counterweight platform. The top of the metal sphere is connected to the top fixing piece through the connecting ring. The bottom of the metal sphere is connected to the surrounding fixing pieces through the limiting rope and the connecting ring.

10. A watercraft, characterized in that, The surface vehicle includes the cross - stroke propulsion system according to any one of claims 1 to 9; Wherein, the surface vehicle further includes a control system assembly, and the control system assembly is disposed within the spherical main body; the control system assembly includes a controller, an inertial measurement unit, a GPS positioning module, a motor driver, and a power source; the power source is connected to the controller, the inertial measurement unit, the GPS positioning module, and the motor driver, the motor driver is connected to the power transmission device, and the controller is connected to the inertial measurement unit, the GPS positioning module, and the motor driver.

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