CN219077464U - Propeller and movable equipment in water area - Google Patents

Abstract

The application relates to the technical field of power of movable equipment in a water area, aims to solve the problem that the flexibility of the known propeller for adjusting the running state of a ship body is not high enough, and provides the propeller and the movable equipment in the water area. The propeller comprises a tilting part, a swinging part and a propeller. The tilting part is used for being connected to the ship body and has at least one first rotation degree of freedom relative to the ship body; the swinging part is connected with the tilting part and has at least one second rotation degree of freedom relative to the tilting part; the propeller is connected to the swinging part and can rotate relative to the swinging part. The tilting part can rotate in a first plane relative to the ship body so as to adjust the pitching angle of the propeller. The swinging part can rotate in a second plane relative to the tilting part so as to adjust the swinging angle of the propeller. The first plane and the second plane are perpendicular to each other. The water area movable equipment control method has the beneficial effect that the running state of the water area movable equipment can be flexibly adjusted.

Description

Propeller and movable equipment in water area

Technical Field

The application relates to the technical field of power of movable equipment in water areas, in particular to a propeller and movable equipment in water areas.

Background

The propeller is used as a power device of movable equipment in water areas such as ships and the like and is used for pushing the movable equipment in the water areas to move.

Some power devices of movable equipment in water areas can provide a simpler adjustment mode, but when a ship body faces more complex attitude adjustment, the current propeller cannot realize attitude adjustment with more dimensions, so that the flexibility of the ship body navigation attitude adjustment is not high enough.

Disclosure of Invention

The application provides a propeller with high flexibility for adjusting the running state of a ship body and movable equipment in a water area.

The application provides a propeller, including cocking portion, swing portion and screw. The tilted part is used for being connected with the ship body and has at least one first rotation degree of freedom relative to the ship body; the swinging part is connected with the tilting part and has at least one second rotation degree of freedom relative to the tilting part; the propeller is connected to the swinging part and can rotate relative to the swinging part. The tilting part can rotate in a first plane relative to the ship body so as to adjust the pitching angle of the propeller. The swinging part can rotate in a second plane relative to the tilting part so as to adjust the swinging angle of the propeller. The first plane and the second plane are perpendicular to each other.

In the propeller, a connection mode with rotational freedom degree exists between the tilting part and the ship body, a connection mode with rotational freedom degree also exists between the swinging part and the tilting part, the position and the gesture of the propeller connected at the tail end can be flexibly adjusted through the tilting and swinging modes, the adjustment of the navigation gesture of movable equipment in a water area is facilitated, and the control of the ship body rolling is particularly facilitated.

The application also provides a water area movable device comprising a ship body and the propeller, wherein the propeller is connected with the ship body.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly describe the drawings in the embodiments, it being understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and that other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a water area mobile device according to an embodiment of the present application;

FIG. 2 is a schematic structural view of another embodiment of a water area mobile device according to an embodiment of the present application;

FIG. 3 is a schematic view of another embodiment of a water area mobile device according to an embodiment of the present application;

FIG. 4 is a schematic view of a water area mobile device according to an embodiment of the present application, with two propellers;

FIG. 5 is a schematic view of a water area mobile device according to an embodiment of the present application;

FIG. 6 is a schematic view of another embodiment of a water movable apparatus provided with a steering part according to the embodiment of the present application;

FIG. 7 is a control schematic diagram of a water area mobile device in an embodiment of the present application;

FIG. 8 is a flow chart of a method of controlling roll reduction of a water movable apparatus in an embodiment of the present application;

fig. 9 is a schematic view of three rotational and three translational wobbles of a water movable apparatus.

Description of main reference numerals:

water area mobile device 300

Hull 310

Inertial navigation module 320

Propeller 100,200

First direction X

Second direction Y

Third direction Z

Raising part 11

Steering portions 12a,12b

Swing portion 13

Propeller 14

Prime mover 15

Driver 16

Transmission mechanism 17

First plane 18

Third plane 19

Second plane 20

First support 21

First rotation shaft 22

Clamp 23

First driving member 24

Tilting telescopic cylinder 24a

Third stand 25

Tiller 25a

Third rotation shaft 26

Third driving member 27

First connecting arm 28

Second connecting arm 29

Second support 30

Second rotation shaft 31

Second driving member 32

Power take-off shaft 34

First double-direction rotary arrow 41

Third double-direction rotary arrow 42

Second bidirectional rotating arrow 43

First rotary joint 51

First steering arm 52

First steering shaft 53

First motor 54

Second rotary joint 61

Second steering arm 62

Second steering shaft 63

Second motor 64

Main control module 70

Detailed Description

The following description of the technical solutions in the embodiments of the present application will be made clearly and completely with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments.

It will be understood that when an element is referred to as being "fixed to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "or/and" as used herein includes any and all combinations of one or more of the associated listed items.

Some embodiments of the present application are described in detail. The following embodiments and features of the embodiments may be combined with each other without collision.

Examples

Referring to fig. 1, the present embodiment provides a water area mobile device 300, and the water area mobile device 300 may be various water area vehicles such as a commercial ship, a passenger ship, a yacht, a fishing boat, a sailing boat, a civil ship, and the like. The water movable apparatus 300 includes a hull 310 and a propeller 100.

The hull 310 is capable of providing a certain buoyancy force to enable the water mobile device 300 to float to the surface. The specific structure of the hull 310 may be set as desired.

The propeller 100 is mounted to the hull 310 for providing propulsion to propel the water movable apparatus 300 through the water. In this embodiment, the installation position of the propeller 100 may be set as required, for example, without limitation, in the manner of being installed at the tail of the hull 310 shown in fig. 1.

With continued reference to fig. 1, in the present embodiment, the propeller 100 includes a tilted portion 11, a swinging portion 13, and a propeller 14. The propeller 14 may be driven to rotate to generate propulsion.

The tilted portion 11 is configured to be connected to the hull 310, and has at least one first rotational degree of freedom with respect to the hull 310. The swinging portion 13 is connected to the tilting portion 11 and has at least one second degree of freedom of turning with respect to the tilting portion 11. The propeller 14 is connected to the swinging portion 13 and is rotatable relative to the swinging portion 13.

In the propeller 100, a connection mode with a rotational degree of freedom is provided between the raising portion 11 and the hull 310, and a connection mode with a rotational degree of freedom is provided between the swinging portion 13 and the raising portion 11, so that the position and the posture of the propeller 14 connected to the tail end can be adjusted more flexibly, and the adjustment of the running state of the water area movable equipment 300 is facilitated. In this embodiment, the propeller 100 further includes a prime mover 15, and the prime mover 15 is fixed to the swing portion 13 for driving the propeller 14 to rotate. Optionally, the prime mover 15 is an electric motor, and the propeller 100 further includes a driver 16, where the driver 16 is electrically connected to the prime mover 15 to drive the prime mover 15 to operate. The position of the driver 16 may be set as desired, and is not limited to this, as shown in the figure, on the tilted portion 11.

In the embodiment shown in fig. 1, the prime mover 15 is fixed to the swing portion 13 at a position where the propeller 14 is connected, and is connected to the propeller 14 by a shaft.

In another embodiment, as shown in fig. 2, the prime mover 15 is fixed to the swing portion 13 away from the propeller 14, and the propeller 100 further includes a transmission mechanism 17 connecting the prime mover 15 and the propeller 14. The transmission 17 may be a gear transmission 17, a belt transmission, a chain transmission, or other transmission. The prime mover 15 rotates the propeller 14 through the transmission mechanism 17 to generate propulsive force.

In this embodiment, the tilted portion 11 can rotate in the first plane 18 relative to the hull 310 to adjust the pitch angle of the propeller 14; the swinging part 13 can rotate in the second plane 20 relative to the tilting part 11 so as to adjust the swinging angle of the propeller 14; the first plane 18 and the second plane 20 are perpendicular to each other.

For convenience of description, the length direction of the water area movable apparatus 300 (i.e., the fore-and-aft direction of the hull 310) is defined as a first direction X, the width direction of the water area movable apparatus 300 (i.e., the lateral direction of the hull 310) is defined as a second direction Y, and the height direction of the water area movable apparatus 300 is defined as a third direction Z.

In this way, the first plane 18 is a plane perpendicular to the second direction Y, and the propeller 14 can be driven by the swinging portion 13 and the tilting portion 11 to rotate (the rotation direction is shown by the first bi-directional rotation arrow 41 in the figure) around the rotation axis (parallel to the second direction Y) of the tilting portion 11 relative to the hull 310, so as to tilt or descend the propeller 14, or tilt the propeller 14 to be separated from the water body when needed.

The second plane 20 is a plane perpendicular to the first direction X, and the propeller 14 can be driven by the swinging portion 13 to rotate (the rotation direction is shown by a second bidirectional rotation arrow 43 in the figure) around the rotation axis (parallel to the first direction X) of the swinging portion 13 relative to the tilting portion 11, so as to realize the lateral swinging of the propeller 14, adjust the swinging angle, change the draft of the propeller 14, and play a role in controlling the lateral swinging (i.e. rolling) of the hull 310. The manner of controlling the lateral sway may be achieved by swaying the propeller 14 in a direction opposite to the sway direction of the hull 310 to slow down the sway of the hull 310 when the hull 310 is swayed laterally.

The specific structures of the tilting portion 11 and the swinging portion 13 may be set as needed.

Alternatively, the upturned portion 11 includes a first bracket 21 and a first rotation shaft 22. The axial direction of the first rotating shaft 22 is parallel to the second direction Y, and the first direction X and the second direction Y are perpendicular to each other. The first bracket 21 is rotatably connected to the tail of the hull 310 by a first rotation shaft 22, and the swinging part 13 is connected to the first bracket 21.

Optionally, the raising portion 11 further includes a clamp 23, the clamp 23 is detachably connected to the tail of the hull 310, the first rotating shaft 22 is disposed on the clamp 23, and the first bracket 21 is connected to the first rotating shaft 22 and can rotate along with the first rotating shaft 22.

When tilting is required, the external force drives the first rotating shaft 22 to rotate relative to the clamp 23, and then drives the first bracket 21, the swinging part 13 connected to the first bracket 21 and the rear propeller 14 to rotate together for tilting. It will be understood, of course, that in other embodiments, the first rotating shaft 22 may be replaced by a crank link mechanism, and the first bracket 21 may rotate relative to the clamp 23 via the crank link mechanism, so as to drive the propeller 14 to tilt relative to the hull 310, thereby adjusting the pitch angle of the hull 310.

In this embodiment, the tilting portion 11 further includes a first driving member 24, where the first driving member 24 is connected to the first rotating shaft 22, and is configured to drive the first bracket 21 to rotate via the first rotating shaft 22. For example, the first driving member 24 is fixedly connected to the fixture 23, and an output shaft thereof is connected to the first rotating shaft 22 through a coupling, so that the first driving member 24 can rotate the first rotating shaft 22 and further rotate the first bracket 21 when operated. The first drive member 24 may be a motor or hydraulic drive or other device capable of rotational drive. In another embodiment, the first bracket 21 may include a portion spaced from the jig 23 along the first direction X, and a tilting telescopic cylinder 24a may be provided as the first driving member 24, the tilting telescopic cylinder 24a is mounted to the jig 23, and the telescopic end of the tilting telescopic cylinder 24a is connected to the first bracket 21 and can drive the first bracket 21 and the first rotating shaft 22 to rotate relative to the jig 23 by extending or shortening to realize tilting.

In the present embodiment, the swinging portion 13 includes the second bracket 30 and the second rotation shaft 31, and the axial direction of the second rotation shaft 31 is parallel to the first direction X. The second bracket 30 is connected to the first bracket 21 by a second rotation shaft 31, and the propeller 14 is rotatably connected to the second bracket 30. Optionally, the swinging part 13 further includes a second driving member 32, where the second driving member 32 is connected to the second rotating shaft 31, and is configured to drive the second bracket 30 to rotate via the second rotating shaft 31. The second drive 32 may be a motor or hydraulic drive or other device capable of rotational drive. Alternatively, the second rotating shaft 31 extends rearward of the hull 310, and the second bracket 30 extends substantially in the third direction Z, and has an upper end connected to the extending end and a lower end of the second rotating shaft 31 for mounting the propeller 14.

It can be appreciated that the second driving member 32 may drive the second bracket 30 to rotate about the second rotation axis 31 relative to the first bracket 21, so as to drive the propeller 14 to swing transversely relative to the hull, so as to adjust the left-right swing posture of the hull, thereby realizing multi-dimensional adjustment of the hull posture.

In this embodiment, the propeller 100 further includes a power output shaft 34 rotatably disposed on the second bracket 30, and the propeller 14 is connected to the power output shaft 34 and obtains rotational torque through the power output shaft 34. The power take-off shaft 34 is driven by the prime mover 15 as described above.

In another embodiment, instead of the first driving member 24 and the second driving member 32 described above, the following embodiments may be employed: the propeller 100 further includes a torsion power machine fixed to the tilted portion 11 or the swing portion 13, the torsion power machine being configured to provide a rotational torque to at least one of the tilted portion 11 and the swing portion 13.

Compared with the outboard motor of the prior art, the propeller 100 of the present embodiment has the swinging portion 13 to realize the swinging degree of freedom, which can realize the lateral swinging, on the one hand, the vertical position adjustment of the propeller 14 can be realized as well, and on the other hand, the swinging degree of freedom can be combined with the steering degree of freedom to reduce the swinging of the hull 310. Therefore, the swing control of the propeller 100 can be realized by the newly increased degree of freedom of swing in the present embodiment.

Furthermore, in some possible embodiments, the pusher 100 may also be folded with a swinging degree of freedom, saving more space. As shown in fig. 1, the second connecting arm 29 and the second bracket 30 are each provided in a rod-like structure along the third direction Z, and are rotatably connected at the interface by a second rotation shaft 31. The second bracket 30 may be rotated and folded about the second rotation axis 31 when necessary, so that the propeller 100 is reduced in size in the third direction Z, facilitating packaging and transportation.

Fig. 3 shows a water movable apparatus 300 employing another type of propeller 200. The propeller 200 is different from the propeller 100 in that the tilting portion 11 and the swinging portion 13 each have two or more rotational degrees of freedom, for example, the tilting portion 11 and the swinging portion 13 each have three rotational degrees of freedom.

Referring to fig. 3, in the propeller 200, the tilted portion 11 has three first rotational degrees of freedom with respect to the hull 310, and the three first rotational degrees of freedom are respectively disposed on three first rotational planes perpendicular to each other. The tilting part 11 includes a first rotary joint 51 and a first steering arm 52 connected to the first rotary joint 51, the first rotary joint 51 is provided with three first steering shafts 53 sequentially connected, the three first steering shafts 53 are perpendicular to each other, one end of the first steering arm 52 is connected to the hull 310 through the three first steering shafts 53, and the other end of the first steering arm 52 is connected to the swinging part 13. Optionally, the tilting portion 11 further includes three first motors 54, and the three first motors 54 are respectively used for driving the three first steering shafts 53 to rotate, so as to drive the first steering arms 52 to rotate relative to the hull 310.

The swinging part 13 has three second turning degrees of freedom relative to the tilting part 11, and the three second turning degrees of freedom are respectively arranged on three second rotation planes which are mutually perpendicular. The swinging part 13 comprises a second rotating joint 61 and a second steering arm 62 connected with the second rotating joint 61, the second rotating joint 61 is provided with three second steering shafts 63 which are sequentially connected, the three second steering shafts 63 are mutually perpendicular, one end of the second steering arm 62 is connected with the tilting part 11 through the three second steering shafts 63, and the other end of the second steering arm 62 is connected with the propeller 14. Optionally, the swinging portion 13 further includes three second motors 64, and the three second motors 64 are respectively used for driving the three second steering shafts 63 to rotate so as to drive the second steering arms 62 to rotate relative to the tilting portion 11.

The first and second rotating joints 51 and 61 may be a common rotating structure capable of rotating about three mutually perpendicular axes, such as a universal joint having three degrees of freedom of rotation, which is not limited herein.

Referring to fig. 1 or 3, in the present embodiment, the water movable apparatus 300 further includes an inertial navigation module 320, where the inertial navigation module 320 is fixed to the hull 310 and is used for sensing motion data of the hull 310. The inertial navigation module 320, i.e. the inertial navigation module, and the specific model may be selected according to needs.

The propeller 100 is provided with a main control module 70 electrically connected with the inertial navigation module 320, and the main control module 70 is used for performing gesture calculation on the motion data of the movable equipment in the water area and generating a balance control instruction, wherein the balance control instruction comprises an angle control instruction and a displacement control instruction. The angle control instruction is used for instructing the tilting part 11 and/or the swinging part 13 to adjust the gesture so as to control the propeller 14 to push the ship body 310 to turn to the target angle, and the displacement control instruction is used for instructing the rotating speed and the steering of the propeller 14 so as to control the propeller 14 to push the ship body 310 to move to the target displacement.

In this embodiment, the balance control instruction further includes a rotation speed control instruction; the rotation speed control instruction instructs the rotation speed of the target rotation portion in the target rotation direction.

The angle control instruction includes a target rotation direction and a target rotation portion; the target rotation direction indicates a rotation direction of the target rotation portion, which indicates rotation of at least one of the cocking portion 11 and the swinging portion 13. Optionally, the angle control instruction further includes a target steering angle value indicating an angle value by which the target turning portion is turned in the target turning direction.

In the water movable apparatus 300 of the embodiment of the present application, the propeller may be provided in one or more. When one propeller is provided, the propeller may be provided at a widthwise intermediate position of the tail of the hull 310; when a plurality of propellers are provided, the plurality of propellers may be provided at intervals in the width direction of the hull 310. The propeller may be the aforementioned propeller 100 or propeller 200.

For example, figure 4 shows a simplified view of a water mobile device 300 employing two propellers 100 or 200. Referring to fig. 4, two propellers 100 or 200 are provided at the tail of the hull 310 and at both sides of the width direction of the tail of the hull 310, respectively. For the water movable apparatus 300 of this embodiment, steering can be achieved by differential speed of the two propellers 100 or 200. For example, when the speed of the upper (right side of the hull 310) propeller 100 or 200 is greater than the lower (left side of the hull 310) propeller 100 or 200 in fig. 4, the water movable apparatus 300 will turn to the left; and vice versa, turns to the right.

Of course, in addition to the above-described scheme of implementing the steering of the water area mobile device 300 by using two propellers 100 or 200, a steering portion for implementing the steering may be provided in the water area mobile device 300, and the position of the steering portion may be set as required.

For example, as shown in fig. 5, in one embodiment, the steering part 12a is disposed on the hull 310, the tilted part 11 of the propeller is connected to the steering part 12a in series, and the propeller can rotate laterally under the driving of the steering part 12a as a whole, so as to achieve steering of the movable device in the water area. That is, the steering portion 12a can be rotated in the third plane 19 with respect to the hull 310 to adjust the steering angle of the propeller 14. The third plane 19 is a plane perpendicular to the third direction Z, and the propeller 14 can be driven by the swinging portion 13, the tilting portion 11, and the turning portion 12a to rotate around the rotation axis (parallel to the third direction Z) of the turning portion 12a (the rotation direction is shown by a third bidirectional rotation arrow 42 in the figure), so as to realize the turning of the propeller 14, so as to adjust the rotation angle, and change the advancing direction of the hull 310.

Specifically, referring to fig. 5, the turning portion 12a includes a third bracket 25 and a third rotation shaft 26, and the axial direction of the third rotation shaft 26 is parallel to the third direction Z. The third bracket 25 is rotatably connected to the hull 310 through a third rotation shaft 26, and the turnup 11 is rotatably connected to the third bracket 25. As shown in fig. 5, the third rotation shaft 26 is connected at a lower end to the hull 310 and at an upper end to the third bracket 25. Optionally, the steering part 12a further includes a third driving member 27, where the third driving member 27 is connected to the third rotating shaft 26, and is configured to drive the third bracket 25 to rotate via the third rotating shaft 26. The third drive member 27 may be an electric or hydraulic drive or other device capable of rotational drive. The third driving piece 27 can drive the third bracket 25 to rotate around the axis of the third rotation shaft 26 relative to the hull 310, so as to drive the propeller 14 to turn relative to the hull 310, and thus, the hull 310 is adjusted to navigate and turn when the propeller 14 rotates.

Optionally, a tiller 25a is connected to the third bracket 25, and the tiller 25a can be used for manual operation by an operator to drive the third bracket 25 to rotate around the third rotation shaft 26 so as to realize operation of sailing and steering of the ship 310. In this way, manual manipulation of the tiller 25a and actuation of the third drive member 27 can control steering of the hull 310 jointly or independently of each other.

As also shown in fig. 6, in another embodiment, the steering portion 12b is disposed between the swinging portion 13 and the propeller 14, so that steering is directly performed by the steering portion 12b to steer the propeller 14 when steering is desired. That is, the steering portion 12b is rotatable in the third plane 19 with respect to the swinging portion 13 to adjust the steering angle of the propeller 14. The third plane 19 is a plane perpendicular to the third direction Z, and the steering portion 12b can directly drive the propeller 14 to rotate around the rotation axis (parallel to the third direction Z) of the steering portion 12b (the rotation direction is shown by a second bi-directional rotation arrow 42 in the figure), so as to realize steering of the propeller 14, so as to adjust the rotation angle, and change the advancing direction of the hull 310.

Specifically, referring to fig. 6, the turning portion 12b includes a third bracket 25 and a third rotation shaft 26, and the axial direction of the third rotation shaft 26 is parallel to the third direction Z. The third bracket 25 is rotatably connected to the second bracket 30 via a third rotation shaft 26, and the propeller 14 is rotatably connected to the third bracket 25. As shown in fig. 6, the third rotation shaft 26 has an upper end connected to the second bracket 30 and a lower end connected to the third bracket 25. Optionally, the steering part 12b further includes a third driving member 27, where the third driving member 27 is connected to the third rotating shaft 26, and is configured to drive the third bracket 25 to rotate via the third rotating shaft 26. The third drive member 27 may be an electric or hydraulic drive or other device capable of rotational drive. The third driving member 27 can drive the third bracket 25 to rotate around the axis of the third rotation shaft 26 relative to the swinging part 13, so as to drive the propeller 14 to turn, and thus, when the propeller 14 rotates, the ship 310 is adjusted to navigate and turn.

Of course, the turning part may also be provided at other locations, for example, in the embodiment shown in fig. 1 in which the tilting part 11 is provided with the clamp 23, the turning part may also be provided between the clamp 23 and the first turning shaft 22.

In summary, the propeller adopted by the water area movable apparatus 300 in the present embodiment can more flexibly adjust the position and posture of the propeller 14 by providing the additional swinging portion 13, which is beneficial to adjusting the running state of the water area movable apparatus 300.

The embodiment also provides a method for controlling the roll of the movable equipment in the water area, which is used for controlling the roll of the movable equipment 300 in the water area. The anti-roll fingers described herein reduce rotational rocking or translational play of the water movable apparatus 300. Based on the structural design of the above-mentioned water area movable device 300 with a new second steering degree of freedom (i.e., swinging degree of freedom), the method for controlling the rolling of the water area movable device according to the present embodiment can well control the harmful rolling of the hull 310, and improve the stability and riding comfort of the hull 310.

Fig. 7 shows a control schematic of the water area movable apparatus 300 in the present embodiment. Referring to fig. 7, the inertial navigation module 320, the first driving member 24, the third driving member 27, the second driving member 32, and the prime mover 15 are electrically connected to the main control module 70, respectively. The inertial navigation module 320 can transmit the sensed water area movable equipment motion data to the main control module 70, the main control module 70 performs gesture settlement based on the water area movable equipment motion data to obtain a balance control instruction, and the operation of the first driving member 24, the third driving member 27, the second driving member 32 and the prime mover 15 can be controlled by the balance control instruction, so as to control the water area movable equipment 300 to the required position gesture or motion data.

Referring to fig. 8, for a water area movable apparatus 300 provided with a turning section 12, the method for controlling the stabilization of the water area movable apparatus according to the present embodiment includes the steps of:

s1: acquiring water area movable equipment motion data sensed by the inertial navigation module 320;

in this embodiment, the water area mobile device motion data obtained by the inertial navigation module 320 includes angular velocity, acceleration, magnetic field direction and euler angle on the preset water area mobile device 300 coordinate system. Optionally, the preset coordinate system of the water area movable device 300 is constructed by taking the center of gravity of the water area movable device 300 as the origin of coordinates, the length direction of the water area movable device 300 is the X axis, the width direction of the water area movable device 300 is the Y axis, and the height direction of the water area movable device 300 is the Z axis.

S2: carrying out gesture calculation on the motion data of the movable equipment in the water area to generate a balance control instruction;

the balance control instruction includes an angle control instruction and a displacement control instruction. Wherein, the angle control instruction is used for instructing the raising part 11, the steering part 12 and/or the swinging part 13 to adjust the gesture so as to control the propeller 14 to push the ship body 310 to turn to the target angle; the displacement control command instructs the rotational speed and the steering of the propeller 14 to control the propeller 14 to push the hull 310 to move the target displacement.

Performing gesture calculation on the motion data of the movable equipment in the water area to generate a balance control instruction, wherein the gesture calculation comprises the following steps:

performing gesture calculation on the water area movable equipment motion data by using a quaternion method to obtain water area movable equipment 300 gesture data; optionally, the water movable apparatus 300 attitude data includes pitch angle, roll angle, and/or yaw angle.

Determining a target adjustment angle and a target adjustment displacement according to the posture data of the movable equipment 300 in the water area;

and generating an angle control instruction and a displacement control instruction according to the target adjustment angle and the target adjustment displacement. The angle control instruction comprises a target rotation direction, a target rotation part and a target steering angle value, wherein the target steering angle value indicates an angle value of rotation of the target rotation part in the target rotation direction; the target rotation direction indicates a rotation direction of the target rotation portion; the target rotation portion instructs at least one of the turnup portion 11, the steering portion 12, and the swing portion 13 to rotate.

If the target rotation direction includes a roll direction, the swing portion 13 of the propeller 100 is taken as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value, so as to control the propeller 14 to push the hull 310 to steer by the target angle.

If the target rotation direction includes a pitch direction, the turnup portion 11 of the propeller 100 is taken as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value, so as to control the propeller 14 to push the hull 310 to steer by the target angle.

If the target rotation direction includes a yaw direction, the steering portion 12 is used as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value, so as to control the propeller 14 to push the hull 310 to steer by the target angle.

If the target rotation direction includes a yaw direction, the swing portion 13 of the propeller 100 is taken as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value, so as to control the propeller 14 to push the hull 310 to translate along the yaw direction.

If the target rotation direction includes a heave direction, the steering portion 12 is taken as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value, so as to control the propeller 14 to push the hull 310 to translate along the heave direction.

If the target rotation direction includes a heave direction, the raising portion 11 of the propeller 100 is taken as a target rotation portion, and the target rotation portion is controlled to rotate by a target steering angle value, so as to control the propeller 14 to push the hull 310 to translate along the heave direction.

The roll direction, the pitch direction and the yaw direction refer to the reciprocating swing of the movable equipment 300 around the X axis, the Y axis and the Z axis; the above-mentioned heave direction, heave direction and heave direction refer to the translation of the movable apparatus 300 along the X-axis, Y-axis and Z-axis, and can be understood with reference to fig. 9.

S3: judging whether the posture data of the movable equipment 300 in the water area is adjusted to be within a preset posture threshold value;

if yes, ending the control flow;

if not, the control flow is circularly executed. That is, the steps S1 and S2 are performed again.

In comparison with the above-described method for controlling roll resistance of the water movable apparatus, for the water movable apparatus 300 when two propellers are provided, the manner for controlling the steering may be by differential speed of the two propellers.

The above embodiments are only for illustrating the technical solution of the present application and not for limiting, and although the present application has been described in detail with reference to the above preferred embodiments, it should be understood by those skilled in the art that the technical solution of the present application may be modified or substituted without departing from the spirit and scope of the technical solution of the present application.

Claims (16)

1. A propeller, comprising: tilting part, swinging part and propeller; the tilted part is used for being connected with the ship body and has at least one first rotation degree of freedom relative to the ship body; the swinging part is connected with the tilting part and has at least one second rotation degree of freedom relative to the tilting part; the propeller is connected with the swinging part and can rotate relative to the swinging part;

the tilting part can rotate in a first plane relative to the ship body so as to adjust the pitching angle of the propeller;

the swinging part can rotate in a second plane relative to the tilting part so as to adjust the swinging angle of the propeller;

the first plane and the second plane are perpendicular to each other.

2. The propeller of claim 1, wherein the turn-up portion comprises a first bracket and a first rotation shaft, the first bracket being connected to the hull tail by the first rotation shaft, the swing portion being connected to the first bracket.

3. The propeller of claim 2, wherein the upturned portion further comprises a clamp for detachably connecting the hull tail, the first rotational axis being disposed in the clamp.

4. The propeller of claim 2, wherein the upturned portion further comprises a first driving member coupled to the first rotational shaft for driving the first bracket to rotate via the first rotational shaft.

5. The propeller of claim 2, wherein the swing portion includes a second bracket and a second rotation shaft, the second bracket being coupled to the first bracket through the second rotation shaft, the propeller being rotatably coupled to the second bracket.

6. The propeller of claim 5, wherein the oscillating portion further comprises a second driving member coupled to the second rotating shaft for driving the second bracket to rotate via the second rotating shaft.

7. The propeller of claim 5, further comprising a power take-off shaft rotatably mounted to the second mount, the propeller being coupled to the power take-off shaft and capturing rotational torque via the power take-off shaft.

8. A propeller according to any one of claims 1 to 7, further comprising a prime mover secured to the oscillating portion for driving the propeller in rotation.

9. The propeller of claim 1, wherein the upturned portion has three first degrees of rotational freedom with respect to the hull, the three first degrees of rotational freedom being disposed in three first planes of rotational freedom that are perpendicular to each other, respectively.

10. The propeller according to claim 9, wherein the turning portion includes a first rotary joint and a first steering arm connected to the first rotary joint, the first rotary joint is provided with three first steering shafts connected in sequence, the three first steering shafts are perpendicular to each other, one end of the first steering arm is connected to the hull through the three first steering shafts, and the other end of the first steering arm is connected to the swinging portion.

11. The propeller of claim 10, wherein the turn-up portion further comprises three first motors for driving the three first steering shafts to rotate, respectively, to drive the first steering arms to rotate relative to the hull.

12. The propeller of claim 1, wherein the swinging portion has three second degrees of rotational freedom with respect to the tilting portion, the three second degrees of rotational freedom being respectively disposed in three second rotational planes perpendicular to each other.

13. The propeller according to claim 12, wherein the swinging part comprises a second rotary joint and a second steering arm connected with the second rotary joint, the second rotary joint is provided with three second steering shafts connected in sequence, the three second steering shafts are mutually perpendicular, one end of the second steering arm is connected with the tilting part through the three second steering shafts, and the other end of the second steering arm is connected with the propeller.

14. The propeller of claim 13, wherein the swinging portion further comprises three second motors, and the three second motors are respectively configured to drive the three second steering shafts to rotate, so as to drive the second steering arms to rotate relative to the tilting portion.

15. A water displacement apparatus comprising a hull and a propeller as claimed in any one of claims 1 to 14, the propeller being connected to the hull.

16. A water mobile device according to claim 15, further comprising an inertial navigation module;

the inertial navigation module is fixed on the ship body and used for sensing ship body motion data;

the propeller is connected with the ship body, the propeller is provided with a main control module electrically connected with the inertial navigation module, and the main control module is used for carrying out gesture calculation on the motion data of the movable equipment in the water area and generating a balance control instruction, wherein the balance control instruction comprises an angle control instruction and a displacement control instruction;

the angle control instruction is used for indicating the tilting part and/or the swinging part to adjust the gesture so as to control the propeller to push the ship body to turn to the target angle, and the displacement control instruction is used for indicating the rotating speed and the steering of the propeller so as to control the propeller to push the ship body to move to the target displacement.

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