CN104724284A - Multi-rotor-wing submersible unmanned aerial vehicle and control method thereof - Google Patents
Multi-rotor-wing submersible unmanned aerial vehicle and control method thereof Download PDFInfo
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Abstract
The invention discloses a multi-rotor-wing submersible unmanned aerial vehicle and a control method thereof. The unmanned aerial vehicle comprises a machine body and a plurality of rotor wing arms which are arranged on the machine body and are symmetrically distributed, wherein a rotor wing assembly is arranged at one end, far away from the machine body, of each rotor wing arm; a pair of undercarriages are symmetrically mounted at the bottom of the machine body; airbags cover the undercarriages; the machine body is internally provided with a processor, a power supply module, a wireless communication module, a compressed air storage device and a control valve; and a gas output end of the compressed air storage device is connected with the airbags by the control valve. The method comprises an aerial mode and an underwater mode. According to the multi-rotor-wing submersible unmanned aerial vehicle, the snorkeling condition in water can be effectively controlled by controlling the compressed air storage device to inflate the airbags, so that the aerial and underwater barrier-free navigation is realized, and the problem that the unmanned aerial vehicle accidently falls into water to be damaged in a flying process is effectively solved. The multi-rotor-wing submersible unmanned aerial vehicle can be widely applied to the field of unmanned aerial vehicles.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly relate to a kind of many rotor diving unmanned vehicles and control method thereof.
Background technology
Unmanned plane starts a kind of aircraft practical gradually at present, its have maneuverability, reaction fast, the advantage such as unmanned flight, operation requirements be low.Unmanned plane loads multiclass sensor, such as camera, image real-time Transmission, high-risk areas detecting function can be realized, be widely used in the fields such as fire-fighting, military affairs, traffic, police service, exploration and meteorology, to realize cruise shooting to designated area and supervision.At present, unmanned plane is carry out manufacturing and designing based on the flight theory of helicopter mostly, can realize vertical lift and high-altitude hovering, thus meet the requirement of taking photo by plane and monitoring, the most generally single shaft single-blade, single shaft are starched and many rotors (such as, four rotors) form altogether.But present unmanned plane does not generally all have waterproofing protection or lower water to move under water function, once fall because of carelessness in water, is easy to cause unmanned plane because of waterlogged damage.
Summary of the invention
In order to solve the problems of the technologies described above, the object of this invention is to provide a kind of structure simple, and can one many rotor diving unmanned vehicle of submarine navigation.
Another order of the present invention is to provide a kind of can raising compatible with environment, and the many rotor diving unmanned vehicles of the one easily realized and control method thereof.
The technical solution adopted in the present invention is:
A kind of many rotor diving unmanned vehicles, comprise body and to be multiplely located on body and the rotor arm be symmetric, each described rotor arm is provided with rotor assemblies in the one end away from body, described rotor assemblies comprises the power motor be arranged on rotor arm and the screw propeller be connected on power motor output shaft, described organism bottom is symmetrically installed with a pair alighting gear, described alighting gear covers air bag is installed, in described body, treater is installed, power module, wireless communication module, compressed air accumulator and control cock, described treater respectively with power module, wireless communication module, control cock is connected with the power motor on each rotor arm, the gas output end of described compressed air accumulator is connected with air bag by control cock.
As a further improvement on the present invention, each described rotor arm comprises horn, be arranged on first in horn controls motor and second and controls motor and control with first the folding arm that motor is connected, described horn and body one-body molded, described horn is away from one end of body being provided with the revolving part controlling motor with second and be connected, described folding arm to be rotated with horn by revolving part and connects, described power motor is arranged in folding arm, and described treater controls motor and second respectively and controls motor and be connected with first.
As a further improvement on the present invention, be also provided with ultrasonic distance measuring module in described body, described treater is connected with ultrasonic distance measuring module.
As a further improvement on the present invention, be also provided with six axle gyroscopes in described body, described treater is connected with six axle gyroscopes.
As a further improvement on the present invention, be also provided with GPS module in described body, described treater is connected with GPS module.
As a further improvement on the present invention, be also provided with hydraulic pressure sensor in described body, described treater is connected with hydraulic pressure sensor.
As a further improvement on the present invention, be arranged with bearer bar cylindrically outside described screw propeller, leave gap between described bearer bar and screw propeller, described bearer bar is connected with many strut bars, and described bearer bar is fixedly mounted on folding arm by strut bar.
As a further improvement on the present invention, described body is also equipped with external equipment.
As a further improvement on the present invention, described body, rotor arm, rotor assemblies, alighting gear and air bag all adopt waterproof material to prepare.
Another technical scheme of the present invention is:
A kind of many rotor diving unmanned vehicle control methods, comprise aerial mode and marine mode,
Described aerial mode, it specifically comprises:
The obstacle distance in working direction and between obstacle is measured in real time by ultrasonic distance measuring module;
According to self speed current, calculate current brake distance, and then calculate safety distance threshold value;
Whether disturbance in judgement thing distance is less than or equal to safety distance threshold value, and if so, then reduce speed now operation, and sends alarm signal and position signal to control end, and then standby wait instruction; Otherwise, then flight is continued;
Described marine mode, it specifically comprises:
Measure current hydraulic pressure value by hydraulic pressure sensor in real time, and be sent to control end;
Judge whether current hydraulic pressure value is more than or equal to default inflation hydraulic pressure threshold value, if so, then control to open control cock and air bag is inflated, until current hydraulic pressure value arrives the standard hydraulic pressure threshold value preset; Otherwise, then current state is kept.
The invention has the beneficial effects as follows:
A kind of many rotor diving unmanned vehicles of the present invention are by controlling the situation that snorkels that can effectively control in water airbag aeration with compressed air accumulator, thus realize sail clear in water aloft, effectively solve unmanned plane in flight way because of the unexpected overboard and problem damaged.Further, the present invention, by ultrasonic distance measuring module, accurately can distinguish the obstacle distance of surrounding, to hide in advance, effectively avoids the situation occurring collision.Further, the present invention to the direction controlling of screw propeller by the folding arm in rotor wall, can be realized the conversion of the empty pattern of water, effectively be lifted at the mechanomotive force in water.
Another beneficial effect of the present invention is:
A kind of many rotor diving unmanned vehicle control methods of the present invention, by aerial mode and marine mode, accurately can distinguish the obstacle distance of surrounding aloft, slow down to carry out judgement in advance, effectively avoid the situation occurring collision; Also can by controlling the situation that snorkels that can effectively control in water airbag aeration with compressed air accumulator in water, thus realize sail clear in water aloft, effectively solve unmanned plane in flight way because of the unexpected overboard and problem damaged.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further:
Fig. 1 is the structural representation of a kind of many rotor diving unmanned vehicles of the present invention;
Fig. 2 is the functional-block diagram of a kind of many rotor diving unmanned vehicles of the present invention.
Detailed description of the invention
With reference to figure 1-Fig. 2, a kind of many rotor diving unmanned vehicles of the present invention, comprise body 1 and to be multiplely located on body 1 and the rotor arm 2 be symmetric, each described rotor arm 2 is provided with rotor assemblies 3 in the one end away from body 1, described rotor assemblies 3 comprises the power motor 31 be arranged on rotor arm 2 and the screw propeller 32 be connected on power motor 31 output shaft, described body 1 bottom symmetrical is provided with a pair alighting gear 4, described alighting gear 4 covers air bag 5 is installed, in described body 1, treater is installed, power module, wireless communication module, ultrasonic distance measuring module, compressed air accumulator and control cock, described treater respectively with power module, wireless communication module, ultrasonic distance measuring module, control cock is connected with the power motor 31 on each rotor arm 2, the gas output end of described compressed air accumulator is connected with air bag 5 by control cock.
Be further used as preferred embodiment, each described rotor arm 2 comprises horn 21, be arranged on first in horn 21 controls motor and second and controls motor and control with first the folding arm 22 that motor is connected, described horn 21 is one-body molded with body 1, described horn 21 is provided with the revolving part controlling motor with second and be connected on the one end away from body 1, described folding arm 22 to be rotated with horn 21 by revolving part and connects, described power motor 31 is arranged in folding arm 22, and described treater controls motor and second respectively and controls motor and be connected with first.
Be further used as preferred embodiment, be also provided with ultrasonic distance measuring module in described body 1, described treater is connected with ultrasonic distance measuring module.
Be further used as preferred embodiment, six axle gyroscopes are also provided with in described body 1, described treater is connected with six axle gyroscopes, by the flying quality of six axle gyroscope energy Real-time Collection aircraft, and transfer in treater, thus help treater to judge aircraft flight attitude now, and then automatically maintain Equilibrium.
Be further used as preferred embodiment, be also provided with GPS module in described body 1, described treater is connected with GPS module, by GPS module energy location navigation in real time, and sends real-time geographical locations information, facilitates staff to understand the real-time condition of aircraft.
Be further used as preferred embodiment, be also provided with hydraulic pressure sensor in described body, described treater is connected with hydraulic pressure sensor.
Be further used as preferred embodiment; bearer bar 33 is cylindrically arranged with outside described screw propeller 32; leave gap between described bearer bar 33 and screw propeller 32, described bearer bar 33 is connected with many strut bars 34, and described bearer bar 33 is fixedly mounted on folding arm 22 by strut bar 34.Described bearer bar 33 energy available protecting screw propeller 32; make intensive flight or underwater obstacles more time; even if aircraft touches the damage that can to greatly reduce screw propeller 32 under obstacle is even subject to slight degree of crash and be subject to, thus keeps normal flight or navigation.
Be further used as preferred embodiment, described body 1 is also equipped with external equipment.Described external equipment can be both pick up camera, may also be photographic camera, also can be to carry shelf, so that civilian and commercial.
Be further used as preferred embodiment, described alighting gear 4 takes the shape of the letter U structure.
Be further used as preferred embodiment, described body 1, rotor arm 2, rotor assemblies 3, alighting gear 4 and air bag 5 all adopt waterproof material to prepare.
In the specific embodiment of the invention, adopting four rotor structures, when flying, by regulating the rotating speed of four screw propellers 32 to realize the actions such as skyborne forward-reverse, left-leaning Right deviation, spin, and realizing the landing at the water surface aloft.Four described screw propellers 32 are symmetrically distributed in the four direction of body 1 plane, and be in sustained height plane, and the structure of four screw propellers 32 and radius are all identical, wherein, adjacent screw propeller 32 adopts opposite sense to rotate, namely two non-conterminous screw propellers 32 adopt left-hand revolution, and two other screw propeller 32 adopts clickwise, thus offsets the reactive torque of self.
Circuit and the parts junction of inside of the present invention all have employed water-proofing treatment, with against short-circuit.When moving under water in water, the depth of water of moving under water as required controls to open control cock and compressed air accumulator can be inflated air bag 5, when the lower water of needs is darker, then less tolerance is filled to air bag 5, when needs rise from water, then strengthen at most to air bag 5, inflate more air bags 5 larger, thus the buoyancy obtained is larger; When needs rise to the water surface, then air bag 5 is full of, makes the present invention can rise to the water surface and again take off.While in water, control the first control motor folding arm 22 is bent, and adjust turning to and rotating speed of screw propeller 32, make screw propeller 32 can be used as the actuating unit in water, and the direction controlling that can move under water as required second control electric machine rotation revolving part thus drives folding arm 22 to turn to; When needs take off again, control described folding arm 22 and again stretch, and adjust turning to of screw propeller 32 and take off with rotating speed.
Further, when flying or navigate by water, the distance of surrounding obstacle is accurately measured by ultrasonic distance measuring module, and by distance data transmission to treater, thus help treater to judge the situation of surrounding obstacle, to control to hide in advance, effectively avoid the situation occurring collision.
A kind of many rotor diving unmanned vehicle control methods of the present invention, comprise aerial mode and marine mode,
Described aerial mode, it specifically comprises:
The obstacle distance in working direction and between obstacle is measured in real time by ultrasonic distance measuring module;
According to self speed current, calculate current brake distance, and then calculate safety distance threshold value;
Whether disturbance in judgement thing distance is less than or equal to safety distance threshold value, and if so, then reduce speed now operation, and sends alarm signal and position signal to control end, and then standby wait instruction; Otherwise, then flight is continued;
Described marine mode, it specifically comprises:
Measure current hydraulic pressure value by hydraulic pressure sensor in real time, and be sent to control end;
Judge whether current hydraulic pressure value is more than or equal to default inflation hydraulic pressure threshold value, if so, then control to open control cock and air bag is inflated, until current hydraulic pressure value arrives the standard hydraulic pressure threshold value preset; Otherwise, then current state is kept.
Wherein, in the present embodiment, stopping distance is that when slowing down according to present speed and self, peak acceleration calculates, safety distance threshold value is multiplied by default safety factor by stopping distance and draws, safety factor is greater than 1, guarantee that safety distance threshold value is greater than stopping distance, effectively prevent the situation of collision.
From foregoing, the present invention accurately can distinguish the obstacle distance of surrounding aloft, slows down to carry out judgement in advance, effectively avoids the situation occurring collision; Also can by controlling the situation that snorkels that can effectively control in water airbag aeration with compressed air accumulator in water, thus realize sail clear in water aloft, effectively solve unmanned plane in flight way because of the unexpected overboard and problem damaged.
More than that better enforcement of the present invention is illustrated, but the invention is not limited to described embodiment, those of ordinary skill in the art also can make all equivalent variations or replacement under the prerequisite without prejudice to spirit of the present invention, and these equivalent distortion or replacement are all included in the application's claim limited range.
Claims (10)
1. the diving of rotor more than kind unmanned vehicle, it is characterized in that: comprise body and to be multiplely located on body and the rotor arm be symmetric, each described rotor arm is provided with rotor assemblies in the one end away from body, described rotor assemblies comprises the power motor be arranged on rotor arm and the screw propeller be connected on power motor output shaft, described organism bottom is symmetrically installed with a pair alighting gear, described alighting gear covers air bag is installed, in described body, treater is installed, power module, wireless communication module, compressed air accumulator and control cock, described treater respectively with power module, wireless communication module, control cock is connected with the power motor on each rotor arm, the gas output end of described compressed air accumulator is connected with air bag by control cock.
2. one according to claim 1 many rotor diving unmanned vehicle, it is characterized in that: each described rotor arm comprises horn, be arranged on first in horn controls motor and second and control motor and control with first the folding arm that motor is connected, described horn and body one-body molded, described horn is away from one end of body being provided with the revolving part controlling motor with second and be connected, described folding arm to be rotated with horn by revolving part and connects, described power motor is arranged in folding arm, and described treater controls motor and second respectively and controls motor and be connected with first.
3. one according to claim 1 many rotor diving unmanned vehicle, it is characterized in that: be also provided with ultrasonic distance measuring module in described body, described treater is connected with ultrasonic distance measuring module.
4. one according to claim 1 many rotor diving unmanned vehicle, it is characterized in that: be also provided with six axle gyroscopes in described body, described treater is connected with six axle gyroscopes.
5. one according to claim 1 many rotor diving unmanned vehicle, it is characterized in that: be also provided with GPS module in described body, described treater is connected with GPS module.
6. one according to claim 1 many rotor diving unmanned vehicle, it is characterized in that: be also provided with hydraulic pressure sensor in described body, described treater is connected with hydraulic pressure sensor.
7. one according to claim 2 many rotor diving unmanned vehicle; it is characterized in that: outside described screw propeller, be arranged with bearer bar cylindrically; gap is left between described bearer bar and screw propeller; described bearer bar is connected with many strut bars, and described bearer bar is fixedly mounted on folding arm by strut bar.
8. one according to claim 1 many rotor diving unmanned vehicle, is characterized in that: described body is also equipped with external equipment.
9. the many rotor diving of the one according to any one of claim 1-8 unmanned vehicle, is characterized in that: described body, rotor arm, rotor assemblies, alighting gear and air bag all adopt waterproof material to prepare.
10. the diving of rotor more than a unmanned vehicle control method, is characterized in that: comprise aerial mode and marine mode,
Described aerial mode, it specifically comprises:
The obstacle distance in working direction and between obstacle is measured in real time by ultrasonic distance measuring module;
According to self speed current, calculate current brake distance, and then calculate safety distance threshold value;
Whether disturbance in judgement thing distance is less than or equal to safety distance threshold value, and if so, then reduce speed now operation, and sends alarm signal and position signal to control end, and then standby wait instruction; Otherwise, then flight is continued;
Described marine mode, it specifically comprises:
Measure current hydraulic pressure value by hydraulic pressure sensor in real time, and be sent to control end;
Judge whether current hydraulic pressure value is more than or equal to default inflation hydraulic pressure threshold value, if so, then control to open control cock and air bag is inflated, until current hydraulic pressure value arrives the standard hydraulic pressure threshold value preset; Otherwise, then current state is kept.
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