CN109229374A - A kind of cabin formula structure flight submariner device - Google Patents
A kind of cabin formula structure flight submariner device Download PDFInfo
- Publication number
- CN109229374A CN109229374A CN201811180493.6A CN201811180493A CN109229374A CN 109229374 A CN109229374 A CN 109229374A CN 201811180493 A CN201811180493 A CN 201811180493A CN 109229374 A CN109229374 A CN 109229374A
- Authority
- CN
- China
- Prior art keywords
- cabin
- flight
- formula structure
- submariner
- submariner device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/005—Flying-boats; Seaplanes with propellers, rudders or brakes acting in the water
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/34—Adaptation for use in or on ships, submarines, buoys or torpedoes
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention proposes that a kind of cabin formula structure flight submariner device, cabin formula structure flight submariner device use new type water sky integrated motor as driving power, is suitble to navigate by water in water, empty two media；It in state of flight, drives rotor rotational to form a kind of traditional quadrotor drone structure by steering engine, effectively solves the problems, such as that the recycling of submariner device is difficult；It in surface navigation state, drives rotor rotational to form a kind of wheeler structure by steering engine, can effectively avoid the generation for encountering damage submariner device structure situation of raining；Under water when submariner state, by steering engine drive rotor rotational form a kind of novel autonomous underwater vehicle structure, can effectively resist the billow on the water surface；Secondly, the present invention proposes a kind of novel towed communication antenna, it is ensured that communication robust to solve water sky communication obstacle；Cabin formula structure flight submariner device recycling of the present invention is convenient and can effectively resist stormy waves, has widened the field of operation of autonomous underwater vehicle, can execute different task under various complex environments.
Description
Technical field
The present invention relates to flight submariner device technical field, especially a kind of novel master control cabin structure is suitble in water, two kinds of sky
The cabin formula structure flight submariner device navigated by water in medium.
Background technique
Flight submariner device is also known as across medium aircraft, the empty amphibious aircraft of water and flight submarine, is repeatedly to cross over
Water sky interface and can continue navigate by water, the novel aircraft of reuse.It is with great technological challenge and pioneering, simultaneously
Also there is huge application prospect, such as the search and rescue of water sky, underwater structure detection, hydrologic monitoring, maritime affairs cruise etc..
The rotor class flight submariner device of flight submariner device is only under current technical conditions can to complete airflight, water
The aircraft that lower navigation, water sky are crossed over is simple laying recycling.But it is faced with Controlling model extra coarse, cruise duration is short, under water
The technical problems such as difficult communication.
The driving equipment of existing flight submariner aircraft is mostly to separate, Chinese patent disclose a kind of water it is empty it is amphibious nobody
Machine [application number: CN201710556614.1] relies on rotor as power drive when flight in the sky, is then to rely under water
Marine propeller provides power drive, causes the waste of load-carrying resource in this way, limits the load-carrying and cruising ability of aircraft.And
And structure is complicated, is unfavorable for promoting.
Further more, Chinese patent discloses the empty amphibious unmanned plane [application number: CN201610094494.3] of water, including fuselage,
First propeller, the second propeller, accumulator, supporting leg and video collector, do not mention communication device but, existing aircraft its
Communication is always problem, and across water sky medium electromagnetic communication signal decaying is quickly.If using electromagnetic communication in the sky, under water
Using acoustic communication, this just brings very big burden to aircraft, its complicated circuit design simultaneously increases weight bearing and energy consumption band
Carry out various inconvenience.So be badly in need of that a kind of cruise duration is long for disadvantages mentioned above, structure is simple, communication robust flight submariner device.
Summary of the invention
That the purpose of the present invention is to provide a kind of structures is simple, cruise duration is long, the flight of the cabin formula structure of communication security is latent
Navigate device.
The technical solution for realizing the aim of the invention is as follows:
A kind of cabin formula structure flight submariner device, which is characterized in that convert cabin, communication device, rotor including main control cabin, power；Institute
That states main control cabin is internally provided with controller and power module, and controller is connected with power module, the intermediate setting of main control cabin
There is communication device, main control cabin front and back end is mutually fixedly connected with two power conversion cabins；The two sides in power conversion cabin are respectively provided with
There is rotor, rotor connects shaft by rotor and is mutually flexibly connected with power conversion cabin；The bottom in power conversion cabin is provided with
Waterproof steering engine, waterproof steering engine connect shaft with rotor by gear drive and are connected, the control terminal and control of waterproof steering engine
Device is connected；The rotor includes fixed device, driving motor and driving blade；Driving motor is connected to rotor by fixed device
It connects in shaft, driving blade is provided at the top of driving motor, the controller of driving motor is connected with controller.
Preferably, the communication device includes antenna, buoy, Dragging Line, shaft and antenna body platform；The antenna master
Body platform is provided with the magnetic shaft being connected with main control cabin top, is provided with Dragging Line in the shaft, Dragging Line surface is
The inside of magnetically attractive material, Dragging Line is electromagnetic signal extended line, and the buoyancy and resistance that the length of Dragging Line is subject to by buoy determine,
It is provided with buoy at the top of Dragging Line, is provided with antenna at the top of buoy；The antenna passes through electromagnetic signal extended line and controller phase
Connection.
Preferably, the gear drive includes first gear and second gear；The first gear is arranged in waterproof
On the output end of steering engine, second gear setting is in rotor connection shaft, first gear and the mutually ratcheting connection of second gear.
Preferably, the controller uses the dedicated flight controller of model plane.
Preferably, the power module uses rechargeable type lithium battery.
Preferably, the driving motor uses the moderate water sky dual-purpose motor of torque.
Compared with prior art, the present invention its remarkable advantage:
(1) cabin formula structure flight submariner device of the present invention is driven using water sky dual-purpose motor, does flying power drive when flight in the sky
It is dynamic, water surface power drive is done in surface navigation, does underwater engine driving when submariner under water, to mitigate the weight of aircraft,
Improve its continuation of the journey and lifting capacity.
(2) cabin formula structure flight submariner device of the present invention under water when with steering engine control rotor connection shaft drive motor rotation
Fixed angle, may be implemented movement that other submariner devices such as floating, dive, advance, retrogressing can be done without turn to and its
His ancillary equipment, it is convenient, flexible；Without submariner device be diverted through power conversion cabin can realize it is relatively narrow, compared in shallow water area
It moves forward and backward.
(3) cabin formula structure flight submariner device of the present invention is communicated by communication device by electromagnetic wave, is navigated by water in water
When exposed the surface by towed antenna and overcome cabin formula structure flight submariner device wave bring influence.
(4) the configuration of the present invention is simple, development cycle are short.
Present invention is further described in detail with reference to the accompanying drawing.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of cabin formula structure flight submariner device of the present invention.
Fig. 2 is the structural schematic diagram of rotor connection in cabin formula structure flight submariner device of the present invention.
Fig. 3 is the structural schematic diagram of communication device in cabin formula structure flight submariner device of the present invention.
Fig. 4 is the structural schematic diagram of cabin formula structure flight submariner device state of the present invention switching.
Specific embodiment
Embodiment 1:
As shown in Figure 1, Figure 2 and Figure 3, a kind of cabin formula structure flight submariner device, including main control cabin 1, rotor 2, power conversion cabin 3,
4, communication device 5, rotor connection shaft 6 and waterproof steering engine 7；The main control cabin 1 is internally provided with controller and power module,
Controller is connected with power module；The both ends of the main control cabin 1 are mutually fixedly connected with power conversion cabin 3,4, main control cabin 1
Top is provided with communication device 4；The two sides in power conversion cabin 3,4 are provided with rotor 2, and rotor 2 is turned by rotor connection
Axis 6 is flexibly connected with 7 phase of waterproof steering engine；Power conversion cabin 3,4 is internally provided with waterproof steering engine 7, and waterproof steering engine 7 passes through tooth
Wheel drive mechanism connect shaft 6 with rotor and is connected, and the control terminal of waterproof steering engine 7 is connected with controller；The rotor 2 includes
Driving motor 8 is connected in rotor connection shaft 6, drives by driving motor 8, driving blade 9 and fixed device 18, fixed device 18
The top of dynamic motor 8 is provided with driving blade 9, and the controller of driving motor 8 is connected with controller.
As shown in figure 4, a kind of control method of cabin formula structure flight submariner device, it is characterised in that the following steps are included:
Step 1: cabin formula structure flight submariner device works on power, and into equipment detecting state, detects whether electronic equipment works just
Often, whether signal strength, battery capacity in setting safe range, if electronic device works are abnormal or not in safe range
Warning note, if in safe range or electronic device works normally if record current geographic position information and update cabin formula structure
Flight submariner device current state is initialization success status, waits next step command；
Step 2: judging that cabin formula structure flight submariner device receives any status command in following five kinds of states, if initially
It is melted into function status command, then continues to execute step 2, waits next step command；If the skyborne state of flight life of driving blade
It enables, then enters step A；If the skyborne floating on water status command of driving blade, then enter step B；If driving blade
A part under water, the order of a part of skyborne surface navigation state then enters step C;If driving blade is in water
Under underwater submariner status command, then enter step D；
Step A: cabin formula structure flight submariner device receives state of flight order, and cabin formula structure flight submariner device detects current shape
State:
If cabin formula structure flight submariner device system detection current signal strength, battery capacity are executed lower than in setting safe range
Step 3；
If current state is initialization success status, cabin formula structure flight submariner device enters state of flight initialization；
If current state is floating on water state, cabin formula structure flight submariner device enters state of flight initialization；
If current state is not floating on water state, cabin formula structure flight submariner device keeps current state, and return step 2 starts
Place；
State of flight initialization: the steering engine in power conversion cabin drives rotor rotational to form a kind of traditional quadrotor drone knot
Structure, cabin formula structure flight submariner device enter state of flight, and current state is updated to state of flight, 2 beginning of return step；
Step B: cabin formula structure flight submariner device receives floating on water status command, and formula structure flight submariner device detection in cabin is current
State:
If cabin formula structure flight submariner device system detection current signal strength, battery capacity are executed lower than in setting safe range
Step 3；
If current state is initialization success status, cabin formula structure flight submariner device enters floating on water state initialization；
If current state is state of flight, cabin formula structure flight submariner device automatic retarding is to being parked on the water surface subsequently into the water surface
Floating state initialization；
If current state is surface navigation state；Then cabin formula structure flight submariner device enters floating on water state initialization；
If current state is not state of flight or surface navigation state, cabin formula structure flight submariner device keeps current state, returns
Go back to step 2 beginning；
Floating on water state initialization: cabin formula structure flight submariner device enters floating on water state, and update current state is the water surface
Floating state, 2 beginning of return step；
Step C: cabin formula structure flight submariner device receives surface navigation status command, and formula structure flight submariner device detection in cabin is current
State:
If cabin formula structure flight submariner device system detection current signal strength, battery capacity are executed lower than in setting safe range
Step 3；
If current state is initialization success status, cabin formula structure flight submariner device enters surface navigation state initialization；
If current state is floating on water state or underwater submariner state, cabin formula structure flight submariner device enters surface navigation shape
State initialization；
If current state is not floating on water state or underwater submariner state, cabin formula structure flight submariner device keeps current shape
State, 2 beginning of return step；
Surface navigation state initialization: the steering engine in power conversion cabin drives rotor rotational to form a kind of wheeler structure, cabin formula
Structure flight submariner device enters surface navigation state, and update current state is surface navigation state, 2 beginning of return step；
Step D: cabin formula structure flight submariner device receives underwater submariner status command, and formula structure flight submariner device detection in cabin is current
State:
If cabin formula structure flight submariner device system detection current signal strength, battery capacity are executed lower than in setting safe range
Step 3；
If current state is initialization success status, cabin formula structure flight submariner device enters underwater submariner state initialization；
If current state is surface navigation state, cabin formula structure flight submariner device enters underwater submariner state initialization；
If current state is not surface navigation state, cabin formula structure flight submariner device keeps current state, and return step 2 starts
Place；
Underwater submariner state initialization: the steering engine in power conversion cabin drives rotor rotational to form a kind of novel autonomous underwater vehicle knot
Structure, cabin formula structure flight submariner device enter underwater submariner state, and update current state is underwater submariner state, and return step 2 is opened
At beginning；
Step 3: keeping cabin formula structure flight submariner device current state, the geography information starting point recorded to step 1 of making a return voyage automatically.
In conclusion cabin formula structure flight submariner device of the present invention is driven using water sky dual-purpose motor, done when flight in the sky
Flying power driving, does underwater engine driving under water when submariner, to mitigate the weight of aircraft, improve its continuation of the journey and load-carrying energy
Power.Cabin formula structure flight submariner device of the present invention under water when drive motor rotation fixed with steering engine control rotor connection shaft angle
Degree may be implemented the movement that other submariner devices such as floatings, dive, advance, retrogressing can be done and set without steering and other auxiliary
It is standby, it is convenient, flexible.Cabin formula structure flight submariner device of the present invention is communicated by communication device by electromagnetic wave, is navigated by water in water
When exposed the surface by antenna and overcome flight submariner device wave bring influence.The configuration of the present invention is simple, development cycle are short.
Claims (7)
1. a kind of cabin formula structure flight submariner device, which is characterized in that including main control cabin, rotor, power conversion cabin, communication device,
Rotor connects shaft and waterproof steering engine；The main control cabin is internally provided with controller and power module, controller and power supply mould
Block is connected；The both ends of the main control cabin are mutually fixedly connected with power conversion cabin, and communication device is provided at the top of main control cabin；
The two sides in power conversion cabin are provided with rotor, and rotor connects shaft by rotor and is mutually flexibly connected with waterproof steering engine；Institute
It states power conversion cabin and is internally provided with waterproof steering engine, waterproof steering engine connect shaft with rotor by gear drive and is connected,
The control terminal of waterproof steering engine is connected with controller；The rotor includes driving motor, driving blade and fixed device, fixed dress
It sets and driving motor is connected in rotor connection shaft, driving blade, the control of driving motor are provided at the top of driving motor
Device is connected with controller.
2. cabin formula structure flight submariner device according to claim 1, which is characterized in that the communication device include antenna,
Buoy, Dragging Line, magnetic shaft and antenna body platform；One end of the antenna body platform is connected with the top of main control cabin
It connects, the other end of antenna body platform is connected with one end of magnetic shaft, and the other end of magnetic shaft is connected with Dragging Line；
The Dragging Line surface is magnetically attractive material, and the inside of Dragging Line is electromagnetic signal extended line, the length of Dragging Line by buoy by
Buoyancy and resistance determine, buoy is provided at the top of Dragging Line, is provided with antenna at the top of buoy；The antenna passes through Dragging Line
Internal electromagnetic signal extended line is connected with controller.
3. according to claim 1 or cabin formula structure flight submariner device as claimed in claim 2, which is characterized in that the gear
Transmission mechanism includes first gear and second gear；The first gear is arranged on the output end of waterproof steering engine, second gear
Setting is in rotor connection shaft, first gear and the mutually ratcheting connection of second gear.
4. cabin formula structure flight submariner device according to claim 3, which is characterized in that the two sides of the rotor connection shaft
It has been fixed by the bracket driving motor.
5. cabin formula structure flight submariner device according to claim 1, which is characterized in that the controller is dedicated using model plane
Flight controller.
6. cabin formula structure flight submariner device according to claim 1, which is characterized in that the power module is using chargeable
Formula lithium battery.
7. cabin formula structure flight submariner device according to claim 1, which is characterized in that the driving motor uses water sky two
Use motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811180493.6A CN109229374A (en) | 2018-10-11 | 2018-10-11 | A kind of cabin formula structure flight submariner device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811180493.6A CN109229374A (en) | 2018-10-11 | 2018-10-11 | A kind of cabin formula structure flight submariner device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109229374A true CN109229374A (en) | 2019-01-18 |
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ID=65052501
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811180493.6A Pending CN109229374A (en) | 2018-10-11 | 2018-10-11 | A kind of cabin formula structure flight submariner device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113093737A (en) * | 2021-03-18 | 2021-07-09 | 武汉理工大学 | Water-air amphibious type omnibearing autonomous search and rescue fleet |
| JP2021107198A (en) * | 2019-12-27 | 2021-07-29 | 日本板硝子株式会社 | Flying body |
| CN114132499A (en) * | 2022-01-04 | 2022-03-04 | 中国海洋大学 | Sea, land and air underwater four-purpose aircraft |
| CN115871924A (en) * | 2023-02-21 | 2023-03-31 | 南京旭腾网络信息科技有限公司 | Flight and drift combined type water operation unmanned aerial vehicle |
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Application publication date: 20190118 |