CN110576713A - Air-water submersible triphibian unmanned aerial vehicle - Google Patents
Air-water submersible triphibian unmanned aerial vehicle Download PDFInfo
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- CN110576713A CN110576713A CN201910883989.8A CN201910883989A CN110576713A CN 110576713 A CN110576713 A CN 110576713A CN 201910883989 A CN201910883989 A CN 201910883989A CN 110576713 A CN110576713 A CN 110576713A
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- aerial vehicle
- unmanned aerial
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/006—Flying-boats; Seaplanes with lift generating devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
Abstract
the invention discloses an air-water submersible triphibian unmanned aerial vehicle, which realizes three working modes of air flight, water navigation and underwater diving through a rotatable wing and retractable duct engine on two sides of a fuselage. In a flight mode, wings are perpendicular to and locked with a fuselage, the three-wing-surface plane of the unmanned plane is the same, and the canard wings, the horizontal tails and the control surfaces thereof provide longitudinal stability and control moment for the unmanned plane; under a sailing mode, the wings and the fuselage are fused into a streamline flat spindle shape, the canard wings and the horizontal tails are used as hydrofoils to be in contact with a water medium to generate hydrodynamic lift force, and sailing performance is improved; under the submerging mode, the wings and the fuselage are fused into a streamline flat spindle body shape, ducted engines on the two sides of the fuselage are retracted into the fuselage, and the tail part of the fuselage pushes the propeller to provide power, so that the unmanned aerial vehicle realizes submerging. The unmanned aerial vehicle of air and water diving triphibian adopts fin, hydrofoil, rudder integrated design, has optimized the unmanned aerial vehicle structure, improves the integrated level of its system and reduces unmanned aerial vehicle's structural weight and resistance.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a triphibian unmanned aerial vehicle for air flight, water surface navigation and underwater diving.
Background
With the development of aviation and navigation industrial technologies, the unmanned aerial vehicle can realize various working modes of air flight, water navigation, land driving and underwater diving. At present, a water-air dual-purpose unmanned aerial vehicle is designed according to the design concept of a seaplane, is developed only for air flight and water navigation, and has a lower speed during water navigation; the triphibian unmanned aerial vehicle is developed aiming at air flight, land driving and water navigation, and does not have underwater diving capability. With the progress of unmanned aerial vehicle technology, the triphibian unmanned aerial vehicle capable of simultaneously realizing air flight, water navigation and underwater diving is the development direction of future aviation and navigation.
The invention patent CN106976367B discloses a triphibious unmanned aerial vehicle, which comprises a sealed body, MWC flight control firmware and four rotors, wherein the MWC flight control firmware and the four rotors are controlled by an open source-based Arduino platform through a remote controller, and search and rescue detection tasks can be executed in different disaster environments. This triphibian unmanned aerial vehicle can adapt to three kinds of environments in air, land and surface of water, nevertheless compares in fixed wing unmanned aerial vehicle, and energy conversion efficiency is lower in the aspect of the continuation of the journey performance, bears less strong and speed slower. In addition, the triphibian unmanned aerial vehicle integrates functions of air flight, land driving and underwater navigation, but cannot execute underwater submerged search and rescue detection tasks.
"a dual-purpose unmanned aerial vehicle of water and air" has been proposed in patent CN205150246U, this dual-purpose unmanned aerial vehicle of water and air installs flight driving system on the wing, provides power when unmanned aerial vehicle flight mode, at fuselage rear portion side below installation jet pump water jet propulsor, provides the power of navigation on water for unmanned aerial vehicle. This dual-purpose unmanned aerial vehicle of water and air realizes unmanned aerial vehicle air flight and navigation on water through two sets of independent power device, but can not submerge under water, has restricted its application.
The research on the multi-dwelling search and rescue device at home and abroad has some difficulties, and the hybrid flight platform proposed by the early planning research office in 2008 integrates air flight, surface navigation and underwater diving navigation, but is not limited to the problems of layout design, a power system and the like. The change of the unmanned aerial vehicle configuration is realized through the retraction and the extension of ducted engines on the two sides of the fuselage and the tilting of wings, so that the unmanned aerial vehicle adapts to different working environments; the air-water submersible unmanned aerial vehicle is powered by three working modes through two independent power systems; the working efficiency of the system is improved through the hydrofoil and the water rudder technology.
disclosure of Invention
in order to avoid the defects in the prior art, the invention provides an air-water submersible triphibian unmanned aerial vehicle. The unmanned aerial vehicle adopts two sets of power systems and three engines, wherein the two engines are respectively arranged in the middle of the vehicle body and positioned on two sides of the front lower part of the wing, and a duct is additionally arranged outside the engines; one engine is arranged at the tail part of the machine body and is used as a submarine propulsion device, and a duct is additionally arranged outside the submarine propulsion device; in the flying and sailing mode, two engines on two sides of the fuselage provide power, and the engine at the tail of the fuselage is closed; and in the submergence mode, the engine at the tail part of the machine body provides power, the two engines at the two sides of the machine body are closed, and the machine has the working modes of air flight, water surface navigation and underwater submergence.
The invention solves the technical problem by adopting the technical scheme that the aircraft comprises an aircraft body, a duck wing, a ducted engine, a rotatable wing, a lower reverse horizontal tail, a submarine propeller and a vertical tail, and is characterized in that the cross section of the aircraft body is an elliptical flat spindle body, the wing is a straight wing and an elliptical wing, the wing adopts an upper single wing with a high aspect ratio, and the duck wing and the lower reverse horizontal tail adopt a lower single wing; the number of the ducted engines is two, and the ducted engines are respectively arranged at the front part of the fuselage and positioned at the front lower part of the front edge of the wing; the underwater navigation propeller is positioned at the tail part of the machine body, and the ducted engine is retracted into the machine body in the underwater navigation mode and provides power required by underwater navigation;
In the flight mode of the unmanned aerial vehicle, wings rotate by 90 degrees, are unfolded to be vertical to a fuselage and locked, the canard wings, the horizontal tails and the control surfaces on the canard wings provide longitudinal stability and control moment for the unmanned aerial vehicle, and the vertical tails and the control surfaces on the vertical tails provide course stability and control moment for the unmanned aerial vehicle;
Under a sailing mode, the canard wing and the horizontal tail are used as hydrofoils to be in contact with a water medium to generate hydrodynamic lift force, and yaw control is achieved through power differential of ducted engines on the two sides of the machine body;
Under the submergence mode, the submergence depth and the pitching attitude of the unmanned aerial vehicle are controlled by adjusting the weight of the ballast water tanks at the front part and the rear part of the body, the pitching control of the unmanned aerial vehicle is realized through the control surfaces on the canard wing and the horizontal tail, and the yaw control of the unmanned aerial vehicle is realized through the rudder on the vertical tail.
The wing adopts a high-lift airfoil shape, and the lower surface of the wing is flat.
The underwater propeller adopts a ducted propeller with smaller blade section chord length.
advantageous effects
the invention provides an air-water submersible triphibian unmanned aerial vehicle, which realizes three working modes of flying in the air, sailing on the water and diving under water by rotatable wings and retractable duct engines on two sides of a fuselage. In a flight mode, the wings are perpendicular to the fuselage and locked, the unmanned aerial vehicle is in a three-wing layout at the moment, and the canard wings, the wings and the horizontal tail are used as lift components; in a sailing mode, the wings and the fuselage are fused into a streamline flat spindle shape, so that the resistance of the unmanned aerial vehicle is reduced, and the sailing performance is improved; under the submerging mode, the wings and the fuselage are fused into a shape of a streamlined flat spindle body, ducted engines on two sides of the fuselage are retracted into the fuselage, and the tail part of the fuselage is pushed by the propeller to provide power, so that the unmanned aerial vehicle realizes submerging.
The unmanned aerial vehicle for air-water diving adopts the integrated design of the empennage, the hydrofoil and the rudder, optimizes the structure of the unmanned aerial vehicle, improves the integration level of the system and reduces the structural weight and resistance of the unmanned aerial vehicle. In a flight mode, the canard wing, the horizontal tail and the control surface thereof provide longitudinal stability and control moment for the unmanned aerial vehicle, which are the same as those of a three-wing plane; in a sailing mode, the canard wing and the flat tail are subjected to sealing treatment to be used as hydrofoils to be in contact with a water medium to generate hydrodynamic lift; under the submerging mode, the canard wing and the horizontal tail are subjected to sealing treatment to be used as hydrofoils, the control surfaces on the canard wing and the horizontal tail are subjected to sealing treatment to be used as water rudders, and pitching control of the unmanned aerial vehicle is achieved through the water rudders.
Drawings
The air-water submersible triphibian unmanned aerial vehicle of the invention is further described in detail with reference to the accompanying drawings and embodiments.
Fig. 1 is a schematic view of the air-water submersible triphibian unmanned aerial vehicle in a flight state.
FIG. 2 is a schematic view of the navigation state of the unmanned aerial vehicle for air-water diving.
Fig. 3 is the intention of the air-water submersible triphibian unmanned aerial vehicle in the submerged state.
Fig. 4a is a flight state top view of the air-water submersible triphibian unmanned aerial vehicle.
Fig. 4b is a front view of the air-water submersible triphibian unmanned aerial vehicle in a flying state.
Fig. 4c is a side view of the air-water submersible triphibian unmanned aerial vehicle of the present invention in a flight state.
Fig. 5a is a top view of the air-water submersible triphibian unmanned aerial vehicle of the present invention in a flight state.
fig. 5b is a front view of the air-water submersible triphibian unmanned aerial vehicle of the present invention in a state of flight.
Fig. 5c is a side view of the air-water submersible triphibian unmanned aerial vehicle of the present invention in a flight state.
Fig. 6a is a top view of the air-water submersible triphibian unmanned aerial vehicle of the present invention in a submerged state.
Fig. 6b is a front view of the unmanned aerial vehicle for air-water diving under sea in the diving state.
Fig. 6c is a side view of the unmanned aerial vehicle for air-water diving under sea in the diving state.
In the figure:
1. Fuselage 2, duck wing 3, ducted engine 4, rotatable wing 5, lower anti-horizontal tail 6, submerged propeller 7, vertical tail
Detailed Description
This embodiment is an empty water triphibian unmanned aerial vehicle.
Referring to fig. 1 to 6c, the air-water submersible triphibian unmanned aerial vehicle of the embodiment is composed of a body 1, a canard wing 2, a ducted engine 3, a rotatable wing 4, a lower horizontal tail 5, a submersible propeller 6 and a vertical tail 7; the wing 4 is oval, the middle of the front side of the wing is provided with a flow deflector, the resistance of the unmanned aerial vehicle in a flight mode is reduced, during sailing and diving, the wing and the fuselage are fused into a streamlined spindle body, ducted engines 3 are arranged on two sides of the fuselage 1, and a diving propeller 6 and a vertical fin 7 are arranged at the tail of the fuselage 1.
In the embodiment, the mode conversion process of the unmanned aerial vehicle comprises takeoff, landing, submerging and floating; when the unmanned aerial vehicle takes off, the wings 4 are rotated by 90 degrees to be unfolded to be vertical to the body 1 and locked, the canard wings are larger than the horizontal tail installation angle, are closer to the gravity center of the unmanned aerial vehicle and are large in downward dihedral angle, the unmanned aerial vehicle generates a positive shutdown angle, the ducted engine thrust on the two sides of the body is improved at the moment, the draft is reduced, the hydrodynamic lift on the canard wings and the horizontal tail is gradually reduced, the aerodynamic lift of the wings is increased, and the unmanned aerial vehicle is gradually separated from the water surface and is switched into; when landing, the unmanned aerial vehicle gradually decelerates by contacting the belly with the water surface by means of the fusiform body to complete water surface landing, after the speed is reduced, the wings 4 tilt to positions parallel to the body 1 and are locked, and the unmanned aerial vehicle is switched to a sailing mode; when the unmanned aerial vehicle is submerged, the speed of the unmanned aerial vehicle is reduced to 0, the unmanned aerial vehicle floats on the water surface by generating buoyancy when the unmanned aerial vehicle is draught by the body 1, the ducted engine 3 is taken into the body 1, water is injected into the ballast water tanks on the front side and the rear side of the body to increase the gravity, so that the unmanned aerial vehicle is submerged, a submerged propeller 6 at the tail of the body is started to provide thrust, and the unmanned aerial vehicle is switched to a submerged mode; during the come-up, unmanned aerial vehicle makes unmanned aerial vehicle emerge through the water in the discharge ballast water cabin and the control plane on the control duck wing 2 and the peaceful tail 5, close the surface of water of diving and voyage propeller 6, 1 inside both sides duct engine 3 of fuselage launches to operating position and starts, along with the increase of thrust, the hydrodynamic lift that the duck wing 2 and the peaceful tail 5 provided increases gradually, fuselage 1 breaks away from the surface of water gradually, the production of the duck wing 2 and the peaceful tail 5 part submerged water need use hydrodynamic lift, unmanned aerial vehicle switches into the navigation mode.
In this embodiment, the number of the ducted engines 3 is two, and the two engines are respectively arranged at the front part of the fuselage 1 and located at the front lower part of the leading edge of the wing in the flight mode. The diving propeller 6 is a single one, the ducted engine 3 is retracted into the machine body 1 in the diving mode, and the diving propeller 6 provides power required by diving.
Working mode of unmanned aerial vehicle
In the air flight mode, the unmanned aerial vehicle is in a three-wing pneumatic layout, the wings 4 and the fuselage 1 are in vertical positions, duct engines 3 on two sides of the fuselage 1 work, and a submerged propeller 6 at the tail of the fuselage 1 is closed. In the air flight state, the lift force required by the flight of the unmanned aerial vehicle mainly comes from the canard 2, the wings 4 and the horizontal tail 5, and the power required by the flight of the unmanned aerial vehicle is provided by the ducted engines 3 on the two sides of the body 1.
In the water navigation mode, the unmanned aerial vehicle adopts a hydrofoil technology, and the sealed duck wing 2 and the flat tail 5 are used as hydrofoils to contact with a water medium to generate hydrodynamic lift force, so that the required lift force is provided for the navigation of the unmanned aerial vehicle. The wings 4 are tilted by 90 degrees and locked, and are fused with the airframe 1 to form a streamlined flat spindle shape, so that the resistance of the unmanned aerial vehicle during navigation is reduced. In the water navigation state, duct engines 3 on two sides of the unmanned aerial vehicle body 1 work, a submerging propeller 6 at the tail of the unmanned aerial vehicle body 1 is closed, power required by the unmanned aerial vehicle to fly is provided by the duct engines 3 on two sides of the unmanned aerial vehicle body 1, and the unmanned aerial vehicle realizes yaw control through power differential of the duct engines 3 on two sides of the unmanned aerial vehicle body 1. When the unmanned aerial vehicle is in a parking state, the fuselage 1, the canard wings 2 and the horizontal tail 5 are immersed under water, ballast water tanks are respectively arranged at the front part and the rear part of the fuselage 1, and buoyancy required by the unmanned aerial vehicle floating mainly comes from the ballast water tanks.
And in the underwater diving mode, the unmanned aerial vehicle adopts hydrofoil and hydrofoil technologies, the sealed canard 2 and the sealed tailer 5 are used as hydrofoils to provide part of lifting force required by diving for the unmanned aerial vehicle, the sealed control surfaces on the canard 2 and the sealed tailer 5 are used as hydrofoils to ensure the longitudinal stability and maneuverability of the unmanned aerial vehicle, and the sealed control surface of the vertical tailer 7 is used as a hydrofoil to provide course stability and maneuverability for the unmanned aerial vehicle. The wings 4 are tilted by 90 degrees and locked, and are fused with the fuselage 1 to form a streamlined flat spindle shape, so that the resistance of the unmanned aerial vehicle during diving is reduced. In the underwater diving state, duct engines 3 at two sides of the body 1 are retracted into the body, a diving propeller 6 at the tail part of the body 1 works, and power required for maintaining the unmanned aerial vehicle diving is provided by the diving propeller 6 at the tail part of the body 1. The unmanned aerial vehicle controls the submerging depth through a ballast water tank arranged inside the machine body 1.
In the embodiment, the unmanned aerial vehicle configuration is changed by retracting and releasing the ducted engine 3 and tilting the wings 4, so that the unmanned aerial vehicle adapts to different working environments; the air-water submersible unmanned aerial vehicle is powered by three working modes through two independent power systems; the working efficiency of the system is improved through the hydrofoil and the water rudder technology.
Claims (3)
1. An air-water diving triphibian unmanned aerial vehicle comprises a fuselage, a canard wing, a ducted engine, a rotatable wing, a lower inverted horizontal tail, a diving propeller and a vertical tail, and is characterized in that the cross section of the fuselage is an elliptical flat spindle body, the wing is a straight wing and an elliptical wing, the wing adopts an upper single wing with a high aspect ratio, and the canard wing and the lower inverted horizontal tail adopt a lower single wing; the number of the ducted engines is two, and the ducted engines are respectively arranged at the front part of the fuselage and positioned at the front lower part of the front edge of the wing; the underwater navigation propeller is positioned at the tail part of the machine body, and the ducted engine is retracted into the machine body in the underwater navigation mode and provides power required by underwater navigation;
In the flight mode of the unmanned aerial vehicle, wings rotate by 90 degrees, are unfolded to be vertical to a fuselage and locked, the canard wings, the horizontal tails and the control surfaces on the canard wings provide longitudinal stability and control moment for the unmanned aerial vehicle, and the vertical tails and the control surfaces on the vertical tails provide course stability and control moment for the unmanned aerial vehicle;
under a sailing mode, the canard wing and the horizontal tail are used as hydrofoils to be in contact with a water medium to generate hydrodynamic lift force, and yaw control is achieved through power differential of ducted engines on the two sides of the machine body;
Under the submergence mode, the submergence depth and the pitching attitude of the unmanned aerial vehicle are controlled by adjusting the weight of the ballast water tanks at the front part and the rear part of the body, the pitching control of the unmanned aerial vehicle is realized through the control surfaces on the canard wing and the horizontal tail, and the yaw control of the unmanned aerial vehicle is realized through the rudder on the vertical tail.
2. The heat pipe principle-based air conditioning unit of claim 1 wherein the wing has a high lift airfoil shape and a flat lower surface.
3. The air conditioning device based on the heat pipe principle as claimed in claim 1, wherein the submerging propeller is a ducted propeller with a smaller blade section chord length.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910883989.8A CN110576713A (en) | 2019-09-19 | 2019-09-19 | Air-water submersible triphibian unmanned aerial vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910883989.8A CN110576713A (en) | 2019-09-19 | 2019-09-19 | Air-water submersible triphibian unmanned aerial vehicle |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111114772A (en) * | 2019-12-19 | 2020-05-08 | 中国特种飞行器研究所 | Triphibian cross-medium aircraft capable of taking off and landing vertically |
| CN111703574A (en) * | 2020-06-29 | 2020-09-25 | 中南大学 | Dolphin-imitated variable configuration cross-medium aircraft |
| CN113247250A (en) * | 2021-06-28 | 2021-08-13 | 天津大学 | Ferry airship |
| CN113580860A (en) * | 2021-08-10 | 2021-11-02 | 上海交通大学 | High-speed large-load combined propulsion type sea-air cross-domain flight detection platform |
| CN113665306A (en) * | 2021-10-25 | 2021-11-19 | 中国空气动力研究与发展中心空天技术研究所 | Cross-medium aircraft water-air dual-purpose empennage |
| CN113859529A (en) * | 2021-09-30 | 2021-12-31 | 中航通飞华南飞机工业有限公司 | Retractable rudder control system and control method |
| CN117261509A (en) * | 2023-10-08 | 2023-12-22 | 哈尔滨工程大学 | Amphibious cross-domain aircraft |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111114772A (en) * | 2019-12-19 | 2020-05-08 | 中国特种飞行器研究所 | Triphibian cross-medium aircraft capable of taking off and landing vertically |
| CN111703574A (en) * | 2020-06-29 | 2020-09-25 | 中南大学 | Dolphin-imitated variable configuration cross-medium aircraft |
| CN113247250A (en) * | 2021-06-28 | 2021-08-13 | 天津大学 | Ferry airship |
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| CN113859529A (en) * | 2021-09-30 | 2021-12-31 | 中航通飞华南飞机工业有限公司 | Retractable rudder control system and control method |
| CN113665306A (en) * | 2021-10-25 | 2021-11-19 | 中国空气动力研究与发展中心空天技术研究所 | Cross-medium aircraft water-air dual-purpose empennage |
| CN117261509A (en) * | 2023-10-08 | 2023-12-22 | 哈尔滨工程大学 | Amphibious cross-domain aircraft |
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Application publication date: 20191217 |