CN111319760A - Empty dual-purpose unmanned aerial vehicle of water - Google Patents
Empty dual-purpose unmanned aerial vehicle of water Download PDFInfo
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- CN111319760A CN111319760A CN202010227557.4A CN202010227557A CN111319760A CN 111319760 A CN111319760 A CN 111319760A CN 202010227557 A CN202010227557 A CN 202010227557A CN 111319760 A CN111319760 A CN 111319760A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 95
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- 238000004891 communication Methods 0.000 claims abstract description 19
- 230000009189 diving Effects 0.000 claims abstract description 10
- 238000007789 sealing Methods 0.000 claims description 25
- 238000013016 damping Methods 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000003014 reinforcing effect Effects 0.000 claims description 3
- 239000012780 transparent material Substances 0.000 claims description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/02—Arrangements or adaptations of signal or lighting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- 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
- H01Q1/28—Adaptation for use in or on aircraft, missiles, satellites, or balloons
- H01Q1/285—Aircraft wire antennas
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G3/00—Installations of electric cables or lines or protective tubing therefor in or on buildings, equivalent structures or vehicles
- H02G3/02—Details
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Astronomy & Astrophysics (AREA)
- Architecture (AREA)
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- Structural Engineering (AREA)
- Details Of Aerials (AREA)
Abstract
The invention provides a water-air dual-purpose unmanned aerial vehicle, which comprises an antenna module, a core cabin and a vacuum cabin, wherein the antenna module, the core cabin and the vacuum cabin are sequentially arranged from top to bottom; the core cabin comprises a flight control space for fixing a flight control element and a sensor of the unmanned aerial vehicle and a line concentration space with a cable wound; the flight control space and the line concentration space are mutually sealed and isolated; one end of the cable is connected with the wireless module, the other end of the cable is connected with a control element in the core cabin, the antenna module is in communication connection with the unmanned aerial vehicle through the cable, and the antenna module can float on the water surface; the vacuum chamber has the cavity that holds water or air, unmanned aerial vehicle still include with vacuum chamber complex diving system and for the even a plurality of rotors that set up of vacuum chamber circumference. The water-air dual-purpose unmanned aerial vehicle provided by the invention has the advantages that: through cable communication connection wireless module and core cabin, make wireless module float on the surface of water during underwater operation to keep wireless communication with ground control terminal, realized unmanned aerial vehicle's underwater operation.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to a water-air dual-purpose unmanned aerial vehicle.
Background
Along with the maturity of unmanned aerial vehicle technique, unmanned aerial vehicle is used in more and more fields, and empty dual-purpose unmanned aerial vehicle of water still has the technological blank, and the scheme of present relatively more ripe has the swift and amphibious unmanned aerial vehicle of the production of siweipu company, and sealed waterproof problem is solved through integral design to its fuselage, and the wide application is taken photo by plane more than the surface of water, and the application is in surfing, wedding celebration, a series of activities such as field play.
But because unmanned aerial vehicle relies on radio transmission extensively, and it is great to radio signal influence under water, so this kind of unmanned aerial vehicle has solved waterproof problem but still can't use under water, can not satisfy the user demand in some special fields, like dam detection, rescue under water on water etc..
Disclosure of Invention
The invention aims to solve the technical problem of providing a water-air dual-purpose unmanned aerial vehicle capable of flying in the air and navigating underwater.
The invention solves the technical problems through the following technical scheme: a water-air dual-purpose unmanned aerial vehicle comprises an antenna module, a core cabin and a vacuum cabin which are sequentially arranged from top to bottom; the core cabin comprises a flight control space for fixing a flight control element and a sensor of the unmanned aerial vehicle and a line concentration space with a cable wound; the flight control space and the line concentration space are mutually sealed and isolated; one end of the cable is connected with the wireless module, the other end of the cable is connected with a control element in the core cabin, the antenna module is in communication connection with the unmanned aerial vehicle through the cable, and the antenna module can float on the water surface; the vacuum chamber has the cavity that holds water or air, unmanned aerial vehicle still include with vacuum chamber complex diving system and for the even a plurality of rotors that set up of vacuum chamber circumference.
The water-air dual-purpose unmanned aerial vehicle provided by the invention is connected with the wireless module and the core cabin through cable communication, and the wireless module floats on the water surface during underwater operation, so that the wireless communication is kept with the ground control terminal, signals are not influenced by water, the underwater operation of the unmanned aerial vehicle is realized, and the application space of the unmanned aerial vehicle is expanded.
Preferably, the antenna module includes along the antenna base and the antenna house of axial assembly, be fixed with the antenna installing support on the antenna base, install on the antenna installing support with ground wireless communication's antenna, the cable passes antenna base and is connected with the antenna electricity, antenna base and antenna house and the equal sealing connection of cable and antenna base.
Preferably, the core cabin comprises a core cabin shell and an antenna base which are hermetically connected along the axial direction, and the shape of the antenna base is matched with the shape of the antenna base in a fitting manner; the antenna comprises an antenna base and a core cabin shell, wherein a core end disc which axially separates the interior of the core cabin is arranged between the antenna base and the core cabin shell, a wire collecting disc fixedly connected with the core end disc is arranged on one side of the antenna base, a cable can be wound on the wire collecting disc, and a wire collecting motor for driving the cable to be wound and unwound is further arranged on the core end disc.
Preferably, a wire collecting arm with a rotating shaft coaxial with the wire collecting disc is arranged on the wire collecting motor, a wire leading hole positioned on the outer side of a wire collecting disc winding surface is formed in the end part of the wire collecting arm, and the cable freely penetrates through the wire leading hole; the surface of the antenna base is provided with a cable hole for the cable to freely pass through.
Preferably, the cable is electrically connected with an interface on the core terminal disc through a waterproof joint; or the cable penetrates through the core terminal disc to be electrically connected with the control element, and the cable penetrates through the position of the core terminal disc to be arranged in a sealing mode.
Preferably, a single chip microcomputer support, a first flight control support and a second flight control support are sequentially arranged in the core cabin shell from bottom to top along the axial direction, the single chip microcomputer support is fixedly matched with the bottom of the core cabin shell through a bolt, and a single chip microcomputer is fixed on the single chip microcomputer support; the first flight control bracket is fixedly matched with the bottom of the core cabin shell or the single chip microcomputer bracket through a bolt, and the second flight control bracket is fixedly matched with the first flight control bracket through a damping ball; the control element is fixed on the first flight control bracket, and the sensor is fixed on the second fixed bracket.
Preferably, the core cabin shell is also provided with a waterproof cable connector and a depth gauge which are electrically connected with the control element on the outer part.
Preferably, the vacuum chamber is an annular cavity, and a reinforcing part for connecting the two annular surfaces is arranged in the cavity of the vacuum chamber; the battery cabin is further contained in the annular space, the core cabin shell is connected with the battery cabin through a hollow connecting shaft in the axial direction, and the inside of the connecting shaft is connected with components inside the battery cabin and the core cabin through cables.
Preferably, at least two landing gears are uniformly fixed between the upper surface of the battery compartment and the upper surface of the vacuum compartment along the circumferential direction.
Preferably, the upper surface of the vacuum cabin is uniformly provided with two fixing lugs protruding along the radial direction, the upper surface of the battery cabin is provided with a battery cabin flange, and the undercarriage fixing seat is respectively and fixedly matched with the fixing lugs and the battery cabin flange along the axial direction.
Preferably, the outer surface of the vacuum cabin is further fixedly provided with a vacuum cabin flange parallel to the battery cabin flange, and the undercarriage fixing seat is further fixedly matched with the vacuum cabin flange.
Preferably, the undercarriage include with undercarriage fixing base fixed fit's connecting pipe and with connecting pipe complex stay tube, connecting pipe and vacuum chamber axis coplane, the connecting pipe can rotate the adjustment and the axial contained angle of vacuum chamber with the junction of undercarriage fixing base, the connecting pipe tip is provided with the tee bend pipe clamp, the stay tube is worn to locate in the tee bend pipe clamp and symmetrical for the connecting pipe along the axial.
Preferably, the two ends of the supporting tube are wrapped with damping sponges.
Preferably, the undercarriage fixing seat comprises fixing blocks fixedly matched with the battery compartment flange plate and the vacuum compartment flange plate respectively, and clamping plates respectively arranged on two sides of the fixing blocks and connected with the two fixing blocks; a C-shaped groove formed by avoiding fixing lugs is arranged between the clamping plate and the matching areas of the two fixing blocks; a pipe clamp is clamped between the two clamping plates through a polished rod, and the pipe clamp is fixedly matched with the end part of the connecting pipe through a pipe clamp bolt which is parallel to the clamping plates in the axial direction; the clamp plates are provided with arc grooves with the polished rods as circle centers, the arc grooves are also provided with a plurality of limiting grooves pointing to the polished rods along the radial direction, the arc grooves of the two clamp plates are internally provided with an adjusting rod penetrating through the connecting pipe, the adjusting rod and the polished rods are tightened by springs which are positioned in the connecting pipe and are respectively arranged on two sides of the pipe clamp bolt, and the positions, matched with the adjusting rods, of the connecting pipe are provided with kidney-shaped holes along the length direction of the connecting pipe.
Preferably, the diving system comprises an electromagnetic valve fixed on the vacuum chamber flange plate in parallel with the axial direction of the vacuum chamber and a vacuum pump fixed on the connecting pipe, the water inlet of the electromagnetic valve is directly communicated with the outside, the water outlet is communicated with the water inlet of the vacuum chamber through a pipeline, the water outlet of the vacuum chamber is communicated with the water inlet of the vacuum pump, and the outlet of the vacuum pump is directly communicated with the outside.
Preferably, the diving system comprises an electromagnetic valve which is axially parallel to the vacuum chamber and fixed on a flange of the vacuum chamber, and a vacuum pump which is fixed on the connecting pipe, and the core chamber shell is also provided with at least one group of water inlet joint and water outlet joint;
the water inlet of solenoid valve is direct and external intercommunication, and the delivery port passes through pipeline and water supply connector intercommunication, water supply connector and water connectors pass through the pipeline intercommunication in the core cabin casing, and water connectors and the water inlet intercommunication in vacuum chamber, the delivery port in vacuum chamber and the water inlet intercommunication of vacuum pump, the export of vacuum pump and external direct intercommunication.
Preferably, the core cabin shell bottom has the core cabin ring flange parallel with the battery cabin ring flange, and the rotor fixing base is respectively with battery cabin ring flange and core cabin ring flange fixed connection, evenly is fixed with four along vacuum chamber circumference the rotor fixing base.
Preferably, the rotor includes with rotor fixing base fixed complex sleeve, the sleeve endotheca is equipped with the rotor arm, still is provided with the bolt of fixed rotor arm on the sleeve, and rotor arm other end is fixed with the mount pad, and the screw is fixed in on the mount pad.
Preferably, the mount pad include at least two with rotor arm fixed coordination C type clamp and with C type clamp fixed connection's mounting panel, C type clamp includes two cardboards that have semi-circular breach, the breach both sides be provided with respectively with mounting panel vertically pilot hole, the mounting panel passes the pilot hole of two cardboards through fixing bolt with C type clamp and rotor arm fixed connection.
Preferably, the mounting panel passes through bolted connection motor, and the output shaft and the screw fixed coordination of motor, the rotor arm link up along the axial, and supply cable wears to locate in the rotor arm and passes through the water joint electricity with the motor and be connected.
Preferably, the sleeve is rotatable relative to the rotor mount to change the angle.
Preferably, the connecting shaft is provided with external threads, through holes with internal threads are respectively formed in the middle of the bottom of the core cabin and the top of the battery cabin, an end plate is arranged at one end of the connecting shaft, the connecting shaft is in threaded fit with the battery cabin to enable the end plate to be located inside the battery cabin, a sealing ring is limited between the end plate and the battery cabin, a sealing nut in threaded fit with the end portion of the connecting shaft is further arranged inside the core cabin, and a sealing ring is further arranged between the sealing nut and the core cabin.
Preferably, the connecting shaft is further screwed with an outer nut with two ends respectively abutted against the battery compartment and the core compartment, and sealing rings are respectively limited between the outer nut and the battery compartment as well as between the outer nut and the core compartment.
Preferably, a monitoring cabin positioned below the vacuum cabin is further fixed at the bottom of the battery cabin, the monitoring cabin comprises a cloud platform seat in sealing connection with the battery cabin and a hemispherical cover in sealing connection with the cloud platform seat, and the hemispherical cover is made of a transparent material; the cloud platform is fixed with the cloud platform on the cloud pedestal, is fixed with the camera that is in the hemisphere cover inside on the cloud platform.
Preferably, a cradle head flange is fixed in the cradle head base, and the cradle head comprises a main motor, an L frame and an auxiliary motor which are fixed on the cradle head flange; two perpendicular faces of the L-shaped frame are respectively matched with a main motor and an auxiliary motor, the main motor is fixed on the pan-tilt flange, and the auxiliary motor is fixedly matched with the camera.
Preferably, a lamp holder is further fixed on the vacuum chamber flange plate, the end part of the lamp holder is hinged with a swinging head capable of swinging in a plane where the axis of the vacuum chamber is located, a searchlight is installed on the swinging head, and the searchlight can swing along with the swinging head.
The water-air dual-purpose unmanned aerial vehicle provided by the invention has the advantages that: the wireless module is connected with the core cabin through cable communication, and the wireless module floats on the water surface during underwater operation, so that wireless communication is kept with the ground control terminal, signals are guaranteed not to be influenced by water, the underwater operation of the unmanned aerial vehicle is realized, and the application space of the unmanned aerial vehicle is expanded; the releasing length of the line can be conveniently adjusted according to the submergence depth through the matching of the depth meter and the line concentration motor; the cloud deck and the searchlight are arranged, so that a camera can acquire clear images from multiple angles underwater, a large number of cable and water pipe joints are standard parts, and can be purchased directly, and the hardware cost is reduced; the core cabin, the battery cabin and the vacuum cabin are connected through the connecting shaft, so that the internal cable does not need to be connected from the outside, and the risk of cable damage is reduced.
Drawings
Fig. 1 is a schematic view of a water-air dual-purpose unmanned aerial vehicle provided by an embodiment of the invention;
fig. 2 is a schematic diagram of an antenna module of a water-air dual-purpose unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a broken view of a core cabin of the unmanned aerial vehicle for water and air provided by the embodiment of the invention;
fig. 4 is a schematic line concentration space diagram of the water-air dual-purpose unmanned aerial vehicle provided by the embodiment of the invention;
fig. 5 is a schematic view of a matching structure of a core cabin, a battery cabin and a vacuum cabin of the unmanned aerial vehicle for water and air provided by the embodiment of the invention;
fig. 6 is a schematic view of a vacuum chamber of the unmanned aerial vehicle for water and air provided by the embodiment of the invention;
fig. 7 is a schematic view of a matching shape of a vacuum chamber and a battery chamber of the unmanned aerial vehicle for water and air provided by the embodiment of the invention;
fig. 8 is a schematic view of a landing gear fixing seat of the unmanned aerial vehicle for water and air provided by the embodiment of the invention;
fig. 9 is a schematic view of a rotor of a water-air dual-purpose unmanned aerial vehicle provided by an embodiment of the invention;
fig. 10 is a schematic view of a connecting shaft of the unmanned aerial vehicle for water and air provided by the embodiment of the invention;
fig. 11 is a schematic view of a monitoring cabin of a water-air dual-purpose unmanned aerial vehicle provided by an embodiment of the invention;
fig. 12 is a schematic view of a searchlight of a water-air dual-purpose unmanned aerial vehicle provided by an embodiment of the invention;
Detailed Description
In order that the objects, technical solutions and advantages of the present invention will become more apparent, the present invention will be further described in detail with reference to the accompanying drawings in conjunction with the following specific embodiments.
As shown in fig. 1, the present embodiment provides a water-air unmanned aerial vehicle, which includes a wireless module 1, a core cabin 2 and a vacuum cabin 3, which are arranged in sequence from top to bottom, and in combination with fig. 3, the core cabin 2 comprises a flight control space 201 for fixing unmanned aerial vehicle flight control elements and various sensors and a line concentration space 202 wound with cables (not shown), the flight control space 201 and the line concentration space 202 are sealed and isolated from each other, one end of the cable is connected with the wireless module 1, the other end of the cable is connected with a control element in the core cabin 2, the antenna module 1 is in communication connection with a control terminal in a wireless communication mode, the underwater floating and sinking unmanned aerial vehicle is transmitted to the unmanned aerial vehicle through a cable, the unmanned aerial vehicle mainly adopts the principle of a submarine to realize underwater floating and sinking operation, the vacuum chamber 3 is used as a water storage space of the unmanned aerial vehicle, the unmanned aerial vehicle also comprises a diving system which is communicated with the vacuum chamber 3 and is used for draining and injecting water into the vacuum chamber 3, and a plurality of rotor wings 5 which are uniformly arranged in the circumferential direction relative to the vacuum chamber 3; the rotor wing 5 is used for realizing air flight and underwater operation through a diving system.
The dual-purpose unmanned aerial vehicle of empty water that this embodiment provided, through cable communication connection wireless module 1 and core cabin 2, make wireless module 1 float on the surface of water when underwater operation to keep wireless communication with ground control terminal, and guarantee that the signal does not receive the influence of water, realized unmanned aerial vehicle's underwater operation, expanded unmanned aerial vehicle's application space.
In addition, corresponding detection equipment can be configured for the unmanned aerial vehicle according to use requirements during operation, and a monitoring cabin 6 is further arranged below the vacuum cabin 3 to obtain underwater video data.
Referring to fig. 2, antenna module 1 includes along the antenna base 11 and the antenna house 12 of axial assembly, be fixed with antenna installing support 13 on the antenna base 11, install on the antenna installing support 13 with ground wireless communication's antenna (not shown), in this embodiment antenna base 11 is conical structure, antenna house 12 is the arc crown structure, still is provided with antenna sealing ring 14 between antenna base 11 and the antenna house 12, and the cable passes antenna house 11 pointed end and with antenna house 11 sealed cooperation, guarantees that module 1 floats when the surface of water under the sky, and water can not enter into inside antenna module 1.
Referring to fig. 3, the core cabin 2 includes a core cabin shell 21 and an antenna base 22 which are assembled along an axial direction, the shape of the antenna base 22 is adapted to the antenna base 11, a central area of an upper surface of the antenna base 22 is concave in a conical shape in this embodiment, and a cable hole 221 for a cable to pass through freely is formed in the center of the upper surface of the antenna base 22; a core end disc 23 for axially separating the interior of the core cabin 2 is arranged between the antenna base 22 and the core cabin shell 21, a wire collecting disc 231 fixedly connected with the core end disc 23 through bolts is arranged on one side of the antenna base 22, cables are wound on the surface of the wire collecting disc 231, a wire collecting motor 232 is fixed in the middle of the wire collecting disc 231, a wire collecting arm 233 with a rotating shaft coaxial with the wire collecting disc 231 is arranged on the wire collecting motor 232, the wire collecting arm 233 comprises a vertically arranged rotating shaft 2331, a connecting rod 2332 radially extending to the surface of the wire collecting disc 231 and a lead rod 2333 vertically and downwardly connected with the connecting rod 2331, a lead hole 2334 positioned on the outer side of the wire collecting disc 231 is fixed at the end of the lead rod 2333, and the axial direction of the lead hole 2334 is perpendicular to the rotating direction; when the unmanned aerial vehicle submerges in water, the cable wound on the cable collecting disc 231 can be released by rotating the cable collecting arm 233, and the cable sequentially passes through the wire leading hole 2334 and the cable hole 221; when the unmanned aerial vehicle ascends in water, because the antenna module 1 floats on the water surface all the time, the cable is required to be timely recovered and wound on the wire collecting disc 231, and at the moment, the wire collecting arm 233 can be rotated to enable the wire hole 2334 to rotate relative to the surface of the wire collecting disc 231 to wind the cable. When the axial height of the wire collecting disc is large, the wire collecting arm 233 can be adjusted in height along the axial direction, so that cables can be uniformly wound on the surface of the wire collecting disc 231, and reciprocating motion of the wire collecting arm 233 in a vertical height range can be achieved by adding a linear reciprocating driving motor or adaptively setting bevel gear transmission.
Because the cooperation of cable and cable hole 221 is free, the waterproof effect here is not good, when underwater work, must intake in the line concentration space 202, in order to prevent flying to control space 201 and intake, the fitting surface of core end dish 23 and core cabin casing 21 and antenna base 22 all uses the sealing washer sealed, can also set up the fitting surface of core end dish 23 and core cabin casing 21 to the dysmorphism face increase waterproof effect simultaneously, and core end dish 23 and core cabin casing 21 pass through the screw-thread fit of screwing up.
The cable of winding on the drum 233 need with fly the control element communication in the accuse space 201, in order to ensure water-proof effects, can set up the interface with control element communication connection on core end dish 233, set up water joint and interface cooperation at the cable tip, the interface of water joint and adaptation can directly be purchased, also can let the cable pass core end dish 23 and directly communicate with control element, only need at the cable with core end dish 23 the cooperation position carry out sealing process can.
A single chip microcomputer support 211, a first flight control support 212 and a second flight control support 213 are sequentially arranged in the core cabin shell 21 from bottom to top along the axial direction, the single chip microcomputer support 211 is fixedly matched with the bottom of the core cabin shell 21 through bolts, the single chip microcomputer support 211 is used for fixing a single chip microcomputer, and the single chip microcomputer selected in the embodiment is an STM32 single chip microcomputer; the first flight control bracket 212 is fixedly matched with the bottom of the core cabin shell 21 or the single chip microcomputer bracket 211 through bolts, the second flight control bracket 213 is fixedly matched with the first flight control bracket 212 through a damping ball 214, wherein the first flight control bracket 212 is mainly used for fixing control elements, the second flight control bracket 213 is mainly used for fixing some precision sensors and compact parts, and the damping ball 214 can improve the stability of the second flight control bracket 213, protect the precision parts and improve the precision of the detection data of the sensors; the damping ball 214 is made of flexible materials such as nylon, and can be directly purchased in the market.
In order to improve the pressure resistance of the whole structure and avoid stress concentration, the external structure of the unmanned aerial vehicle basically adopts a curve structure, and with reference to fig. 4, in this embodiment, the whole core cabin shell 21 is a drum-shaped structure, the bottom surface is approximately flat, and a waterproof cable joint 215 is further fixed on the side surface of the core cabin shell 21, so as to be connected with other components for power supply and signal transmission; a depth meter 216 for detecting the submergence depth is further arranged on the core cabin shell 21; the length of the cable is controlled by combining a depth meter, so that the line concentration motor 232 is driven to rotate forward and backward, the antenna module 1 is ensured not to be pulled underwater, and the stable communication is ensured.
With reference to fig. 1, 5 and 6, the vacuum chamber 3 is an annular chamber, the reinforcing part 31 for connecting two annular surfaces is arranged inside the chamber of the vacuum chamber 3, the battery chamber 4 is accommodated in the annular space of the vacuum chamber 3, the core chamber shell 21 is connected with the battery chamber 4 through a hollow connecting shaft 41 along the axial direction, and a cable is supplied inside the connecting shaft 41 to communicate the battery chamber 4 and the core chamber 2.
Referring to fig. 6, the vacuum chamber 3 is uniformly provided with two fixing lugs 32 protruding in the radial direction on the upper surface, and referring to fig. 5, the battery chamber 4 is provided with a battery chamber flange 42 on the upper surface, the unmanned aerial vehicle is further provided with an undercarriage 7, and the undercarriage 7 includes an undercarriage fixing seat 71 which is clamped between the vacuum chamber 3 and the battery chamber 4 and is respectively fixedly matched with the fixing lugs 32 and the battery chamber flange 42; so that the battery compartment 4 is fixedly matched with the vacuum compartment 3 through the landing gear fixing seat 71. Referring to fig. 7, the outer surface of the vacuum chamber 3 is further fixed with a vacuum chamber flange 33 parallel to the battery chamber flange 42, the landing gear fixing seat 71 is further fixedly matched with the vacuum chamber flange 33, the vacuum chamber flange 33 is welded and sleeved outside the vacuum chamber 3, the battery chamber flange 42 can be directly constructed integrally with the battery chamber 4, and the battery chamber flange 42 is fixedly connected with the upper surface of the battery chamber 4 through bolts in this embodiment.
Referring to fig. 5, the landing gear 7 further includes a connecting pipe 72 fixedly matched with the landing gear fixing seat 71 and a supporting pipe 73 matched with the connecting pipe 72, the connecting pipe 72 is coplanar with the axis of the vacuum chamber 3, the connecting part of the connecting pipe 72 and the landing gear fixing seat 72 can be rotatably adjusted to form an included angle with the axial direction of the vacuum chamber 3, and the aircraft can be kept balanced on the uneven bottom surface by adjusting the inclination angles of the landing gear 7 on the two sides. The end of the connecting pipe 72 is provided with a three-way pipe clamp 74, the supporting pipe 73 axially penetrates through the three-way pipe clamp 74 and is symmetrically distributed relative to the connecting pipe 72, and two ends of the supporting pipe 73 are wrapped with damping sponge for buffering when falling to the ground.
Referring to fig. 8, the landing gear fixing seat 71 includes fixing blocks 711 fixedly engaged with the battery compartment flange 42 and the vacuum compartment flange 33, respectively, and clamping plates 712 respectively disposed at both sides of the fixing blocks 711 and connected to the fixing blocks 711; a C-shaped groove (not shown) formed by avoiding the fixing lug 32 is arranged between the clamping plate 712 and the matching area of the two fixing blocks 711, the upper fixing hole 711 is fixedly connected with the battery compartment flange 42 and the fixing lug 32 through bolts, the lower fixing hole 711 is fixedly connected with the vacuum compartment flange 33 through bolts, and the two clamping plates 712 are fixedly connected with the fixing blocks 711 from the side surfaces through bolts respectively; a pipe clamp 714 is clamped between the two clamping plates 712 through a polish rod 713, the end of the connecting pipe 72 is inserted into the pipe clamp 714, a pipe clamp bolt 715 axially parallel to the clamping plate 712 is arranged on the pipe clamp 714, and the pipe clamp 712 and the connecting pipe 72 are fixedly connected through the pipe clamp bolt 715; the clamp plate 712 is provided with an arc-shaped groove 716 with the polish rod 714 as a center, the pipe clamp 714 is arranged between the polish rod 713 and the arc-shaped groove 716, the arc-shaped groove 716 is further provided with a plurality of limiting grooves 717 pointing to the polish rod 713 in the radial direction, the connecting pipe 72 is further provided with an adjusting rod 718 connecting the arc-shaped grooves 716 on two sides, the polish rod 713 is provided with two springs 719 positioned inside the connecting pipe 72 and respectively arranged on two sides of the pipe clamp bolt 715, the two springs 719 are matched with the adjusting rod 718 in a tensioned state, the connecting pipe 72 is provided with a waist-shaped hole 721 along the length direction, and the adjusting rod 718 is limited in the waist-shaped hole 721.
With reference to fig. 1 and 7, the bottom of the core chamber shell 21 is further provided with a core chamber flange 24 parallel to the battery chamber flange 42, in this embodiment, the core chamber flange 24 is fixed below the core chamber shell 21 by bolts, with reference to fig. 9, the rotor 5 includes a rotor fixing seat 51 respectively fixedly connected with the battery chamber flange 42 and the core chamber flange 24, and in this embodiment, four rotors 5 are uniformly arranged along the circumferential direction of the vacuum chamber 3.
Referring to fig. 9, the rotor 5 further includes a sleeve 52 fixedly engaged with the rotor holder 51, a rotor arm 53 is sleeved in the sleeve 52, a mounting seat 54 is fixed to the other end of the rotor arm 53, and a propeller 55 is fixed to the mounting seat 54; the rotor arm 53 and the sleeve 52 are locked by bolts. The mount pad 54 includes at least two C type clamps 541 with rotor arm 53 fixed fit and mounting panel 542 with C type clamp 541 fixed connection, and is specific, C type clamp 541 is obtained through two cardboard (not shown) amalgamations that have semi-circular breach, and the breach orientation of cardboard or mounting panel 542 dorsad, rotor arm 53 are by two cardboard block spacing back through the fixed connection who realizes rotor arm 53 and mount pad 54 with mounting panel 542 and cardboard through the bolt. The mounting plate 542 is fixed with the motor 56 through a bolt, an output shaft of the motor 56 is fixedly matched with the propeller 55, the rotor arm 53 penetrates through the rotor arm 53 along the axial direction, and a cable for connecting the waterproof cable joint 215 on the core cabin shell 21 and the motor 56 penetrates through the rotor arm 53. In order to reduce the space occupied by storage, the sleeve 52 and the rotor fixing seat 51 can rotate relatively, the rotor arm 53 can droop by loosening screws when the sleeve is stored, and the screws can be tightened when the sleeve is used; a plurality of bolts can be used for fixing, and only one bolt is reserved as a rotating shaft during storage.
Referring to fig. 10, the connecting shaft 41 is a hollow structure having an external thread, through holes (not shown) having an internal thread are respectively formed in the bottom of the core compartment housing 21 and the middle position of the top of the battery compartment 4, an end plate 411 is disposed at one end of the connecting shaft 41, the connecting shaft 41 is in threaded engagement with the battery compartment 4 to enable the end plate to be located inside the battery compartment 4, a sealing ring is further limited between the end plate 411 and the battery compartment 4, a sealing nut 412 in threaded engagement with the end of the connecting shaft 41 is disposed inside the core compartment housing 21, and a sealing ring is also disposed between the sealing nut 412 and the bottom surface of the core compartment housing. The connecting shaft 41 is further screwed with an external nut 413 respectively abutted against the battery compartment 4 and the core compartment shell 21, and sealing rings are respectively limited between the external nut and the battery compartment 4 and between the external nut and the core compartment shell 21.
Referring to fig. 1, the bottom of the battery compartment 4 is fixedly connected with a monitoring compartment 6 below the vacuum compartment 3 through bolts, and referring to fig. 11, the monitoring compartment 6 includes a pan/tilt. A pan/tilt flange 62 is fixed on the pan/tilt base 61, the pan/tilt flange 62 is fixedly connected with a pan/tilt (not shown) in the hemispherical cover, a camera 63 is fixed on the pan/tilt, and the pan/tilt can drive the camera 63 to change the angle in the pan/tilt base 61.
Specifically, the cradle head comprises a main motor 64, an L-shaped frame 65 and an auxiliary motor 66, two vertical surfaces of the L-shaped frame 65 are respectively matched with the main motor 64 and the auxiliary motor 66, the main motor 64 is fixed on a cradle head flange 62, and the L-shaped frame is driven to move in the horizontal plane; the auxiliary motor 55 is fixedly matched with the camera 63 to drive the camera 63 to rotate in a vertical plane, and the visual angle of the camera 63 is perpendicular to the rotating shaft of the auxiliary motor 66.
Referring to fig. 12, in order to improve underwater visual conditions, a lamp holder 34 is further fixed on the vacuum chamber flange 33, a swinging head 35 capable of swinging in a plane where the axis of the vacuum chamber 3 is located is hinged to an end portion of the lamp holder 34, a searchlight 36 is mounted on the swinging head 35, and when the swinging head 35 drives the searchlight 36 to swing, an illumination angle is changed, so that good illumination conditions can be provided for the camera 63.
In this embodiment, the swinging head 35 is a C-shaped clamp, the open end of the C-shaped clamp extends in a substantially radial direction to form a clamping plate 351 which are parallel to each other, the end of the lamp holder 34 is located in the middle of the clamping plate 351, the lamp holder 34 and the clamping plate 351 are connected through a bolt, the distance between the clamping plates 351 is greater than the thickness of the end of the lamp holder 34, scattering-shaped convex teeth are arranged at the positions where the clamping plate 351 and the lamp holder 34 are matched, when the included angle of the swinging head 35 relative to the lamp holder 34 needs to be adjusted, the positions of the convex teeth where the clamping plate 351 and the lamp holder 34 are matched can be changed by loosening the bolt connecting the lamp holder 34 and the clamping plate 351, so that the angle of the swinging head 35 relative to the.
Referring to fig. 1 again, the diving system provided in this embodiment includes an electromagnetic valve 37 fixed on the vacuum chamber flange 33 and a vacuum pump 75 fixed on the connecting pipe 72, with reference to fig. 5, the vacuum pump 75 is fixedly matched with the connecting pipe 72 through a U-shaped pipe hoop 76, with reference to fig. 6, a water inlet and a water outlet are respectively provided at the bottom of the vacuum chamber 3, the water inlet of the electromagnetic valve 37 is directly communicated with the outside, the water outlet is communicated with the water inlet of the vacuum chamber through a pipe, the water outlet of the vacuum chamber is communicated with the water inlet of the vacuum pump 75, and the outlet of the vacuum pump; when the unmanned aerial vehicle is submerged, the vacuum pump 75 provides negative pressure to discharge gas in the vacuum chamber 3 and pump water into the vacuum chamber 3, and when the gravity of the unmanned aerial vehicle exceeds buoyancy, the unmanned aerial vehicle can sink; when the unmanned aerial vehicle reaches a specified height, the electromagnetic valve 37 is kept closed, part of water in the vacuum chamber 3 is discharged through the vacuum pump 75, the gravity and the buoyancy of the unmanned aerial vehicle are kept the same, and the buoyancy is larger than the gravity through the drainage when the unmanned aerial vehicle needs to ascend; in addition, the underwater motion of the unmanned aerial vehicle can be adjusted in a flight control mode of the four-rotor aircraft.
Still be provided with at least a set of water supply connector 217 and water connectors 218 on core cabin casing 21 in this application, the delivery port of solenoid valve 37 is direct to communicate with water supply connector 217, and water supply connector 217 communicates with water connectors 218 through being in the inside pipeline of core cabin 2, and water connectors 218 communicates with the water inlet of vacuum chamber 3 again, cools off the electron device in the core cabin 2 through flowing water.
In this embodiment, the vacuum pumps 75 are fixed on the two landing gears 7, the core cabin shell 21 is provided with two sets of water inlet connectors 217 and water outlet connectors 218, and the vacuum cabin 3 is also provided with two sets of water inlets and water outlets, so that the water outlets of the electromagnetic valve 37 are respectively connected with the two water inlet connectors 217 on the core cabin shell 21 through three-way connectors, the two water outlet connectors 218 are respectively connected with the two water inlets of the vacuum cabin 3, and the two water outlets are respectively communicated with the two vacuum pumps 75, thereby increasing the water inlet and outlet speed.
In addition, in order to reduce this unmanned aerial vehicle's weight, can set up some lightening holes under the condition that does not influence leakproofness and structural strength, all be provided with a lot of lightening holes like various ring flange structures.
Claims (10)
1. The utility model provides a dual-purpose unmanned aerial vehicle of empty water which characterized in that: the device comprises an antenna module, a core cabin and a vacuum cabin which are arranged in sequence from top to bottom; the core cabin comprises a flight control space for fixing a flight control element and a sensor of the unmanned aerial vehicle and a line concentration space with a cable wound; the flight control space and the line concentration space are mutually sealed and isolated; one end of the cable is connected with the wireless module, the other end of the cable is connected with a control element in the core cabin, the antenna module is in communication connection with the unmanned aerial vehicle through the cable, and the antenna module can float on the water surface; the vacuum chamber has the cavity that holds water or air, unmanned aerial vehicle still include with vacuum chamber complex diving system and for the even a plurality of rotors that set up of vacuum chamber circumference.
2. The dual-purpose unmanned aerial vehicle of claim 1, characterized in that: the antenna module comprises an antenna base and an antenna housing which are assembled in the axial direction, an antenna mounting support is fixed on the antenna base, an antenna in wireless communication with the ground is mounted on the antenna mounting support, the cable penetrates through the antenna base to be electrically connected with the antenna, and the antenna base is in sealing connection with the antenna housing and the antenna base.
3. The dual-purpose unmanned aerial vehicle of claim 2, characterized in that: the core cabin comprises a core cabin shell and an antenna base which are hermetically connected along the axial direction, and the shape of the antenna base is in adaptive fit with that of the antenna base; a core end disc for axially separating the interior of the core cabin is arranged between the antenna base and the core cabin shell, a wire collecting disc fixedly connected with the core end disc is arranged on one side of the antenna base, the cable can be wound on the wire collecting disc, and a wire collecting motor for driving the cable to be wound and unwound is further arranged on the core end disc;
the wire collecting motor is provided with a wire collecting arm with a rotating shaft coaxial with the wire collecting disc, the end part of the wire collecting arm is provided with a wire leading hole positioned on the outer side of the wire collecting disc, and the cable freely passes through the wire leading hole; the surface of the antenna base is provided with a cable hole for the cable to freely pass through; the cable is electrically connected with an interface on the core end disc through a waterproof joint; or the cable penetrates through the core end disc to be electrically connected with the control element, and the cable penetrates through the position of the core end disc to be hermetically arranged;
the core cabin shell is internally provided with a singlechip bracket, a first flight control bracket and a second flight control bracket in sequence from bottom to top along the axial direction, the singlechip bracket is fixedly matched with the bottom of the core cabin shell through a bolt, and a singlechip is fixed on the singlechip bracket; the first flight control bracket is fixedly matched with the bottom of the core cabin shell or the single chip microcomputer bracket through a bolt, and the second flight control bracket is fixedly matched with the first flight control bracket through a damping ball; the control element is fixed on the first flight control bracket, and the sensor is fixed on the second fixed bracket; and a waterproof cable joint and a depth meter which are electrically connected with the control element are also arranged outside the core cabin shell.
4. The dual-purpose unmanned aerial vehicle of claim 3, characterized in that: the vacuum chamber is an annular cavity, and a reinforcing part for connecting the two annular surfaces is arranged in the cavity of the vacuum chamber; a battery cabin is also accommodated in the annular space, the core cabin shell is connected with the battery cabin through a hollow connecting shaft along the axial direction, and the inside of the connecting shaft is connected with the battery cabin and components inside the core cabin through cables; at least two landing gears are uniformly fixed between the upper surface of the battery compartment and the battery compartment on the upper surface of the vacuum compartment along the circumferential direction;
two fixing lugs protruding in the radial direction are uniformly arranged on the upper surface of the vacuum cabin, a battery cabin flange plate is arranged on the upper surface of the battery cabin, and the undercarriage fixing seat is respectively and fixedly matched with the fixing lugs and the battery cabin flange plate in the axial direction; the outer surface of the vacuum cabin is also fixedly provided with a vacuum cabin flange plate parallel to the battery cabin flange plate, and the undercarriage fixing seat is also fixedly matched with the vacuum cabin flange plate; the undercarriage comprises a connecting pipe fixedly matched with the undercarriage fixing seat and a supporting pipe matched with the connecting pipe, the connecting pipe is coplanar with the axis of the vacuum cabin, the joint of the connecting pipe and the undercarriage fixing seat can rotate to adjust an included angle with the axial direction of the vacuum cabin, a three-way pipe clamp is arranged at the end part of the connecting pipe, and the supporting pipe penetrates through the three-way pipe clamp along the axial direction and is symmetrical relative to the connecting pipe; damping sponges are coated at two ends of the supporting tube;
the undercarriage fixing seat comprises fixing blocks which are respectively fixedly matched with the battery compartment flange plate and the vacuum compartment flange plate, and clamping plates which are respectively arranged on two sides of the fixing blocks and connected with the two fixing blocks; a C-shaped groove formed by avoiding fixing lugs is arranged between the clamping plate and the matching areas of the two fixing blocks; a pipe clamp is clamped between the two clamping plates through a polished rod, and the pipe clamp is fixedly matched with the end part of the connecting pipe through a pipe clamp bolt which is parallel to the clamping plates in the axial direction; the clamp plates are provided with arc grooves with the polished rods as circle centers, the arc grooves are also provided with a plurality of limiting grooves pointing to the polished rods along the radial direction, the arc grooves of the two clamp plates are internally provided with an adjusting rod penetrating through the connecting pipe, the adjusting rod and the polished rods are tightened by springs which are positioned in the connecting pipe and are respectively arranged on two sides of the pipe clamp bolt, and the positions, matched with the adjusting rods, of the connecting pipe are provided with kidney-shaped holes along the length direction of the connecting pipe.
5. The dual-purpose unmanned aerial vehicle of claim 4, characterized in that: the diving system comprises an electromagnetic valve and a vacuum pump, wherein the electromagnetic valve is fixed on the vacuum chamber flange plate in an axial parallel mode with the vacuum chamber, the vacuum pump is fixed on the connecting pipe, a water inlet of the electromagnetic valve is directly communicated with the outside, a water outlet of the electromagnetic valve is communicated with a water inlet of the vacuum chamber through a pipeline, a water outlet of the vacuum chamber is communicated with a water inlet of the vacuum pump, and an outlet of the vacuum pump is directly communicated with the.
6. The dual-purpose unmanned aerial vehicle of claim 4, characterized in that: the diving system comprises an electromagnetic valve which is axially parallel to the vacuum chamber and fixed on a flange plate of the vacuum chamber, and a vacuum pump which is fixed on a connecting pipe, and the core chamber shell is also provided with at least one group of water inlet joints and water outlet joints;
the water inlet of solenoid valve is direct and external intercommunication, and the delivery port passes through pipeline and water supply connector intercommunication, water supply connector and water connectors pass through the pipeline intercommunication in the core cabin casing, and water connectors and the water inlet intercommunication in vacuum chamber, the delivery port in vacuum chamber and the water inlet intercommunication of vacuum pump, the export of vacuum pump and external direct intercommunication.
7. The dual-purpose unmanned aerial vehicle of claim 4, characterized in that: the bottom of the core cabin shell is provided with a core cabin flange parallel to the battery cabin flange, the rotor wing fixing seats are respectively and fixedly connected with the battery cabin flange and the core cabin flange, and four rotor wing fixing seats are uniformly fixed along the circumferential direction of the vacuum cabin;
the rotor comprises a sleeve fixedly matched with the rotor fixing seat, a rotor arm is sleeved in the sleeve, a bolt for fixing the rotor arm is further arranged on the sleeve, a mounting seat is fixed at the other end of the rotor arm, and the propeller is fixed on the mounting seat; the installation seat comprises at least two C-shaped clamps fixedly matched with the rotor wing arms and an installation plate fixedly connected with the C-shaped clamps, each C-shaped clamp comprises two clamping plates with semicircular notches, assembly holes perpendicular to the installation plate are respectively formed in two sides of each notch, and the installation plate fixedly connects the C-shaped clamps with the rotor wing arms by penetrating through the assembly holes of the two clamping plates through fixing bolts; the mounting plate is connected with a motor through a bolt, an output shaft of the motor is fixedly matched with the propeller, the rotor arm is axially communicated, and a power supply cable penetrates through the rotor arm and is electrically connected with the motor through a waterproof connector; the sleeve can rotate the change angle relatively rotor fixing base.
8. The dual-purpose unmanned aerial vehicle of claim 4, characterized in that: the connecting shaft is provided with external threads, through holes with internal threads are respectively arranged between the bottom of the core cabin and the top of the battery cabin, one end of the connecting shaft is provided with an end plate, the connecting shaft is in threaded fit with the battery cabin to enable the end plate to be positioned in the battery cabin, a sealing ring is limited between the end plate and the battery cabin, a sealing nut in threaded fit with the end part of the connecting shaft is further arranged in the core cabin, and a sealing ring is further arranged between the sealing nut and the core cabin; the connecting shaft is further connected with an outer nut with two ends respectively abutted to the battery cabin and the core cabin in a threaded manner, and sealing rings are respectively limited between the outer nut and the battery cabin as well as between the outer nut and the core cabin.
9. The dual-purpose unmanned aerial vehicle of claim 4, characterized in that: the bottom of the battery compartment is also fixed with a monitoring compartment positioned below the vacuum compartment, the monitoring compartment comprises a cloud platform seat in sealing connection with the battery compartment and a hemispherical cover in sealing connection with the cloud platform seat, and the hemispherical cover is made of transparent materials; a tripod head is fixed on the tripod base, and a camera in the hemispherical cover is fixed on the tripod head; a holder flange is fixed in the holder seat, and the holder comprises a main motor, an L frame and an auxiliary motor which are fixed on the holder flange; two perpendicular faces of the L-shaped frame are respectively matched with a main motor and an auxiliary motor, the main motor is fixed on the pan-tilt flange, and the auxiliary motor is fixedly matched with the camera.
10. The dual-purpose unmanned aerial vehicle of claim 9, characterized in that: the vacuum chamber is characterized in that a lamp holder is further fixed on the vacuum chamber flange plate, a swinging head capable of swinging in a plane where the axis of the vacuum chamber is located is hinged to the end portion of the lamp holder, a searchlight is installed on the swinging head, and the searchlight can swing along with the swinging head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010227557.4A CN111319760B (en) | 2020-03-26 | Water-air dual-purpose unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010227557.4A CN111319760B (en) | 2020-03-26 | Water-air dual-purpose unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111319760A true CN111319760A (en) | 2020-06-23 |
| CN111319760B CN111319760B (en) | 2024-05-28 |
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| CN116980051A (en) * | 2023-08-04 | 2023-10-31 | 广东工业大学 | Communication system of water-air dual-purpose unmanned aerial vehicle and operation method thereof |
| CN117885924A (en) * | 2024-03-18 | 2024-04-16 | 安徽大学 | Water-air amphibious unmanned aerial vehicle |
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| CN116980051B (en) * | 2023-08-04 | 2024-01-26 | 广东工业大学 | Communication system of water-air dual-purpose unmanned aerial vehicle and operation method thereof |
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