CN113928066A - Crawler-type polar region amphibious unmanned aircraft - Google Patents
Crawler-type polar region amphibious unmanned aircraft Download PDFInfo
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- CN113928066A CN113928066A CN202111405080.5A CN202111405080A CN113928066A CN 113928066 A CN113928066 A CN 113928066A CN 202111405080 A CN202111405080 A CN 202111405080A CN 113928066 A CN113928066 A CN 113928066A
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- 230000007246 mechanism Effects 0.000 claims abstract description 23
- 238000001514 detection method Methods 0.000 claims abstract description 6
- 239000000463 material Substances 0.000 claims abstract description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 230000009467 reduction Effects 0.000 claims description 6
- 239000000411 inducer Substances 0.000 claims description 2
- 230000006870 function Effects 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 description 7
- 230000009189 diving Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000012544 monitoring process Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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Classifications
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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
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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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
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
- B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
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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
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0061—Amphibious vehicles specially adapted for particular purposes or of a particular type
Abstract
A crawler-type polar region amphibious unmanned aircraft comprises a streamline aircraft main body, a crawler-type advancing mechanism, an underwater navigation power system, an empennage structure, a power supply and a navigation control system; the front part of the streamline aircraft main body is provided with a detection system, the middle part adopts a light shell, and a pressure-resistant cabin, a buoyancy material and a structural member are arranged inside the light shell; a crawler-type travelling mechanism is arranged at the bottom of the middle section of the streamline aircraft main body; the underwater navigation power system has the following structure: the aerodynamic aerocraft comprises a front vertical duct propeller, a front horizontal duct propeller, a rear vertical duct propeller, a rear horizontal duct propeller and a main propeller, wherein the front vertical duct propeller and the front horizontal duct propeller are arranged at the front part of a streamlined aerocraft body; the tail wing structure is arranged at the tail part of the streamline aircraft main body and comprises a horizontal tail wing rudder and a vertical tail wing rudder. The underwater low-speed acquisition and fixed-point launching functions can be realized, and the underwater operation capability of the aircraft in an ice region can be effectively improved.
Description
Technical Field
The invention relates to the technical field of aircrafts, in particular to a crawler-type polar region amphibious unmanned aircraft.
Background
The unmanned vehicle (UUV) has the characteristics of low risk, strong task reconstruction capability, good concealment, low use cost and the like, and is one of important research directions of ocean development, Shanghai national defense and navy equipment of various countries.
Currently, the strategy for developing arctic and the plan for developing unmanned aircrafts in polar regions are proposed, mainly used for arctic environmental survey and providing guarantee for equipment development and military activities in polar regions.
The polar region amphibious unmanned aircraft can submerge underwater and advance on ice, can develop tasks such as information monitoring and reconnaissance, communication navigation relay and ice environment monitoring operation by having the cross-medium navigation capability, can effectively enhance the situation perception capability and the scientific and technological frontier existence in the arctic region, relieves the environmental data shortage in the polar region sea battlefield, and has important application requirements.
Disclosure of Invention
The crawler-type polar region amphibious unmanned aircraft has the advantages that the defects in the prior art are overcome, the operation capacity is greatly improved, functions of underwater low-speed acquisition, fixed-point launching and the like can be realized, and the underwater operation capacity of the aircraft in an ice region can be effectively improved.
The technical scheme adopted by the invention is as follows:
a crawler-type polar region amphibious unmanned aircraft comprises a streamline aircraft main body, a crawler-type traveling mechanism, an underwater navigation power system, an empennage structure, a power supply and a navigation control system;
the front part of the streamline aircraft main body is provided with a detection system, the middle part of the streamline aircraft main body adopts a light shell, a pressure-resistant cabin, a buoyancy material and a structural member are arranged inside the light shell, and the surface of the light shell is provided with a plurality of spaced water permeable holes;
a crawler-type travelling mechanism is arranged at the bottom of the middle section of the streamline aircraft main body;
the underwater navigation power system has the structure that: the aerodynamic aerocraft comprises a front vertical duct propeller, a front horizontal duct propeller, a rear vertical duct propeller, a rear horizontal duct propeller and a main propeller, wherein the front vertical duct propeller and the front horizontal duct propeller are arranged at the front part of a streamlined aerocraft body;
the tail wing structure is arranged at the tail part of the streamline aircraft main body and comprises a horizontal tail wing rudder and a vertical tail wing rudder.
The further technical scheme is as follows:
the crawler-type advancing mechanism is structurally characterized in that: the aerodynamic aerocraft comprises a chassis, tracks, driving wheels, bearing wheels, guide wheels and a speed reduction motor, wherein the chassis is fixed to the bottom of the middle section of a main body of the aerodynamic aerocraft, the tracks are arranged at intervals at the bottom of the chassis, the tracks are driven by the driving wheels, supporting plates are respectively arranged on two sides of each track, two ends of each supporting plate are connected with a central shaft of the corresponding driving wheel through pin shafts, and the speed reduction motor is arranged on the inner side of each supporting plate.
The front vertical duct propeller comprises a duct which is vertically arranged, and a propeller is installed in the duct.
The two horizontal tail fins are symmetrically distributed at the tail part of the streamline aircraft body.
The invention has the following beneficial effects:
the combined power propulsion scheme combining the crawler belt advancing mechanism and the underwater navigation power system is adopted, the integrated design is integrated, the ice surface advancing function and the underwater navigation function are integrated, and the cross-medium navigation ensures the capability of the aircraft in developing multi-mode tasks such as information monitoring reconnaissance, communication navigation relay, ice environment monitoring operation and the like in the polar region environment. In addition, the propellers are arranged and controlled in a vector mode in space, functions of underwater low-speed acquisition, fixed-point launching and the like can be achieved, and underwater operation capacity of an ice area of the aircraft can be effectively improved.
Drawings
Fig. 1 is a perspective view of the present invention.
Fig. 2 is a schematic top view of the present invention.
Fig. 3 is a schematic front view of the present invention.
Fig. 4 is an internal structural view of the present invention.
Fig. 5 is a schematic view of the structure of the crawler type traveling mechanism of the present invention.
Fig. 6 is a schematic structural view of the track train transmission of the present invention.
FIG. 7 is a schematic diagram of the movement of the ice-making process of the present invention.
FIG. 8 is a schematic diagram showing the variation of the moving speed in the ice-making process according to the present invention.
Wherein:
1. a streamlined craft body;
11. a detection system; 12. a lightweight outer shell; 13. water permeable holes;
2. a crawler travel mechanism;
21. a chassis; 22. a crawler belt; 23. a drive wheel; 24. a reduction motor; 25. a support plate;
3. a front vertical duct propeller;
31. a duct; 32. a propeller;
4. a front horizontal duct propeller;
5. a rear vertical duct propeller;
6. a rear horizontal duct propeller;
7. a main thruster;
8. a horizontal tail vane;
9. vertical tail wing rudder.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings.
As shown in fig. 1-8, the crawler-type polar region amphibious unmanned aircraft of the embodiment includes a streamlined aircraft body 1, a crawler-type traveling mechanism 2, an underwater navigation power system, a tail wing structure, a power supply and a navigation control system;
the front part of the streamline aircraft main body 1 is provided with a detection system 11, the middle part adopts a light shell 12, a pressure-resistant cabin, a buoyancy material and a structural member are arranged inside the light shell 12, and the surface of the light shell 12 is provided with a plurality of spaced water permeable holes 13;
a crawler-type travelling mechanism 2 is arranged at the bottom of the middle section of the streamline aircraft main body 1;
the underwater navigation power system has the following structure: the aerodynamic aerocraft comprises a front vertical duct propeller 3 and a front horizontal duct propeller 4 which are arranged at the front part of the aerodynamic aerocraft body 1, and a rear vertical duct propeller 5, a rear horizontal duct propeller 6 and a main propeller 7 which are arranged at the rear part and the tail part of the aerodynamic aerocraft body 1;
the tail wing structure is arranged at the tail part of the streamline aircraft main body 1 and comprises a horizontal tail wing rudder 8 and a vertical tail wing rudder 9;
the crawler travel mechanism 2 has the structure that: the aerodynamic body comprises a chassis 21, tracks 22, driving wheels 23, bearing wheels, inducer wheels and speed reducing motors 24, wherein the chassis 21 is fixed with the bottom of the middle section of the aerodynamic body 1, the tracks 22 are arranged at intervals at the bottom of the chassis 21, the tracks 22 are driven by the driving wheels 23, supporting plates 25 are respectively arranged on two sides of each track 22, two ends of each supporting plate 25 are connected with a central shaft of the corresponding driving wheel 23 through pin shafts, and the speed reducing motors 24 are arranged on the inner sides of the supporting plates 25.
The front vertical duct propeller 3 comprises a duct 31 which is vertically arranged, and a propeller 32 is arranged in the duct 31.
Two horizontal tail wing rudders 8 are symmetrically distributed at the tail part of the streamline aircraft body 1.
The specific structure and function of the invention are as follows:
the aerodynamic aerocraft comprises a streamlined aerocraft body 1, a crawler type advancing mechanism 2, an underwater navigation power system, an empennage structure, a power supply and a navigation control system.
The detection system 11 is arranged at the front part of the streamline navigation device main body 1, the pressure-resistant cabin, the buoyancy material, the structural part and the like are enveloped by the light shell 12, the surface of the light shell 12 is provided with water permeable holes 13, and the bottom of the middle section of the streamline navigation device main body 1 is connected with the crawler type advancing mechanism 2 and is ensured to have a certain approach angle and a certain departure angle.
The crawler travel mechanism 2 includes a chassis 21, a crawler 22, a driving wheel 23, a bearing wheel, a guide wheel, a speed reduction motor 24, and an executing and driving system.
The underwater navigation power system comprises a front vertical duct propeller 3, a front horizontal duct propeller 4, a rear vertical duct propeller 5, a rear horizontal duct propeller 6 and a main propeller 7 which are arranged on the streamlined aircraft body 1, wherein the main propeller 7 is connected with the tail part of the streamlined aircraft body 1;
the front vertical duct thruster 3 comprises a vertical duct 31 and a propeller 32 arranged inside the duct 31.
The empennage structure comprises a horizontal empennage rudder 8 and a vertical empennage rudder 9, the control rudder consists of a steering engine, a rudder and a rotating shaft, the rotating shaft is vertically arranged at the front position of the rudder and is fixedly connected with the rudder, and one end of the rotating shaft is rotatably connected with the steering engine.
Wherein, power and navigation control system all give crawler-type advancing mechanism 2, underwater navigation driving system with the steering wheel of control rudder in the fin structure, realize the control and the signal transmission to each system through the procedure of writing into and compiling.
The main motion modes of the crawler-type polar region amphibious unmanned aircraft comprise ice surface traveling, ice feeding, diving and underwater autonomous navigation, and the motion control method comprises the following steps:
firstly, ice surface traveling:
the aircraft is powered by the crawler type advancing mechanism 2, the speed reducing motor 24 in the crawler type advancing mechanism 2 is driven to rotate through the Arduino plate and the motor driving plate, and the aircraft can complete advancing, retreating, steering and other actions on the ice surface by controlling the rotating direction and the rotating speed.
(II) ice-making and diving:
when the aircraft moves on ice, the front vertical duct propeller 3 and the rear vertical duct propeller 5 are driven by the Arduino control panel, so that the aircraft floats upwards to a position close to the water surface. The main propeller 7 rotates in an accelerated mode, the front vertical culvert propeller 3 and the rear vertical culvert propeller 5 rotate positively and reversely, so that the aircraft makes oblique water outlet motion, the speed reducing motor 24 of the crawler type advancing mechanism 2 starts to rotate after contacting the ice surface, and the aircraft finally advances on the ice surface in a mode of being driven by the crawler belt 22. During diving movement, the aircraft is propelled to a water environment by the crawler type advancing mechanism 2, water enters the light shell 12 through the water permeable holes 13, the aircraft enters a near-zero buoyancy state, and the front vertical duct propeller 3 and the rear vertical duct propeller 5 start to work to finish diving and floating movement of the aircraft.
(III) autonomous underwater navigation:
when the underwater autonomous navigation is carried out, the crawler type advancing mechanism 2 stops working, the main propeller 7, the front vertical duct propeller 3, the front horizontal duct propeller 4, the rear vertical duct propeller 5 and the rear horizontal duct propeller 6 which are arranged in a vector mode in space are driven through the Arduino control board, control of the angle of a control rudder in the empennage structure is combined, the underwater advancing and retreating, transverse moving, heaving, pitching and other floating motions of the aircraft are achieved, and the accurate adjustment of the underwater position and direction of the aircraft is guaranteed.
The above description is intended to be illustrative and not restrictive, and the scope of the invention is defined by the appended claims, which may be modified in any manner within the scope of the invention.
Claims (4)
1. A crawler-type polar region amphibious unmanned aircraft is characterized in that: the aerodynamic aerocraft comprises a streamlined aerocraft body (1), a crawler type advancing mechanism (2), an underwater navigation power system, an empennage structure, a power supply and a navigation control system;
the front part of the streamline aircraft main body (1) is provided with a detection system (11), the middle part adopts a light shell (12), a pressure-resistant cabin, a buoyancy material and a structural member are arranged inside the light shell (12), and the surface of the light shell (12) is provided with a plurality of spaced water permeable holes (13);
a crawler-type travelling mechanism (2) is arranged at the bottom of the middle section of the streamline aircraft main body (1); the underwater navigation power system has the structure that: the aerodynamic aerocraft comprises a front vertical duct propeller (3) and a front horizontal duct propeller (4) which are arranged at the front part of a streamlined aerocraft body (1), and a rear vertical duct propeller (5), a rear horizontal duct propeller (6) and a main propeller (7) which are arranged at the rear part and the tail part of the streamlined aerocraft body (1);
the tail wing structure is arranged at the tail part of the streamline aircraft main body (1) and comprises a horizontal tail wing rudder (8) and a vertical tail wing rudder (9).
2. The crawler-type polar region amphibious unmanned aerial vehicle of claim 1, wherein: the crawler type travelling mechanism (2) is structurally characterized in that: the aerodynamic body comprises a chassis (21), a track (22), a driving wheel (23), bearing wheels, an inducer, a speed reduction motor (24), wherein the chassis (21) is fixed to the bottom of the middle section of the aerodynamic body (1), the bottom of the chassis (21) is provided with the spaced track (22), the track (22) is driven by the driving wheel (23), supporting plates (25) are respectively installed on two sides of the track (22), two ends of each supporting plate (25) are connected with the center shaft of the corresponding driving wheel (23) through pin shafts, and the speed reduction motor (24) is installed on the inner side of each supporting plate (25).
3. The crawler-type polar region amphibious unmanned aerial vehicle of claim 1, wherein: the front vertical duct propeller (3) comprises a duct (31) which is vertically arranged, and a propeller (32) is installed in the duct (31).
4. The crawler-type polar region amphibious unmanned aerial vehicle of claim 1, wherein: the two horizontal tail wing rudders (8) are symmetrically distributed at the tail part of the streamline aircraft main body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111405080.5A CN113928066A (en) | 2021-11-24 | 2021-11-24 | Crawler-type polar region amphibious unmanned aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111405080.5A CN113928066A (en) | 2021-11-24 | 2021-11-24 | Crawler-type polar region amphibious unmanned aircraft |
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| Publication Number | Publication Date |
|---|---|
| CN113928066A true CN113928066A (en) | 2022-01-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111405080.5A Pending CN113928066A (en) | 2021-11-24 | 2021-11-24 | Crawler-type polar region amphibious unmanned aircraft |
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| CN (1) | CN113928066A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114475111A (en) * | 2022-01-17 | 2022-05-13 | 哈尔滨工程大学 | Submarine land amphibious robot |
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| WO2016058240A1 (en) * | 2014-10-16 | 2016-04-21 | 张立明 | River and lake walking device |
| CN106828838A (en) * | 2017-01-24 | 2017-06-13 | 哈尔滨工程大学 | A kind of portable streamlined remote underwater robot |
| CN110614888A (en) * | 2019-06-26 | 2019-12-27 | 天津市环境保护科学研究院 | Amphibious sampling monitoring boat |
| CN111319734A (en) * | 2020-04-15 | 2020-06-23 | 浙江大学 | Modularized reconfigurable underwater robot |
| SE1950380A1 (en) * | 2019-03-28 | 2020-09-29 | Bae Systems Haegglunds Ab | Swim arrangement for amphibious tracked vehicle |
| CN213167610U (en) * | 2020-10-21 | 2021-05-11 | 陈晨 | Amphibious robot with layered layout of crawler belts and paddles |
| CN213167611U (en) * | 2020-10-21 | 2021-05-11 | 陈晨 | Integrated amphibious robot |
| CN112977773A (en) * | 2021-03-02 | 2021-06-18 | 西北工业大学 | Unmanned autonomous underwater vehicle capable of generating power by utilizing tidal current energy |
| CN214493131U (en) * | 2021-04-23 | 2021-10-26 | 深圳斑斓海洋科技有限公司 | Underwater magnetic adsorption crawler-type inspection robot |
-
2021
- 2021-11-24 CN CN202111405080.5A patent/CN113928066A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102267350A (en) * | 2011-06-09 | 2011-12-07 | 山西潞安环保能源开发股份有限公司 | Unmanned amphibious reconnaissance submarine |
| WO2016058240A1 (en) * | 2014-10-16 | 2016-04-21 | 张立明 | River and lake walking device |
| CN106828838A (en) * | 2017-01-24 | 2017-06-13 | 哈尔滨工程大学 | A kind of portable streamlined remote underwater robot |
| SE1950380A1 (en) * | 2019-03-28 | 2020-09-29 | Bae Systems Haegglunds Ab | Swim arrangement for amphibious tracked vehicle |
| CN110614888A (en) * | 2019-06-26 | 2019-12-27 | 天津市环境保护科学研究院 | Amphibious sampling monitoring boat |
| CN111319734A (en) * | 2020-04-15 | 2020-06-23 | 浙江大学 | Modularized reconfigurable underwater robot |
| CN213167610U (en) * | 2020-10-21 | 2021-05-11 | 陈晨 | Amphibious robot with layered layout of crawler belts and paddles |
| CN213167611U (en) * | 2020-10-21 | 2021-05-11 | 陈晨 | Integrated amphibious robot |
| CN112977773A (en) * | 2021-03-02 | 2021-06-18 | 西北工业大学 | Unmanned autonomous underwater vehicle capable of generating power by utilizing tidal current energy |
| CN214493131U (en) * | 2021-04-23 | 2021-10-26 | 深圳斑斓海洋科技有限公司 | Underwater magnetic adsorption crawler-type inspection robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114475111A (en) * | 2022-01-17 | 2022-05-13 | 哈尔滨工程大学 | Submarine land amphibious robot |
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Application publication date: 20220114 |