CN114379776B - Cross-medium unmanned aerial vehicle device - Google Patents
Cross-medium unmanned aerial vehicle device Download PDFInfo
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- CN114379776B CN114379776B CN202210077020.3A CN202210077020A CN114379776B CN 114379776 B CN114379776 B CN 114379776B CN 202210077020 A CN202210077020 A CN 202210077020A CN 114379776 B CN114379776 B CN 114379776B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/32—Rotors
- B64C27/46—Blades
- B64C27/473—Constructional features
- B64C27/50—Blades foldable to facilitate stowage of aircraft
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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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Abstract
The invention discloses a cross-medium unmanned aerial vehicle device, which relates to the technical field of cross-medium unmanned aerial vehicles and can comprise: the rotor wing is arranged on the second half shell through a folding device, and the folding device can drive the rotor wing to open outwards or fold on the second half shell; a shell driving mechanism is arranged between the first half shell and the second half shell, and can drive the first half shell and the second half shell to be separated when the rotor wing needs to be opened; and after the rotor wing is folded, driving the first half shell and the second half shell to be in butt joint. The invention solves the problems that the fixed wing unmanned aerial vehicle is difficult to control and has poor maneuverability after water is discharged, and the posture of the unmanned aerial vehicle is not required to be adjusted before and after water is discharged.
Description
Technical Field
The invention relates to the technical field of cross-medium unmanned aerial vehicles, in particular to a cross-medium unmanned aerial vehicle device.
Background
In recent years, the development of aircrafts and submarines is rapid, the flying performance of various aircrafts in the air is more and more excellent and perfect, and submarines are also continuously developed and advanced in the diving performance. However, the two machines can only navigate in a single medium, so in order to combine the aerial flight capacity of the aircraft and the submarine diving navigation capacity, a new concept unmanned aerial vehicle crossing over water and air, namely, a unmanned aerial vehicle crossing over water and air and over water is created. The water-air-crossing two-medium unmanned aerial vehicle is a combination of a submarine and an aircraft, can fly in the air like the aircraft, has better maneuverability and wide visual field, can also dive in the water like the submarine, and has good hiding capacity and underwater operation capacity.
In the aspect of military application, the water-air crossing two-medium unmanned aerial vehicle comprehensively utilizes the reconnaissance, burst prevention and attack capability of the aircraft and the submarine, and can obtain more comprehensive enemy information with wide range under water, on water surface and in air by utilizing the characteristics of the crossing medium; the air flight capacity of the airplane is utilized, so that the situation of a battlefield can be mastered quickly, and the battlefield has a wider visual angle and quick burst prevention and striking capacity; the submarine diving capability is utilized to realize underwater hiding, target detection and capability of hiding the enemy hit. When the cross-medium unmanned plane dives, the positions of enemy warships or submarines can be observed, so that a series of important pre-war tasks such as coastal protection, breakthrough blocking, reconnaissance, special army action masking and the like can be performed; the main attack object is preferably a transport ship or a commercial ship of the enemy, and the water medium shield can be utilized to carry out hidden activities and implement abrupt attack on the enemy; the power system has larger self-power, endurance and operational radius, can be far away from a base, and can independently operate in a longer time and a larger ocean area to go deep into an enemy sea area, thereby having stronger assault power. When flying from the water cross medium to the air, the cross medium unmanned aerial vehicle can carry devices such as explosives, missiles, torpedoes and the like to attack the offshore and onshore targets, and the cross medium unmanned aerial vehicle can greatly improve the comprehensive combat capability of modern naval force.
In civil application, the cross-medium unmanned aerial vehicle has great economic benefit and practical application significance. The unmanned aerial vehicle crossing water and air two mediums can be used for detecting various natural disaster conditions such as fire disaster, flood disaster, marine perils and the like in the air like an unmanned aerial vehicle, and can also be used for realizing a series of tasks such as water quality monitoring, ocean scientific research, rescuing property, exploration and exploitation, scientific detection, maintenance equipment, search and rescue, submarine cable maintenance, underwater travel sightseeing, academic investigation and the like an underwater detector or a submarine. Only one cross-medium unmanned aerial vehicle can realize functions and tasks which are multi-medium, multi-aspect and can be realized by a plurality of devices at present, thereby greatly improving the working efficiency, saving the production cost of various devices and realizing 'one-machine-multi-use'.
In order to develop the above-mentioned cross-medium unmanned plane, various design methods are proposed by many people, teams and institutions at present, including a 'cormor' submerged unmanned plane in the United states, a 'seasearcher' unmanned plane in the United states, an 'XFC submerged unmanned plane' developed by the navy research laboratory in the United kingdom, a paddle-type propulsion simulated bonito amphibious unmanned plane 'AquaMav' developed by Siddall et al in the national institute of technology using bionic animal design, a 'Eagle Ray' developed by the university of North Carolina state and Telitan science and imaging company, a simulated bonito water-air amphibious cross-medium unmanned plane developed by the university of Beijing aviation, a cross-medium navigation with shape changed by folding a missile wing upwards twice, and the like are proposed by the university of air force engineering Liao Baoquan, feng Jinfu et al.
The basic scheme of the medium-crossing unmanned aerial vehicle is as follows: when water is added, the wing is folded through the variant structure and then is pushed down to water; when water is discharged, the unmanned aerial vehicle is firstly enabled to float out of the water surface by changing the density of the unmanned aerial vehicle, then the posture is adjusted, the water is emitted by the power of the unmanned aerial vehicle or the carrier, and in the taking-off process, the unmanned aerial vehicle is converted into fixed wing to fly through a variant structure (shown in figures 1-3).
The existing cross-medium unmanned plane is capable of penetrating into water by diving the folding wing, and when the water is discharged, the existing cross-medium unmanned plane depends on a self-power device (such as a water pump and a chemical reaction device) or a carrier (an ejection device, a torpedo launcher or a small rocket booster), and the complete cross-medium process can be completed, but the designs have some common defects: 1) The folding device has high structural damage caused by high-altitude water entering in the water entering process; 2) The cross-medium unmanned aerial vehicle is a single cross-medium unmanned aerial vehicle, and can be used only by adjusting again after being transmitted once; 3) When the water is converted into a fixed wing flying state after water is discharged, the control requirement is higher, and the control difficulty is high.
Therefore, a novel cross-medium unmanned aerial vehicle device is provided, so that the problems in the prior art are solved.
Disclosure of Invention
The invention aims to provide a cross-medium unmanned aerial vehicle device, which solves the problems that a fixed wing unmanned aerial vehicle is difficult to control and has poor maneuverability after water is discharged, and the posture of the unmanned aerial vehicle does not need to be adjusted before and after water is discharged.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides a cross-medium unmanned aerial vehicle device, comprising: the rotor wing is arranged on the second half shell through a folding device, and the folding device can drive the rotor wing to open outwards or fold on the second half shell; a shell driving mechanism is arranged between the first half shell and the second half shell, and can drive the first half shell and the second half shell to be separated when the rotor wing needs to be opened; and after the rotor wing is folded, driving the first half shell and the second half shell to be in butt joint.
Preferably, the first half shell and the second half shell are hemispherical shells, and the first half shell and the second half shell can form a sealed spherical main shell.
Preferably, the first half shell is provided with a containing cavity, and the containing cavity can contain the rotor after being folded.
Preferably, the folding device adopts a rotating arm, a first end of the rotating arm is hinged with the second half shell, a rotor rotating disc is rotatably installed on a second end of the rotating arm, and the rotor is installed on the rotor rotating disc.
Preferably, the rotor comprises a plurality of rotor blades, and the rotor blades are rotationally connected with the rotor rotating disc through blade rotating shafts.
Preferably, the rotating arm, the rotor rotating disc and the rotor blades are all connected with a power system, and the power system adopts a hydraulic system or an electric transmission system.
Preferably, the rotor is provided with four, four the rotor is along circumference equipartition, the rotor arm with the rotor rotary disk all corresponds and is provided with four, four the rotor arm is in the rotation direction unanimity when opening and drawing in, is the diagonal distribution two the rotation direction of rotor rotary disk is unanimous.
Preferably, a water storage cabin is arranged in the first half shell and/or the second half shell, and a water outlet and a water inlet are arranged on the water storage cabin.
Preferably, the main shell is provided with a power transmitting device, and the power transmitting device can push the main shell to discharge water.
Preferably, the housing driving mechanism adopts a telescopic device, and the telescopic device can drive the first half housing to extend or retract.
Compared with the prior art, the invention has the following beneficial technical effects:
1) The invention adopts the rotor wing structure, forms the rotor wing unmanned aerial vehicle, opens the rotor wing after water is discharged, solves the problems that the fixed-wing unmanned aerial vehicle is difficult to control and has poor maneuverability after water is discharged, and does not need to adjust the posture of the unmanned aerial vehicle before and after water is discharged;
2) The invention can be matched with a submarine, a warship, an aircraft carrier or a carrier provided with any launching device, and can really realize the aim of multi-time medium crossing of the unmanned aerial vehicle;
3) The rotor wing is covered by the outer shell when water is fed in and discharged out, and the rotor wing has a certain protection effect on the internal structure, so that the problems of material strength and structural loss are solved.
Compared with the prior art, other technical schemes in the specification of the invention also have the following beneficial technical effects:
1) The main shell of the invention can adopt a spherical shape and a shell type emission mode, so that the unmanned aerial vehicle can easily finish a medium crossing process;
2) According to the invention, the hydraulic system or the telex system is used for accurately rotating and controlling, so that the rotor unmanned aerial vehicle is further ensured to have excellent maneuverability and controllability.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a prior art transversely folded wing;
FIG. 2 is a schematic structural view of a prior art swept wing;
FIG. 3 is a schematic structural diagram of a bionic ornithopter in the prior art;
FIG. 4 is an initial state diagram of the cross-medium drone of the present invention;
FIG. 5 is a view showing the state of the first half shell after water is emitted and the first half shell is extended outwards;
FIG. 6 is a state diagram of the present invention when the rotating arm is opened;
FIG. 7 is a state diagram (flight state) of the quad-rotor drone of the present invention after the rotor blades are open;
FIG. 8 is a front view of the initial state of the present invention;
FIG. 9 is a side view of the initial state of the invention;
FIG. 10 is a top view of the initial state of the present invention;
figure 11 is a front view of the state of the quad-rotor drone of the present invention;
figure 12 is a side view of the state of the four-rotor drone of the present invention;
figure 13 is a top view of the state of the quad-rotor drone of the present invention;
the rotor comprises a rotor blade 1, a blade rotating shaft 2, a first half shell 3, a rotating arm 4, a rotor rotating disc 5 and a second half shell 6.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a cross-medium unmanned aerial vehicle device, which solves the problems that a fixed wing unmanned aerial vehicle is difficult to control and has poor maneuverability after water is discharged, and the posture of the unmanned aerial vehicle does not need to be adjusted before and after water is discharged.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Example 1
As shown in fig. 4 to 13, the present embodiment provides a cross-medium unmanned aerial vehicle device, including: the rotor wing is arranged on the second half shell 6 through a folding device, and the folding device can drive the rotor wing to open or close to the second half shell 6; a shell driving mechanism is arranged between the first half shell 3 and the second half shell 6, and can drive the first half shell 3 and the second half shell 6 to be separated when the rotor wing needs to be opened; after the rotor is folded, the first half-shell 3 and the second half-shell 6 are driven to be butted.
In this embodiment, the first half-shell 3 and the second half-shell 6 are hemispherical shells, and the first half-shell 3 and the second half-shell 6 can form a sealed spherical main shell; or other shapes such as ellipse and the like can be selected according to the working requirement; the first half shell 3 is provided with a containing cavity which can contain the folded rotor wing. When the cross-medium unmanned aerial vehicle device prepares to discharge water, the cross-medium unmanned aerial vehicle device is in a sealed sphere shape, and like a shell, the cross-medium unmanned aerial vehicle device can directly emit water by a submarine, a warship, an aircraft carrier or any emission device.
In this embodiment, the folding device may adopt a rotating arm 4, a first end of the rotating arm 4 is hinged with the second half-shell 6, and a second end of the rotating arm 4 is provided with a rotor; specifically, a rotor rotating disc 5 is rotatably mounted on the second end of the rotating arm 4, and a rotor is mounted on the rotor rotating disc 5.
In this embodiment, the rotor rotating disc 5 is provided with a blade rotating shaft 2, and the rotor comprises a plurality of rotor blades 1, preferably two rotor blades 1, and both rotor blades 1 are rotationally connected with the rotor rotating disc 5 through one blade rotating shaft 2.
In the embodiment, the rotating arm 4, the rotor rotating disc 5 and the rotor blades 1 are all connected with a power system, and the rotor blades are driven to move by the power system; wherein, the power system adopts a hydraulic system or a fly-by-wire system, etc. Specifically, the hydraulic system may include hydraulic components such as a hydraulic pump and a hydraulic cylinder, and is connected to the rotating arm 4, the rotor rotating disc 5, the rotor blades 1, and the like, so as to realize hydraulic driving; the electric transmission system can comprise a driving motor, a speed reducer, a gear and other transmission mechanisms, so that electric driving is realized.
In this embodiment, the rotor is provided with four, four rotors are evenly distributed along circumference, and rotor arm 4 and rotor rotary disk 5 all correspond and are provided with four, are the rotation direction of two rotor rotary disks 5 that the diagonal distributes unanimous.
In this embodiment, the housing driving mechanism may employ a telescopic device, which can drive the first half housing 3 to extend or retract; in particular, the telescoping device may employ a cylinder, telescoping rod, or other piston type structure.
In the embodiment, after the cross-medium unmanned aerial vehicle device emits water to a certain height, the unmanned aerial vehicle utilizes the principle of a piston structure, the first half shell 3 stretches upwards (can be precisely controlled by a hydraulic system or an electric transmission system), the four rotating arms 4 rotate outwards to open in the same direction (clockwise or anticlockwise), then the two rotor blades 1 on the same rotating arm 4 rotate reversely for 90 degrees around the blade rotating shaft 2 to open, and at the moment, the cross-medium unmanned aerial vehicle device is converted into a four-rotor unmanned aerial vehicle; for some of the existing cross-medium unmanned aerial vehicles adopt a fixed wing flight mode, the rotor unmanned aerial vehicle is easier to control and more flexible, and the four rotating arms 4 and the rotor blades 1 are accurately and rotationally controlled through a hydraulic system or an electric transmission system, so that the four-rotor unmanned aerial vehicle is further guaranteed to have excellent maneuverability and controllability.
When the cross-medium unmanned aerial vehicle device is ready to enter water in the embodiment, the rotor blades 1 stop rotating completely, the four rotating arms 4 rotate inwards and are folded to the original state, and the first half shell 3 slides downwards. At this time, the whole cross-medium unmanned aerial vehicle device package is spherical, then freely falls to accomplish into water. In the embodiment, the cross-medium unmanned aerial vehicle device can vertically float on the water surface after entering water or can be submerged into water by absorbing water through the water storage cabin, and the cross-medium unmanned aerial vehicle device waits to be retracted by a ship or a submarine, so that the circulation of entering water and exiting water is completed.
After recovery is completed, the cross-medium unmanned aerial vehicle device can emit water again, so that the aim of multi-time cross-medium of the unmanned aerial vehicle can be fulfilled.
Example two
This embodiment is an improvement over the first embodiment in that: a water storage cabin is arranged in the first half shell 3 and/or the second half shell 6, and a water outlet and a water inlet are arranged on the water storage cabin, wherein the water outlet and the water inlet can share the same opening.
In this embodiment, the main housing may be provided with a power transmitting device, which is capable of pushing the main housing to discharge water; the power emitting device can be selected from the prior art according to the requirement, such as a water pump, a chemical reaction device and the like.
The cross-medium unmanned aerial vehicle device in the embodiment can be released by a submarine, and can vertically float on the water surface like a fishing tool buoy by a water storage cabin (the density of the water storage cabin is changed by water drainage, the water is floated on the water surface), then the water is emitted by a self-power emitting device, and after entering the water, the water can be absorbed by the water storage cabin to enable the water storage cabin to submerge, and the water storage cabin is waited to be retracted by the ship or the submarine.
The cross-medium unmanned aerial vehicle device of the invention combines the variant structure with the four-rotor unmanned aerial vehicle skillfully, effectively achieves the purpose of cross-medium, and has high innovation and feasibility; when water is discharged, the four non-rotating arms and the rotor blades are launched like shells, the four non-rotating arms and the rotor blades are precisely controlled in a rotating mode through a hydraulic system or a fly-by-wire system, and the four-rotor unmanned aerial vehicle has excellent maneuverability and controllability; in the water inlet and outlet processes, the vertical state can be kept all the time, so that the preparation work before water inlet and water outlet is simpler, the angle and the gesture of the unmanned aerial vehicle do not need to be regulated, water outlet is directly launched like a shell, and the water inlet and water outlet is easier to realize; in the process of crossing water-air medium and the process of crossing air-water medium, the invention is always in the state of the sealing sphere wrapped by the shell, the appearance reduces resistance in the process of crossing medium, simultaneously protects the structure of the unmanned aerial vehicle to a certain extent, and solves the problems of material strength and rigidity.
The cross-medium unmanned aerial vehicle device can be applied to military aspects and civil aspects; in the military application aspect, the cross-medium unmanned plane is matched with a warship, an aircraft carrier and the like, and the reconnaissance, burst prevention and attack capability of the aircraft and the submarine are comprehensively utilized. In the aspect of civil application, the cross-medium unmanned aerial vehicle and the ship are mutually matched, the application of three dimensions of sea, land and air is realized, and only one cross-medium unmanned aerial vehicle can realize functions and tasks which can be realized only by a plurality of devices at present, so that the working efficiency is greatly improved, the production cost of various devices is saved, and the multi-purpose of one machine is realized.
The invention relates to a cross-medium unmanned aerial vehicle device which is more applied as follows:
military application: the reconnaissance and the burst prevention are used for mastering the situation of a battlefield, and the reconnaissance and burst prevention device has wide visual angle, rapid striking capability, latency, target detection, capability of concealing the capability of striking enemies, can carry devices such as explosives, missiles, torpedoes and the like, can observe the positions of enemy warships or submarines, is close to shore protection, breaks through blocking, and masks special army actions and the like;
civil use aspect: detecting various natural disaster conditions such as fire disaster, flood disaster, marine perils and the like, water quality monitoring, marine scientific research, rescuing property, exploration and exploitation, scientific detection, maintenance equipment, search and rescue, submarine cable maintenance, underwater tour sightseeing, academic investigation and the like.
It should be noted that it will be apparent to those skilled in the art that the present invention is not limited to the details of the above-described exemplary embodiments, but may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
The principles and embodiments of the present invention have been described in detail with reference to specific examples, which are provided to facilitate understanding of the method and core ideas of the present invention; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (7)
1. A cross-media unmanned aerial vehicle device, characterized in that: comprising the following steps: the rotor wing is arranged on the second half shell through a folding device, and the folding device can drive the rotor wing to open outwards or fold on the second half shell; a shell driving mechanism is arranged between the first half shell and the second half shell, and can drive the first half shell and the second half shell to be separated when the rotor wing needs to be opened; after the rotor wing is folded, driving the first half shell and the second half shell to be in butt joint;
the first half shell is provided with a containing cavity which can contain the folded rotor wing; the folding device adopts a rotating arm, a first end of the rotating arm is hinged with the second half shell, a rotor rotating disc is rotatably arranged at a second end of the rotating arm, and the rotor is arranged on the rotor rotating disc; the rotor comprises a plurality of rotor blades, and the rotor blades are rotationally connected with the rotor rotating disc through blade rotating shafts.
2. The cross-medium unmanned aerial vehicle device of claim 1, wherein: the first half shell and the second half shell are hemispherical shells, and the first half shell and the second half shell can form a spherical main shell.
3. The cross-medium unmanned aerial vehicle device of claim 1, wherein: the rotating arm, the rotor rotating disc and the rotor blades are all connected with a power system, and the power system adopts a hydraulic system or an electric transmission system.
4. The cross-medium unmanned aerial vehicle device of claim 1, wherein: the rotor is provided with four, four the rotor is along circumference equipartition, the rotor arm with the rotor rotary disk all corresponds and is provided with four, four the rotor arm is when opening and drawing in the rotation direction unanimous, is two that the diagonal distributes the rotation direction of rotor rotary disk is unanimous.
5. The cross-medium unmanned aerial vehicle device of claim 1, wherein: the first half shell and/or the second half shell are/is internally provided with a water storage cabin, and the water storage cabin is provided with a water outlet and a water inlet.
6. The cross-medium unmanned aerial vehicle device of claim 5, wherein: the main shell is provided with a power transmitting device, and the power transmitting device can push the main shell to discharge water.
7. The cross-medium unmanned aerial vehicle device of claim 1, wherein: the shell driving mechanism adopts a telescopic device, and the telescopic device can drive the first half shell to extend or retract.
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| CN202210077020.3A CN114379776B (en) | 2022-01-24 | 2022-01-24 | Cross-medium unmanned aerial vehicle device |
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| CN114379776B true CN114379776B (en) | 2023-06-13 |
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| FR2959208B1 (en) * | 2010-04-22 | 2012-05-25 | Eurl Jmdtheque | GYROPENDULAR ENGINE WITH COMPENSATORY PROPULSION AND COLLIMATION OF MULTIMODAL MULTI-MEDIUM FLUID FLOWING GRADIENT WITH VERTICAL LANDING AND LANDING |
| KR102128678B1 (en) * | 2019-01-31 | 2020-07-01 | 부산대학교 산학협력단 | Unmanned aerial vehicle for rescue |
| CN113085462B (en) * | 2021-04-23 | 2023-06-13 | 南京航空航天大学 | Cross-medium unmanned aerial vehicle device and control method thereof |
| CN113320676B (en) * | 2021-06-03 | 2022-03-04 | 南京航空航天大学 | Cross-medium aircraft device and control method thereof |
| CN113753220B (en) * | 2021-07-06 | 2022-10-21 | 南京航空航天大学 | Water-air amphibious multi-rotor aircraft capable of being automatically folded and working method thereof |
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