CN114701307A

CN114701307A - Amphibious unmanned aerial vehicle of integral type

Info

Publication number: CN114701307A
Application number: CN202210249068.8A
Authority: CN
Inventors: 赵小川; 张少群; 董忆雪; 李陈; 洪天阁; 王兴权
Original assignee: China North Computer Application Technology Research Institute
Current assignee: China North Computer Application Technology Research Institute
Priority date: 2022-03-14
Filing date: 2022-03-14
Publication date: 2022-07-05

Abstract

The embodiment of the disclosure discloses an integrated amphibious unmanned aerial vehicle, which comprises a vehicle body and a running mechanism. The machine body main body comprises an upper main body and a lower main body, and the upper main body is positioned above the lower main body; the running gear includes a first running gear and a second running gear, the first running gear is located above the second running gear, the first running gear is connected with the upper main body, and the second running gear is connected with the lower main body. This is disclosed through creatively with the last main part of amphibious unmanned aerial vehicle fuselage and main part design down as a whole, and both cooperate each other, accomplish the support of travel mechanism jointly. The self-weight of the amphibious unmanned aerial vehicle body is reduced, the energy consumption of the body is reduced, and therefore the endurance time of the amphibious unmanned aerial vehicle is prolonged.

Description

Amphibious unmanned aerial vehicle of integral type

Technical Field

The invention relates to the field of unmanned aerial vehicle investigation, in particular to an integrated amphibious unmanned aerial vehicle.

Background

In the urban anti-terrorism investigation process, the unmanned aerial vehicle is required to enter the indoor rear wheel type crawling investigation in consideration of quiet inside buildings and serious shielding of electromagnetic signals inside the buildings. And because the number of high-rise buildings is large, the rapid high-rise search is difficult to realize only by using the wheel-type crawling detection equipment.

Therefore, there is a need for an air-ground amphibious unmanned reconnaissance apparatus that can operate in both flight and ground modes.

Disclosure of Invention

The invention aims to provide an integrated amphibious unmanned aerial vehicle.

According to one aspect of the invention, an integrated amphibious unmanned aerial vehicle is provided. This amphibious unmanned aerial vehicle of integral type includes:

the fuselage main body comprises an upper main body and a lower main body, and the upper main body is positioned above the lower main body;

and a running gear including a first running gear and a second running gear, the first running gear being located above the second running gear, the first running gear being connected to the upper body, the second running gear being connected to the lower body, and the first running gear being configured to perform a flying action, the second running gear being configured to perform a land action.

Optionally, the fuselage main part still includes the carbon fiber board, it includes first connecting piece, second connecting piece and power support to go up the main part, the main part includes the third connecting piece down, the carbon fiber board set up in go up in the main part, the carbon fiber board with first connecting piece screwed connection, the one end of second connecting piece with first connecting piece threaded connection, the other end of second connecting piece with power support threaded connection, first running mechanism set up in on the power support.

Optionally, the third connecting member is L-shaped, and the third connecting member is connected to the central shaft of the second travel mechanism.

Optionally, the first driving mechanism includes a propeller and a first power device, the first power device is disposed on the power support, the propeller is connected to an output shaft of the first power device, and the first power device is configured to drive the propeller to rotate.

Optionally, the propeller includes a plurality of detachable blades, the blades are movably connected with the output shaft of the first power device, the first travel mechanism includes a first state and a second state, the first state is that an included angle exists between the plurality of blades, and the second state is that the plurality of blades are overlapped.

Optionally, the second running gear includes decelerator, tire and second power device, the second power device with decelerator all with the center pin connection of tire, just the second power device with decelerator is located the third connecting piece is close to one side of fuselage main part, the tire is located the third connecting piece is kept away from one side of fuselage main part.

Optionally, the first power device and the second power device are brushless motors, and the speed reduction device is a planetary gear speed reducer.

Optionally, the number of the first power device and the number of the second power device are both 4, and at least 4 of the first power devices or 4 of the second power devices are arranged to form a square structure.

Optionally, the integrated amphibious unmanned aerial vehicle further comprises a sensor, a processor, a communicator and a power supply, wherein the sensor, the processor, the communicator and the power supply are all arranged in the body main body.

Optionally, the processor is electrically connected to the running gear, and the processor is configured to control the first running gear to perform a flying action or the second running gear to perform a land-based action according to a remote controller signal.

One technical effect of the disclosed embodiment is that the upper main body and the lower main body of the amphibious unmanned aerial vehicle body are designed into a whole creatively, and the upper main body and the lower main body are mutually matched to jointly complete the support of the running mechanism. The self-weight of the amphibious unmanned aerial vehicle body is reduced, the energy consumption of the body is reduced, and therefore the endurance time of the amphibious unmanned aerial vehicle is prolonged.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

Fig. 1 is a schematic structural diagram of an integrated amphibious unmanned aerial vehicle according to an embodiment of the present disclosure;

fig. 2 is another angle structure diagram of the integrated amphibious unmanned aerial vehicle according to the embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of a first travel mechanism of an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a second travel mechanism of the embodiment of the present disclosure.

Description of reference numerals:

1-an upper body; 2-a lower body; 3-a first running gear; 4-a second running gear; 5, a propeller; 6-blade; 7-a first power plant; 8-a power bracket; 9-a tire; 10-a reduction gear; 11-a second power plant; 12-a first connector; 13-a second connector; 14-third connecting member.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be considered a part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be discussed further in subsequent figures.

The invention provides an integrated amphibious unmanned aerial vehicle. Amphibious unmanned aerial vehicles are often used in military operations for target detection, target tracking, and the like, including amphibious unmanned aerial vehicles, air-ground amphibious unmanned aerial vehicles, and the like. Amphibious unmanned aerial vehicle can adapt to different environment and the operation under the different complex conditions, is widely used in military operation. The integrated amphibious unmanned aerial vehicle provided by the invention can perform investigation work in two environments of land and air.

As shown in fig. 1-2, the integrated amphibious unmanned aerial vehicle comprises a main body and a running mechanism. Wherein, the fuselage main part includes upper main part 1 and lower main part 2, and upper main part 1 is located lower main part 2 top.

With last main part 1 and lower main part 2 design of amphibious unmanned aerial vehicle fuselage as a whole in this embodiment, the structure and the intensity of these two main parts are mutually supported, accomplish the support to travel mechanism jointly. According to the integrated structure, the upper main body 1 and the lower main body 2 share part of the supporting structure, so that the self-weight of the amphibious unmanned aerial vehicle body is reduced, the energy consumption of the body is reduced, and the endurance time of the amphibious unmanned aerial vehicle is prolonged. The long working time can be maintained in the actual use, and the inconvenience caused by frequent charging to the actual operation is avoided.

The running gear includes a first running gear 3 and a second running gear 4, the first running gear 3 is located above the second running gear 4, the first running gear 3 is connected to the upper body 1, the second running gear 4 is connected to the lower body 2, and the first running gear 3 is configured to perform a flight action and the second running gear 4 is configured to perform a land action.

In the present embodiment, the first travel mechanism 3 is connected to the upper body 1, i.e., the upper body 1 supports the first travel mechanism 3. The second running gear 4 is connected to the lower body 2, i.e. the lower body 2 supports the second running gear 4. As can be seen from fig. 1 and 2, the upper body 1 and the lower body 2 supporting the first travel mechanism 3 and the second travel mechanism 4 in the present embodiment share a part of the support structure. The upper main body 1 and the lower main body 2 are designed into a whole through the sharing of the partial supporting structure, the structural dead weight of the amphibious unmanned aerial vehicle body is reduced, the structural energy consumption of the body is reduced, the endurance time of the amphibious unmanned aerial vehicle is prolonged, and the long working time can be maintained in the actual use.

In addition, the first travel mechanism 3 located above can perform a flight action according to the command, i.e. fly in the air; the second chassis 4 located below can perform a land movement on command, i.e. move on land.

Optionally, the fuselage main body further comprises a carbon fiber plate, the upper main body 1 comprises a first connecting piece 12, a second connecting piece 13 and a power support 8, the lower main body 2 comprises a third connecting piece 14, the carbon fiber plate is arranged on the upper main body 1 and is in screw connection with the first connecting piece 12, one end of the second connecting piece 13 is in threaded connection with the first connecting piece 12, the other end of the second connecting piece 13 is in threaded connection with the power support 8, and the first traveling mechanism 3 is arranged on the power support 8.

In this embodiment, preferred main part fixed plate is the light and high carbon fiber board of intensity of quality to reduce the structure power consumption of fuselage self, increase amphibious unmanned aerial vehicle's time of endurance.

The present embodiment connects the upper body 1 and the lower body 2 together by a carbon fiber plate. Specifically, the carbon fiber plate is provided with a screw hole, and the carbon fiber plate is fixed to the first connecting member 12 (the fixing portion is solid and has a thread engraved therein) by a screw. External threads are carved at two ends of the second connecting piece 13, internal threads are carved at one end of the first connecting piece 12 connected with the second connecting piece 13, and the first connecting piece 12 is matched and fastened with the second connecting piece 13 through the internal threads and the external threads. The power bracket 8 is also provided with an internal thread at one end connected with the second connecting piece 13, and the power bracket 8 is also in fastening connection with the second connecting piece 13 through the matching of the internal thread and the external thread. The upper main body 1 is connected through the threaded screws, so that the connection reliability of the supporting structure is ensured.

Alternatively, the third coupling member 14 is L-shaped, and the third coupling member 14 is connected to the central shaft of the second chassis 4.

In the present embodiment, the third link 14 (i.e., the lower body 2) is used to support the second travel mechanism 4. One end of the third connecting piece 14 is connected with the central shaft of the second running gear 4, and the other end of the third connecting piece 14 is fixed on the upper main body 1 through a carbon fiber plate. The third connector 14 may be of different shapes, such as L-shaped, etc., according to different practical designs of the amphibious unmanned aerial vehicle. The L-shaped structure disclosed by the embodiment makes full use of the space below the amphibious unmanned aerial vehicle, reduces the overall size of the amphibious unmanned aerial vehicle, makes the amphibious unmanned aerial vehicle more small and exquisite, and improves the use experience.

Preferably, the second link 13 and the third link 14 are made of a carbon fiber material having a light weight and a high strength, and the first link 12 and the power bracket 8 are made of a metal (e.g., aluminum). The carbon fiber material and the metal material are combined for use, so that the self weight of the amphibious unmanned aerial vehicle is reduced, the amphibious unmanned aerial vehicle is light, convenient and fast, and the energy consumption is reduced; on the other hand, enough supporting force can be provided for the running mechanism, and the stability and the safety of the whole machine body are improved.

Optionally, the first running gear 3 comprises a propeller 5 and a first power device 7, the first power device 7 is arranged on the power bracket 8, the propeller 5 is connected with an output shaft of the first power device 7, and the first power device 7 is used for driving the propeller 5 to rotate.

As shown in fig. 3, the first power unit 7 is fixed on the power bracket 8 by means of, but not limited to, screw fixation, clip installation, etc. The propeller 5 is arranged on an output shaft of the first power device 7, and the propeller 5 and the first power device 7 are movably connected to ensure that the propeller 5 can complete rotating action under the driving of the first power device 7. In practical application, after the amphibious unmanned aerial vehicle receives a flight instruction, the processor located inside the vehicle body controls the first traveling mechanism 3 to execute flight action, namely the first power device 7 is started and drives the propeller 5 to rotate.

The foldable propeller made of carbon fiber materials is preferably selected from the propeller 5, the propeller 5 can be folded when the amphibious unmanned aerial vehicle works on land, the overall dimension of the amphibious unmanned aerial vehicle is reduced, and the capacity of the amphibious unmanned aerial vehicle passing through obstacles is improved. Meanwhile, the carbon fiber is light in weight, so that the energy consumption of the amphibious unmanned aerial vehicle is reduced, and the flight duration of the amphibious unmanned aerial vehicle is prolonged.

Optionally, the propeller 5 includes a plurality of detachable blades 6, the blades 6 are movably connected with an output shaft of the first power device 7, the first traveling mechanism 3 includes a first state and a second state, the first state is that an included angle exists between the plurality of blades 6, and the second state is that the plurality of blades 6 are overlapped.

In this embodiment, the number of the blades 6 can be two, three or more according to the actual application. The blades 6 are detachable, and when the unmanned aerial vehicle is used, one of the blades 6 is damaged, so that the blades can be conveniently and timely replaced without replacing the whole propeller 5, and the maintenance cost of the amphibious unmanned aerial vehicle is saved. The blades 6 are movably connected with an output shaft of the first power device 7, and after the amphibious unmanned aerial vehicle receives a flight instruction, the processor located inside the machine body can start the first power device 7 and drive each blade 6 of the propeller 5 to rotate.

The first travel mechanism 3 includes two operating states, a first state and a second state. The first state is that there is the contained angle between a plurality of blades 6, and after amphibious unmanned aerial vehicle received flight instruction, first running gear 3 started and carried out the flight action, and there is the contained angle between a plurality of blades 6 of screw 5 under the rotation this moment. The second state is the coincidence of a plurality of blades 6, and after amphibious unmanned aerial vehicle received the land instruction, second running gear 4 started and carried out the action of land and do, and a plurality of blades 6 of screw 5 under static this moment coincide (fold), have reduced overall dimension, have improved amphibious unmanned aerial vehicle's obstacle avoidance ability. The first driving mechanism 3 has multiple working states, so that the amphibious unmanned aerial vehicle can work in various complex environments, such as high-speed arrival, sensitive passing of narrow road conditions and the like. The application scene of the amphibious unmanned aerial vehicle is expanded due to the multi-state setting in the embodiment.

Alternatively, the second travel mechanism 4 includes a reduction gear unit 10, a tire 9, and a second power unit 11, the second power unit 11 and the reduction gear unit 10 are both connected to a central axis of the tire 9, and the second power unit 11 and the reduction gear unit 10 are located on a side of the third connecting member 14 close to the body of the body, and the tire 9 is located on a side of the third connecting member 14 away from the body of the body.

As shown in fig. 4, the second travel mechanism 4 includes a reduction gear unit 10, a tire 9, and a second power unit 11, and the second travel mechanism 4 is fixed to the lower body 2 by a third link 14 and performs a land movement supported by the lower body 2. After the amphibious unmanned aerial vehicle receives the land command, the second driving mechanism 4 is started, and the second power device 11 starts to work. The output shaft of the second power unit 11 is decelerated by the deceleration unit 10 and then connected to the center shaft of the tire 9, thereby driving the tire 9 to rotate and completing the land movement.

Alternatively, the first power unit 7 and the second power unit 11 are brushless motors, and the reduction gear unit 10 is a planetary gear transmission.

In this embodiment, preferred power device is high rotational speed brushless motor, and it has efficient and light in weight's advantage, can reduce amphibious unmanned aerial vehicle's dead weight when providing sufficient power, has guaranteed flight mode's enough time of endurance. The reduction gear is preferably a planetary gear speed reducer having a large reduction gear ratio and capable of giving a large torque to the tire 9. When encountering obstacles, the amphibious unmanned aerial vehicle can pass through the obstacle-crossing mechanism easily, so that the obstacle-crossing capability of the amphibious unmanned aerial vehicle in land running is improved.

The tire 9 is preferably a lightweight material having a cushioning effect and wear resistance, such as graphene, natural rubber, or the like.

Alternatively, the number of the first power devices 7 and the number of the second power devices 11 are 4, and at least 4

first power devices

7 or 4 second power devices 11 are arranged to form a square structure.

As shown in fig. 1 and fig. 2, the integrated amphibious unmanned aerial vehicle provided in this embodiment has 4

first power devices

7 and 4 second power devices 11. The 4 first power devices 7 and the 4 second power devices 11 are all arranged around the machine body and are arranged in an axisymmetric manner (namely, the 4 first power devices 7 are arranged in an axisymmetric manner, and the 4 second power devices 11 are also arranged in an axisymmetric manner), and respectively form a square structure. Due to the arrangement form, the power devices are symmetrically distributed, so that on one hand, the stability and balance of the integral structure of the integrated amphibious unmanned aerial vehicle are improved; on the other hand, the symmetrical arrangement is also beneficial to the realization of the accurate control of the integrated amphibious unmanned aerial vehicle, and the driving mechanism can be better controlled to execute corresponding actions.

Optionally, this amphibious unmanned aerial vehicle of integral type still includes sensor, treater, communicator and power, and sensor, treater, communicator and power all set up in the fuselage main part.

Optionally, a processor is electrically connected to the running gear, the processor being configured to control the first running gear 3 to perform a flying action or the second running gear 4 to perform a landing action in dependence on a remote control signal.

The integrated amphibious unmanned aerial vehicle further comprises devices such as a sensor, a processor, a communicator and a power supply which are arranged in the main body of the vehicle body, and the devices jointly form an operating system of the integrated amphibious unmanned aerial vehicle. The operating system mainly comprises a control system, a communication system, a flight mode power system, a land travel mode power system, a sensing system, a power supply and the like, and the systems are respectively realized corresponding to corresponding devices. Two important systems are briefly introduced below:

one is the control system. In the present embodiment, a processor (for example, STM32 processor, which has advantages of strong computing power and low power consumption) determines a required control mode according to an input remote control signal, and then performs corresponding control. For example, if the remote controller inputs a flight signal, the processor controls the flight mode to be turned on, that is, the first power device 7 (flight motor) works and drives the first travel mechanism 3 to execute flight work; if the remote controller inputs a land signal, the processor controls the land mode to be started, namely, the second power device 11 (a land motor) works and drives the second running mechanism 4 to execute the land work. Based on the control, the accurate control of the flight mode and the land traveling mode can be realized, and the switching time of the two modes is less than 1S so as to meet the requirement of rapidly changing the working mode. The running gear of the integrated amphibious unmanned aerial vehicle corresponding to the control system includes a first running gear 3 and a second running gear 4 which perform flight work and land work, respectively. For different environments and different tasks, the integrated amphibious unmanned aerial vehicle can exert respective advantages of an aerial flight mode and a ground and land traveling mode, and the utilization rate of the integrated amphibious unmanned aerial vehicle in military operation is improved.

The second is a communication system. In this embodiment, the communicator is mainly used for uploading a control command and downloading real-time state information and investigation information of the integrated amphibious unmanned aerial vehicle. The communicator can transmit information through a 5.8G point-to-point data link (namely a 5.8G network, and based on an IP (Internet protocol) or circuit-based wireless transmission technology) and a 5G public network, so that the link interference resistance and the reliability of information transmission are improved, and the reliable realization of the work of the integrated amphibious unmanned aerial vehicle is further ensured.

In the above embodiments, the differences between the embodiments are described in emphasis, and different optimization features between the embodiments can be combined to form a better embodiment as long as the differences are not contradictory, and further description is omitted here in consideration of brevity of the text.

Although some specific embodiments of the present invention have been described in detail by way of illustration, it should be understood by those skilled in the art that the above illustration is only for the purpose of illustration and is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.

Claims

1. An integral amphibious unmanned aerial vehicle, comprising:

a fuselage body comprising an upper body and a lower body, the upper body being located above the lower body;

2. The integrated amphibious unmanned aerial vehicle of claim 1, wherein the body main body further comprises a carbon fiber plate, the upper main body comprises a first connecting piece, a second connecting piece and a power support, the lower main body comprises a third connecting piece, the carbon fiber plate is arranged on the upper main body, the carbon fiber plate is in screw connection with the first connecting piece, one end of the second connecting piece is in threaded connection with the first connecting piece, the other end of the second connecting piece is in threaded connection with the power support, and the first travelling mechanism is arranged on the power support.

3. The integrated amphibious unmanned aerial vehicle of claim 2, wherein the third connector is L-shaped and is connected with a central shaft of the second running gear.

4. The integrated amphibious unmanned aerial vehicle of claim 2, wherein the first driving mechanism comprises a propeller and a first power device, the first power device is arranged on the power support, the propeller is connected with an output shaft of the first power device, and the first power device is used for driving the propeller to rotate.

5. An integrated amphibious unmanned aerial vehicle according to claim 4, wherein the propeller comprises a plurality of detachable blades, the blades are movably connected with the output shaft of the first power device, the first travelling mechanism comprises a first state and a second state, the first state is that an included angle exists among the plurality of blades, and the second state is that the plurality of blades are overlapped.

6. An integrated amphibious unmanned aerial vehicle according to claim 5, wherein the second running gear comprises a speed reducer, a tire and a second power device, the second power device and the speed reducer are connected with a central shaft of the tire, the second power device and the speed reducer are located on one side of the third connecting piece close to the main body, and the tire is located on one side of the third connecting piece far away from the main body.

7. An integrated amphibious unmanned aerial vehicle according to claim 6, wherein the first power unit and the second power unit are brushless motors and the reduction gear is a planetary gear speed reducer.

8. An integrated amphibious unmanned aerial vehicle according to claim 7, wherein the number of the first power unit and the number of the second power unit are 4, and at least 4 of the first power units or 4 of the second power units are arranged to form a square structure.

9. The integrated amphibious unmanned aerial vehicle of claim 1, further comprising a sensor, a processor, a communicator and a power source, wherein the sensor, the processor, the communicator and the power source are all disposed in the body.

10. An integrated amphibious drone as claimed in claim 9, wherein the processor is electrically connected to the travel mechanisms, the processor being configured to control the first travel mechanism to perform a flight maneuver or the second travel mechanism to perform a land maneuver in response to a remote control signal.