CN115071349A - Self-stabilizing unmanned aerial vehicle system with water, land and air multi-domain hybrid spherical cage - Google Patents
Self-stabilizing unmanned aerial vehicle system with water, land and air multi-domain hybrid spherical cage Download PDFInfo
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- CN115071349A CN115071349A CN202210738780.4A CN202210738780A CN115071349A CN 115071349 A CN115071349 A CN 115071349A CN 202210738780 A CN202210738780 A CN 202210738780A CN 115071349 A CN115071349 A CN 115071349A
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- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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Abstract
The invention discloses a water, land and air multi-domain hybrid moving ball cage self-stabilizing unmanned aerial vehicle system which comprises a hybrid moving aircraft system, a multi-dwelling self-stabilizing ball cage structure, a multi-mode core processor and a ground station, wherein the hybrid moving aircraft system comprises a coaxial double-propeller structure, a tilting rotor structure and a yaw bearing connector structure, and the multi-dwelling self-stabilizing ball cage structure comprises a land structure, a protective ball cage and an anti-interference assembly. Coaxial double-oar structure passes through the bearing and rotates the connection on driftage bearing connector structure, and rotor structure fixed mounting verts in driftage bearing connector structure both sides, and land structure fixed mounting is on the protection ball cage. Depending on above-mentioned land structure, thoughtlessly move aircraft system and float the design, above-mentioned land and water sky multi-domain thoughtlessly moves ball cage self-stabilization unmanned aerial vehicle possesses land and water sky multi-domain operation ability, and its self-stabilization ball cage makes it can be in complicated narrow space free motion. The system has wide application prospect in the fields of environmental survey, indoor operation, military reconnaissance and the like.
Description
Technical Field
The invention belongs to the technical field of robot systems, and particularly relates to a self-stabilizing unmanned aerial vehicle system of a water, land and air multi-domain hybrid moving ball cage.
Background
In recent years, under the introduction of scientific technology, the development of the unmanned aerial vehicle technology enters a new stage, the use efficiency is higher, the dead time is longer, the flight speed is higher, and the rapid deployment can be realized. This makes unmanned aerial vehicle's application no longer confine traditional fields such as aerial photography, high altitude construction, in fields such as military affairs, survey, people also begin to utilize unmanned aerial vehicle to carry out high risk, high strength task. However, most of existing unmanned aerial vehicles adopt a multi-rotor layout, and although the existing unmanned aerial vehicles have certain stability, the multi-rotor layout has low mechanical efficiency and large energy consumption, cannot perform long-time high-strength work and has small load; meanwhile, the multi-rotor wing has large volume and poor concealment, has high requirements on terrain and posture during taking off and landing, and cannot meet the requirements of special environment and military operation. Most of many rotor unmanned aerial vehicle shells are fragile, and interference immunity is poor, receives the striking at the flight in-process and very easily falls the damage, and adaptive capacity to environment is relatively poor.
Coaxial twin-propellers are a key technology widely applied to helicopters, and the technology is continuously miniaturized. Compared with a plurality of rotors, the coaxial double-propeller structure has higher mechanical efficiency and stronger maneuverability, can not only meet the requirement of general operation, but also meet the requirement of high-strength operation in the fields of military affairs, survey and the like. Meanwhile, the coaxial double-paddle structure occupies smaller space and is good in concealment, and the coaxial double-paddle structure is more suitable for complex operation environments such as indoor environments, pipelines and the like.
In addition, the energy consumption of the aircraft in the suspension and flight process is huge, and if the land-based or water-based flight mode is adopted when the aircraft unnecessarily flies or encounters obstacles in the air, the endurance time can be greatly prolonged. The multi-mode unmanned aerial vehicle in land, water and air can solve this problem well, like: when the unmanned aerial vehicle carries out investigation operation, the unmanned aerial vehicle does not need to be in a flying state all the time, and the unmanned aerial vehicle can land on the land or on the sea surface to carry out land or water navigation so as to meet the requirement of reducing energy consumption; if the unmanned aerial vehicle runs on the land or the sea, the unmanned aerial vehicle can cross obstacles through flying when encountering complex scenes such as gullies, rocks or reefs and the like. In addition, when the unmanned aerial vehicle moves on the land or on the sea and generates navigation deviation, the unmanned aerial vehicle can also ascend to the air through flying, and the function of timely adjusting the course is realized. Therefore, the land, water and air multi-mode unmanned aerial vehicle can reduce energy consumption, has wider application space, and is more suitable for being applied to complex environments such as field search and rescue, dangerous case early warning, geological exploration and the like.
The prior art has the following defects:
the first disadvantage is that: most of existing coaxial double-oar unmanned aerial vehicles adopt rudder pieces or tilting disk structures to adjust postures, mechanical structures are complex, control difficulty is high, and meanwhile the quality of the whole unmanned aerial vehicle can be increased.
The second disadvantage is that: most of the existing air-ground amphibious unmanned aerial vehicles adopt a wheel-type and crawler-type design, although the working capacity can be well expanded, the independently installed land-based structure has large mass and large volume, the movement maneuverability of the unmanned aerial vehicle is seriously reduced, and the extra load also increases the energy consumption of the unmanned aerial vehicle during air flight; in addition, the application scene is also greatly limited due to the fact that the offshore platform cannot work.
The third disadvantage is that: current unmanned aerial vehicle protection architecture is mostly fixed spherical shell, though can play certain striking effect of putting, nevertheless receives to make unmanned aerial vehicle direction of motion change easily after the striking, and under the effect of external force moment, the rotation out of control takes place for unmanned aerial vehicle chance, and stability is not enough, has increased the control degree of difficulty.
Therefore, it is necessary to design a self-stabilizing unmanned aerial vehicle system with a water, land and air multi-domain hybrid spherical cage to solve the above problems.
Disclosure of Invention
In order to solve the problems, the invention discloses a water, land and air multi-domain hybrid moving spherical cage self-stabilizing unmanned aerial vehicle system which can freely move in a complex narrow space, has water, land and air whole scene operation capability, stronger anti-interference performance and maneuverability, and has wide application prospect in the fields of environmental survey, indoor operation, military reconnaissance and the like.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a water, land and air multi-domain hybrid ball cage self-stabilization unmanned aerial vehicle system comprises a hybrid aircraft system, a multi-purpose self-stabilization ball cage structure and a multi-mode core controller, wherein the hybrid aircraft system comprises a coaxial double-propeller structure, a tilting rotor structure and a yaw bearing connector structure, a yaw bearing connector consists of a yaw bearing and a rotating frame, the yaw bearing is sleeved at the upper middle end of the rotating frame, the rotating frame comprises a holder, a battery bracket and a multi-mode core controller bracket, and a camera is mounted on the holder; the coaxial double-paddle structure is arranged above the multi-mode core controller support, the lower end of the coaxial double-paddle structure is provided with 2 waterproof brushless motors I, the waterproof brushless motors I are linked with the coaxial double-paddle blades through gears, and the actions of the waterproof brushless motors I are adjusted through electric regulation; the tilting rotor wing structure comprises rotor wing arms and tilting rotor wings, wherein the rotor wing arms are symmetrically arranged on the yaw bearing along the Y axis, and the top ends of the rotor wing arms are provided with 2 waterproof steering engines; the tilting rotors are respectively arranged on the waterproof steering engines;
the multi-purpose self-stabilizing ball cage structure comprises a land walking structure, a protective ball cage and an anti-interference component; the land structure comprises a slot structure attached to the ball cage, a pair of inner rings arranged on the slots and an outer ring sleeved on the inner rings through bearings; the protective ball cage comprises a hollow connecting rod and a connecting piece (four-way joint); the anti-interference assembly comprises a floating rotating ring and a floating rotating rod, the floating rotating ring is rotatably arranged on the protective ball cage, one section of the floating rotating rod is rotatably arranged on the floating rotating ring, and the other end of the floating rotating rod is fixedly arranged on the yawing bearing.
As a further improvement of the unmanned aerial vehicle, the multi-mode core controller comprises a flight control module, an electric regulation module, a voltage stabilization module and a flight control data transmission unit, and is fixed in a multi-mode core controller bracket through screws;
the flight control comprises a triaxial accelerometer, a triaxial magnetometer, an ultrasonic range finder, a barometer and a global positioning system, is electrically adjusted to be connected with coaxial double propellers and tilting rotors, is electrically connected with a power management module through an ammeter unit, is used for receiving a remote controller command and realizing the water-land-air switching of a motion mode, and is used for analyzing the action and the posture of the unmanned aerial vehicle in real time and sending data to a ground station.
As a further improvement of the unmanned aerial vehicle, the tilting rotors are respectively provided with a second waterproof brushless motor, and a rotor rotating shaft can be controlled by a waterproof steering engine to rotate between the Z-axis direction and the X-axis direction; in the land-based mode and the water-based mode, the rotating shaft of the tilt rotor wing is kept parallel to the ground, and the forward movement, the backward movement and the steering of the unmanned aerial vehicle can be realized by adjusting the rotating speed; under the flight mode, the pitching and rolling motions of the unmanned aerial vehicle can be realized through the tilting and differential of the rotor wing.
As a further improvement of the unmanned aerial vehicle, the coaxial double propellers are driven by two independent servo motors and can rotate in a differential mode, so that yaw torque is generated to adjust the attitude of the unmanned aerial vehicle in an aerial operation state, and yaw motion is achieved.
As a further improvement of the unmanned aerial vehicle, two steering engines in the tilting rotors need to rotate synchronously so as to ensure that the thrust directions of the two tilting rotors are always the same; the rotor motor verts can carry out the differential rotation when the pivot level to produce the driftage moment of torsion, be used for control to carry out the driftage motion that land and water patrolled.
As a further improvement of the unmanned aerial vehicle, the floating swivel structure is provided with a pair of rolling bearings and a pair of pitching bearings, wherein the rolling bearings are embedded outside the floating swivel along the Y axis and connected with the multi-purpose self-stabilizing ball cage so as to realize the rolling motion of the multi-purpose self-stabilizing ball cage structure; the pitching bearing is embedded in the inner side of the floating rotating ring along the X axis and is connected with the floating rotating rod so as to realize pitching motion of the multi-purpose self-stabilizing ball cage structure; the floating rotating rods are fixedly connected to two sides of the middle yawing bearing along an X axis, and the axial direction of the yawing bearing is parallel to a Z axis so as to realize yawing rotation of the multi-dwelling self-stabilizing ball cage structure.
As a further improvement of the unmanned aerial vehicle, the floating swivel rod and the hollow connecting rod are all of a hollow structure, the material is a polyethylene foam body, and the surface of the floating swivel, the floating swivel rod and the hollow connecting rod is coated with a corrosion-resistant coating, so that the unmanned aerial vehicle can float on the water surface.
The unmanned aerial vehicle is further improved, and polymer waterproof and anti-seepage films are attached to the surfaces of the battery bracket, the waterproof brushless motor, the tilt rotor waterproof steering engine, the flight control module and the power management module; the surface of the multi-purpose self-stabilizing ball cage structure is coated with waterproof paint, so that a waterproof effect is achieved, and unmanned aerial vehicle components are protected;
as a further improvement of the unmanned aerial vehicle, the protective ball cage consists of a hollow connecting rod and a four-way connecting piece, wherein the connecting rod in the upper half part of the ball cage is higher in distribution density and used for protecting coaxial double propellers and reducing interference on a sensor; a connecting rod is not arranged in front of the camera lens; the inner ring bottom of the land walking structure is provided with a balance weight for ensuring that the self-stabilizing ball cage structure can automatically recover to the state of the rolling structure vertical to the ground after being interfered by the outside and rotating, thereby being convenient for the connection of land-air motion.
As a further improvement of the unmanned aerial vehicle, the ground station system comprises a communication module, a flight data display module, a data processing module, an online map module and a route planning module. The communication module is used for serial port configuration according to the serial port number and the baud rate, and the connection between the flight control and the ground station is realized through a specific communication protocol. The flight data display module comprises an attitude heading instrument, sensor data, an attitude angle curve and detailed information and is used for determining the real-time state of the unmanned aerial vehicle. The data processing module has the functions of storing serial port data, analyzing PID parameters, playing back, analyzing and displaying and the like. The online map module can utilize an onboard GPS to carry out aircraft positioning and waypoint track planning. The remote control can realize the operations of rolling, pitching, throttle, yawing and the like of the aircraft according to a plurality of channels.
The invention has the beneficial effects that:
according to the land, water and air multi-domain hybrid moving spherical cage self-stabilizing unmanned aerial vehicle system, the multi-mode core controller switches the working state and controls the states of the servo motors and the servo waterproof steering engine by receiving the instruction sent by the remote controller, so that the control of the action attitude of the unmanned aerial vehicle is realized. In the land-based mode, the rotation of the waterproof steering engine is controlled, so that the rotating shafts of the tilting rotors are parallel to the ground, the motion state of the unmanned aerial vehicle is controlled through differential rotation of the two rotors, and the land-based structure can realize free motion of the unmanned aerial vehicle on the ground; in a flight mode, the coaxial double propellers provide main lift force, the unmanned aerial vehicle can perform yaw motion through differential rotation, the tilting rotor wings are used for providing auxiliary lift force, and meanwhile, the direction of the rotating shaft can be changed through the waterproof steering engine, so that the two rotor wings control the pitching and rolling motion of the unmanned aerial vehicle; the rotating shaft of the underwater mode downward tilting rotor wing is parallel to the horizontal plane, and the motion state of the unmanned aerial vehicle can be controlled through differential rotation of the rotating shaft; in addition, the camera and the image processor are used for acquiring images of the surrounding environment and sending data to the ground station; the amphibious self-stabilizing ball cage structure can rotate freely, and stable operation of the unmanned aerial vehicle is guaranteed when the unmanned aerial vehicle is impacted in the air. The unmanned aerial vehicle system greatly widens the operation environment of the unmanned aerial vehicle, improves the adaptability and the anti-interference performance of the unmanned aerial vehicle to the environment, and simultaneously improves the mechanical efficiency and the flexibility of the unmanned aerial vehicle, so that the unmanned aerial vehicle system has wider application scenes. The system can be applied to the aspects of outdoor surveying, military reconnaissance and the like, can also be applied to indoor and other closed complex environments, and has the advantages of simple structure, convenience in installation, easiness in maintenance and low cost.
Drawings
Fig. 1 is an isometric view of a water, land and air multi-domain hybrid spherical cage self-stabilizing unmanned aerial vehicle system provided by the invention;
FIG. 2 is a front view of the hybrid aircraft system shown in FIG. 1 in a flight mode;
FIG. 3 is a front view of the hybrid aircraft system shown in FIG. 1 in a land and water mode;
FIG. 4 is an isometric view of a land structure and a protective cage of the multi-habitat self-stabilizing cage structure shown in FIG. 1;
FIG. 5 is a top view of the tamper resistant components of the multi-modal self-stabilizing cage structure shown in FIG. 1;
FIG. 6 is a connection diagram of a multi-mode core controller system provided by the present invention;
FIG. 7 is a diagram of a ground station flight control status interface provided by the present invention;
fig. 8 is a ground station waypoint planning interface provided by the present invention.
List of reference symbols:
1. hybrid-dynamic aircraft system, 2, coaxial double-paddle structure, 3, tilt rotor structure, 4, yaw bearing connector structure, 5, multi-dwelling self-stabilizing ball cage structure, 6, land structure, 7, protective ball cage, 8, anti-interference assembly, 9, coaxial double-paddle blade, 10, gear, 11, (coaxial double-paddle) waterproof brushless motor I, 12, flight control, 13, multi-mode core controller, 14, battery bracket, 15, cradle head, 16, camera, 17, electric regulation, 18, voltage stabilization module, 19, flight control data transmission unit, 20, safety switch, 21, ammeter unit, 22, rotor arm, 23, tilt rotor, 24, (tilt rotor) waterproof brushless motor II, 25, tilt rotor waterproof, 26, power management module, 27, steering engine slot structure, 28, outer ring, 29, inner ring, 30, hollow connecting rod, 31, four-way connector, 32. a pair of pitch bearings, 33, a pair of roll bearings, 34, a floating swivel, 35, a floating swivel, 36, a yaw bearing, 37, a ground station, 38, a counterweight, 39, a flight data display module, 40, a communication module, 41, an online map module, 42, and a course planning module.
Detailed Description
The present invention will be further illustrated with reference to the accompanying drawings and specific embodiments, which are to be understood as merely illustrative of the invention and not as limiting the scope of the invention.
The invention provides an unmanned aerial vehicle system with the functions of cage-shaped tilting and coaxial double-propeller hybrid motion, which can operate in a multi-dwelling water, land and air environment and a closed complex environment and has stronger interference resistance and maneuverability.
As shown in fig. 1, 2, 3, 4, 5, 6 and 7, the amphibious hybrid ball cage self-stabilized unmanned aerial vehicle system comprises a hybrid aircraft system 1, a multi-habitat self-stabilized ball cage structure 5 and a multi-mode core controller 13 bracket, wherein the hybrid aircraft system 1 comprises a coaxial double-paddle structure 2, a tilt rotor structure 3 and a yaw bearing connector structure 4, wherein the yaw bearing connector structure 4 is composed of a yaw bearing 36 and a rotating frame, the yaw bearing 36 is sleeved at the upper end of the rotating frame, the rotating frame comprises a tripod head 15, a battery bracket 14 and a multi-mode core controller bracket 13, the tripod head 15 is fixedly connected to the side surface of the battery bracket 14, the multi-mode core controller 13 bracket is mounted at the top end of the battery bracket 14 through a bolt, and the multi-mode core controller is fixed in the multi-mode core controller 13 bracket through a screw; the camera 16 is arranged on the tripod head 15; the coaxial double-paddle structure 2 is arranged above the multi-mode core controller bracket 13, and the lower end of the coaxial double-paddle structure is provided with 2 waterproof brushless motors I11; the first waterproof brushless motor 11 is linked with the coaxial double-paddle blade 9 through a gear 10, and the action of the first waterproof brushless motor 11 is adjusted through an electric regulator 17; the tilt rotor structure 3 comprises a rotor arm 22 and a tilt rotor 23, wherein the rotor arm 22 is symmetrically arranged on a yaw bearing 36 along a Y axis, and the top end of the rotor arm is provided with 2 waterproof steering engines 25; the tilting rotors 23 are respectively arranged on the waterproof steering engines 25; and a second waterproof brushless motor 24 is arranged on each tilting rotor 23.
The multi-dwelling self-stabilizing ball cage structure 5 comprises a land structure 6, a protective ball cage 7 and an anti-interference component 8; the land structure 6 comprises a slot structure 27 attached to the ball cage, a pair of inner rings 29 arranged on the slots, and an outer ring 28 sleeved on the inner rings 29 through a bearing; the protective ball cage 7 comprises a hollow connecting rod 30 and a four-way connecting piece 31, and two ends of the hollow connecting rod 30 are respectively inserted into slots of the four-way connecting piece 31; the tamper resistant assembly 8 includes a floating swivel 34 and a floating swivel 35.
The multi-mode core controller comprises a flight control 12, an electric regulator 17, a voltage stabilizing module 18 and a flight control data transmission unit 19, wherein the flight control 12 is connected with a safety switch 20 and the electric regulator 17, and is electrically connected with a power management module 26 through an ammeter unit 21 to receive a remote controller command and realize land-water-air switching of a motion mode, analyze the action and the posture of the unmanned aerial vehicle in real time and send data to a ground station.
The second waterproof brushless motor 24 is installed at the tail end of a rotating shaft of the waterproof steering engine 25, the tilting rotor 23 is installed at the tail end of a motor shaft, and the actions of the second waterproof brushless motor 24 and the servo waterproof steering engine 25 are adjusted through an electric speed regulator 17.
The floating swivel 34 is provided with a pair of rolling bearings 33 and a pair of pitching bearings 32, wherein the rolling bearings 33 are embedded outside the floating swivel 34 along the Y axis and connected with the multi-purpose self-stabilizing ball cage 5 through the hollow connecting rod 30; the pitch bearing 32 is embedded in the inner side of the floating rotating ring 34 along the X axis and is connected with the floating rotating rod 35; the floating rotating rod 35 is fixedly connected to two sides of a yaw bearing 36 along the X axis, and the axial direction of the yaw bearing 36 is parallel to the Z axis.
The bottom of the inner ring 29 of the land structure 6 is provided with a counterweight 38 for ensuring that the multi-dwelling self-stabilizing cage structure 5 can be automatically restored to a state that the land structure 6 is vertical to the ground after being disturbed and rotated by the outside.
The safety switch 20 is connected to the flight control 12 and is used to unlock the flight control 12 and the waterproof brushless motors 11 and 24 when the vehicle is started.
The two ends of the hollow connecting rod 30 are inserted into the four-way connecting piece 31 to assemble the protective ball cage 7.
The working principle of the embodiment is as follows: through receiving the instruction that the remote controller sent, the changeable operating condition of multi-mode core control ware and the state of controlling each servo motor and servo waterproof steering wheel to realize the control of unmanned aerial vehicle action gesture. In the land mode, the rotation of the waterproof steering engine 25 is controlled, so that the rotating shaft of the tilting rotor 23 is parallel to the ground, the motion state of the unmanned aerial vehicle is controlled through the differential rotation of the two rotors, and the land structure 6 can realize the free motion of the unmanned aerial vehicle on the ground; in a flight mode, the coaxial double-propeller structure 2 provides main lift force, the unmanned aerial vehicle can perform yaw motion through differential rotation, the tilting rotor wings 23 are used for providing auxiliary lift force, and meanwhile, the direction of the rotating shaft can be changed through the waterproof steering engine 25, so that the two rotor wings control the pitching and rolling motion of the unmanned aerial vehicle; the rotating shaft of the underwater mode downward tilting rotor 23 is parallel to the horizontal plane, and the motion state of the unmanned aerial vehicle can be controlled through differential rotation; in addition, the camera 16 and image processor are used to acquire images of the surrounding environment and send the data to the ground station 37; the multi-purpose self-stabilizing ball cage structure 5 can rotate freely, and the unmanned aerial vehicle can stably run when being impacted in the air.
It should be noted that the above-mentioned contents only illustrate the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and it is obvious to those skilled in the art that several modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations fall within the protection scope of the claims of the present invention.
Claims (10)
1. The utility model provides a many fields of land, water and air mix ball cage self-stabilization unmanned aerial vehicle system which characterized in that: including thoughtlessly moving aircraft system (1), roosting from stabilizing the ball cage structure (5) and multi-mode core treater (13), thoughtlessly moving aircraft system (1) and multi-mode core treater (13) and setting up in roosting from stabilizing the ball cage structure (5), multi-mode core treater (13) are through accepting the instruction that the remote controller sent, switch operating condition and control the state of each servo motor and the waterproof steering wheel of servo to realize the control of unmanned aerial vehicle action gesture.
2. The amphibious multi-domain hybrid spherical cage self-stabilized unmanned aerial vehicle system according to claim 1, the hybrid aircraft system (1) comprises a coaxial double-paddle structure (2), a tilting rotor structure (3) and a yaw bearing connector structure (4), wherein, the yaw bearing connector structure (4) consists of a yaw bearing (36) and a rotating frame, the yaw bearing (36) is sleeved at the middle upper end of the rotating frame, the rotating frame comprises a tripod head (15), a battery support (14) and a multi-mode core controller (13) support, the tripod head (15) is fixedly connected to the side surface of the battery support (14), the multi-mode core controller (13) support is installed at the top end of the battery support (14) through a bolt, the multi-mode core controller is fixed in the multi-mode core controller (13) support through a bolt, and a camera (16) is installed on the tripod head (15); the coaxial double-paddle structure (2) is arranged above the multi-mode core controller support (13), the lower end of the coaxial double-paddle structure is provided with 2 waterproof brushless motors I (11), the waterproof brushless motors I (11) are linked with the coaxial double-paddle blades (9) through gears (10), the coaxial double-paddle blades (9) are driven by two independent servo motors (11), and the action of the waterproof brushless motors I (11) is adjusted through an electric regulator (17); the tilting rotor structure (3) comprises a rotor arm (22) and a tilting rotor (23), wherein the rotor arm (22) is symmetrically arranged on a yaw bearing (36) along a Y axis, and the top end of the rotor arm is provided with 2 waterproof steering engines (25); the tilting rotors (23) are respectively arranged on the waterproof steering engines (25), and a waterproof brushless motor II (24) is arranged on each tilting rotor (23);
the multi-purpose self-stabilizing ball cage structure (5) comprises a land structure (6), a protective ball cage (7) and an anti-interference component (8); the land structure (6) comprises a slot structure (27) attached to the ball cage, a pair of inner rings (29) arranged on the slots and an outer ring (28) sleeved on the inner rings (29) through a bearing; the protective ball cage (7) comprises a hollow connecting rod (30) and a four-way connecting piece (31); anti-interference subassembly (8) including floating change ring (34) and float bull stick (35), float change ring (34) and rotate and set up on protection ball cage (7), float bull stick (35) one end and rotate and set up on floating change ring (34), and the other end is fixed to be set up on driftage bearing (36).
3. The amphibious multi-domain hybrid rzeppa self-stabilized unmanned aerial vehicle system according to claim 1, wherein the multi-mode core processor (13) comprises a flight control (12), an electronic governor (17), a voltage stabilization module (18) and a flight control data transmission unit (19), the flight control (12) comprises a three-axis accelerometer, a three-axis magnetometer, an ultrasonic range finder, a barometer and a global positioning system, is connected with the coaxial double-paddle structure (2) and the tilt rotor (23) through the electronic governor (17), and is electrically connected with the power management module (26) through the ammeter unit (21) for receiving a remote controller command and realizing land-water-air switching of a motion mode, analyzing the action and attitude of the unmanned aerial vehicle in real time and sending data to the ground station (37).
4. The amphibious hybrid ball cage self-stabilized unmanned aerial vehicle system according to claim 1, wherein two steering engines (25) in the tilt rotors (23) rotate synchronously, and the tilt rotor motors (24) can rotate at a differential speed when the rotating shafts are horizontal, so that a yaw torque is generated.
5. The amphibious hybrid ball cage self-stabilized unmanned aerial vehicle system according to claim 1, wherein a pair of roll bearings (33) and a pair of pitch bearings (32) are provided in the floating swivel (34) structure, wherein the roll bearings (33) are embedded outside the swivel (34) along the Y-axis and connected with the protective ball cage (7); the pitching bearing (32) is embedded in the inner side of the floating rotating ring (34) along the X axis and is connected with the floating rotating rod (35); the floating rotating rod (35) is fixedly connected to two sides of the yaw bearing (36) along the X axis, and the axial direction of the yaw bearing (36) is parallel to the Z axis.
6. The amphibious hybrid ball cage self-stabilizing unmanned aerial vehicle system according to claim 1, wherein the floating swivel (34), the floating swivel rod (35) and the hollow connecting rod (30) are all of hollow structures, the materials are polyethylene foam, and the surfaces of the floating swivel rod, the floating swivel rod and the hollow connecting rod are coated with corrosion-resistant coatings, so that the unmanned aerial vehicle can float on the water surface.
7. The amphibious multi-domain hybrid ball cage self-stabilizing unmanned aerial vehicle system according to claim 1, wherein surfaces of the battery bracket (14), the waterproof brushless motor (24), the tilting rotor waterproof steering engine (25), the flight control engine (12) and the power management module (26) are respectively pasted with a high-molecular waterproof impermeable film; the surface of the multi-purpose self-stabilizing ball cage structure (5) is coated with waterproof paint, so that the waterproof effect is achieved, and unmanned aerial vehicle components are protected.
8. The amphibious multi-domain hybrid spherical cage self-stabilizing unmanned aerial vehicle system according to claim 5, wherein the protective spherical cage (7) is composed of hollow connecting rods (30) and four-way connecting pieces (31), the hollow connecting rods (30) in the upper half part of the spherical cage are distributed densely, and the hollow connecting rods (30) are not mounted in front of the lens of the camera (16); the bottom of the inner ring (29) of the land structure (6) is provided with a counterweight (38) for ensuring that the self-stabilizing ball cage structure (5) automatically restores to the state that the land structure (6) is vertical to the ground after rotating under the external interference.
9. The amphibious multi-domain hybrid spherical cage self-stabilized unmanned aerial vehicle system according to claim 2, wherein the ground station (37) system comprises a communication module (40), a flight data display module (39), a data processing module, an online map module (41), and a route planning module (42); the communication module is used for serial port configuration according to the serial port number and the baud rate, and then the connection between the flight control (12) and the ground station (37) is realized through a specific communication protocol; the flight control (12) state comprises a navigation attitude instrument, sensor data, an attitude angle curve and detailed information, and is used for determining the real-time state of the unmanned aerial vehicle.
10. The utility model provides a many fields of land, water and air mix ball cage self-stabilization unmanned aerial vehicle system, has three kinds of mode, and concrete mode is as follows, its characterized in that:
the land, water and air multi-domain hybrid moving ball cage self-stabilizing unmanned aerial vehicle system switches the working state and controls the states of each servo motor and the servo waterproof steering engine by receiving an instruction sent by a remote controller, so that the control of the action attitude of the unmanned aerial vehicle is realized; in the land mode, the rotation of the waterproof steering engine (25) is controlled, so that the rotating shaft of the tilting rotor wing (23) is parallel to the ground, the motion state of the unmanned aerial vehicle is controlled through the differential rotation of the two tilting rotor wings (23), and the land structure (6) can realize the free motion of the unmanned aerial vehicle on the ground; under the flight mode, the coaxial double-propeller structure (2) supplies main lift force, the unmanned aerial vehicle can perform yaw motion through differential rotation, the tilting rotor wing (23) is used for providing auxiliary lift force, and meanwhile, the direction of the rotating shaft can be changed through the waterproof steering engine (25), so that the two rotor wings control the pitching and rolling motion of the unmanned aerial vehicle; the rotating shaft of the underwater model downward tilting rotor wing (23) is parallel to the horizontal plane, and the motion state of the unmanned aerial vehicle can be controlled through differential rotation;
in addition, the camera (16) and the image processor are used for acquiring images of the surrounding environment and sending data to the ground station (37); the multi-purpose self-stabilizing ball cage structure (5) can rotate freely, and the unmanned aerial vehicle can stably run when being impacted in the air.
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| CN117382941A (en) * | 2023-12-11 | 2024-01-12 | 山东字节信息科技有限公司 | Single rotor unmanned aerial vehicle |
| CN117382941B (en) * | 2023-12-11 | 2024-03-05 | 山东字节信息科技有限公司 | Single rotor unmanned aerial vehicle |
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