CN116394686A - Mars sampling detection-oriented land-air amphibious unmanned aerial vehicle - Google Patents
Mars sampling detection-oriented land-air amphibious unmanned aerial vehicle Download PDFInfo
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- CN116394686A CN116394686A CN202310072315.6A CN202310072315A CN116394686A CN 116394686 A CN116394686 A CN 116394686A CN 202310072315 A CN202310072315 A CN 202310072315A CN 116394686 A CN116394686 A CN 116394686A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- 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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D37/00—Stabilising vehicle bodies without controlling suspension arrangements
- B62D37/04—Stabilising vehicle bodies without controlling suspension arrangements by means of movable masses
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C17/00—Aircraft stabilisation not otherwise provided for
- B64C17/02—Aircraft stabilisation not otherwise provided for by gravity or inertia-actuated apparatus
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
Abstract
The invention provides an amphibious unmanned aerial vehicle for Mars sampling detection, which is similar to a two-wheel balance car in appearance, wherein coaxial double rotors are assembled above a flat plate in the middle of two wheel structures, a sampling device and a gravity center adjusting device are arranged in the unmanned aerial vehicle, and a high-definition camera is arranged at the outer edge of the front part of the unmanned aerial vehicle. And a solar panel is arranged above the unmanned aerial vehicle body and is used for providing power output for the unmanned aerial vehicle. The wheel type structure can prevent overturn under emergency conditions and can drive by utilizing wheels at the place with relatively gentle ground surface shape. The rotor wing enables the unmanned aerial vehicle to pass through rugged and complex terrains, and the overall travelling speed is improved. The special lotus sampling device integrates sampling and storage, saves unmanned aerial vehicle loading, and simultaneously avoids the influence of torque generated by rotating a traditional sampling drill bit on a static machine body. The unmanned aerial vehicle fuselage adopts cellular structure, and then reduces the windage, improves the efficiency of marcing, reduces the probability of overturning.
Description
Technical Field
The invention relates to an amphibious unmanned aerial vehicle for spark sampling detection.
Background
The amphibious unmanned sampling plane can fly in the air and can travel on land, and the advantages of the common unmanned plane in flying and the land vehicle in traveling are organically combined. In the unmanned aerial vehicle research field, the amphibious unmanned aerial vehicle research field of this type is very extensive, especially has huge potential in the spark survey field. The technical key of the amphibious sampling unmanned aerial vehicle is that the stable switching between two modes of air flight and ground running can be met. The existing Mars unmanned plane lacks protection to a rotor wing and realization of a sampling function. Because the atmospheric density above the Mars is low, the wind speed is high, the flight and sampling of the unmanned aerial vehicle are easy to detect, and the rotor is easy to damage when the unmanned aerial vehicle falls over to the ground. Thus, if a spark survey is implemented with a common rotary-wing drone alone, the propulsion efficiency is slow and accidents are prone to occur. In addition, most of the sampling devices today are drilling type sampling, which can cause instability of the unmanned aerial vehicle due to torque generated by the drill bit and soil during sampling.
Disclosure of Invention
The invention aims to: aiming at the defects of the prior art, the invention provides the air-ground amphibious unmanned aerial vehicle for spark sampling detection, which can give consideration to air flight and ground surface running, has high working efficiency and good stability, is stable in switching of two movement modes, can collect the surface soil of the spark, and realizes the multipurpose performance of the unmanned aerial vehicle.
The unmanned aerial vehicle comprises a body, a photovoltaic system, a driving system and a control system;
the front part and the back part of the machine body are provided with honeycomb structures, and a rotary wing motor is arranged in an intermediate shaft in the machine body; the inside of the machine body is also provided with a connecting shaft;
the photovoltaic system comprises a solar panel and a storage battery; the solar panel is arranged above the machine body, is electrically connected with the storage battery and charges the storage battery; the storage battery is arranged in a connecting shaft in the machine body;
the driving system comprises coaxial double rotors arranged at a through part in the middle of the unmanned aerial vehicle body and travelling wheels arranged at two sides of the unmanned aerial vehicle body;
the rotor motor is respectively connected with the coaxial double rotor and the storage battery, and the storage battery provides power to drive the coaxial double rotor to rotate;
the control system comprises two gravity center adjusting devices which are respectively arranged on two sides of the machine body and synchronously run, and the gravity center adjusting devices are used for controlling the balance of the unmanned aerial vehicle and the gesture of the unmanned aerial vehicle during flight.
The coaxial double rotors are driven by rotor motors, balance in the flight process is controlled by the inclination and gravity center adjusting device of the blades, the travelling wheels are driven by wheel motors at the central axes of the wheels, and balance in the travelling process is controlled by the gravity center adjusting device.
The gravity center adjusting device comprises a fixed rod, a pulley, a straight rack, a spur gear, a stepping motor, a control device and a balancing weight;
the two sides of the balancing weight are provided with sliding grooves, and a straight rack is arranged in one side of the sliding grooves; a pulley is arranged in the sliding groove at the other side, the fixed rod passes through the middle of the pulley, and the pulley can freely rotate on the fixed rod;
the spur gear is fixed on the output shaft of the stepping motor, is arranged on one side of the chute provided with the straight rack and is matched with the straight rack in the chute;
the control device is arranged above the stepping motor, and is powered by the storage battery through a wire to control the running power of the stepping motor.
The spur gear is meshed with the surface insection of the straight rack, and the spur gear rotates to enable the balancing weight to move forwards and backwards.
Furthermore, the unmanned aerial vehicle further comprises an image system, the image system comprises a high-definition camera arranged in front of the unmanned aerial vehicle, the high-definition camera can shoot and record environmental information in front of the unmanned aerial vehicle, the unmanned aerial vehicle can be used for transmitting back shot pictures to carry out scientific research, and can also detect front obstacles through a pattern recognition technology when the unmanned aerial vehicle moves, information is provided for an automatic driving control system of the unmanned aerial vehicle, and the automatic driving control system can control the driving direction and speed of the unmanned aerial vehicle according to the information and avoid dangerous terrains when the unmanned aerial vehicle is in autonomous driving.
The control system also comprises a sampling device and a controller with a built-in force gasket sensor;
the sampling device comprises a lotus-shaped grab clip, a fixed chassis, a pushing block, a driven rod, a fixed shaft and a pulling rod;
the lotus-shaped grab clips are connected with the fixed chassis through driven rods and connected with the pushing blocks through pulling rods;
the fixed shaft is connected with the controller, the pushing block and the fixed chassis from top to bottom;
the machine body is provided with a reserved hole for installing the lotus-shaped grabbing clamp.
When the lotus-shaped grabbing clamp touches the Mars ground surface, a force gasket sensor in the controller converts the tiny force change received by the force gasket sensor into an electric signal to the controller, the controller controls the lotus-shaped grabbing clamp to shrink at a sampling point, so that the pushing block drives the pulling rod to control the lotus-shaped grabbing clamp to slide up and down on the fixed shaft, and when the pulling rod slides down, the pulling rod drives the lotus-shaped grabbing clamp to open; then, the control system controls the pushing block to slide upwards, so that the lotus-shaped grabbing clamp is contracted and closed, and the lotus petal-shaped structure of the lotus-shaped grabbing clamp enables 4 petals to be closed and then seal and self-lock, so that a Mars surface soil sample can be obtained efficiently and simply.
The lotus petal-shaped structure of the lotus-shaped grabbing clamp enables 4 petals to be closed and then seal and self-lock, and the fully-closed lotus-shaped grabbing clamp forms a sealed sample storage space.
The storage battery supplies power for the travelling wheel, the rotor motor, the high-definition camera, the sampling device, the sensor, the controller and the gravity center adjusting device through wires.
When the unmanned aerial vehicle is in a flight mode, the coaxial double-rotor wing is driven to rotate, and the unmanned aerial vehicle synchronously moves forward along the sliding groove through balancing weights in two gravity center adjusting devices which are respectively positioned at two sides and synchronously run in the fuselage, so that the unmanned aerial vehicle is low in head, and the unmanned aerial vehicle moves forward horizontally in cooperation with the coaxial double-rotor wing; when the balancing weights of the two gravity center adjusting devices synchronously move backwards along the sliding groove, the unmanned aerial vehicle is lifted, so that the unmanned aerial vehicle moves backwards and horizontally by matching with the coaxial double rotor wings;
when the unmanned aerial vehicle is in a ground running mode, the control device detects the inclination state of the body in real time through an internal gyroscope, and when the unmanned aerial vehicle leans forward, the balancing weights in the two gravity center adjusting devices synchronously move backwards along the sliding groove, so that the gravity center of the unmanned aerial vehicle moves backwards, and the unmanned aerial vehicle leans backwards to a horizontal position; when unmanned aerial vehicle leans backward, balancing weights in two focus adjusting device move forward along the spout in step, make unmanned aerial vehicle focus forward to make unmanned aerial vehicle incline back horizontal position forward, through foretell real-time detection and adjustment, guarantee that unmanned aerial vehicle can keep balanced state in the surface travel of fluctuation.
The lotus-type sampling device provided by the invention avoids the rotation of the machine body in a static state due to the torque generated by rotating the traditional sampling drill bit, avoids the failure of a sampling task, and reduces the mass of one more sample storage device because the petal-type sampling device is closed and self-sealed to form a sample storage container after the sampling is finished.
When the unmanned aerial vehicle flies above the Mars, if the encountered wind speed is high, the unmanned aerial vehicle can drop to the ground through the control system, and a ground running mode is adopted at the moment, so that the accident rate is reduced. In addition, because the rotor is built in the fuselage, the damage rate of the rotor is reduced. Even if the unmanned aerial vehicle is blown to the ground by strong wind or the unmanned aerial vehicle breaks down in sudden software to cause the crash, the rotor wing of the unmanned aerial vehicle can be kept intact under the protection of the fuselage, and the possibility of the unmanned aerial vehicle turning over is avoided due to the design that the wheels are positioned on two sides. Through the built-in gravity center adjusting device of the fuselage and the travelling wheels on two sides, the unmanned aerial vehicle can use a land travelling mode under the general flat terrain, and electricity consumption is saved.
The Mars land-air amphibious unmanned aerial vehicle designed by the invention can generate lifting force through the coaxial double rotors in the middle of the vehicle body, fly on the Mars surface, and can travel on the Mars ground through the wheels on the two sides of the vehicle body. Typically, the drone will employ a land travel mode for longer endurance and greater load capacity; when the wind speed is low, the mission destination is near or the terrain is rough, the flying mode is adopted to advance. The marching wheels are arranged on the two sides of the unmanned aerial vehicle body, so that even when the unmanned aerial vehicle is blown to the ground by even strong wind or the unmanned aerial vehicle is crashed due to sudden software faults, the rotor wings of the unmanned aerial vehicle can be kept intact under the protection of the unmanned aerial vehicle body, and the possibility of turning over the unmanned aerial vehicle is avoided due to the design of the wheels on the two sides.
According to the lotus type sampling device designed by the invention, through the control system, when the grabbing clamp touches the Mars ground surface again, the sensor converts the received tiny force into an electric signal to be transmitted to the controller, and the controller controls the sampling device to shrink the grabbing clamp at the sampling point to finish self-compaction to become a sample container, so that a Mars surface soil sample can be obtained.
Compared with the prior art, the invention has the following beneficial effects:
the Mars sampling detection-oriented amphibious unmanned aerial vehicle can meet the double motion states of air flight and ground surface running. When the wind speed is lower, the task destination is closer or the terrain is rugged, the unmanned aerial vehicle can unconsciously block the rock on the ground surface by adopting an air flight mode, so that the movement efficiency is higher, the destination can be reached quickly, and the task can be completed efficiently. When the wind speed is higher, the task destination is far or the terrain is flat, the electric quantity can be saved by adopting the ground surface running mode, the occurrence rate of damage to the rotor wing caused by wind turning in the air can be reduced, and the completion rate of the task can be further improved.
The amphibious unmanned aerial vehicle for spark sampling detection can perform a sampling function without adopting a traditional earth boring sampling mode, so that a machine body in a static state is prevented from rotating due to torque generated by rotating a traditional sampling drill bit, and failure of a sampling task is avoided. And the design of the integrated sampling device integrating the sampling and the sample storage ensures that the unmanned aerial vehicle does not need to carry an additional sample storage device, thereby saving the load of the unmanned aerial vehicle.
The amphibious unmanned aerial vehicle for Mars sampling detection can realize stable free switching between air flight and ground surface running and sampling simplicity, achieves the effect of one machine for multiple purposes, and widens the application of the Mars unmanned aerial vehicle.
Drawings
The foregoing and/or other advantages of the invention will become more apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings and detailed description.
Fig. 1 is an overall outline view of an amphibious unmanned aerial vehicle.
Fig. 2 is a centering device.
Fig. 3 is a lotus-shaped sampling device.
Fig. 4 is a view of an internal device of the fuselage.
Fig. 5a is a front view of the whole amphibious unmanned aerial vehicle.
Fig. 5b is an overall side view of the amphibious unmanned aerial vehicle.
Fig. 5c is an overall plan view of the amphibious unmanned aerial vehicle.
Detailed Description
As shown in fig. 1, 4, 5a, 5b and 5c, the invention provides an amphibious unmanned aerial vehicle for spark sampling detection, which comprises a body 101, a photovoltaic system, a driving system and a control system.
The machine body 101 is provided with a honeycomb structure 103 in front and back, a rotary wing motor 401 is arranged in an intermediate shaft 106 in the machine body 101, and a connecting shaft 109 is also arranged in the machine body 101;
the photovoltaic system includes a solar panel 108 and a battery 402; the solar panel 108 is arranged above the machine body 101 and is electrically connected with the storage battery 402 to charge the storage battery 402; the accumulator 402 is installed in the connecting shaft 109 in the body 101;
the driving system comprises coaxial double rotor wings 107 arranged at the middle through part of the unmanned aerial vehicle body 101 and travelling wheels 102 arranged at two sides of the unmanned aerial vehicle body 101;
the rotor motor 401 is respectively connected with the coaxial double rotor 107 and the storage battery 402, and the storage battery 402 provides power to drive the coaxial double rotor 107 to rotate;
the control system comprises two gravity center adjusting devices which are respectively arranged on two sides of the machine body 101 and synchronously run, and the gravity center adjusting devices are used for controlling the balance of the unmanned aerial vehicle and the gesture of the unmanned aerial vehicle during flight.
The coaxial double rotor 107 is driven by a rotor motor 401, the balance during flight is controlled by the inclination of the blades and a gravity center adjusting device in the fuselage 101, the travelling wheel 102 is driven by a wheel motor at the central axis of the wheel, and the balance during travelling is controlled by two synchronously operated gravity center adjusting devices in the fuselage 101.
The gravity center adjusting device comprises a fixed rod 201, a pulley 202, a straight rack 204, a spur gear 205, a stepping motor 206, a control device 207 and a balancing weight 208.
Wherein, the two sides of the balancing weight 208 are provided with sliding grooves 203, and a straight rack 204 is arranged in one side of the sliding grooves; a pulley 202 is arranged in the chute at the other side, the fixed rod 201 passes through the middle of the pulley 202, and the pulley 202 can freely rotate on the fixed rod 201;
the spur gear 205 is fixed on the output shaft of the stepping motor 206, and the spur gear 205 is arranged on one side of a chute provided with a straight rack 204 and is matched with the straight rack 204 in the chute;
the control device 207 is installed above the stepper motor 206, and is powered by the storage battery 402 through a wire to control the operation power of the stepper motor 206.
The spur gear 205 is meshed with the surface tooth trace of the straight rack 204, and the spur gear 205 rotates to enable the balancing weight 208 to move forwards and backwards.
The unmanned aerial vehicle still includes image system, image system contains the high definition digtal 105 of setting in unmanned aerial vehicle the place ahead, the environmental information in record unmanned aerial vehicle place ahead can be shot to the high definition digtal, both can be used for returning the picture of taking photograph and carry out scientific research, also can detect the place ahead barrier through the pattern recognition technique when unmanned aerial vehicle removes, for unmanned aerial vehicle's autopilot control system provides information, autopilot control system can control unmanned aerial vehicle's direction of travel and speed according to these information, avoids dangerous topography when independently traveling.
The control system further comprises a sampling device and a controller 301 with a built-in force washer sensor;
the sampling device comprises a lotus-shaped grab clip 302, a fixed chassis 303, a pushing block 304, a driven rod 305, a fixed shaft 306 and a pulling rod 307;
the lotus-shaped grab clip 302 is connected with the fixed chassis 303 through a driven rod 305 and is connected with the pushing block 304 through a pulling rod 307;
the fixed shaft 306 is connected with the controller 301, the pushing block 304 and the fixed chassis 303 from top to bottom;
the machine body 101 is provided with a reserved hole 104 for installing a lotus-shaped grabbing clamp 302.
When the lotus-shaped grabbing clamp 302 touches the Mars ground surface, a force gasket sensor in the controller 301 converts the tiny force change received into an electric signal to the controller, the controller controls the lotus-shaped grabbing clamp 302 to shrink at a sampling point, so that the pushing block 304 drives the pulling rod 307 to control the lotus-shaped grabbing clamp 302 to slide up and down on the fixed shaft 306, and when the lotus-shaped grabbing clamp slides downwards, the pulling rod 307 drives the lotus-shaped grabbing clamp 302 to open; subsequently, the control system controls the pushing block 304 to slide upwards, so that the lotus-shaped grabbing clamp 302 is contracted and closed, and the 4 petals can be sealed and self-locked after being closed by the lotus petal-shaped structure of the lotus-shaped grabbing clamp 302, so that a Mars surface soil sample can be efficiently and simply obtained.
The application is based on the Mars sampling detection-oriented land-air amphibious unmanned aerial vehicle, and the method for adjusting the flight balance of the unmanned aerial vehicle can be further provided. When the unmanned aerial vehicle is in a flight mode, the coaxial double-rotor wing 107 is driven to rotate, and the unmanned aerial vehicle moves forward along the sliding groove 203 through the balancing weights 208 in the two gravity center adjusting devices which are respectively positioned at two sides and synchronously run in the fuselage 101, so that the unmanned aerial vehicle is low-head, and the unmanned aerial vehicle moves forward horizontally in cooperation with the coaxial double-rotor wing 107; when the balancing weights 208 of the two gravity center adjusting devices synchronously move backwards along the sliding groove 203, the unmanned aerial vehicle is lifted, so that the unmanned aerial vehicle moves backwards horizontally by matching with the coaxial double rotor wings 107; when the unmanned aerial vehicle is in a ground running mode, the control device 207 detects the inclination state of the airframe in real time through an internal gyroscope, and when the unmanned aerial vehicle is tilted forwards, the balancing weights 208 in the two gravity center adjusting devices synchronously move backwards along the sliding groove 203, so that the gravity center of the unmanned aerial vehicle moves backwards, and the unmanned aerial vehicle is tilted backwards to a horizontal position; when the unmanned aerial vehicle leans backward, the balancing weights 208 in the two gravity center adjusting devices synchronously move forward along the sliding groove 203, so that the gravity center of the unmanned aerial vehicle moves forward, the unmanned aerial vehicle is enabled to incline forward to the horizontal position, and the unmanned aerial vehicle can be kept in a balanced state in the fluctuating ground surface running process through the real-time detection and adjustment.
Example 1
As shown in fig. 1, the embodiment is an aeroamphibious unmanned aerial vehicle for spark sampling detection, and the unmanned aerial vehicle comprises a body 101, an image system, a photovoltaic system, a driving system, a control system and a sampling system;
the specific structure is shown in fig. 1 to 4. In fig. 1, 101 is an unmanned aerial vehicle body, 102 is a travelling wheel, 103 is a honeycomb hole, 104 is a hole for holding a lotus-shaped clip, 105 is a high-definition camera, 106 is a middle shaft, 107 is a coaxial double rotor, 108 is a solar panel, and 109 is a connecting shaft.
In fig. 2, 201 is a fixed rod, 202 is a pulley, 203 is a chute, 204 is a straight rack, 205 is a spur gear, 206 is a stepping motor, 207 is a control device, and 208 is a weight.
In fig. 3, 301 is a controller with a built-in force washer sensor, 302 is a "lotus-shaped" grab, 303 is a fixed chassis, 304 is a push block, 305 is a driven rod, 306 is a fixed shaft, and 307 is a pull rod.
In fig. 4, 401 is a rotor motor, and 402 is a battery.
As shown in fig. 1 and 4, the machine body 101 has a honeycomb structure 103 at the front and rear, traveling wheels 102 are disposed at both sides, a solar panel 108 is installed above the machine body 101, and a rotary wing motor 401 is installed in the middle shaft of the machine body 101. The rotor motor 401 provides a maximum speed of 3000rpm for the coaxial twin rotors 107, and provides more lift while ensuring flight (tip line speed less than Mars surface speed) by rotating the coaxial twin rotors 107 as fast as possible.
The image system comprises a high-definition camera 105 at the front outer edge of the body 101. The high-definition camera 105 is a color imaging camera and a black-and-white imaging camera for navigation.
The photovoltaic system comprises a solar panel 108 and a storage battery 402, wherein the solar panel 108 is electrically connected with the storage battery 402;
the storage battery 402 is installed in the three connecting shafts 109 of the machine body 101, and supplies power to the wheel motors, the rotor motor 401, the high-definition camera 105, the sampling device, the sensor, the controller 301 and the gravity center adjusting device at the center shafts of the wheels on two sides through wires. The battery 402 is a 3-piece cylindrical lithium battery. The solar panel 108 is a flexible solar panel, and is made of gallium arsenide material, the weight of the solar panel is only 50% of that of a traditional solar cell, the photoelectric conversion efficiency is more than 30%, and the solar panel has higher conversion efficiency, better radiation resistance and lighter weight than the traditional solar panel.
The drive system includes coaxial dual rotors 107 and traveling wheels 102. The coaxial double rotor wings 107 are made of carbon fiber foam core materials, and are designed into variable wing shapes, large negative twists, large sharp angles and the like which are commonly used in modern paddles, so that the thickness required by the rotor wings can be achieved with the minimum weight under the condition of ensuring better hovering efficiency, and the coaxial double rotor wings have larger rigidity and better bending strength.
The control system comprises a gravity center adjusting device built in the body 101 for controlling the balance of the unmanned aerial vehicle and the attitude during flight.
As shown in fig. 2, the gravity center adjusting device comprises a fixed rod 201, a pulley 202, a chute 203, a straight rack 204, a spur gear 205, a stepping motor 206, a control device 207 and a balancing weight 208; wherein, the two sides of the balancing weight 208 are provided with sliding grooves 203, and the sliding grooves 203 on the other side are internally provided with 204 straight racks; the pulley is arranged on the toothless side of the sliding groove 203, freely moves in the sliding groove 203 to reduce friction, and a spur gear 205 is fixed on the output shaft of a stepping motor 206, is arranged on the toothed side and is matched with a straight toothed bar 204 in the sliding groove 203; the output end of the stepping motor 206 is connected with a spur gear 205, the spur gear 205 is meshed with the surface insections of the chute 203, and the spur gear 205 rotates to enable the counter weight 208 to move forwards and backwards. The stepper motor 206 is a Phytron VSS two-phase hybrid stepper motor, has better reliability, durability, vacuum applicability and minimum outgassing rate, is optimized for smooth operation, is gentle to the mechanical device, and can be accurately positioned without feedback emitters and complex electronics.
As shown in fig. 3, the "lotus-shaped" grip 302 is connected to the fixed chassis 303 by a driven lever 305 and to the push block 304 by a pulling lever 307. The fixed shaft 306 connects the sensor and controller 301, the push block 304 and the fixed chassis 303 from top to bottom.
When the lotus-shaped grip 302 touches the Mars' surface, the force will deform the annular elastomer in a strain-based force washer (such as KMRplus from HBM corporation) in the controller 301, causing strain, which the strain gauge can convert into a change in resistance. The strain gauge constitutes a wheatstone bridge that, upon application of a voltage, produces a measurable voltage proportional to the applied force. Therefore, the change of the micro force is converted into the change of the voltage, the data is transmitted to an STM32 microcontroller in the controller for analysis, the controller controls the lotus-shaped grabbing clamp 302 to shrink at the sampling point, the pushing block 304 drives the pulling rod 307 to control the lotus-shaped grabbing clamp 302 to slide up and down on the fixed shaft 306, and when the pulling rod 307 slides down, the lotus-shaped grabbing clamp 302 is driven to expand by the pulling rod 307; subsequently, the control system controls the push block 304 to slide upward so that the lotus-shaped grip 302 contracts to be able to take a spark surface soil sample. The fully closed lotus-shaped grip 302 is a space for storing the sample, thereby avoiding the increase of the weight of the device for storing the sample. In addition, damage to the drill bit due to rotation of the drone during sampling due to torque generated by the drilling mode employing conventional sampling is avoided.
As a preferred embodiment of the present application, the unmanned aerial vehicle adopts a layout of coaxial double rotor 107 and traveling wheels 102 in double combination.
The design that marching wheels 102 are located the unmanned aerial vehicle fuselage 101 both sides for even when the chance is met strong wind and is blown the unmanned aerial vehicle to the ground or unmanned aerial vehicle sudden software trouble leads to the crash, unmanned aerial vehicle's rotor also can remain intact under the protection of fuselage, and the design that the wheel is located both sides has stopped unmanned aerial vehicle and has turned over the possibility.
The design of the amphibious unmanned aerial vehicle for spark sampling detection can give consideration to air flight and ground surface running, and has the advantages of high working efficiency, good stability, high safety, stable switching of two movement modes, and capability of collecting spark surface soil and realizing the multipurpose performance of the unmanned aerial vehicle.
The invention provides an amphibious unmanned aerial vehicle for spark sampling detection, and the method and the way for realizing the technical scheme are numerous, the above is only the preferred implementation mode of the invention, and it should be pointed out that a plurality of improvements and modifications can be made to the person skilled in the art without departing from the principle of the invention, and the improvements and modifications are regarded as the protection scope of the invention. The components not explicitly described in this embodiment can be implemented by using the prior art.
Claims (10)
1. The amphibious unmanned aerial vehicle for spark sampling detection is characterized by comprising a machine body (101), a photovoltaic system, a driving system and a control system;
the front and back of the machine body (101) are provided with honeycomb structures (103), and a rotor motor (401) is arranged in an intermediate shaft (106) in the machine body (101); a connecting shaft (109) is also arranged in the machine body (101);
the photovoltaic system comprises a solar panel (108) and a storage battery (402); the solar panel (108) is arranged above the machine body (101) and is electrically connected with the storage battery (402) to charge the storage battery (402); the storage battery (402) is arranged in a connecting shaft (109) in the machine body (101);
the driving system comprises coaxial double rotors (107) arranged at the middle through part of the unmanned aerial vehicle body (101) and travelling wheels (102) arranged at two sides of the unmanned aerial vehicle body (101);
the rotor motor (401) is respectively connected with the coaxial double rotor wings (107) and the storage battery (402), and the storage battery (402) provides power to drive the coaxial double rotor wings (107) to rotate;
the control system comprises two gravity center adjusting devices which are respectively arranged at two sides of the machine body (101) and synchronously run, and the gravity center adjusting devices are used for controlling the balance of the unmanned aerial vehicle and the gesture during flight.
2. An amphibious unmanned aerial vehicle for spark-orientated sampling detection according to claim 1, wherein the coaxial twin rotors (107) are driven by rotor motors (401), the balance during flight is controlled by means of pitch and centre of gravity adjustment means of the blades, the travelling wheels (102) are driven by wheel motors at the centre of the wheels, and the balance during travelling is controlled by means of centre of gravity adjustment means.
3. The amphibious unmanned aerial vehicle for spark sampling detection according to claim 2, wherein the gravity center adjusting device comprises a fixed rod (201), a pulley (202), a straight rack (204), a spur gear (205), a stepping motor (206), a control device (207) and a balancing weight (208);
the two sides of the balancing weight (208) are provided with sliding grooves (203), and a straight rack (204) is arranged in one side of the sliding grooves; a pulley (202) is arranged in the sliding groove at the other side, the fixed rod (201) passes through the middle of the pulley (202), and the pulley (202) can freely rotate on the fixed rod (201);
the spur gear (205) is fixed on the output shaft of the stepping motor (206), and the spur gear (205) is arranged on one side of a chute provided with a straight rack (204) and is matched with the straight rack (204) in the chute;
the control device (207) is arranged above the stepping motor (206), and is powered by the storage battery (402) through a wire to control the running power of the stepping motor (206).
4. A spark sampling detection oriented amphibious unmanned aerial vehicle according to claim 3, wherein the spur gear (205) is meshed with the surface insection of the straight rack (204), and the spur gear (205) rotates to enable the balancing weight (208) to move forwards and backwards.
5. The unmanned aerial vehicle for spark-oriented sampling detection of claim 4, further comprising an imaging system comprising a high-definition camera (105) disposed in front of the unmanned aerial vehicle.
6. An aeronautical unmanned aerial vehicle for spark-oriented sampling detection according to claim 5, wherein the control system further comprises a controller (301) with a sampling device and a built-in force washer sensor;
the sampling device comprises a lotus-shaped grab clip (302), a fixed chassis (303), a pushing block (304), a driven rod (305), a fixed shaft (306) and a pulling rod (307);
the lotus-shaped grab clip (302) is connected with the fixed chassis (303) through the driven rod (305) and is connected with the pushing block (304) through the pulling rod (307);
the fixed shaft (306) is connected with the controller (301), the pushing block (304) and the fixed chassis (303) from top to bottom;
the machine body (101) is provided with a reserved hole (104) for installing the lotus-shaped grabbing clamp (302).
7. The amphibious unmanned aerial vehicle for spark sampling detection according to claim 6, wherein when the lotus-shaped grabbing clamp (302) touches the spark ground surface, a force gasket sensor in the controller (301) converts the tiny force change received by the force gasket sensor into an electric signal to the controller (301), the controller (301) controls the lotus-shaped grabbing clamp (302) to shrink at a sampling point, so that the pushing block (304) drives the pulling rod (307) to control the lotus-shaped grabbing clamp (302) to slide up and down on the fixed shaft (306), and when the lotus-shaped grabbing clamp (307) slides downwards, the pulling rod (307) drives the lotus-shaped grabbing clamp (302) to open; then, the control system controls the pushing block (304) to slide upwards, so that the lotus-shaped grabbing clamp (302) is contracted and closed, and the lotus petal-shaped structure of the lotus-shaped grabbing clamp (302) enables 4 petals to be closed and then seal and self-lock, so that a Mars surface soil sample can be obtained efficiently and simply.
8. The amphibious unmanned aerial vehicle for spark sampling detection according to claim 7, wherein the lotus petal-shaped structure of the lotus-shaped grabbing clip (302) enables 4 petals to be closed to complete sealing self-locking, and the fully closed lotus-shaped grabbing clip (302) forms a sealed sample storage space.
9. The unmanned aerial vehicle for spark sampling detection according to claim 8, wherein the storage battery (402) supplies power to the travelling wheel (102), the rotor motor (401), the high-definition camera (105), the sampling device, the sensor and controller (301) and the gravity center adjusting device through wires.
10. An amphibious unmanned aerial vehicle for spark sampling detection according to claim 9, wherein when the unmanned aerial vehicle is in a flight mode, the unmanned aerial vehicle drives the coaxial double rotor wings (107) to rotate, and the unmanned aerial vehicle synchronously moves forward along the sliding groove (203) through the balancing weights (208) in the two gravity center adjusting devices which are respectively positioned at two sides and synchronously operate in the fuselage (101), so that the unmanned aerial vehicle is low, and the unmanned aerial vehicle moves forward horizontally in cooperation with the coaxial double rotor wings (107); when the balancing weights (208) of the two gravity center adjusting devices synchronously move backwards along the sliding groove (203), the unmanned aerial vehicle is lifted, so that the unmanned aerial vehicle moves backwards horizontally by matching with the coaxial double rotor wings (107);
when the unmanned aerial vehicle is in a ground running mode, the control device (207) detects the inclination state of the unmanned aerial vehicle in real time through an internal gyroscope, and when the unmanned aerial vehicle is forwards inclined, the balancing weights (208) in the two gravity center adjusting devices synchronously move backwards along the sliding groove (203), so that the gravity center of the unmanned aerial vehicle moves backwards, and the unmanned aerial vehicle is backwards inclined to a horizontal position; when unmanned aerial vehicle leans backward, balancing weight (208) among two focus adjusting device move forward along spout (203) in step, make unmanned aerial vehicle focus antedisplacement to make unmanned aerial vehicle incline back horizontal position forward, through foretell real-time detection and adjustment, guarantee that unmanned aerial vehicle can keep balanced state in the surface travel of fluctuation.
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