CN117400675A

CN117400675A - Unmanned aerial vehicle in water

Info

Publication number: CN117400675A
Application number: CN202311590304.3A
Authority: CN
Inventors: 王隺梓涵; 谢君; 万晨戈; 邓傲恒; 刘威; 危立明; 徐雪峰
Original assignee: Nanchang Hangkong University
Current assignee: Nanchang Hangkong University
Priority date: 2023-11-27
Filing date: 2023-11-27
Publication date: 2024-01-16

Abstract

The invention discloses a water-air unmanned aerial vehicle, which comprises a water-air dual-purpose culvert fan, a vector tilting mechanism, a cabin and a buoyancy control mechanism, wherein the vector tilting mechanism is connected with the water-air dual-purpose culvert fan, the vector tilting mechanism is used for driving the water-air dual-purpose culvert fan to rotate around the axis of the vector tilting mechanism so as to adjust the orientation of the water-air dual-purpose culvert fan, the cabin is connected with one end, far away from the water-air dual-purpose culvert fan, of the vector tilting mechanism, the water-air dual-purpose culvert fan is used for providing running thrust or lifting force for the water-air unmanned aerial vehicle, the buoyancy control mechanism is arranged in the cabin, and the buoyancy control mechanism can pump in or drain water, so that the gravity of the water-air unmanned aerial vehicle is increased or reduced. The invention adopts the water-air dual-purpose duct fan, so that the water-air unmanned aerial vehicle adopts the same power mechanism in water and in air, and the water-air unmanned aerial vehicle can stably and efficiently run across media, and the efficiency of the water-air dual-purpose duct fan is higher.

Description

Unmanned aerial vehicle in water

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle.

Background

The cross-medium water-air unmanned aerial vehicle is taken as a device which can adaptively realize movement transition and continuous existence between two different fluid media of water and air, and can autonomously and continuously navigate and execute specific tasks in the two media. The submarine and the airplane have the advantages of being integrated into a whole and combining the advantages of the submarine and the airplane into a new advantage, and compared with a traditional single-medium aircraft, the submarine has the characteristics of high air flight speed and good underwater hiding effect, the submarine has the advantages of greatly improving the survivability of the submarine and the airplane and widening the applicable scene, so that the submarine and the airplane have very wide application prospects in the future in both military and civil fields.

The rotor type aircraft has the advantages of strong flexibility, no requirement on taking off and landing basically, good maneuverability, adaptability and the like, so that the rotor type structure is one of the optimal solutions for solving the difficult problem of the cross-medium aircraft. However, the rotor aircraft has low flying efficiency, and because different power systems are respectively adopted during sea and air operation, stable and efficient cross-medium flying cannot be realized.

Disclosure of Invention

Based on this, it is necessary to provide a water-air unmanned aerial vehicle that can stably and efficiently operate across media.

A water craft, comprising:

a nacelle;

a water-air dual-purpose ducted fan;

the vector tilting mechanism is used for driving the water-air dual-purpose ducted fan to rotate around the axis of the vector tilting mechanism so as to adjust the direction of the water-air dual-purpose ducted fan;

the water-air dual-purpose ducted fan is used for providing thrust for the water-air unmanned aerial vehicle to run in water, and is also used for providing lift force for the water-air unmanned aerial vehicle to fly in air; a kind of electronic device with high-pressure air-conditioning system

The buoyancy control mechanism is arranged in the engine room and can suck in or discharge water, so that the gravity of the unmanned aerial vehicle is increased or reduced.

Preferably, the number of the water-air dual-purpose duct fans is multiple, the number of the vector tilting mechanisms is the same as that of the water-air dual-purpose duct fans, the vector tilting mechanisms are in one-to-one correspondence with the water-air dual-purpose duct fans, and the multiple vector tilting mechanisms are connected to the periphery of the engine room at intervals.

Preferably, the water-air dual-purpose duct fan comprises a duct, a waterproof brushless motor, a duct blade and a central connecting piece, wherein the central connecting piece is connected with the vector tilting mechanism, the waterproof brushless motor, the duct blade and the central connecting piece are all arranged in the duct, the central connecting piece is connected with the inner side wall of the duct, the waterproof brushless motor is arranged in the central connecting piece, the duct blade is arranged in the waterproof brushless motor and is connected, and the waterproof brushless motor is used for driving the duct blade to rotate so as to provide running thrust or lifting force for the water-air unmanned aerial vehicle.

Preferably, the vector tilting mechanism comprises a steering engine and a vector transmission part which are in transmission connection, the steering engine is connected with the engine room, the vector transmission part is connected with the water-air dual-purpose ducted fan, and the steering engine is used for driving the vector transmission part to rotate around the axis of the steering engine, so that the water-air dual-purpose ducted fan is driven to rotate around the axis of the vector transmission part, and the direction of the water-air dual-purpose ducted fan is regulated.

Preferably, the vector tilting mechanism further comprises an electromagnetic angle lock, the electromagnetic angle lock comprises a main component and a secondary component, the main component is fixedly connected with the cabin, the secondary component is fixedly connected with the water-air dual-purpose ducted fan, the main component is provided with an electromagnetic bolt, and the electromagnetic bolt can be inserted into the secondary component so as to lock the main component and the secondary component, and further realize the angle locking of the water-air dual-purpose ducted fan relative to the cabin.

Preferably, the buoyancy control mechanism comprises a water storage cabin, a peristaltic pump, a first connecting pipe and an air storage cabin, wherein the water storage cabin is communicated with the air storage cabin through the first connecting pipe, an overflow prevention valve is arranged on the first connecting pipe and used for preventing water in the water storage cabin from overflowing into the air storage cabin, the peristaltic pump is connected with the water storage cabin, and the peristaltic pump can pump water into the water storage cabin or drain water in the water storage cabin, so that the gravity of the unmanned aerial vehicle is increased or reduced.

Preferably, the buoyancy control mechanism further comprises a second connecting pipe, a water outlet stop valve, a third connecting pipe and a water inlet stop valve, the peristaltic pump is connected with the water storage cabin through the second connecting pipe, the water outlet stop valve is arranged on the second connecting pipe, and the water outlet stop valve is used for preventing water in the water storage cabin from overflowing; one end of the third connecting pipe is connected with the peristaltic pump, the other end of the third connecting pipe extends out of the engine room, the water inlet stop valve is arranged on the third connecting pipe and used for preventing external water from being poured into the peristaltic pump.

Preferably, the unmanned aerial vehicle further comprises a controller, the controller is installed in the cabin, the controller is respectively in communication connection with the two-purpose water-air duct fan, the vector tilting mechanism and the buoyancy control mechanism, and the controller is used for controlling the two-purpose water-air duct fan, the vector tilting mechanism and the buoyancy control mechanism to operate.

Preferably, the unmanned aerial vehicle further comprises at least one of the following:

the photoelectric pod is arranged at the bottom of the cabin, is in communication connection with the controller, and is used for collecting surrounding environment infrared data and image data and transmitting the surrounding environment infrared data and image data to the controller;

the sonar is arranged at the bottom of the cabin, is in communication connection with the controller, and is used for collecting position information data of the underwater object and transmitting the position information data to the controller;

the laser radar is arranged at the top of the engine room, is in communication connection with the controller, and is used for collecting three-dimensional point clouds of objects in an air environment and transmitting the three-dimensional point clouds to the controller;

the binocular camera is arranged at the front part of the engine room, is in communication connection with the controller, and is used for collecting depth image data of objects in an air environment and transmitting the depth image data to the controller;

The lithium battery is arranged in the cabin, is electrically connected with the controller and is transmitted to the controller;

the high-performance computer is in communication connection with the controller and is used for reading data received by the controller, calculating the real-time state and the surrounding environment state of the unmanned aerial vehicle through a preset algorithm and feeding back the real-time state and the surrounding environment state of the unmanned aerial vehicle to the controller.

Preferably, the nacelle comprises an upper shell, a lower shell and a waterproof sealing ring, wherein the upper shell is arranged on the lower shell, and the waterproof sealing ring is arranged between the upper shell and the lower shell so as to realize sealing between the upper shell and the lower shell.

The technical scheme of the invention has the advantages that: when the unmanned aerial vehicle runs in water, the gravity of the unmanned aerial vehicle is regulated through the buoyancy control mechanism, so that the running depth of the unmanned aerial vehicle can be regulated, when the suitable depth is reached, the buoyancy control mechanism is regulated and controlled to enable the gravity of the unmanned aerial vehicle to be equal to the received buoyancy, so that the unmanned aerial vehicle is in a water suspension state, then the angle of the dual-purpose water-air bypass fan is regulated through the vector tilting mechanism, so that the dual-purpose water-air bypass fan is regulated to a required direction, and the running thrust is provided for the unmanned aerial vehicle through the dual-purpose water-air bypass fan; when the unmanned aerial vehicle needs to discharge water, the buoyancy control mechanism is regulated to enable the self gravity of the unmanned aerial vehicle to be smaller than the received buoyancy, the unmanned aerial vehicle floats, the vector tilting mechanism rotates to adjust the direction of the fan of the dual-purpose water duct, so that the thrust direction of the fan of the dual-purpose water duct is vertically downward, and accordingly lift force is provided for the unmanned aerial vehicle, and the unmanned aerial vehicle discharges water; when the unmanned aerial vehicle flies in the air, power is also provided by the water-air dual-purpose ducted fan; when the water-air unmanned aerial vehicle needs to enter water, the flying height of the water-air unmanned aerial vehicle is regulated through the water-air dual-purpose duct fan, when the water-air unmanned aerial vehicle is about to enter water, the water-air unmanned aerial vehicle is in a hovering state, and then the water-air dual-purpose duct fan is turned off, so that the water-air unmanned aerial vehicle stalls and water, the self gravity of the water-air unmanned aerial vehicle is smaller than the buoyancy of the water-air unmanned aerial vehicle, the water-air unmanned aerial vehicle naturally floats on a horizontal plane, and the gravity of the water-air unmanned aerial vehicle is regulated through the buoyancy control mechanism, so that the self gravity of the water-air unmanned aerial vehicle is larger than the buoyancy of the water-air unmanned aerial vehicle, and the water-entering process of the water-air unmanned aerial vehicle is realized. Because the water-air dual-purpose ducted fan is adopted in the invention, the water-air unmanned aerial vehicle adopts the same power mechanism in water and in air, and the problem of non-uniform power system in the process of medium-crossing operation of the traditional rotor-type aerial vehicle is avoided, so that the water-air unmanned aerial vehicle can stably and efficiently run across the medium; in addition, due to the annular effect of the duct fan, the duct fan has the advantages of compact structure, low pneumatic noise and good use safety, and under the same power consumption, the duct fan can generate larger thrust compared with the isolated duct blades with the same diameter, so that the water-air dual-purpose duct fan has less induced resistance and high efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a configuration of an embodiment of an unmanned aerial vehicle in operation in the air;

FIG. 2 is a schematic view of an embodiment of a water craft with the cabin lower shell hidden;

FIG. 3 is a schematic diagram illustrating the cooperation of a fan with a vector tilting mechanism;

FIG. 4 is an isometric cross-sectional view of a dual-purpose ducted fan in combination with a vector tilting mechanism in an embodiment;

FIG. 5 is a schematic diagram of a buoyancy control mechanism according to one embodiment;

FIG. 6 is a schematic view of an embodiment of a water craft with the upper hull of the cabin hidden;

FIG. 7 is an enlarged view at A of FIG. 6;

FIG. 8 is a schematic view of a configuration of an embodiment of an air-water unmanned aerial vehicle at another angle;

FIG. 9 is an initial state diagram of an embodiment of a water craft while submerged in water;

FIG. 10 is a state diagram of an embodiment of a free-moving unmanned aerial vehicle in water;

fig. 11 is a front view of fig. 10.

Part name and number in the figure: 100. a water-air dual-purpose ducted fan; 110. a duct; 120. waterproof brushless motor; 130. duct blades; 140. a center connector; 150. a carbon fiber tube; 200. a vector tilting mechanism; 210. steering engine; 220. a vector transmission member; 230. an electromagnetic angle lock; 231. a main member; 232. a slave member; 233. an electromagnetic latch; 300. a nacelle; 310. an upper case; 320. a lower case; 330. a waterproof sealing ring; 400. a buoyancy control mechanism; 410. a water storage compartment; 420. a peristaltic pump; 430. a first connection pipe; 440. an air storage compartment; 450. a second connection pipe; 460. a water outlet stop valve; 470. a third connection pipe; 480. a water inlet stop valve; 490. an overflow prevention stop valve; 500. center sheet metal; 600. a controller; 700. a photovoltaic pod; 800. sonar; 900. a laser radar; 1000. a binocular camera; 1100. a lithium battery; 1200. a high performance computer; 1300. a sheet metal bending piece; 1400. landing gear; 1500. hexagonal isolation column.

The achievement of the objects, functional features and advantages of the present invention will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, the description of "first," "second," etc. in this disclosure is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, "and/or" throughout this document includes three schemes, taking a and/or B as an example, including a technical scheme, a technical scheme B, and a technical scheme that both a and B satisfy; in addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present invention.

Referring to fig. 1-2, the present invention provides a water-air unmanned aerial vehicle, which comprises a water-air dual-purpose ducted fan 100, a vector tilting mechanism 200, a cabin 300 and a buoyancy control mechanism 400, wherein one end of the vector tilting mechanism 200 is connected with the cabin 300, the other end of the vector tilting mechanism 200 is connected with the water-air dual-purpose ducted fan 100, the vector tilting mechanism 200 is used for driving the water-air dual-purpose ducted fan 100 to rotate around the axis of the vector tilting mechanism 200 so as to adjust the orientation of the water-air dual-purpose ducted fan 100, the water-air dual-purpose ducted fan 100 is used for providing thrust for running in the water-air unmanned aerial vehicle, the water-air dual-purpose ducted fan 100 is used for providing lift for flying in the water-air unmanned aerial vehicle, the buoyancy control mechanism 400 is arranged in the cabin 300, and the buoyancy control mechanism 400 can pump in or drain water, so as to increase or reduce the gravity of the water-air unmanned aerial vehicle.

When the unmanned aerial vehicle runs in water, the buoyancy control mechanism 400 is used for adjusting the gravity of the unmanned aerial vehicle so that the gravity of the unmanned aerial vehicle is larger than the buoyancy, and therefore the running depth of the unmanned aerial vehicle can be adjusted, when the suitable depth is reached, the buoyancy control mechanism 400 is adjusted so that the gravity of the unmanned aerial vehicle is equal to the received buoyancy, thus a water suspension state is achieved, then the two-purpose water-air ducted fan 100 is adjusted to a required orientation through the vector tilting mechanism 200, the two-purpose water-air ducted fan 100 is oriented in the horizontal direction, and thus the two-purpose water-air ducted fan 100 provides the unmanned aerial vehicle with thrust running in the horizontal direction; when the unmanned aerial vehicle needs to discharge water, the buoyancy control mechanism 400 is regulated to enable the self gravity of the unmanned aerial vehicle to be smaller than the received buoyancy, the unmanned aerial vehicle floats, the vector tilting mechanism 200 rotates to regulate the direction of the dual-purpose water-air ducted fan 100 to enable the dual-purpose water-air ducted fan 100 to be upwards, so that the thrust direction of the dual-purpose water-air ducted fan 100 is vertically downwards, and lift force is provided for the unmanned aerial vehicle, and the unmanned aerial vehicle discharges water; when the unmanned aerial vehicle flies in the air, the unmanned aerial vehicle is also powered by the water-air dual-purpose ducted fan 100; when the water-air unmanned aerial vehicle needs to enter water, the flying height of the water-air unmanned aerial vehicle is regulated by the water-air dual-purpose duct fan 100, when the water-air unmanned aerial vehicle is about to enter water, the water-air unmanned aerial vehicle is in a hovering state, then the water-air dual-purpose duct fan 100 is turned off, so that the water-air unmanned aerial vehicle stalls and water, the self gravity of the water-air unmanned aerial vehicle is smaller than the buoyancy, the water-air unmanned aerial vehicle naturally floats on the horizontal plane, and the gravity of the water-air unmanned aerial vehicle is regulated by the buoyancy control mechanism 400, so that the self gravity of the water-air unmanned aerial vehicle is larger than the buoyancy, and the water-air unmanned aerial vehicle entering process is realized. Because the water-air dual-purpose ducted fan 100 is adopted in the invention, the water-air unmanned aerial vehicle adopts the same power mechanism in water and in air, and the problem of non-uniform power system during the cross-medium operation of the traditional rotor-type aerial vehicle is avoided, so that the water-air unmanned aerial vehicle can stably and efficiently run across the medium; in addition, due to the circumferential action of the duct 110 of the duct fan, the structure is compact, the pneumatic noise is low, the use safety is good, and under the same power consumption, the duct fan can generate larger thrust compared with the isolated duct blades with the same diameter, so that the water-air dual-purpose duct fan 100 has less induced resistance and high efficiency.

Specifically, the unmanned aerial vehicle can fly in the air or in the water environment such as the sea, river, lake and the like.

In this embodiment, the axial direction of the vector tilting mechanism 200 is perpendicular to the axial direction of the water-air dual-purpose ducted fan 100, so that the vector tilting mechanism 200 drives the water-air dual-purpose ducted fan 100 to rotate around the axis of the vector tilting mechanism to adjust the direction of the water-air dual-purpose ducted fan 100.

Referring to fig. 1, the number of the water-air dual-purpose ducted fans 100 is plural, the number of the vector tilting mechanisms 200 is the same as the number of the water-air dual-purpose ducted fans 100, the vector tilting mechanisms 200 are in one-to-one correspondence with the water-air dual-purpose ducted fans 100, and the plurality of vector tilting mechanisms 200 are connected to the outer periphery of the nacelle 300 at intervals. In particular, the plurality of water-air dual-purpose ducted fans 100 can more reliably provide operational thrust or lift for the water-air unmanned aerial vehicle.

In the present embodiment, the number of the water-air dual-purpose ducted fans 100 is four, the number of the vector tilting mechanisms 200 is also four, the vector tilting mechanisms 200 are connected with the water-air dual-purpose ducted fans 100 in a one-to-one correspondence manner, and the four vector tilting mechanisms 200 are uniformly connected to the outer periphery of the nacelle 300, so that the four water-air dual-purpose ducted fans 100 are uniformly arranged on the outer periphery of the nacelle 300.

In this embodiment, the direction indicated by the X-axis arrow in fig. 1 is the forward direction of the unmanned aerial vehicle, and the direction opposite to the direction indicated by the X-axis arrow in fig. 1 is the backward direction of the unmanned aerial vehicle. The four water-air dual-purpose ducted fans 100 are arranged at positions offset from the right front and right rear of the water-air unmanned aerial vehicle. Two of the four water-air dual-purpose ducted fans 100 are arranged at the left of the water-air unmanned aerial vehicle, and the other two are oppositely arranged at the right of the water-air unmanned aerial vehicle. Two of the four water-air dual-purpose ducted fans 100 are arranged in front of the water-air unmanned aerial vehicle, and the other two are oppositely arranged behind the water-air unmanned aerial vehicle.

Further, the rotational speed of each of the water-air dual-purpose ducted fans 100 is adjustable. By adjusting the rotational speeds of the four water-air dual-purpose ducted fans 100, the height and direction of the water-air unmanned aerial vehicle can be changed, and the flight principle is the same as that of other multi-rotor water-air unmanned aerial vehicles. The following is a brief description:

when the lifting movement needs to be realized: when the unmanned aerial vehicle stably hovers, the lift force can be improved only by increasing the rotating speed of the four two-purpose ducted fans 100 at the same time, so that the unmanned aerial vehicle ascends, and conversely, the unmanned aerial vehicle can descend.

When the steering movement needs to be realized: when the unmanned aerial vehicle stably hovers, if the unmanned aerial vehicle is required to rotate clockwise, the two water-air dual-purpose ducted fans 100 rotating clockwise are controlled to reduce the rotating speed, and the two water-air dual-purpose ducted fans 100 rotating anticlockwise increase the rotating speed, so that the ducted blades are subjected to more counter-clockwise reaction force, and the unmanned aerial vehicle can turn clockwise. On the contrary, the water-air unmanned aerial vehicle can rotate anticlockwise.

When the front-back translation motion needs to be realized: when the unmanned aerial vehicle hovers stably, if the unmanned aerial vehicle is wanted to fly forwards, the rotation speed of the two air-water bypass fans 100 at the rear is controlled to exceed the rotation speed of the two air-water bypass fans 100 at the front, the unmanned aerial vehicle can tilt forwards, and the larger the difference between the rotation speeds of the front and rear bypass blades is, the faster the speed of forward flying is. On the contrary, the unmanned aerial vehicle can fly backwards.

When the left-right translational movement needs to be realized: when the unmanned aerial vehicle hovers stably, if the unmanned aerial vehicle is wanted to fly rightwards, the rotation speed of the two left two water-air dual-purpose ducted fans 100 is controlled to exceed the rotation speed of the two right two water-air dual-purpose ducted fans 100, the unmanned aerial vehicle can tilt rightwards, and the larger the difference between the rotation speeds of the left and right ducted blades is, the faster the speed of flying rightwards is. Otherwise, the unmanned aerial vehicle can fly leftwards.

By adjusting the rotational speeds of the four water-air dual-purpose ducted fans 100, the height and direction change of the water-air unmanned aerial vehicle can be realized, and the operation process in water is briefly described as follows:

in the initial state under water, as shown in fig. 9, the four water-air dual-purpose ducted fans 100 are all oriented horizontally.

When lifting is needed to be realized: if the unmanned aerial vehicle is to ascend, the buoyancy control mechanism 400 discharges the water body, so that the gravity of the unmanned aerial vehicle is smaller than the buoyancy, and then the unmanned aerial vehicle ascends, otherwise, the unmanned aerial vehicle can descend.

When the forward or backward movement is required: if the unmanned aerial vehicle is expected to travel forward, the front two fans 100 are operated to provide forward thrust for the unmanned aerial vehicle, and the greater the rotational speed of the blades of the front two fans 100, the faster the forward travel speed. Otherwise, the unmanned aerial vehicle can travel backwards.

When the front upper part is required to move: the angles of the front two water-air dual-purpose ducted fans 100 are adjusted so that the front two water-air dual-purpose ducted fans 100 face forward and upward, as shown in fig. 10-11. The front two water-air dual-purpose ducted fans 100 are driven to run, and thrust for the water-air unmanned aerial vehicle to move forward and upward is provided. On the contrary, the unmanned aerial vehicle can move upwards and backwards.

When the front lower part is required to move: the angles of the front two water-air dual-purpose ducted fans 100 are adjusted, so that the front two water-air dual-purpose ducted fans 100 face to the front lower side, and then the front two water-air dual-purpose ducted fans 100 are driven to run, and thrust for the water-air unmanned aerial vehicle to move forward and downward is provided. On the contrary, the unmanned aerial vehicle can move backward and downward.

When the steering is needed, if the unmanned aerial vehicle wants to turn left, the rotating speed of the two-purpose ducted fans 100 for water and air on the front right side and the rear left side of the unmanned aerial vehicle is increased, so that the unmanned aerial vehicle deflects left; if the unmanned aerial vehicle wants to turn right, the rotation speed of the two-purpose water-air ducted fan 100 at the front left side and the rear right side of the unmanned aerial vehicle is increased, so that the unmanned aerial vehicle deflects right.

Referring to fig. 3-4, the water-air dual-purpose ducted fan 100 includes a duct 110, a waterproof brushless motor 120, a duct blade 130 and a central connection member 140, the central connection member 140 is connected with a vector tilting mechanism 200, the waterproof brushless motor 120, the duct blade 130 and the central connection member 140 are all disposed in the duct 110, the central connection member 140 is connected with the inner side wall of the duct 110, the waterproof brushless motor 120 is disposed in the central connection member 140, the duct blade 130 is connected with the waterproof brushless motor 120, and the waterproof brushless motor 120 is used for driving the duct blade 130 to rotate so as to provide running thrust or lifting force for the water-air unmanned aerial vehicle. Specifically, the water-air dual-purpose ducted fan 100 is the same as the existing ducted fan in principle. The duct 110 allows for higher thrust and efficiency of the water and air dual-purpose duct fan 100 because the duct 110 of the water and air dual-purpose duct fan 100 may allow for greater acceleration of the airflow in the duct 110, thereby generating greater thrust and efficiency.

In the present embodiment, the axis of the waterproof brushless motor 120 is parallel to the axis of the duct 110, and the axis of the waterproof brushless motor 120 is perpendicular to the axis of the tilting mechanism.

Referring to fig. 3 to 4, the central connection member 140 is connected to the vector tilting mechanism 200 through the carbon fiber pipe 150, and specifically, one end of the carbon fiber pipe 150 is connected to the central connection member 140 and the other end is connected to the vector tilting mechanism 200 through the side wall of the duct 110. The center connector 140 is connected to the inside wall of the duct 110 by carbon fiber tubes 150. Specifically, the carbon fiber tube 150 used in the present invention is a carbon fiber tube 150 designed by light weight.

In this embodiment, the duct blades 130 are screwed to the waterproof brushless motor 120, the waterproof brushless motor 120 is screwed to the upper end surface of the central connector 140, and the peripheral end surface of the central connector 140 is screwed to each carbon fiber tube 150.

Referring to fig. 3-4, the vector tilting mechanism 200 includes a steering engine 210 and a vector transmission member 220 in driving connection, the steering engine 210 is connected with the nacelle 300, the vector transmission member 220 is connected with the water-air dual-purpose ducted fan 100, and the steering engine 210 is used for driving the vector transmission member 220 to rotate around its own axis, so as to drive the water-air dual-purpose ducted fan 100 to rotate around the axis of the vector transmission member 220, so as to adjust the orientation of the water-air dual-purpose ducted fan 100. Specifically, the central connection member 140 of the water-air dual-purpose ducted fan 100 is connected to the vector transmission member 220 through the carbon fiber pipe 150.

In this embodiment, the vector transmission member 220 is fastened to the steering engine 210 by a screw with a built-in screw.

Further, a central sheet metal 500 is provided in the nacelle 300, and the steering engine 210 is connected to the central sheet metal 500 in the nacelle 300 through the carbon fiber tube 150.

Referring to fig. 3-4, the vector tilting mechanism 200 further includes an electromagnetic angle lock 230, and the electromagnetic angle lock 230 is used to achieve the angle locking of the water-air dual-purpose ducted fan 100.

Referring to fig. 4, the electromagnetic angle lock 230 includes a main member 231 and a sub member 232, the main member 231 is fixedly connected with the nacelle 300, the sub member 232 is fixedly connected with the water-air dual-purpose ducted fan 100, the main member 231 has an electromagnetic latch 233, and the electromagnetic latch 233 can be inserted into the sub member 232 to lock the main member 231 and the sub member 232, thereby realizing the angle locking of the water-air dual-purpose ducted fan 100 relative to the nacelle 300.

In the present embodiment, the main member 231 is rigidly connected to the nacelle 300 side carbon fiber tube 150 coaxially, and the sub member 232 is rigidly connected to the water/air dual-purpose ducted fan 100 side carbon fiber tube 150 coaxially. Specifically, when the master member 231 and the slave member 232 are unlocked, the steering engine 210 is electrified to drive the vector transmission member 220 to rotate, so as to drive the slave member 232 and the carbon fiber tube 150 which is just connected with the slave member 232 to rotate, thereby rotating the water-air dual-purpose ducted fan 100 and providing vector power.

Referring to fig. 2 and 5, the buoyancy control mechanism 400 includes a water storage compartment 410, a peristaltic pump 420, a first connection pipe 430 and an air storage compartment 440, wherein the water storage compartment 410 is communicated with the air storage compartment 440 through the first connection pipe 430, a spill-proof valve 490 is provided on the first connection pipe 430, the spill-proof valve 490 is used for preventing water in the water storage compartment 410 from overflowing into the air storage compartment 440, the peristaltic pump 420 is connected with the water storage compartment 410, and the peristaltic pump 420 can pump water into the water storage compartment 410 or discharge water in the water storage compartment 410, thereby increasing or reducing the gravity of the unmanned aerial vehicle. The water-air dual-purpose ducted fan 100 is matched with the buoyancy control mechanism 400, so that the medium-crossing capacity of the aircraft can be enhanced, and the accurate submerging depth can be maintained during underwater maneuver.

Specifically, when the gravity needs to be increased, the peristaltic pump 420 pumps the water into the water storage cabin 410, the air in the water storage cabin 410 is pressed into the air storage cabin 440, and the more the water in the water storage cabin 410 is, the heavier the water storage cabin 410 is, so that the gravity of the cross-medium water-air unmanned aerial vehicle is increased; when the gravity needs to be reduced, peristaltic pump 420 discharges the water from water storage compartment 410 to outside of nacelle 300, and the high-pressure air in air storage compartment 440 re-expands into air storage compartment 440, so that the less the water in water storage compartment 410, the lighter water storage compartment 410, and the gravity of the cross-medium unmanned aerial vehicle is reduced. The gravity is precisely adjusted by the buoyancy control mechanism 400, so that the medium crossing capacity can be enhanced by matching with the water-air dual-purpose ducted fan 100. The cross-medium water-air unmanned aerial vehicle repeats the above work under water, and the self quality can be changed, so that the underwater depth can be accurately positioned.

Referring to fig. 2 and 5, the buoyancy control mechanism 400 further includes a second connection pipe 450, a water outlet stop valve 460, a third connection pipe 470, and a water inlet stop valve 480, the peristaltic pump 420 is connected to the water storage compartment 410 through the second connection pipe 450, the water outlet stop valve 460 is disposed on the second connection pipe 450, and the water outlet stop valve 460 is used for preventing water in the water storage compartment 410 from overflowing; one end of the third connection pipe 470 is connected to the peristaltic pump 420, and the other end of the third connection pipe 470 extends out of the nacelle 300, and a water inlet stop valve 480 is disposed on the third connection pipe 470, wherein the water inlet stop valve 480 is used for preventing external water from being poured into the peristaltic pump 420.

Specifically, when it is desired to drain the water in the water storage compartment 410, the water outlet stop valve 460 is turned on; when the water is required to be pumped into the water storage compartment 410, the water inlet stop valve 480 is turned on; in a normal state, the water outlet stop valve 460 and the water inlet stop valve 480 are blocked to prevent water in the water storage compartment 410 from overflowing and prevent external water from being poured into the peristaltic pump 420.

In the present embodiment, the air storage compartment 440 has a soft capsule structure, the first connection pipe 430 is a "U" shaped pipe, and the second connection pipe 450 and the third connection pipe 470 are "L" shaped pipes.

Referring to fig. 6-7, the unmanned aerial vehicle further includes a controller 600, the controller 600 is installed in the nacelle 300, the controller 600 is respectively in communication with the dual-purpose water-air ducted fan 100, the vector tilting mechanism 200, and the buoyancy control mechanism 400, and the controller 600 is used for controlling the operations of the dual-purpose water-air ducted fan 100, the vector tilting mechanism 200, and the buoyancy control mechanism 400. Specifically, the controller 600 improves the intelligent degree of the unmanned aerial vehicle, and simultaneously enhances the performance of the unmanned aerial vehicle and the expandability of peripheral hardware and software, so that the unmanned aerial vehicle has wide future intelligent expansion space.

Referring to fig. 8, the unmanned water vehicle further includes a photo-pod 700, the photo-pod 700 being mounted to the bottom of the nacelle 300, the photo-pod 700 being communicatively connected to the controller 600, the photo-pod 700 being adapted to collect ambient infrared data and image data.

Referring to fig. 8, the unmanned aerial vehicle further includes a sonar 800, which is installed at the bottom of the nacelle 300, and the sonar 800 is in communication with the controller 600, and the sonar 800 is used for collecting position information data of the underwater object. Specifically, sonar 800 is configured for use underwater, and collects various data underwater, so that controller 600 controls the operation of the various components according to the data.

Referring to fig. 6, the unmanned aerial vehicle further includes a lidar 900 mounted on top of the nacelle 300, the lidar 900 being communicatively connected to the controller 600, the lidar 900 being configured to collect a three-dimensional point cloud of objects in the air environment.

Referring to fig. 1, the unmanned aerial vehicle further includes a binocular camera 1000 mounted at the front of the nacelle 300, the binocular camera 1000 being communicatively connected to the controller 600, the binocular camera 1000 being used for collecting depth image data of objects in the air environment; the direction indicated by the X-axis arrow in fig. 1 is the direction in which the rear of nacelle 300 is directed forward. In fig. 1, two water-air dual-purpose ducted fans 100 near the binocular camera 1000 and located at the left and right sides of the binocular camera 1000 are two water-air dual-purpose ducted fans 100 in front of the water-air unmanned aerial vehicle.

Specifically, the lidar 900 and the binocular camera 1000 are used in the air to collect various data in the air so that the controller 600 controls the operation of the various components according to the data. The lidar 900 and the binocular camera 1000 are turned off while in the water.

Referring to fig. 7, the unmanned water vehicle further includes a lithium battery 1100 installed in the nacelle 300, and the lithium battery 1100 is electrically connected with the controller 600 to power the respective components of the unmanned water vehicle.

Referring to fig. 7, the unmanned aerial vehicle further includes a high-performance computer 1200 communicatively connected to the controller 600, the high-performance computer 1200 is used for reading data received by the controller 600, calculating a real-time state and an ambient state of the unmanned aerial vehicle through a preset algorithm, feeding back the real-time state and the ambient state of the unmanned aerial vehicle to the controller 600, and then controlling the operation of each component by the controller 600 according to the situation. Specifically, the high-performance computer 1200, the controller 600 and the loads of the rest of the unmanned aerial vehicles are adopted as central control allocation and algorithm deployment, so that the intelligent degree of the unmanned aerial vehicles is improved, the performance of the unmanned aerial vehicles and the expandability of peripheral hardware and software are enhanced, and the future expansion intelligent space of the unmanned aerial vehicles is wide.

Nacelle 300 is streamlined so that the unmanned aerial vehicle experiences less drag.

Referring to fig. 8, the nacelle 300 includes an upper case 310, a lower case 320, and a waterproof gasket 330, the upper case 310 is covered on the lower case 320, and the waterproof gasket 330 is disposed between the upper case 310 and the lower case 320 to achieve sealing between the upper case 310 and the lower case 320. Specifically, the optoelectronic pod 700 and the sonar 800 are disposed on the outer side wall of the lower case 320, and the lidar 900 and the binocular camera 1000 are disposed on the outer side wall of the upper case 310.

The design of the upper shell 310 and the lower shell 320 of the nacelle 300 makes the aircraft load arrangement more reasonable.

Further, the upper case 310 and the lower case 320 are fastened and connected with the waterproof gasket 330 by 24M 3 standard screw nuts and plain washers. Specifically, the waterproof performance of the nacelle 300 can be reliably improved by the fastening action of the waterproof seal ring 330 and the screw and nut.

Referring to fig. 2, 6, 7, in the present embodiment, the controller 600 is mounted on a central sheet metal 500 within the nacelle 300; the laser radar 900 is installed in the protrusion at the upper end of the upper shell 310 of the engine room 300 and is fixedly connected through a hexagonal isolation column 1500; the high performance computer 1200 is fastened to the hexagonal spacer column 1500; the lithium battery 1100 is installed at the lower side of the central metal plate 500; a sheet metal bending part 1300 is arranged in the engine room 300, and the center sheet metal 500 is fixed by the sheet metal bending part 1300.

Referring to fig. 1, the unmanned water craft further includes a landing gear 1400, and the landing gear 1400 is disposed at the bottom of the nacelle 300 for supporting the nacelle 300. Specifically, landing gear 1400 is disposed at the bottom of lower shell 320 of nacelle 300.

Referring to fig. 1-10, the operation of the unmanned water-air vehicle of the present invention will be briefly described:

when taking off and taking off on the water surface, before the unmanned aerial vehicle takes off, the high-performance computer 1200 pumps out the water body in the water body storage bin completely by regulating and controlling the buoyancy control mechanism 400, so that the total weight of the unmanned aerial vehicle is reduced, and the aerial operation endurance is improved; during land take-off, the landing gear 1400 supports the whole unmanned aerial vehicle and takes off.

The adjustment of the altitude and direction of the aero-water unmanned aerial vehicle in the air flight state is the same as the principle of the existing rotary wing unmanned aerial vehicle (the description is given in the previous description). Specifically, when in the air flight state, the electromagnetic latch 233 of the main member 231 is inserted into the auxiliary member 232, the electromagnetic angle lock 230 is in the locked state, the vector tilting mechanism 200 is in the standby (off) state, the water-air dual-purpose ducted fan 100 is horizontally and vertically upward (only if the water-air dual-purpose ducted fan 100 is horizontally and vertically upward, the electromagnetic angle lock 230 can be normally locked, and the electromagnetic latch 233 can be aligned with the hole of the electromagnetic angle lock 230 from the member 232), referring to fig. 1.

In the submerged state, the electromagnetic latch 233 is ejected from the member 232, the electromagnetic angle lock 230 is unlocked, and the vector tilting mechanism 200 is in the operating state. Initially, the vector tilting mechanism 200 drives the water-air dual-purpose ducted fan 100 to rotate around the arm shaft, the water-air dual-purpose ducted fan 100 is horizontal to the horizontal plane, the two water-air dual-purpose ducted fans 100 of the machine head rotate clockwise, and the two water-air dual-purpose ducted fans 100 of the machine tail rotate anticlockwise, referring to fig. 9; the two vector tilting mechanisms 200 of the machine head drive the two water-air dual-purpose ducted fans 100 to rotate around the arm shaft, the angle theta ranges from-90 degrees to 90 degrees (the angle theta is the included angle between the axis of the water-air dual-purpose ducted fan 100 and the horizontal), and the machine body advancing power is provided. The two vector tilting mechanisms 200 at the tail of the machine maintain the two water-air dual-purpose ducted fans 100 stable on the horizontal plane, and provide the steering power for the machine body. The air-water dual-purpose ducted fans 100 are driven to tilt by the vector light-loading mechanism, vector power is provided by the air-water dual-purpose ducted fans 100 (power vector synthesis of each air-water dual-purpose fan), and movement and state change of the aircraft in water are achieved, and reference is made to fig. 10-11.

In the water entering process, when the water-air unmanned aerial vehicle is about to enter water above the water level, the water-air unmanned aerial vehicle is in a hovering state, the high-performance computer 1200 comprehensively judges the height and the environmental condition of the water-air unmanned aerial vehicle from the water level through an algorithm by reading data of an air pressure sensor carried by the controller 600 and depth data collected by the binocular camera 1000, and then the water-air unmanned aerial vehicle gradually shortens the distance from the water level, and when the preset distance is reached, the water-air dual-purpose ducted fan 100 stops the power-up and stops running, and at the moment, the water-air unmanned aerial vehicle stalls across the medium and floats on the water level; when the unmanned aerial vehicle is in water, the high-performance computer 1200 regulates and controls the buoyancy control mechanism 400 to enable the peristaltic pump 420 to work, pumps the water body into the water body storage bin, enables the gravity of the unmanned aerial vehicle to be larger than the buoyancy, and realizes the water inlet process of the unmanned aerial vehicle across the medium. In addition, the high performance computer 1200 autonomously judges whether the unmanned aerial vehicle is fully immersed in the water medium, if the unmanned aerial vehicle is fully immersed in the water medium, the high performance computer 1200 finely adjusts the gravity of the aerial vehicle by regulating the buoyancy control mechanism 400, so that the gravity of the aerial vehicle is equal to the buoyancy, the suspension state in water is achieved, the high performance computer 1200 switches the mode of the controller 600 from the air mode to the underwater mode, meanwhile, the laser radar 900 and the binocular camera 1000 are deactivated, the sonar 800 is started, the high performance computer 1200 releases the self-locking state of the electromagnetic angle lock 230 by the controller 600, the freedom degree of the two-purpose water-air duct fan 100 is restored to be in the active state, and when the gravity of the two-purpose water-air duct fan 100 is controlled by the high performance computer 1200 through the steering engine 210 in air to perform vector tilting, and vector power is provided for the unmanned aerial vehicle.

In the water outlet process, when the unmanned aerial vehicle is about to be out of water below the water level, the controller 600 is in a water mode, the unmanned aerial vehicle is in a water suspension state, and the high-performance computer 1200 enables the peristaltic pump 420 to pump water out of the water storage cabin 410 and the cabin 300 through regulating and controlling the buoyancy control mechanism 400, so that the gravity of the unmanned aerial vehicle is smaller than the received buoyancy, and the unmanned aerial vehicle floats; the high-performance computer 1200 regulates and controls the steering engine 210 to rotate through the controller 600, so that the thrust direction of the water-air dual-purpose ducted fan 100 is vertically downward, the high-performance computer 1200 opens the electromagnetic angle lock 230 through the controller 600 to realize a self-locking state, and simultaneously, the controller 600 opens the water-air dual-purpose ducted fan 100 to accelerate the floating of the water-air unmanned aerial vehicle; when the aircraft reaches the preset depth position, the controller 600 regulates and controls the left dual-purpose water-air ducted fan 100 to start working, so that the left side of the aircraft obtains lifting moment, the aircraft obtains positive elevation angle, when the left dual-purpose water-air ducted fan 100 is in a state of being completely separated from the near water surface, the controller 600 regulates and controls the left dual-purpose water-air ducted fan 100 to reduce moment, the positive angle of attack of the aircraft is gradually reduced from large to small, so that the right dual-purpose water-air ducted fan 100 lifts out of the water surface, then the controller 600 regulates and controls the right dual-purpose water-air ducted fan 100 to start working, so that the right side of the aircraft obtains lifting moment, the aircraft is gradually pulled to a horizontal state, the controller 600 is switched into an air mode, and simultaneously, the laser radar 900 and the binocular camera 1000 are started, and the sonar 800 is stopped.

The foregoing description of the preferred embodiments of the present invention should not be construed as limiting the scope of the invention, but rather should be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the following description and drawings or any application directly or indirectly to other relevant art(s).

Claims

1. A water craft, comprising:

a nacelle;

a water-air dual-purpose ducted fan;

the vector tilting mechanism is used for driving the water-air dual-purpose ducted fan to rotate around the axis of the vector tilting mechanism so as to adjust the direction of the water-air dual-purpose ducted fan, the water-air dual-purpose ducted fan is used for providing thrust for the water-air unmanned aerial vehicle to run in water, and the water-air dual-purpose ducted fan is also used for providing lift for the water-air unmanned aerial vehicle to fly in air; a kind of electronic device with high-pressure air-conditioning system

2. The unmanned aerial vehicle of claim 1, wherein the number of the two-purpose water-air ducted fans is a plurality, the number of the vector tilting mechanisms is the same as the number of the two-purpose water-air ducted fans, the vector tilting mechanisms are in one-to-one correspondence with the two-purpose water-air ducted fans, and a plurality of the vector tilting mechanisms are connected to the periphery of the cabin at intervals.

3. The unmanned aerial vehicle of claim 1, wherein the dual-purpose ducted fan comprises a duct, a waterproof brushless motor, a duct blade and a central connecting piece, wherein the central connecting piece is connected with the vector tilting mechanism, the waterproof brushless motor, the duct blade and the central connecting piece are all arranged in the duct, the central connecting piece is connected with the inner side wall of the duct, the waterproof brushless motor is arranged in the central connecting piece, the duct blade is arranged in the waterproof brushless motor and is connected, and the waterproof brushless motor is used for driving the duct blade to rotate so as to provide running thrust or lifting force for the unmanned aerial vehicle.

4. The unmanned aerial vehicle of claim 1, wherein the vector tilting mechanism comprises a steering engine and a vector transmission member in transmission connection, the steering engine is connected with the engine room, the vector transmission member is connected with the dual-purpose water-air ducted fan, and the steering engine is used for driving the vector transmission member to rotate around an axis of the steering engine, so that the dual-purpose water-air ducted fan is driven to rotate around the axis of the vector transmission member, and the direction of the dual-purpose water-air ducted fan is adjusted.

5. The unmanned aerial vehicle of claim 4, wherein the vector tilting mechanism further comprises an electromagnetic angle lock comprising a master member and a slave member, the master member being fixedly connected with the nacelle, the slave member being fixedly connected with the underwater dual-purpose ducted fan, the master member having an electromagnetic latch that can be inserted into the slave member to effect locking of the master member and slave member and thereby effect angular locking of the underwater dual-purpose ducted fan relative to the nacelle.

6. The unmanned aerial vehicle of claim 1, wherein the buoyancy control mechanism comprises a water storage compartment, a peristaltic pump, a first connecting pipe and an air storage compartment, wherein the water storage compartment is communicated with the air storage compartment through the first connecting pipe, the first connecting pipe is provided with an overflow preventing valve, the overflow preventing valve is used for preventing water in the water storage compartment from overflowing into the air storage compartment, the peristaltic pump is connected with the water storage compartment, and the peristaltic pump can pump water into the water storage compartment or drain water in the water storage compartment, so that the gravity of the unmanned aerial vehicle is increased or reduced.

7. The unmanned aerial vehicle of claim 6, wherein the buoyancy control mechanism further comprises a second connecting pipe, a water outlet stop valve, a third connecting pipe and a water inlet stop valve, wherein the peristaltic pump is connected with the water storage cabin through the second connecting pipe, the water outlet stop valve is arranged on the second connecting pipe, and the water outlet stop valve is used for preventing water in the water storage cabin from overflowing; one end of the third connecting pipe is connected with the peristaltic pump, the other end of the third connecting pipe extends out of the engine room, the water inlet stop valve is arranged on the third connecting pipe and used for preventing external water from being poured into the peristaltic pump.

8. The unmanned aerial vehicle of claim 1, further comprising a controller mounted within the nacelle, the controller in communication with the dual-purpose water-air ducted fan, the vector tilting mechanism, and the buoyancy control mechanism, respectively, the controller being configured to control operation of the dual-purpose water-air ducted fan, the vector tilting mechanism, and the buoyancy control mechanism.

9. The unmanned aerial vehicle of claim 8, further comprising at least one of:

10. The unmanned aerial vehicle of claim 1, wherein the nacelle comprises an upper shell, a lower shell, and a waterproof seal, the upper shell being provided on the lower shell, the waterproof seal being provided between the upper shell and the lower shell to achieve a seal between the upper shell and the lower shell.