CN206106842U - Four -axis triphibian unmanned aerial vehicle - Google Patents
Four -axis triphibian unmanned aerial vehicle Download PDFInfo
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- CN206106842U CN206106842U CN201620829759.5U CN201620829759U CN206106842U CN 206106842 U CN206106842 U CN 206106842U CN 201620829759 U CN201620829759 U CN 201620829759U CN 206106842 U CN206106842 U CN 206106842U
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- motor drive
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- frame
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Abstract
The utility model discloses a four -axis triphibian unmanned aerial vehicle, including the unmanned aerial vehicle main part, the unmanned aerial vehicle main part includes the frame, the ballast tank is installed to the bottom of frame, first camera is installed to the bottom of ballast tank, the mid -mounting of the upper end of frame has the second camera, rotate in the frame and install first paddle, second paddle, third paddle and fourth paddle, the inside flight control unit that is equipped with of frame, a flight control unit is connected with a motor drive unit, the 2nd motor drive unit, the 3rd motor drive unit and fourth motor drive unit through the electric conductor respectively. The utility model discloses simple structure, design benefit, can convenient to use be aloft the surface of water triphibian navigation under water to respectively install a camera unmanned aerial vehicle upper and lower, realize overlooking in the air take photo by plane, simultaneous observation around the simultaneous observation condition when condition, dive navigation mode in the air and under water during water surface navigation.
Description
Technical field
The utility model is related to unmanned air vehicle technique field, and specially a kind of four axle three is dwelt unmanned plane.
Background technology
At present, application of the unmanned plane in each field constantly increases, and the research and development of unmanned air vehicle technique is also increasingly subject to
The attention of people, the stable navigation of unmanned function is mainly controlled by flight control panel, and flight control panel is to refer to stable nothing
Man-machine flight attitude, and can control that unmanned plane is autonomous or control system of semi-autonomous flight.The flight control panel of four axle unmanned planes
Judge UAV Attitude by gyroscope thereon, accelerometer, magnetometer, so control each axle blade rotating speed and nobody
The attitude of machine, to realize turning, climb, dive, the action such as roll, if flying control plate, four axle unmanned planes will be because of peace
It is uneven that dress, the reason such as inconsistent between external interference, part form flight strength, and consequence is exactly left and right, upper and lower irregular
Ground rolling, cannot fly at all.The problems that at present unmanned air vehicle technique flies in the air have been resolved, but for
Unmanned planes of dwelling below the water surface or the water surface also have some problems demands to solve more, the force environment of underwater navigation, blade rotating speed, front
Enter direction all different from airflight.Three dwell the asking of navigation under water to solve existing unmanned plane and can not carrying out the aerial-water surface-
Topic, spy proposes that a kind of four axle three is dwelt unmanned plane.
Utility model content
The purpose of this utility model is to provide a kind of four axle three to dwell unmanned plane, to solve above-mentioned background technology in propose
Problem.
For achieving the above object, the utility model provides following technical scheme：A kind of four axles three are dwelt unmanned plane, including nobody
Owner's body, the unmanned plane main body includes frame, and the bottom of the frame is provided with ballast tank, and the inside of ballast tank is provided with pressure
Pump and water intaking valve are carried, support is installed on the side wall of the ballast tank, the bottom of the ballast tank is provided with the first camera, institute
State and be provided with the middle part of the upper end of frame second camera, be rotatablely equipped with the frame the first blade, the second blade, the 3rd
Blade and the 4th blade, the machine frame inside is provided with the first flight control units, and first flight control units pass through respectively
Electric conductor is connected with the first electric-motor drive unit, the second electric-motor drive unit, the 3rd electric-motor drive unit and the 4th Motor drive
Unit, and the first electric-motor drive unit, the second electric-motor drive unit, the 3rd electric-motor drive unit and the 4th electric-motor drive unit are equal
Second flight control units are connected with by electric conductor, it is first electric-motor drive unit, the second electric-motor drive unit, the 3rd electric
The output end of machine driver element and the 4th electric-motor drive unit respectively with the first blade, the second blade, the 3rd blade and the 4th oar
Leaf rotates connection, is additionally provided with power supply unit in the frame, and power supply unit respectively by electric conductor and the first flying unit, the
The connection of two flying units, the first camera and second camera.
Preferably, the angle and direction of rotation of first blade and the 3rd blade are identical, second blade and
The angle of four blades and direction of rotation are identical, and the angle and direction of rotation of first blade and the second blade is contrary.
Preferably, first camera and second camera are the spherical camera of 360 deg rotating displaying.
Preferably, the quantity of the support is at least four.
Preferably, said supply unit is connected with voltage monitoring unit, and voltage monitoring unit and power supply by electric conductor
Electric connection mode between unit is two-way electrical connection.
Compared with prior art, the beneficial effects of the utility model are：A kind of four axles three are dwelt unmanned plane, simple structure, if
Meter is ingenious, easy to use, can not only aerial-water surface-under water three dwell navigation, moreover it is possible to the convenient switching between Three models, and
In one camera of upper and lower each installation of unmanned plane, realize it is aerial overlook take photo by plane, surface navigation when observation simultaneously in the air and under water
Situation observe when situation, diving sail mode simultaneously before and after.
Description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the structured flowchart of machine frame inside electronic component in the utility model；
Fig. 3 is structural representation when the utility model is moved under water.
In figure：1st, unmanned plane main body, 2, frame, the 21, first blade, the 22, second blade, the 23, the 3rd blade, the 24, the 4th
Blade, 3, ballast tank, 31, ballast pump, 32, water intaking valve, 33, support, the 4, first camera, 5, second camera.
Specific embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the utility model, rather than whole
Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not under the premise of creative work is made
The every other embodiment for being obtained, belongs to the scope of the utility model protection.
Fig. 1-3 are referred to, the utility model provides a kind of technical scheme：A kind of four axles three are dwelt unmanned plane, including unmanned plane
Main body 1, the unmanned plane main body 1 includes frame 2, and the bottom of the frame 2 is provided with ballast tank 3, and the inside of ballast tank 3 sets
There are ballast pump 31 and water intaking valve 32, support 33 is installed on the side wall of the ballast tank 3, the bottom of the ballast tank 3 is provided with
First camera 4, is provided with second camera 5 in the middle part of the upper end of the frame 2, in the frame 2 first is rotatablely equipped with
Blade 21, the second blade 22, the 3rd blade 23 and the 4th blade 24, are provided with the first flight control units, institute inside the frame 2
State the first flight control units respectively by electric conductor be connected with the first electric-motor drive unit, the second electric-motor drive unit, the 3rd
Electric-motor drive unit and the 4th electric-motor drive unit, and the drive of the first electric-motor drive unit, the second electric-motor drive unit, the 3rd motor
Moving cell and the 4th electric-motor drive unit are connected with the second flight control units, the first Motor drive list by electric conductor
The output end of unit, the second electric-motor drive unit, the 3rd electric-motor drive unit and the 4th electric-motor drive unit respectively with the first blade
21st, the second blade 22, the 3rd blade 23 and the 4th blade 24 rotate and power supply unit are additionally provided with connection, the frame 2, and power
Unit is respectively by electric conductor and the first flight control units, the second flight control units, the first camera 4 and second camera
5 connections, simple structure designs ingenious, easy to use, can not only aerial-water surface-under water three dwell navigation, moreover it is possible to easily three
Switch between kind of pattern, and in one camera of upper and lower each installation of unmanned plane, realize it is aerial overlook take photo by plane, surface navigation when
Situation observe when observing aerial and sub-marine situations, diving sail mode simultaneously simultaneously before and after.
Specifically, first blade 21 is identical with the angle of the 3rd blade 23 and direction of rotation, second oar
Leaf 22 is identical with the angle of the 4th blade 24 and direction of rotation, the angle of the blade 22 of first blade 21 and second and rotation
Turn in opposite direction, can more preferably keep stable and balance.
Specifically, first camera 4 and second camera 5 are the spherical camera of 360 deg rotating displaying, can be with
Preferably all angles are shot.
Specifically, the quantity of the support 33 is at least four, can make four axle three dwell unmanned plane land when more
Plus it is steady.
Specifically, said supply unit is connected with voltage monitoring unit, and voltage monitoring unit and confession by electric conductor
Electric connection mode between electric unit is two-way electrical connection, can carry out real-time monitoring to the voltage of voltage detection unit, is prevented
Electric voltage exception works.
Operation principle：In programming, the first flight control units and the second flight control units are programmed for into 90 degree of difference
State of a control, four axle three dwell unmanned plane aerial mode when, ballast tank 3 is empty cabin, is controlled by the first flight control units
Four electric-motor drive units of system, the rotation of four blades is driven by the rotation of motor, airflight is realized, when four axle three
When unmanned plane of dwelling drops to the water surface, a part is submerged in water, there is provided enough buoyancy, makes four axle three dwell four oars of unmanned plane
Leaf is located in air so as to which the unmanned plane that can dwell to four axle three carries out propulsive control, when four axle three dwells unmanned plane in the water surface
During sail mode, using ballast pump 31 to the water filling of ballast tank 3, increase gravity, change center of gravity so as to be overall to submerge in water, it is real
Now dive, and 90 degree of vertical rotary, when moving under water, four Motor drive lists are controlled by the second flight control units
Unit, wherein the first electric-motor drive unit and the 3rd electric-motor drive unit rotate counterclockwise, wherein the second electric-motor drive unit and
Four electric-motor drive units turn clockwise, and the rotation of four blades is driven by the rotation of motor, realize the motion in water,
Need to move forward and backward in water motion when, while increasing the power output of four electric-motor drive units, four blades of drive
Rotating speed increase and cause total pulling force increase, when total pulling force be enough to the resistance for overcoming water, four axle three is dwelt before unmanned plane level
Enter, conversely, then setback；When needing to do elevating movement, by the second flight control units the second Motor drive list is controlled
The rotating speed of unit and the 3rd electric-motor drive unit rises, and controls the rotating speed of the first electric-motor drive unit and the 4th electric-motor drive unit
Decline, the uneven torsion of generation is rotated down fuselage, realize that four axle three is dwelt the motion of bowing of unmanned plane, conversely, passing through the
Two flight control units control the first electric-motor drive unit and the rotating speed of the 4th electric-motor drive unit rises, and control the second motor
The rotating speed of driver element and the 3rd electric-motor drive unit declines, and the uneven torsion of generation rotates up fuselage, realize this four
What axle three dwelt unmanned plane faces upward motion；When needing to turn to the left, by the second flight control units the first Motor drive list is controlled
The rotating speed of unit and the second electric-motor drive unit rises, and the rotating speed of the 3rd electric-motor drive unit and the 4th electric-motor drive unit declines,
The uneven torsion of generation makes fuselage to anticlockwise, when needing to turn to the right, by the second flight control units first is controlled
The rotating speed decline of electric-motor drive unit and the second electric-motor drive unit, the 3rd electric-motor drive unit and the 4th electric-motor drive unit
Rotating speed rises, and the uneven torsion of generation makes fuselage to right rotation；When needing to return to airflight, using ballast pump 31
The water in ballast tank 3 is discharged, realization is floated and recovers positive, then is switched to the control of the first flight control units, realizes aerial flying
OK.
While there has been shown and described that embodiment of the present utility model, for the ordinary skill in the art,
It is appreciated that these embodiments can be carried out various changes in the case of without departing from principle of the present utility model and spirit, repaiies
Change, replace and modification, scope of the present utility model is defined by the appended claims and the equivalents thereof.
Claims (5)
1. a kind of four axle three is dwelt unmanned plane, including unmanned plane main body (1), it is characterised in that：The unmanned plane main body (1) is including machine
Frame (2), the bottom of the frame (2) is provided with ballast tank (3), and the inside of ballast tank (3) is provided with ballast pump (31) and water inlet
Valve (32), is provided with support (33) on the side wall of the ballast tank (3), the bottom of the ballast tank (3) is provided with the first shooting
Head (4), is provided with second camera (5) in the middle part of the upper end of the frame (2), on the frame (2) first is rotatablely equipped with
Blade (21), the second blade (22), the 3rd blade (23) and the 4th blade (24), inside the frame (2) the first flight is provided with
Control unit, first flight control units are connected with the first electric-motor drive unit, the second motor and drive by electric conductor respectively
Moving cell, the 3rd electric-motor drive unit and the 4th electric-motor drive unit, and the first electric-motor drive unit, the second Motor drive list
Unit, the 3rd electric-motor drive unit and the 4th electric-motor drive unit are connected with the second flight control units by electric conductor, described
The output end of the first electric-motor drive unit, the second electric-motor drive unit, the 3rd electric-motor drive unit and the 4th electric-motor drive unit
Rotate with the first blade (21), the second blade (22), the 3rd blade (23) and the 4th blade (24) respectively and be connected, the frame
(2) power supply unit, and power supply unit are additionally provided with respectively by electric conductor and the first flight control units, the second flight control list
The connection of unit, the first camera (4) and second camera (5).
2. a kind of four axle three according to claim 1 is dwelt unmanned plane, it is characterised in that：First blade (21) and the 3rd
The angle of blade (23) and direction of rotation are identical, angle and the rotation side of second blade (22) and the 4th blade (24)
To identical, the angle and direction of rotation of first blade (21) and the second blade (22) is contrary.
3. a kind of four axle three according to claim 1 is dwelt unmanned plane, it is characterised in that：First camera (4) and
Two cameras (5) are the spherical camera of 360 deg rotating displaying.
4. a kind of four axle three according to claim 1 is dwelt unmanned plane, it is characterised in that：The quantity of the support (33) is at least
For four.
5. a kind of four axle three according to claim 1 is dwelt unmanned plane, it is characterised in that：Said supply unit passes through conductance
The electric connection mode that body is connected between voltage monitoring unit, and voltage monitoring unit and power supply unit is electrically connected for two-way.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620829759.5U CN206106842U (en) | 2016-07-31 | 2016-07-31 | Four -axis triphibian unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620829759.5U CN206106842U (en) | 2016-07-31 | 2016-07-31 | Four -axis triphibian unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206106842U true CN206106842U (en) | 2017-04-19 |
Family
ID=58512132
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620829759.5U Expired - Fee Related CN206106842U (en) | 2016-07-31 | 2016-07-31 | Four -axis triphibian unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206106842U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107284166A (en) * | 2017-06-08 | 2017-10-24 | 杭州师范大学钱江学院 | A kind of control method of land and air double-used rotor craft |
| CN107539478A (en) * | 2017-09-19 | 2018-01-05 | 山东茁恩航空技术发展有限公司 | A kind of portable V R panorama aerial photography unmanned aerial vehicles |
| CN108639204A (en) * | 2018-06-28 | 2018-10-12 | 芜湖新尚捷智能信息科技有限公司 | A kind of unmanned plane apparatus for placing suitable for bicycle |
| CN108725115A (en) * | 2017-04-21 | 2018-11-02 | 上海交通大学 | The amphibious aircraft of air-sea |
| CN109334365A (en) * | 2018-08-21 | 2019-02-15 | 哈工大机器人义乌人工智能研究院 | A kind of land, water and air three are dwelt rotor robot and its working method |
| CN110435369A (en) * | 2019-07-18 | 2019-11-12 | 天津理工大学 | One kind novel three is dwelt robot system and its working method |
| CN110979666A (en) * | 2019-12-27 | 2020-04-10 | 浙江大学 | Water-air robot |
| CN113485447A (en) * | 2021-08-12 | 2021-10-08 | 生态环境部长江流域生态环境监督管理局生态环境监测与科学研究中心 | Multifunctional unmanned aerial vehicle and control method |
-
2016
- 2016-07-31 CN CN201620829759.5U patent/CN206106842U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108725115A (en) * | 2017-04-21 | 2018-11-02 | 上海交通大学 | The amphibious aircraft of air-sea |
| CN107284166A (en) * | 2017-06-08 | 2017-10-24 | 杭州师范大学钱江学院 | A kind of control method of land and air double-used rotor craft |
| CN107284166B (en) * | 2017-06-08 | 2019-04-12 | 杭州师范大学钱江学院 | A kind of control method of land and air double-used rotor craft |
| CN107539478A (en) * | 2017-09-19 | 2018-01-05 | 山东茁恩航空技术发展有限公司 | A kind of portable V R panorama aerial photography unmanned aerial vehicles |
| CN108639204A (en) * | 2018-06-28 | 2018-10-12 | 芜湖新尚捷智能信息科技有限公司 | A kind of unmanned plane apparatus for placing suitable for bicycle |
| CN109334365A (en) * | 2018-08-21 | 2019-02-15 | 哈工大机器人义乌人工智能研究院 | A kind of land, water and air three are dwelt rotor robot and its working method |
| CN110435369A (en) * | 2019-07-18 | 2019-11-12 | 天津理工大学 | One kind novel three is dwelt robot system and its working method |
| CN110435369B (en) * | 2019-07-18 | 2024-01-30 | 天津理工大学 | Triphibian robot system and working method thereof |
| CN110979666A (en) * | 2019-12-27 | 2020-04-10 | 浙江大学 | Water-air robot |
| CN110979666B (en) * | 2019-12-27 | 2021-09-21 | 浙江大学 | Water-air robot |
| CN113485447A (en) * | 2021-08-12 | 2021-10-08 | 生态环境部长江流域生态环境监督管理局生态环境监测与科学研究中心 | Multifunctional unmanned aerial vehicle and control method |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170419 Termination date: 20180731 |
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| CF01 | Termination of patent right due to non-payment of annual fee |