JP6527570B2 - Unmanned aerial vehicle, control system and method thereof - Google Patents

Description

  The present invention relates to a drone, a drone control system, a drone control method, and a drone landing control method.

  An abbreviation of unmanned aerial vehicle is "unmanned aerial vehicle", which is an aircraft that can not be maneuvered by a wireless remote control device and a self-contained program control device. A hydro-air vehicle is generally used mainly for flying in the air, and can temporarily navigate the water when performing a mission over water such as the sea surface. However, the conventional drone is used only for flight appreciation, can not travel on the water, can not realize the dual function for water and air, and its appreciation is limited.

  In view of the above, there is a need to provide a hydro-air vehicle capable of flying in the air or traveling on water, its control system and method, and its landing control method.

  The drone includes an airframe and a power device connected to the airframe, and a control device and an take-off and landing device provided on the airframe, the power device and the take-off and landing device being electrically connected to the control device. The control device includes a landing surface detection assembly, and the control device detects the landing surface of the drone when the landing surface detection assembly detects that the landing destination of the drone is a water surface; Control the work mode to allow the drone to land on the water surface for navigation.

  Further, the control device further includes a control device, and when the landing surface detection assembly detects that the landing destination of the drone is a water surface, the control device controls the take-off and landing device to generate buoyancy. Switching to the support state and controlling the power unit causes the entire drone to land on the landing destination.

  Further, the landing surface detection assembly includes an image acquisition device, the image acquisition device acquires a surface image of the landing destination of the drone, and the landing image is a water surface according to the surface image. It can be judged.

  Furthermore, the image acquisition device includes a camera and an image analysis element, the camera acquires a surface image of the landing destination, and transmits the surface image to the image analysis element, the image analysis The element determines whether the landing destination is a water surface according to the surface texture feature of the landing destination.

  Furthermore, the image analysis element stores in advance the ripple feature of the water surface, the image analysis element extracts the surface texture feature of the surface image from the surface image, and the surface texture feature of the water surface. As compared with the ripple feature, it is determined whether the landing destination is the water surface.

  Furthermore, the image acquisition device includes a camera and an image processing element, the camera acquires a surface image of the landing destination, and transmits the surface image to the image processing element, and the image processing is performed. The element determines whether the landing destination is a water surface according to the image spectral feature of the landing destination.

  Furthermore, simulation spectral features of the water surface are stored in advance in the image processing element, the image processing element is constructed by the surface image of the landing destination, and the reflectance of the landing destination surface is calculated Surface spectral features of the landing destination can be obtained, and comparing the surface spectral features of the landing destination with the pre-stored simulated spectral features, whether the landing destination is a water surface or not to decide.

  Furthermore, the image acquisition device is an image spectrometer.

  Furthermore, the image acquisition device includes a plurality of cameras and a plurality of polarizers, each of the polarizers being provided in one of the cameras.

  Furthermore, the performance parameters of the plurality of cameras are perfectly matched and the polarization angles of the plurality of polarizers are different from one another.

  Further, the landing surface detection assembly further includes a distance sensor, wherein the distance sensor detects a distance between the drone and the landing destination, and the controller takes off and lands based on the detected distance. Control the device to prepare for landing.

  Furthermore, the distance sensor is at least one of a barometer, an ultrasonic distance measuring sensor, a laser distance measuring sensor, and a visual sensor.

  Furthermore, when the distance sensor determines that the distance between the drone and the landing destination is within a predetermined range, the control device controls the take-off and landing device based on the distance and performs landing and landing. Get ready.

  In addition, the landing surface detection assembly further includes a depth detector, and the depth detector detects the depth of water when the image acquisition device determines that the landing destination is a water surface. The control device controls the power unit to prevent the entire drone from landing when the depth detector determines that the depth falls within a predetermined depth range.

  Furthermore, the depth detector is a depth sounder.

  Furthermore, the drone further includes an alarm, and the alarm indicates that the landing destination is determined when the depth detector determines that the depth falls within a predetermined depth range. A warning signal is emitted to the user operating the drone indicating that it is undesirable for landing.

  Furthermore, the alarm is a warning light, a buzzer or an electronic information transmitter.

  Furthermore, the airframe includes a body, and an takeoff and landing gear and the power unit are both provided on the body, and the takeoff and landing gear includes a floating gear, and the floating gear is used to land the drone on the water surface. Provide buoyancy and support when sailing.

  Furthermore, the floating device is a gas-filled buoyancy plate.

  Furthermore, the floating device is a buoyancy plate made of solid buoyancy material.

  Furthermore, the floating device includes a bottom plate and a side plate provided at the periphery of the bottom plate, and the bottom plate and the side plate form a predetermined depression angle.

  Furthermore, the side plate is adjustably mounted to the bottom plate, and the depression angle between the bottom plate and the side plate is adjustable.

  Further, the bottom plate is adjustably connected to the body, and an included angle between the bottom plate and the body is adjustable.

  Furthermore, the floating device is provided around the outside of the body.

  Furthermore, the floating device covers all or part of the structure of the body.

  Further, the take-off and landing apparatus further includes a landing gear provided on the body, and the floating gear is provided on the landing gear.

  Furthermore, the landing gear includes a support mechanism provided on the body and a buffer mechanism provided on the support mechanism.

  Furthermore, the buffer mechanism is a buffer member made of an elastic material.

  Furthermore, the buffer mechanism is at least one of a pressure damper, a hydraulic damper, and a spring damper.

  Furthermore, the support mechanism is an expandable support structure, and the support mechanism can drive the buffer mechanism to be relatively separated from or close to the body.

  Furthermore, the support mechanism is a cylinder, and the buffer mechanism is provided on a drive rod of the cylinder, and the cylinder drives the buffer mechanism by the drive rod to be relatively separated from the body Or close to the body.

  Furthermore, the support mechanism is a voice coil motor, the buffer mechanism is provided at a drive end of the voice coil motor, and the voice coil motor drives the buffer mechanism by the drive end to drive the body Or relatively close to the body.

  Furthermore, the support mechanism is a linear motor, the buffer mechanism is provided to a mover of the linear motor, and the linear motor drives the buffer mechanism by the mover to move relative to the body. Or close to the body.

  Furthermore, the support mechanism includes a linear guide, an electromagnet, and a permanent magnet, the linear guide is connected to the body, and the buffer mechanism is provided slidably on the linear guide. One of the electromagnet and the permanent magnet is provided in the buffer mechanism, the other of the electromagnet and the permanent magnet is provided in the body, and the direction of the current on the electromagnet is controlled to control the electric current. An electromagnet pulls or repels the permanent magnet to move the buffer mechanism away from the body along the linear guide or in proximity to the body.

  Further, the support mechanism includes an electric motor, a screw rod, and a nut, the electric motor is connected to the body, the screw rod is coaxially fixed to a drive shaft of the electric motor, and the nut is The screw rod is placed on the screw rod and connected to the buffer mechanism, and the electric motor drives and rolls the screw rod, and the screw rod is screwed with the nut to hold the nut. The nut is moved relative to the threaded rod and the nut moves the buffer mechanism.

  Further, the support mechanism includes an electric motor, a pinion, and a rack, the electric motor is connected to the body, the pinion is connected to a drive shaft of the electric motor, and the rack meshes with the pinion. The buffer mechanism is mounted on the rack, the electric motor drives the pinion to roll, the pinion horizontally moves the rack, and the rack moves the buffer mechanism.

  In addition, the power plant further includes a propulsion unit, which is connected to the body to provide power for navigation on the surface of the drone.

  Furthermore, the propulsion device is at least one of a water jet propulsion device, a propeller propulsion device, and a spherical motor propulsion device.

  Furthermore, the power device further includes a connection mechanism, the propulsion device is connected to the body by the connection mechanism, the connection mechanism is a telescopic connection structure, and the connection mechanism includes the propulsion device. Drive to move away from the body or close to the body.

  Furthermore, the connection mechanism is a cylinder, and the propulsion device is provided on a drive rod of the cylinder, and the cylinder drives the propulsion device by the drive rod so as to be relatively separated from the body Or close to the body.

  Further, the connection mechanism is a voice coil motor, the propulsion device is provided at a drive end of the voice coil motor, and the voice coil motor drives the propulsion device by the drive end to drive the body. Or relatively close to the body.

  Further, the connection mechanism is a linear motor, the propulsion device is provided to a mover of the linear motor, and the linear motor drives the propulsion device by the mover to be relatively moved from the body. Or close to the body.

  Furthermore, the connection mechanism includes a linear guide, an electromagnet, and a permanent magnet, the linear guide is connected to the body, and the propulsion device is provided slidably on the linear guide. One of the electromagnet and the permanent magnet is provided in the propulsion device, the other of the electromagnet and the permanent magnet is provided in the body, and the electromagnet is controlled by controlling the direction of the current of the electromagnet. The permanent magnet is attracted or repelled to move the propulsion device relatively away from the body along the linear guide or in proximity to the body.

  Further, the connection mechanism includes an electric motor, a screw rod, and a nut, the electric motor is connected to the body, the screw rod is coaxially fixed to a drive shaft of the electric motor, and the nut is The screw rod is mounted on the screw rod and connected to the propulsion device, and the electric motor drives and rolls the screw rod, and the screw rod is screwed with the nut to be screwed into the nut. The nut moves the propulsion device.

  Further, the connection mechanism includes an electric motor, a pinion, and a rack, the electric motor is connected to the body, the pinion is connected to a drive shaft of the electric motor, and the rack meshes with the pinion. The propulsion device is mounted on the rack, the electric motor drives and rotates the pinion, the pinion horizontally moves the rack, and the rack moves the propulsion device.

  Further, the power plant further includes a rotary wing assembly, the rotary wing assembly is rollably connected to the body, and the control device controls the rotary wing assembly when the drone works in the air. Controlling the operation of the drone to provide power for the drone to fly in the air, and as the drone navigates the surface of the water, the controller controls the rotary wing assembly to By rolling and operating at a predetermined angle, power is provided for navigation of the drone.

  Further, the airframe further includes a plurality of arms provided to the body, the plurality of rotary wing assemblies being provided, and the plurality of arms are provided to surround the body, the rotary wing assembly Each is rotatably mounted on the arm.

  Further, the rotary wing assembly may include a mounting member rollably mounted to the arm, and the controller may control rolling of the mounting member relative to the arm.

  Furthermore, the rotary wing assembly further includes a drive member and a propeller, wherein the drive member is provided on the mounting member, and the propeller is provided on the drive member.

  Furthermore, the control device further includes a satellite positioning device, and the satellite positioning device tracks the geographical position where the unmanned vehicle is located in real time.

  Furthermore, the control device further includes a geomagnetic sensor, and the geomagnetic sensor tracks the traveling direction of the drone in real time, and determines the geographical orientation information of the drone in cooperation with the satellite positioning device.

  Furthermore, the geomagnetic sensor is a compass.

  Further, the control device further includes a main controller, and the power unit, the takeoff and landing device, and the landing surface detection assembly are each electrically connected to the main controller.

  A drone control system operating on a drone including a control device, a power device, and a takeoff and landing device, wherein the control device controls the operation of the power device to power the drone. And control the motion of the take-off and landing gear, and is further used as a support at the time of the drone landing.

The drone control system
A central control module for receiving takeoff, advance or acclimation control commands of the drone;
An environment detection module for detecting an object type of the landing destination of the drone when the central control module receives the landing control command;
And a landing control module that controls the take-off and landing gear to switch to the water landing mode when the environment detection module detects that the landing destination is a water surface.

  Furthermore, the landing control module includes a landing landing control unit, and the landing landing control unit controls the takeoff and landing device to switch to the landing landing mode.

  Furthermore, the landing control module further includes a land landing control unit, and the land landing control unit controls the takeoff and landing gear when the environment detection module detects that the landing destination is other than a water surface. Switch to land landing mode.

  Furthermore, when the environment detection module detects the distance between the drone and the landing destination, and determines that the detected distance falls within a predetermined distance range, the landing control module is configured to It is further used to control the take-off and landing gear to switch to the landing mode.

  Furthermore, when the environment detection module determines that the distance between the drone and the landing destination does not fall within the range of the previously provided distance, the progress control module operates the power device. Control the flight altitude of the drone.

  Furthermore, the environment detection module detects in real time the distance between the drone and the landing destination.

  Furthermore, the environment detection module detects the distance between the drone and the landing destination at an interval.

  Furthermore, after detecting that the landing destination is the water surface, the environment detection module further detects the depth of water, and determines that the detected depth falls within a predetermined depth range. The landing control module does not control the operation of the take-off and landing gear.

  Further, the drone control system further includes a takeoff control module, wherein the takeoff control module controls the operation of the power unit to raise the drone when the central control module receives a takeoff control command. And let it take off.

  Further, the drone control system further includes a self check module, the drone further includes a self check device, and the self check module is configured to receive the takeoff control command after the central control module receives the takeoff control command. The check device is controlled to check the operating condition of the drone, and when it is determined that the condition of the drone is suitable for flight, the takeoff control module controls the operation of the power unit; The drone is raised and taken off.

  Furthermore, the drone control system further includes a progress control module, and the progress control module controls the operation of the power unit when the central control module receives a progress control command. Fly in the air or sail on the water.

  A control method for a drone used on a drone including a control device, a power device, and a take-off and landing device, wherein the control device controls the operation of the power device to power the drone. And control the motion of the take-off and landing gear to be further used as a support during the drone landing.

The unmanned vehicle landing control method
Receiving an unmanned aircraft landing control command;
Detecting an object type of a landing destination of the drone;
When it is determined that the landing destination is the water surface, the take-off and landing device is controlled to switch to the water landing mode, and when it is determined that the landing destination is other than the water surface, the take-off and landing device is controlled. Switching to land landing mode;
Controlling the operation of the power plant to lower the flight altitude of the drone until landing on the destination.

  Furthermore, after determining that the landing destination is the water surface, the depth of water is detected, and it is determined that the detected depth falls within a predetermined depth range, the operation of the takeoff and landing gear Do not control

  Furthermore, before detecting the object type of the landing destination, the distance between the drone and the landing destination is detected, and it is determined that the detected distance falls within a predetermined distance range. Control the take-off and landing gear to switch the landing mode.

  Furthermore, when it is determined that the distance between the drone and the landing destination does not fall within the range of the previously provided distance, the operation of the power unit is controlled to determine the flight altitude of the drone. Lower.

  Furthermore, when detecting the distance between the drone and the landing destination, the distance is detected at intervals.

  Furthermore, when detecting the distance between the drone and the landing destination, it is detected in real time.

  Furthermore, after receiving the drone landing control command, basic positioning of the geographical direction of the drone is performed, and it is determined in advance whether the drone is about to land on the water.

  A method of controlling a drone for use on a drone comprising a control device, a power device, and an take-off and landing device, wherein the control device controls the operation of the power device to generate power for the drone. And control the motion of the take-off and landing gear to be further used as a support during the drone landing.

The drone control method is
Receiving an unmanned aircraft landing control command;
Detecting an object type of a landing destination of the drone;
When it is determined that the landing destination is the water surface, the take-off and landing device is controlled to switch to the water landing mode, and when it is determined that the landing destination is other than the water surface, the take-off and landing device is controlled. Switching to land landing mode;
Controlling the operation of the power plant to lower the flight altitude of the drone until landing on the destination.

  Furthermore, after determining that the landing destination is the water surface, the depth of water is detected, and it is determined that the detected depth falls within a predetermined depth range, the operation of the takeoff and landing gear Do not control

  Furthermore, before detecting the object type of the landing destination, the distance between the drone and the landing destination is detected, and it is determined that the detected distance falls within a predetermined distance range. Controlling the take-off and landing gear to switch the landing mode.

  Furthermore, when it is determined that the distance between the drone and the landing destination does not fall within the range of the previously provided distance, the operation of the power unit is controlled to determine the flight altitude of the drone. Lower.

  Furthermore, when detecting the distance between the drone and the landing destination, the distance is detected at intervals.

  Furthermore, when detecting the distance between the drone and the landing destination, it is detected in real time.

  Furthermore, after receiving the drone landing control command, basic positioning of the geographical direction of the drone is performed, and it is determined in advance whether the drone is about to land on the water.

  The drone includes an airframe and a power unit connected to the airframe, and a controller and an takeoff and landing device provided on the airframe. The power plant and the take-off and landing gear are each electrically connected to the controller, and the controller controls the power plant and the take-off and landing gear to receive the landing and landing mode or the water when the landing control command is received. Switch to landing mode.

  Further, the control device includes a main controller, and the main controller controls the power unit and the take-off and landing device to switch to the land landing mode when the land landing control command is received.

  Furthermore, the control device includes a main controller, and the main controller controls the take-off and landing device to switch to a buoyancy-supported state landing mode and control the power unit when the landing control command is received. The entire drone is landed on the water surface.

  Further, the control device includes a distance sensor, the distance sensor detects a distance between the drone and the water surface, and the main controller controls the takeoff and landing device based on the distance to prepare for landing and landing. Make it

  Furthermore, the distance sensor is at least one of a barometer, an ultrasonic distance measuring sensor, a laser distance measuring sensor, and a visual sensor.

  Furthermore, when the distance sensor determines that the distance between the drone and the water surface is within a predetermined range, the main controller controls the takeoff and landing device based on the distance to prepare for landing and landing. Make it

  Furthermore, the controller further includes a depth detector, wherein the depth detector detects a water depth, and the main controller detects the detected depth within a predetermined depth range. The power unit is controlled to prevent the entire drone from landing on the ground when the depth detector determines that the vehicle is entering the vehicle.

  Furthermore, the depth detector is a depth sounder.

  Furthermore, the drone further includes an alarm, and the alarm indicates that the landing destination is determined when the depth detector determines that the depth falls within a predetermined depth range. A warning signal is emitted to the user operating the drone indicating that it is undesirable for landing.

  Furthermore, the alarm is a warning light, a buzzer or an electronic information transmitter.

  Furthermore, the airframe includes a body, and an takeoff and landing gear and the power unit are both provided on the body, and the takeoff and landing gear includes a floating gear, and the floating gear is used to land the drone on the water surface. Provide buoyancy and support when sailing.

  Furthermore, the floating device is a gas-filled buoyancy plate.

  Furthermore, the floating device is a buoyancy plate made of solid buoyancy material.

  Furthermore, the floating device includes a bottom plate and a side plate provided at the periphery of the bottom plate, and the bottom plate and the side plate form a predetermined depression angle.

  Furthermore, the side plate is adjustably mounted to the bottom plate, and the depression angle between the bottom plate and the side plate is adjustable.

  Further, the bottom plate is adjustably connected to the body, and an included angle between the bottom plate and the body is adjustable.

  Furthermore, the floating device is provided around the outside of the body.

  Furthermore, the floating device covers all or part of the structure of the body.

  Further, the take-off and landing apparatus further includes a landing gear provided on the body, and the floating gear is provided on the landing gear.

  Furthermore, the landing gear includes a support mechanism provided on the body and a buffer mechanism provided on the support mechanism.

  Furthermore, the buffer mechanism is a buffer member made of an elastic material.

  Furthermore, the buffer mechanism is at least one of a pressure damper, a hydraulic damper, and a spring damper.

  Furthermore, the support mechanism is an expandable support structure, and the support mechanism drives the buffer mechanism to be relatively separated from or in proximity to the body.

  Furthermore, the support mechanism is a cylinder, and the buffer mechanism is provided on a drive rod of the cylinder, and the cylinder drives the buffer mechanism by the drive rod to be relatively separated from the body Or close to the body.

  Furthermore, the support mechanism is a voice coil motor, the buffer mechanism is provided at a drive end of the voice coil motor, and the voice coil motor drives the buffer mechanism by the drive end to drive the body Or relatively close to the body.

  Furthermore, the support mechanism is a linear motor, the buffer mechanism is provided to a mover of the linear motor, and the linear motor drives the buffer mechanism by the mover to move relative to the body. Or close to the body.

  Furthermore, the support mechanism includes a linear guide, an electromagnet, and a permanent magnet, the linear guide is connected to the body, and the buffer mechanism is provided slidably on the linear guide. One of the electromagnet and the permanent magnet is provided in the buffer mechanism, the other of the electromagnet and the permanent magnet is provided in the body, and the direction of the current on the electromagnet is controlled to control the electric current. An electromagnet pulls or repels the permanent magnet to move the buffer mechanism away from the body along the linear guide or in proximity to the body.

  Further, the support mechanism includes an electric motor, a screw rod, and a nut, the electric motor is connected to the body, the screw rod is coaxially fixed to a drive shaft of the electric motor, and the nut is The screw rod is placed on the screw rod and connected to the buffer mechanism, and the electric motor drives and rolls the screw rod, and the screw rod is screwed with the nut to hold the nut in the screw rod. The nut moves the buffer mechanism.

  Further, the support mechanism includes an electric motor, a pinion, and a rack, the electric motor is connected to the body, the pinion is connected to a drive shaft of the electric motor, and the rack meshes with the pinion. The buffer mechanism is mounted on the rack, the electric motor drives the pinion to roll, the pinion horizontally moves the rack, and the rack moves the buffer mechanism.

  In addition, the power plant further includes a propulsion unit, which is connected to the body to provide power for navigation on the surface of the drone.

  Furthermore, the propulsion device is at least one of a water jet propulsion device, a propeller propulsion device, and a spherical motor propulsion device.

  Furthermore, the power device further includes a connection mechanism, the propulsion device is connected to the body by the connection mechanism, the connection mechanism is a telescopic connection structure, and the connection mechanism includes the propulsion device. Drive to move relatively away from the body or close to the body.

  Furthermore, the connection mechanism is a cylinder, and the propulsion device is provided on a drive rod of the cylinder, and the cylinder drives the propulsion device by the drive rod so as to be relatively separated from the body Or close to the body.

  Further, the connection mechanism is a voice coil motor, the propulsion device is provided at a drive end of the voice coil motor, and the voice coil motor drives the propulsion device by the drive end to drive the body. Or relatively close to the body.

  Further, the connection mechanism is a linear motor, the propulsion device is provided to a mover of the linear motor, and the linear motor drives the propulsion device by the mover to be relatively moved from the body. Or close to the body.

  Furthermore, the connection mechanism includes a linear guide, an electromagnet, and a permanent magnet, the linear guide is connected to the body, and the propulsion device is provided slidably on the linear guide. One of the electromagnet and the permanent magnet is provided in the propulsion device, the other of the electromagnet and the permanent magnet is provided in the body, and the electromagnet is controlled by controlling the direction of the current of the electromagnet. The permanent magnet is attracted or repelled to move the propulsion device relatively away from the body along the linear guide or in proximity to the body.

  Further, the connection mechanism includes an electric motor, a screw rod, and a nut, the electric motor is connected to the body, the screw rod is coaxially fixed to a drive shaft of the electric motor, and the nut is The screw rod is mounted on the screw rod and connected to the propulsion device, and the electric motor drives and rolls the screw rod, and the screw rod is screwed with the nut to be screwed into the nut. The nut moves the propulsion device.

  Further, the connection mechanism includes an electric motor, a pinion, and a rack, the electric motor is connected to the body, the pinion is connected to a drive shaft of the electric motor, and the rack meshes with the pinion. The propulsion device is mounted on the rack, the electric motor drives and rotates the pinion, the pinion horizontally moves the rack, and the rack moves the propulsion device.

  Further, the power plant further includes a rotary wing assembly, the rotary wing assembly is rollably connected to the body, and the control device controls the rotary wing assembly when the drone works in the air. Controlling the operation of the drone to provide power for the drone to fly in the air, and as the drone navigates the surface of the water, the controller controls the rotary wing assembly to By rolling and operating at a predetermined angle, power is provided for navigation of the drone.

  Further, the airframe further includes a plurality of arms provided to the body, the plurality of rotary wing assemblies being provided, and the plurality of arms are provided to surround the body, the rotary wing assembly Each is rotatably mounted on the arm.

  Further, the rotary wing assembly includes a mounting member rollably provided to the arm, and the control device controls rolling of the mounting member relative to the arm.

  Furthermore, the rotary wing assembly further includes a drive member and a propeller, wherein the drive member is provided on the mounting member, and the propeller is provided on the drive member.

  Furthermore, the control device further includes a satellite positioning device, and the satellite positioning device tracks the geographical position where the unmanned vehicle is located in real time.

  Furthermore, the control device further includes a geomagnetic sensor, and the geomagnetic sensor tracks the traveling direction of the drone in real time, and determines the geographical orientation information of the drone in cooperation with the satellite positioning device.

  Furthermore, the geomagnetic sensor is a compass.

  A drone control system operating on a drone including a control device, a power device, and a takeoff and landing device, wherein the control device controls the operation of the power device to generate power for the drone. And control the motion of the take-off and landing gear to be further used as a support during the drone landing.

The drone control system
A central control module for receiving takeoff, advance or acclimation control commands of the drone;
And a landing control module for controlling the take-off and landing gear to switch to a landing mode or landing mode corresponding to a landing destination when the central control module receives a landing control command.

  Furthermore, the landing control module includes a landing landing control unit, and the landing landing control unit controls the takeoff and landing gear to switch to the landing on landing mode when the central control module receives the landing landing control command.

  Furthermore, the landing control module further includes a land landing control unit, and the land landing control unit controls the takeoff and landing gear to switch to the land landing mode when the central control module receives a land landing control command. .

  Furthermore, the drone control system further includes an environment detection module, the environment detection module detects a distance between the drone and the landing destination, and the detected distance is a predetermined distance. When it is determined that the vehicle is in the range, the landing control module controls the take-off and landing gear to switch to the landing mode.

  Furthermore, when the environment detection module determines that the distance between the drone and the landing destination does not fall within the range of the previously provided distance, the travel control module operates as the driving of the power unit. Control the flight altitude of the drone.

  Furthermore, the environment detection module detects in real time the distance between the drone and the landing destination.

  Furthermore, the environment detection module detects the distance between the drone and the landing destination at an interval.

  Furthermore, the environment detection module detects the depth of water after the central control module receives the land landing control command, and determines that the detected depth falls within a predetermined depth range. The landing control module does not control the operation of the take-off and landing gear.

  Further, the drone control system further includes a takeoff control module, wherein the takeoff control module controls the operation of the power unit to raise the drone when the central control module receives a takeoff control command. And let it take off.

  Further, the drone control system further includes a self check module, the drone further includes a self check device, and the self check module is configured to receive the takeoff control command after the central control module receives the takeoff control command. The check device is controlled to check the operating condition of the drone, and when it is determined that the condition of the drone is suitable for flight, the takeoff control module controls the operation of the power unit; The drone is raised and taken off.

  Furthermore, the drone control system further includes a progress control module, and the progress control module controls the operation of the power unit when the central control module receives a progress control command. Fly in the air or sail on the water.

  A control method for a drone used on a drone including a control device, a power device, and a take-off and landing device, wherein the control device controls the operation of the power device for the drone. Power is provided to control the motion of the take-off and landing gear for further use as a support during the drone landing.

The unmanned vehicle landing control method
Receiving an unmanned aircraft landing control command;
Controlling the take-off and landing device based on the landing control command to switch between the landing mode and the landing mode;
Controlling the operation of the power plant to lower the flight altitude of the drone until landing on the destination.

  Furthermore, when it is determined that the control command is a landing landing control command, the water depth is detected, and when it is determined that the detected depth falls within a predetermined depth range, the takeoff and landing Do not control the operation of the device.

  Furthermore, before controlling the take-off and landing gear to switch to the landing mode, the distance between the drone and the landing destination is detected, and it is determined that the detected distance falls within a predetermined distance range. In this case, the take-off and landing gear is controlled to switch to the landing mode.

  Furthermore, when it is determined that the distance between the drone and the landing destination does not fall within the range of the previously provided distance, the operation of the power unit is controlled to determine the flight altitude of the drone. Lower.

  Furthermore, when detecting the distance between the drone and the landing destination, the distance is detected at intervals.

  Furthermore, when detecting the distance between the drone and the landing destination, it is detected in real time.

  A control method for a drone used on a drone comprising a control device, a power device, and an takeoff and landing device, wherein the control device controls the operation of the power device to power the drone. And control the motion of the take-off and landing gear to be further used as a support during the drone landing.

The drone control method is
Receiving an unmanned aircraft landing control command;
Controlling the take-off and landing device based on the landing control command to switch between the landing mode and the landing mode;
Controlling the operation of the power plant to lower the flight altitude of the drone until landing on the destination.

  Furthermore, when it is determined that the control command is a landing landing control command, the water depth is detected, and when it is determined that the detected depth falls within a predetermined depth range, the takeoff and landing Do not control the operation of the device.

  Furthermore, before controlling the take-off and landing gear to switch to the landing mode, the distance between the drone and the landing destination is detected, and it is determined that the detected distance falls within a predetermined distance range. In this case, the take-off and landing gear is controlled to switch to the landing mode.

  Furthermore, when it is determined that the distance between the drone and the landing destination does not fall within the range of the previously provided distance, the operation of the power unit is controlled to determine the flight altitude of the drone. Lower.

  Furthermore, when detecting the distance between the drone and the landing destination, the distance is detected at intervals.

  Furthermore, when detecting the distance between the drone and the landing destination, it is detected in real time.

  The drone includes an airframe and a power device connected to the airframe, and a control device provided on the airframe and electrically connected to the power device. The control device controls the power unit to switch to the working mode so that the drone can fly in the air or on the surface of the water.

  Furthermore, the drone further includes an takeoff / landing device electrically connected to the control device, and the control device controls the takeoff / landing device to switch to the working mode, whereby the unmanned vehicle travels to land or water. It can be landed.

  Further, the control device includes a main controller, and the main controller controls the power unit and the take-off and landing device to switch to the land landing mode when the land landing control command is received.

  Furthermore, the control device includes a main controller, and the main controller controls the take-off and landing device to switch to a buoyancy-supported state landing mode and control the power unit when the landing control command is received. The entire drone is landed on the water surface.

  Furthermore, the control device includes a distance sensor, the distance sensor detects a distance between the drone and the water surface, and the main controller controls the takeoff and landing device based on the distance to prepare for landing and landing. Make it

  Furthermore, the distance sensor is at least one of a barometer, an ultrasonic distance measuring sensor, a laser distance measuring sensor, and a visual sensor.

  Furthermore, when the distance sensor determines that the distance between the drone and the water surface is within a predetermined range, the main controller controls the takeoff and landing device based on the distance to prepare for landing and landing. Make it

  Furthermore, the controller further includes a depth detector, wherein the depth detector detects a depth of water, and the main controller enters the depth within a predetermined depth range. The power unit is controlled to prevent the entire drone from landing on the ground when the depth detector determines that

  Furthermore, the depth detector is a depth sounder.

  Furthermore, the drone further includes an alarm, and the alarm indicates that the landing destination is determined when the depth detector determines that the depth falls within a predetermined depth range. A warning signal is emitted to the user operating the drone indicating that it is undesirable for landing.

  Furthermore, the alarm is a warning light, a buzzer or an electronic information transmitter.

  Furthermore, the airframe includes a body, and an takeoff and landing gear and the power unit are both provided on the body, and the takeoff and landing gear includes a floating gear, and the floating gear is used to land the drone on the water surface. Provide buoyancy and support when sailing.

  Furthermore, the floating device is a gas-filled buoyancy plate.

  Furthermore, the floating device is a buoyancy plate made of solid buoyancy material.

  Furthermore, the floating device includes a bottom plate and a side plate provided at the periphery of the bottom plate, and the bottom plate and the side plate form a predetermined depression angle.

  Furthermore, the side plate is adjustably mounted to the bottom plate, and the depression angle between the bottom plate and the side plate is adjustable.

  Further, the bottom plate is adjustably connected to the body, and an included angle between the bottom plate and the body is adjustable.

  Furthermore, the floating device is provided around the outside of the body.

  Furthermore, the floating device covers all or part of the structure of the body.

  Further, the take-off and landing apparatus further includes a landing gear provided on the body, and the floating gear is provided on the landing gear.

  Furthermore, the landing gear includes a support mechanism provided on the body and a buffer mechanism provided on the support mechanism.

  Furthermore, the buffer mechanism is a buffer member made of an elastic material.

  Furthermore, the buffer mechanism is at least one of a pressure damper, a hydraulic damper, and a spring damper.

  Furthermore, the support mechanism is an expandable support structure, and the support mechanism drives the buffer mechanism to be relatively separated from or in proximity to the body.

  Furthermore, the support mechanism is a cylinder, and the buffer mechanism is provided on a drive rod of the cylinder, and the cylinder drives the buffer mechanism by the drive rod to be relatively separated from the body Or close to the body.

  Furthermore, the support mechanism is a voice coil motor, the buffer mechanism is provided at a drive end of the voice coil motor, and the voice coil motor drives the buffer mechanism by the drive end to drive the body Or relatively close to the body.

  Furthermore, the support mechanism is a linear motor, the buffer mechanism is provided to a mover of the linear motor, and the linear motor drives the buffer mechanism by the mover to move relative to the body. Or close to the body.

  Furthermore, the support mechanism includes a linear guide, an electromagnet, and a permanent magnet, the linear guide is connected to the body, and the buffer mechanism is provided slidably on the linear guide. One of the electromagnet and the permanent magnet is provided in the buffer mechanism, the other of the electromagnet and the permanent magnet is provided in the body, and the direction of the current on the electromagnet is controlled to control the electric current. An electromagnet pulls or repels the permanent magnet to move the buffer mechanism away from the body along the linear guide or in proximity to the body.

  Further, the support mechanism includes an electric motor, a screw rod, and a nut, the electric motor is connected to the body, the screw rod is coaxially fixed to a drive shaft of the electric motor, and the nut is The screw rod is placed on the screw rod and connected to the buffer mechanism, and the electric motor drives and rolls the screw rod, and the screw rod is screwed with the nut to hold the nut in the screw rod. The nut moves the buffer mechanism.

  Further, the support mechanism includes an electric motor, a pinion, and a rack, the electric motor is connected to the body, the pinion is connected to a drive shaft of the electric motor, and the rack meshes with the pinion. The buffer mechanism is mounted on the rack, the electric motor drives the pinion to roll, the pinion horizontally moves the rack, and the rack moves the buffer mechanism.

  In addition, the power plant further includes a propulsion unit, which is connected to the body to provide power for navigation on the surface of the drone.

  Furthermore, the propulsion device is at least one of a water jet propulsion device, a propeller propulsion device, and a spherical motor propulsion device.

  Furthermore, the power device further includes a connection mechanism, the propulsion device is connected to the body by the connection mechanism, the connection mechanism is a telescopic connection structure, and the connection mechanism includes the propulsion device. Drive to move away from the body or close to the body.

  Furthermore, the connection mechanism is a cylinder, and the propulsion device is provided on a drive rod of the cylinder, and the cylinder drives the propulsion device by the drive rod so as to be relatively separated from the body Or close to the body.

  Further, the connection mechanism is a voice coil motor, the propulsion device is provided at a drive end of the voice coil motor, and the voice coil motor drives the propulsion device by the drive end to drive the body. Or relatively close to the body.

  Further, the connection mechanism is a linear motor, the propulsion device is provided to a mover of the linear motor, and the linear motor drives the propulsion device by the mover to be relatively moved from the body. Or close to the body.

  Furthermore, the connection mechanism includes a linear guide, an electromagnet, and a permanent magnet, the linear guide is connected to the body, and the propulsion device is provided slidably on the linear guide. One of the electromagnet and the permanent magnet is provided in the propulsion device, the other of the electromagnet and the permanent magnet is provided in the body, and the electromagnet is controlled by controlling the direction of the current of the electromagnet. The permanent magnet is attracted or repelled to move the propulsion device relatively away from the body along the linear guide or in proximity to the body.

  Further, the connection mechanism includes an electric motor, a screw rod, and a nut, the electric motor is connected to the body, the screw rod is coaxially fixed to a drive shaft of the electric motor, and the nut is The screw rod is placed on the screw rod and connected to the propulsion device, and the electric motor drives and rolls the screw rod, and the screw rod is screwed with the nut to make the nut into the screw rod. The nut is moved to move the propulsion device.

  Further, the connection mechanism includes an electric motor, a pinion, and a rack, the electric motor is connected to the body, the pinion is connected to a drive shaft of the electric motor, and the rack meshes with the pinion. The propulsion device is mounted on the rack, the electric motor drives and rotates the pinion, the pinion horizontally moves the rack, and the rack moves the propulsion device.

  Further, the power plant further includes a rotary wing assembly, the rotary wing assembly is rollably connected to the body, and the control device controls the rotary wing assembly when the drone works in the air. Controlling the operation of the drone to provide power for the drone to fly in the air, and as the drone navigates the surface of the water, the controller controls the rotary wing assembly to By rolling and operating at a predetermined angle, power is provided for navigation of the drone.

  Further, the airframe further includes a plurality of arms provided to the body, the plurality of rotary wing assemblies being provided, and the plurality of arms being provided around the periphery of the body, the rotary wing assembly Each is rotatably mounted on the arm.

  Further, the rotary wing assembly includes a mounting member rollably provided to the arm, and the control device controls rolling of the mounting member relative to the arm.

  Furthermore, the rotary wing assembly further includes a drive member and a propeller, wherein the drive member is provided on the mounting member, and the propeller is provided on the drive member.

  Furthermore, the control device further includes a satellite positioning device, and the satellite positioning device tracks the geographical position where the unmanned vehicle is located in real time.

  Furthermore, the control device further includes a geomagnetic sensor, and the geomagnetic sensor tracks the traveling direction of the drone in real time, and determines the geographical orientation information of the drone in cooperation with the satellite positioning device.

  Furthermore, the geomagnetic sensor is a compass.

  A drone control system operating on a drone comprising a control unit and a power unit, said control unit controlling the operation of said power unit to provide power for said drone. The drone control system receives a control command of takeoff, advance or landing of the drone, and controls the power unit by the control device to switch to the working mode, and the drone flies in the air or the surface of the air Includes a central control module used to be able to navigate at

  In addition, the drone control system may further include a landing and landing control unit, and the landing and landing control unit controls the takeoff and landing gear to switch to the landing and landing mode.

  Furthermore, the drone control system further includes a land landing control unit, and the land landing control unit controls the takeoff and landing device to switch to the land landing mode.

  Furthermore, the drone control system further includes an environment detection module, the environment detection module detects a distance between the drone and a landing destination of the drone, and the detected distance is provided in advance. If it is determined that the vehicle is within the range of distance, the landing control module controls the takeoff and landing gear to switch to the landing mode.

  Furthermore, if the environment detection module determines that the distance between the drone and the landing destination does not fall within the range of the previously provided distance, the progress control module operates the power unit. Control to lower the flight altitude of the drone.

  Furthermore, the environment detection module detects in real time the distance between the drone and the landing destination.

  Furthermore, the environment detection module detects the distance between the drone and the landing destination at an interval.

  Further, the drone control system further includes a takeoff control module, wherein the takeoff control module controls the operation of the power unit to raise the drone when the central control module receives a takeoff control command. And let it take off.

  Further, the drone control system further includes a self check module, the drone further includes a self check device, and the self check module is configured to receive the takeoff control command after the central control module receives the takeoff control command. The check device is controlled to check the operating condition of the drone, and when it is determined that the condition of the drone is suitable for flight, the takeoff control module controls the operation of the power unit; The drone is raised and taken off.

  Furthermore, the drone control system further includes a progress control module, and the progress control module controls the operation of the power unit when the central control module receives a progress control command. Fly in the air or sail on the water.

  A method of controlling a drone for use on a drone comprising a control device and a power device, wherein the control device controls operation of the power device to provide power for the drone. The unmanned vehicle control method is capable of navigating the airborne or surface of the unmanned aerial vehicle by controlling the power unit to switch to the working mode based on the step of receiving an unmanned aerial vehicle control command and the control command. And step.

  Furthermore, when it is determined that the control command is a landing control command, the distance between the drone and the landing destination of the drone is detected, and the operation of the power unit is controlled to stop landing. The flight altitude of the drone is lowered.

  Furthermore, when detecting the distance between the drone and the landing destination, the distance is detected at intervals.

  Furthermore, when detecting the distance between the drone and the landing destination, it is detected in real time.

  The drone, the drone control system and method, and the drone landing control method according to the present invention detect the object type of the drone landing destination by the landing surface detection device, and control the takeoff and landing device based on the object type. And switch to the working state suitable for the object type. When the landing surface detection device detects that the landing destination is a liquid surface such as a water surface, the drone smoothly lands on the liquid surface by controlling the take-off and landing device and switching the operation mode. And can be navigated in the liquid. Therefore, the drone can fly in the air or sail on the water.

FIG. 2 is a schematic view of the first embodiment of the drone in the first embodiment of the present invention, wherein the first state may be a stationary state not working or an aerial working state. FIG. 2 is a schematic view of the drone shown in FIG. 1 in a second state, wherein the second state is a first preparation state in which a landing on the water surface is to be carried out from the air, or a stationary state not working Good. FIG. 2 is a schematic view of the drone shown in FIG. 1 in a third state, wherein the third state is a second preparation state where landing on the surface from the air is to be made, or seagoing / stopped state, or working There may be no rest condition. FIG. 2 is a schematic view of the drone shown in FIG. 1 in a fourth state, and the fourth state may be a surface navigation / stop state or a stationary state not working. FIG. 7 is a schematic view of the drone in the first state in the second embodiment of the present invention. FIG. 6 is a schematic view of the drone shown in FIG. 5 in the second state. FIG. 6 is a schematic view of the drone shown in FIG. 5 in the third state. FIG. 6 is a schematic view of the drone shown in FIG. 5 in the fourth state. It is the schematic in a drone in the 3rd embodiment of the present invention in the said 1st state. FIG. 10 is a schematic view of the drone shown in FIG. 9 in the second state. FIG. 10 is a schematic view of the drone shown in FIG. 9 in the third state. FIG. 10 is a schematic view of the drone shown in FIG. 9 in the fourth state. It is a functional block diagram of a drone control system of an embodiment of the present invention. It is a flow schematic diagram of a drone landing control method of an embodiment of the present invention. It is a flow schematic diagram of a drone takeoff control method of an embodiment of the present invention. It is a flow schematic diagram of a drone progress control method of an embodiment of the present invention.

  Hereinafter, specific embodiments of the present invention will be further described in conjunction with the drawings.

  The following clearly and completely describes the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention, but the embodiments described are only some of the embodiments of the present invention, It is obvious that not all the examples. Based on the embodiments in the present invention, all other embodiments obtained on the premise that the person skilled in the art does not carry out creative work should fall within the protection scope of the present invention.

  It should be mentioned that if an assembly is "fixed" to another assembly, it can be fixed directly to the other assembly or to the assembly therein. When an assembly is "connected" to another assembly, it may be directly connected to the other assembly, or may be simultaneously connected to the assembly therein. If the assembly is "provided" in another assembly, it may be provided directly in the other assembly and may be simultaneously provided in the assembly therein. The terms "vertical", "horizontal", "left", "right" and similar expressions as used herein are for the purpose of illustration only.

  Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art of the present invention. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. If there is no conflict, the features of the following examples and examples may be combined with one another.

  The drone includes an airframe and a power device connected to the airframe, and a control device provided on the airframe and electrically connected to the power device. The control device controls the power unit to switch the working mode so that the drone can fly in the air or navigate the water surface.

  A drone control system operating on a drone comprising a control unit and a power unit, said control unit controlling the operation of said power unit to provide power for said drone. The drone flight control system receives control commands for takeoff, travel or landing of the drone, and the control device controls the power unit to switch the working mode so that the drone flies in the air Or includes a central control module that can navigate the surface of the water.

  A method of controlling a drone for use on a drone comprising a control device and a power device, wherein the control device controls operation of the power device to provide power for the drone. In the method of controlling an unmanned aerial vehicle, the unmanned aerial vehicle flies in the air or a water surface by controlling the power unit and switching a working mode based on the step of receiving an unmanned aerial vehicle control command and the control command. And navigable steps.

  As shown in FIGS. 1 to 4, a first embodiment of the present invention provides a drone 100 which is a hydro-air drone. The drone 100 can fly in the air, stop in the air, or sail on the water and stop on the water. Furthermore, the drone 100 can take off or land on the land, or can take off or land on the water.

  The drone 100 includes an airframe 10, and a power unit 30 provided on the airframe 10, a takeoff and landing device 50, and a controller 70. The power unit 30 and the takeoff / landing unit 50 are electrically connected to the control unit 70, respectively, and the power unit 30 provides power for traveling of the unmanned aircraft 100, and the takeoff / landing unit 50 is The controller 70 is used as a support at the time of landing of the drone 100, and the control device 70 controls commands for the drone 100 to execute flight, navigation, takeoff or landing.

  The airframe 10 includes a body 12 and an arm 14 provided on the body 12. The body 12 is used to mount the control device 70. One end of the arm 14 is provided to the body 12, and the other end extends away from the body 12. In the present embodiment, the number of the arms 14 is plural, and the plural arms 14 are provided so as to surround the periphery of the body 12 and are provided at intervals. The arm 14 is used to mount part of the structure of the power unit 30. The number of the arms 14 may be two, three, four, five, six, seven, eight, and so on.

  The power unit 30 includes a rotary wing assembly 32 and a propulsion assembly 34. Specifically, in the illustrated embodiment, the rotary wing assembly 32 is mounted to the arm 14 and the propulsion assembly 34 is mounted to the body 12.

  In this embodiment, the number of rotary wing assemblies 32 is plural, and the number thereof is the same as the number of arms 14. Each of the rotor assemblies 32 is attached to the arm 14.

  Each of the rotary wing assemblies 32 includes a mounting member 321, a drive member 323, and a propeller 325. Specifically, in the illustrated embodiment, the mounting member 321 is connected to the end of the arm 14, the driving member 323 is provided on the mounting member 321, and the propeller 325 is The drive member 323 is connected.

  The mounting member 321 is rollably connected to one end of the corresponding arm 14 remote from the body 12 and extends in a direction away from the arm 14. The mounting member 321 can roll at a predetermined angle with respect to the arm 14 under the control of the control device 70. Specifically, under the control of the control device 70, the mounting member 321 can roll around a connection point between the mounting member 321 and the arm 14 by a predetermined angle in a vertical plane.

  In the present embodiment, the drive member 323 is a motor. Preferably, the drive member 323 is a brushless motor. The drive member 323 is provided at one end of the mounting member 321 remote from the arm 14. In other embodiments, the drive member 323 may be a brushed motor or any other type of motor.

  The propeller 325 is connected to the drive member 323 and can roll under the drive of the drive member 323. Specifically, the rotation axis of the propeller 325 is substantially perpendicular to the mounting member 321.

  When the longitudinal direction of the mounting member 321 is provided along the extension direction of the arm 14, the rotation axis of the propeller 325 is substantially perpendicular to the arm 14. At this time, the rotary wing assembly 32 provides power for the drone 100 to fly in the air or stop in the air, or provides power for the drone 100 to travel on the water surface. .

  As described above, since the mounting member 321 can roll at a predetermined angle in a vertical plane around the connection point between the mounting member 321 and the arm 14 under the control of the control device 70, the propeller 325 The rotation axis of the lens may also have a constant inclination angle with the arm 14.

  When the mounting member 321 rolls relative to the arm 14, the mounting member 321 rolls the drive member 323 and the propeller 325, and the rotation shaft of the propeller 325 also rolls accordingly. (See Figure 4). At this time, the rotary wing assembly 32 provides a power for the drone 100 to travel on the water surface. Specifically, when the drone 100 lands on the water, when the mounting member 321 rolls approximately 90 degrees with respect to the arm 14, part or all of the rotary wing assembly 32 is submerged in water. The driving member 323 drives the rolling of the propeller 325 to provide motive power for the drone 100 to travel on the water surface.

  Furthermore, in order to prevent the drone 100 from taking off in the process of navigating the water surface, the maximum rotational rate of the propeller 325 causes the drone 100 to take off when the drone 100 navigates the water surface. It should be smaller than the minimum rotation rate.

  The mounting member 321 is not limited to rolling in a vertical plane, but also rolls on the water surface and / or rolls in the three-dimensional space to move the drive member 323 and the propeller 325 to the water surface and / or By rolling in a three-dimensional space, the drone 100 provides motive power for traveling in each direction of the water surface.

  All rotary wing assemblies 32 of the plurality of rotary wing assemblies 32 roll relative to the arm 14 until any part or all is submerged and provide power for navigation of the drone 100 Or only some of the rotary wing assemblies 32 of the plurality of rotary wing assemblies 32 roll relative to the arm 14 until part or all is submerged and the navigation of the drone 100 Provides power for. The other rotor assemblies 32 continue to operate above the water surface and provide rising buoyancy for the drone 100 to ensure stability of the drone 100 in the water surface, or Alternatively, all the rotary wing assemblies 32 or some of the rotary wing assemblies 32 in the plurality of rotary wing assemblies 32 roll by a predetermined angle with respect to the arm 14 and are positioned above the water surface, When the rotation axis of the propeller 325 of the rotary wing assembly 32 is substantially parallel to the water surface and the propeller 325 of the rotary wing assembly 32 rolls, the reverse thrust of air promotes the navigation of the drone 100 on the water surface It can be done. When the propeller 325 of the rotary wing assembly 32 is located above the water surface, the rotation axis of the propeller 325 is not limited to the installation method parallel to the water surface. For example, the rotation axis of the propeller 325 is inclined with respect to the water surface The rotational axes of the propellers 325 of some of the plurality of propellers 325 may be different from each other to adjust the speed and direction in which the unmanned vehicle 100 travels by the air reverse thrust in different directions. It is also good.

  The propulsion assembly 34 is provided on the body 12 and provides power for the drone 100 to travel on the water surface. The propulsion assembly 34 includes a connection mechanism 341 (see FIG. 2) and a propulsion device 343 provided on the connection mechanism 341.

  The connection mechanism 341 may be an expandable connection structure, one end of which is provided on the body 12, and the other end of which is used to mount the propulsion device 343. The driving device 343 is relatively separated from or in proximity to the body 12 under the drive of the connection mechanism 341. In the present embodiment, the propulsion device 343 is an underwater propulsion device, and can drive the drone 100 to complete operations such as forward, backward or direction change on the water surface. Specifically, the propulsion unit 343 may be a water jet propulsion unit, a propeller propulsion unit, a spherical motor propulsion unit or any other underwater propulsion unit.

  When the drone 100 does not have to work on the water surface, the connection mechanism 341 is in the accommodation state, and the propulsion device 343 is relatively close to the body 12 or is accommodated in the body 12. The volume at the time of flight operation of the drone 100 is reduced, and the agility of flight control of the drone 100 is enhanced.

  If the drone 100 needs to navigate or stop on the surface of the water, the connection mechanism 341 can be deployed and the propulsion device 343 can adjust the distance between the body 12 as needed. Can. For example, the connection mechanism 341 can drive the propulsion device 343 to a position away from the body 12 until the take-off and landing apparatus 50 protrudes away from the body 12, and the unmanned vehicle 100 can When the landing gear 50 lands on the surface of the water, the propulsion device 343 sinks in the water to ensure that the drone 100 provides power for traveling and advancing on the surface of the water. The connection mechanism 341 may drive the propulsion device 343 to a position between the body 12 and the take-off and landing device 50.

  Furthermore, the connection mechanism 341 can be electrically connected to the control device 70 and can be deployed or housed under the control of the control device 70.

  In another embodiment, the propulsion assembly 34 may be omitted, and power may be provided by rolling the propeller 325 of the rotor assembly 32 directly when the drone 100 needs to navigate or stop on the water surface. You may

  The take-off and landing device 50 is provided on the body 12 and provides support for landing the drone 100 on land or water. The take-off and landing device 50 includes a landing gear 52 and a floating gear 54. Specifically, in the illustrated embodiment, the landing gear 52 is connected to the body 12 and the floating gear 54 is provided in the landing gear 52.

  The landing device 52 includes a support mechanism 521 and a buffer mechanism 523 provided on the support mechanism 521. One end of the support mechanism 521 is provided to the body 12, and the other end extends away from the body 12. In the present embodiment, the support mechanism 521 is an expandable support structure. The buffer mechanism 523 is provided at one end of the support mechanism 521 remote from the body 12. The buffer mechanism 523 is relatively separated from or in proximity to the body 12 under the drive of the support mechanism 521. In the present embodiment, the buffer mechanism 523 elastically deforms under the action of an external force to reduce the impact received when the drone 100 lands on a hard surface. In some embodiments, the cushioning mechanism 523 may be a cushioning member made of an elastic material, for example, an elastic material such as plastic, rubber, foam or the like. In another embodiment, the buffer mechanism 523 may be a buffer damper such as a pressure damper, a hydraulic damper, or a spring damper.

  In another embodiment, the support mechanism 521 may be a non-stretchable support structure directly fixed to the body 12.

  When the drone 100 does not have to land on land, the support mechanism 521 is in the storage state, and the buffer mechanism 523 is in proximity to the body 12 or is housed in the body 12. The working volume of the aircraft 100 is reduced and the control agility in the progress of the drone 100 is enhanced. When the drone 100 needs to land on land, the support mechanism 521 is in the unfolded state, and the buffer mechanism 523 is relatively separated from the body 12 to support the drone 100 during landing. Become.

  In the present embodiment, the floating device 54 has a substantially plate shape, and is provided on the side of the buffer mechanism 523 away from the body 12. If the density of the flotation device 54 is much smaller than the density of water, and the drone 100 needs to work on the water, the flotation device 54 floats on the water or some / all in the water By sinking and supporting the entire drone 100, the entire drone 100 can be navigated or stopped on the water surface under the drive of the power unit 30.

  In the present embodiment, the floating device 54 is a gas-filled buoyancy plate. When the drone 100 does not need to work on the water surface, the floating device 54 is in a compressed state, has a substantially flat shape, and is stacked on the side of the buffer mechanism 523 remote from the body 12. When the drone 100 needs to work on the water surface, the floating device is suspended until it can support the entire drone 100 when floating or part / whole is submerged in the water The 54 is filled with gas and expanded (see FIGS. 3 and 4).

  Furthermore, the floating device 54 may include a bottom plate 541 and a side plate 543 provided on the periphery of the bottom plate 541. The bottom plate 541 has a substantially horizontal plate shape, and the side plate 543 is provided at an edge of the bottom plate 541. The side plate 543 is inclined with respect to the bottom plate 541 and extends in the direction of the machine body 10. Forming a predetermined angle between the side plate 543 and the bottom plate 541 so that when the unmanned vehicle 100 navigates the water surface, it kicks waves forward and makes relatively less resistance to travel in water Can. Specifically, the bottom plate 541 may be a circular plate, a rectangular plate, a triangular plate, a polygonal plate or a plate of any other shape. The side plate 543 has an annular shape corresponding to the contour shape of the bottom plate 541 and may be provided so as to surround the periphery of the bottom plate 541. When the unmanned aircraft 100 travels in the water surface in any direction, any traveling resistance The power can be reduced. The bottom plate 541 may further be in the form of a sheet, the number of the bottom plates 541 may be plural, and the plurality of bottom plates 541 may be provided on the periphery of the bottom plate 541 at an interval.

  Furthermore, the mounting angle of the side plate 543 with respect to the bottom plate 541 can be adjusted according to the water surface in different states. For example, when the wave on the water surface is relatively large, the control device 70 controls the movement of the side plate 543 with respect to the bottom plate 541 so that the depression angle formed by the side plate 543 relative to the bottom plate 541 is relatively large. it can. On the contrary, when the wave on the water surface is relatively small, the control device 70 controls the movement of the side plate 543 with respect to the bottom plate 541 so that the depression angle formed by the side plate 543 relative to the bottom plate 541 is relatively small. Can.

  In addition, the mounting angle of the bottom plate 541 to the body 12 is set so that the drone 100 can land on the water surface in different flight postures and can adapt to the water surface in different states at the time of landing. It can be adjusted. For example, when the drone 100 flies obliquely, the body 12 tilts with respect to the water surface, and at this time, when the drone 100 needs to land on the water surface, the control device 70 controls the body 12 The movement of the bottom plate 541 relative to the bottom plate 541 can be controlled to adjust the incoming angle of the bottom plate 541, and the bottom plate 541 is relatively parallel to the water surface, whereby the bottom plate 541 is relatively used for the entire drone 100. Provide great buoyancy to ensure support. When the drone 100 flies at a relatively high speed and needs to land on the water surface, the control device 70 controls the movement of the bottom plate 541 until the ditch 100 is installed at an angle to the water surface, and The side of the bottom plate 541 away from the body 12 is oriented in the traveling direction of the drone 100 to facilitate landing of the drone 100 on the water surface. Similarly, when the water surface wave is relatively large, the control device 70 controls the movement of the bottom plate 541 with respect to the body 12 to incline the bottom plate 541 with respect to the water surface, and the water surface wave is the water surface wave. The impact on landing of the drone 100 can be reduced.

  In other embodiments, the flotation device 54 may be a solid buoyancy plate made of a relatively low density material, such as a solid buoyancy material. When the floating device 54 is a solid buoyancy plate, it can be used also as the buffer mechanism 523 of the landing device 52. At this time, the buffer mechanism 523 may be omitted, and the floating device 54 may be directly provided to the support mechanism 521.

  The control device 70 is provided on the airframe 10 and includes a main controller 72, a positioning assembly 73 electrically connected to the main controller 72, and a landing surface detection assembly 74.

  The main controller 72 is further electrically connected to the power unit 30 and the take-off and landing unit 50, and the main controller 72 is used to control the movement of the power unit 30 and the take-off and landing unit 50.

  The positioning assembly 73 is used to position the azimuth information of the drone 100 in real time, and includes a geomagnetic sensor (not shown) and a satellite positioning device (not shown). In the present embodiment, the geomagnetic sensor is a compass, and the positioning device is a GPS positioning unit. The geomagnetic sensor is used to determine the traveling direction of the drone 100. The positioner is used to position the direction of the drone 100 in real time. When the drone 100 executes a landing control command, the positioning assembly 73 performs its own positioning to determine the geographical position and environment where the drone 100 is located, and the drone 100 can obtain a landing preliminary in advance. By placing the landing surface detection assembly 74 in the detection state by entering the determination state, the agility of control of the drone 100 can be enhanced. The geographical position is a real-time orientation of the drone 100, and may be a mountain surface, a residence of a resident, a lake, a sea surface, or the like.

  The landing surface detection assembly 74 is used to detect the status of the landing destination of the drone 100, determines whether the landing destination is the water surface or not, and the determination result is the main controller Returning to 72, the main controller 72 can control the power unit 30 and the take-off and landing unit 50 to switch to a working state suitable for the landing destination.

  In the present embodiment, the landing surface detection assembly 74 includes an image acquisition device 741, an image sensor 743, a distance sensor 745, and a depth detector 747.

  In the present embodiment, the image acquisition device 741 includes a camera (not shown) and an image analysis element (not shown). The camera is used to acquire an object surface image of the landing destination of the drone 100 and transmit the image to the image analysis device. The image analysis device identifies object types in the image by analyzing object surface texture features of the landing destination. Specifically, ripples on the surface of the liquid are provided in advance in the image analysis device. After the image analysis element acquires an object surface image of the landing destination, the surface image is scanned and analyzed, surface texture features of the surface image are extracted, and the surface texture features and ripple features of the liquid surface are extracted. To determine whether the landing destination is a liquid surface such as a water surface.

  In some embodiments, the image acquisition device 741 may include a camera (not shown) and an image processing element (not shown). The camera acquires an object surface image of a landing destination of the drone 100, and transmits the acquired image to the image processing element. The image processing element identifies an object type in the image by the difference of different spectral features of different objects. Specifically, simulated spectral features of an object such as water, vegetation, soil, mud ground, etc. are stored in the image processing element. After acquiring the object surface image of the landing destination, the image processing element constructs an object represented by the image, calculates the reflectance of the object, and acquires spectral features of the object in the image. The image processing element then compares the acquired spectral features with the pre-stored simulated spectral features to determine the type of object represented in the image. The image processing element may be an image spectrometer.

  In some embodiments, the image capture device 741 may include a plurality of cameras (not shown) and a plurality of polarizers (not shown), each of the polarizers It is provided in the camera. The structure, parameters, and arrangement of the plurality of cameras are all the same, and the cameras are used to obtain object surface image information of landing destinations of the drone 100. Each of the polarizers is provided on the corresponding camera and covers the lens of the camera. The polarization angles of the plurality of polarizers are different from one another. When the drone 100 is about to land, direct light and / or reflected light of an object of the landing destination is projected through the polarizer into the lens of the camera. Under normal circumstances, the direct and / or reflected light rays of solid objects such as plant cover, soil, mud ground, etc. are relatively stable, and the polarization of this light beam passing through the plurality of polarizers is also relatively stable. . Since the light reflected by the liquid surface such as water has waves due to the presence of the ripples on the liquid surface, there is a difference in fluctuation in the polarization of the light reflected by the liquid surface passing through the plurality of polarizers. Therefore, the image acquisition device 741 thereby determines the type of object at the landing destination. The number of the camera and the polarizer may be two or more, for example, two, three, four, five, six, and so on.

  When the user operating the drone 100 controls landing on the water surface of the drone 100, the landing surface detection assembly 74 and / or the detection process can be omitted, and the drone 100 lands on the water surface In the process, after the main controller 72 receives a control command for landing on the water surface, the power controller 30 and the takeoff and landing device 50 are controlled to switch to the water landing mode.

  The image sensor 743 returns the image information acquired by the image acquisition device 741 and the determination result of the object type to the main controller 72, and the main controller 72 controls the power unit 30 and the takeoff / landing device 50. Switch to a working state suitable for the object type of the landing destination.

  The image sensor 743 may be omitted, and the image information acquired by the image acquisition device 741 and the determination result of the object type may be directly transmitted to the main controller 72. Alternatively, the image sensor 743 is integrated with the image acquisition device 741.

  The distance sensor 745 detects the distance between the drone 100 and the surface of the landing destination object, and the main controller 72 controls the power unit 30 and the take-off and landing device 50 so that the landing destination object is detected. Prepare to switch to a working state appropriate to the type. The distance sensor 745 may be a barometer, an ultrasonic distance measuring sensor, a laser distance measuring sensor, or the like. When the distance between the drone 100 detected by the distance sensor 745 and the landing destination is within a predetermined range, the main controller 72 controls the power unit 30 and the takeoff / landing device 50. Prepare to switch to the working state suitable for the object type of landing destination.

  Specifically, when the landing destination of the drone 100 is not on the water surface, the distance sensor 745 detects that the distance between the drone 100 and the landing destination is within a predetermined range. When it does, the main controller 72 controls the support mechanism 521 and drives the buffer mechanism 523 to separate it from the body 12 to support the drone 100 during landing.

  When the landing destination of the drone 100 is a water surface, when the distance sensor 745 detects that the distance between the drone 100 and the landing destination is within a predetermined range, the main The controller 72 controls the connection mechanism 341 to drive the propulsion device 343 to move it away from the body 12 to control the floating device 54 so that it fills itself with gas and prepares the drone 100 to land on the water surface I do.

  After the distance sensor 745 detects that the drone 100 has landed on the surface of the water, the main controller 72 controls the mounting member 321 of the rotary wing assembly 32 to control the arm 14 as required for operation. Roll at a predetermined angle to. The rotary wing assembly 32 is partially or entirely submerged in water, and the drive member 323 drives rolling of the propeller 325 to provide power for the drone 100 to travel on the water surface. Do. All of the rotary wing assemblies 32 of the plurality of rotary wing assemblies 32 roll relative to the arm 14 until a part or all of the rotary wing assemblies 32 is submerged in part to motive power for navigation of the drone 100. Or only some of the rotary wing assemblies 32 of the plurality of rotary wing assemblies 32 roll relative to the arm 14 until the part or all is submerged in the drone 100 And the other rotor assemblies 32 continuously operate above the water surface to provide buoyancy for the ascent of the drone 100 such that the drone 100 is on the water surface. Ensure stability in sailing. Alternatively, all the rotary wing assemblies 32 or some of the rotary wing assemblies 32 in the plurality of rotary wing assemblies 32 roll by a predetermined angle with respect to the arm 14 and are located above the water surface When the rotation axis of the propeller 325 of the rotary wing assembly 32 is substantially parallel to the water surface and the propeller 325 of the rotary wing assembly 32 rolls, the drone 100 travels on the water surface by the reverse thrust of air. The rotation axis of the propeller 325 of the rotary wing assembly 32 is also inclined with respect to the water surface.

  The depth detector 747 detects the water depth of the landing destination when the landing destination of the drone 100 is a water surface. Specifically, the depth detector 747 is a depth sounder. When the depth detector 747 detects that the water depth of the landing destination falls within a predetermined depth range, the landing destination is a shallow water area, and the drone 100 lands on the water surface working method It is determined that the drone is not suitable for use, thereby avoiding damage such as the drone landing on a relatively shallow water surface (such as a puddle on a road surface) and colliding.

  In another embodiment, the drone 100 may further include an alarm 749, and the alarm 749 may generate a warning signal after the depth detector 747 determines that the landing destination is a shallow water area. And the user operating the drone 100 can readjust the landing destination of the drone 100 after receiving the warning signal. The alarm 749 may issue an alarm using sound or a light, for example, the alarm 749 may be an alarm device such as a warning light or a buzzer. The alarm 749 may issue an alarm using information, for example, after the depth detector 747 determines that the landing destination is a shallow water area, the alarm 749 may be configured to transmit the unmanned vehicle 100. Transmits an alarm signal (text information, image / icon information, screen blinking, etc.) to the user's mobile terminal (e.g., remote controller, portable electronic device, etc.) operating the If it is determined that the landing destination is not suitable for landing of the drone 100, the landing destination of the drone 100 can be readjusted.

  5 to 8 show a drone 200 of a second embodiment of the present invention. The structure of the drone 200 of the second embodiment is substantially the same as the structure of the drone 100 of the first embodiment. The difference is that the floating device 254 of the drone 200 is provided on the body 212 and is located on the side of the body 212 closer to the landing gear 252 and when the drone 200 is working on water If the overall center of gravity is relatively lowered, it is difficult for a rollover accident to occur. Similar to the drone 100 of the first embodiment, the floating device 254 of the drone 200 of the second embodiment may be a buoyancy plate or a gas-filled buoyancy plate made of a solid buoyancy material, and the bottom plate 2541 and The side plate 2543 may be further provided at the periphery of the bottom plate 2541. In another embodiment, the floating device 254 may be a floating ring provided around the periphery of the body 12. In the present embodiment, the drone 200 may not be provided with a landing gear.

  FIGS. 9 to 12 show a drone 400 of a third embodiment of the present invention. The structure of the drone 400 of the third embodiment is substantially the same as the structure of the drone 100 of the first embodiment. The difference is that the floating device 454 of the drone 400 is provided on the body 412 and covers the periphery of the body 412, thereby relative to the overall center of gravity when the drone 400 works on water Lower it to make it difficult for a rollover accident to occur. In the present embodiment, the floating device 454 is an inflatable floating ring provided so as to surround the body 412. When the drone 400 needs to land on the surface of the water, the floating device 454 itself fills with air and expands, and prepares to support the drone 400 for landing. The floating device 454 may cover the entire structure of the body 412 or may cover only a portion of the structure of the body 412. The floating device 454 may further be a floating ring made of solid buoyancy material. In the present embodiment, the drone 400 may not have a landing gear.

  As shown in FIG. 13, the present invention further provides a drone control system S1, and FIG. 13 shows a functional block diagram of the drone control system S1 in the embodiment of the present invention. The unmanned vehicle control system S1 operates in the power unit 30, the takeoff and landing unit 50, or the control unit 70. Specifically, the drone control system S1 includes a central control module 101, a takeoff control module 103, a progress control module 105, an environment detection module 107, and a landing control module 109. Furthermore, the controller 70 further includes a memory (not shown), and each module of the drone control system S1 is a programmable module stored in the memory and executed by the controller 70. is there.

  Specifically, it is as follows.

  The central control module 101 sends commands to the remaining modules so that the modules work together to control the takeoff, progression or landing of the drone 100, 200, 400. Specifically, after the central control module 101 receives a takeoff, advance or accretion control command, the takeoff control module 103, the advance control module 105, and the environment detection command are based on the difference in the command. It transmits to the module 107 or the landing control module 109.

  The takeoff control module 103 controls the operation of the rotor assembly 32 of the power plant 30 to provide takeoff lift for the drone 100, 200, 400. Specifically, when the unmanned aircraft 100, 200, 400 is stationary and the central control module 101 receives a takeoff control command, the takeoff control module 103 takes the takeoff from the central control module 101. The control command is obtained, and the propeller 325 of the rotary wing assembly 32 is controlled to roll at a predetermined speed to raise the drone 100, 200, 400.

  The travel control module 105 controls the operation of the power unit 30 to fly the drone 100, 200, 400 in the air, to stop in the air, or to navigate or stop on the water. Specifically, when the central control module 101 receives a progress control command (e.g., acceleration, deceleration, forward, reverse, change of direction, etc.) after the drone 100, 200, 400 takes off, the progress The control module 105 obtains the travel control command from the central control module 101, controls the propeller 325 of the rotary wing assembly 32, and rolls it at a predetermined speed / acceleration, thereby the drone 100, 200, 400. Achieve the task of flying in the air. Alternatively, the progress control may be performed when the central control module 101 receives a progress control command (for example, acceleration, deceleration, forward, reverse, etc.) after the drone 100, 200, 400 lands on the water. A module 105 acquires the progress control command from the central control module 101, controls the propulsion device 343 of the propulsion assembly 34 to operate at a predetermined speed / acceleration, and allows the drone 100, 200, 400 to float on the water. To achieve the task of

  The environment detection module 107 detects an object type of landing destination of the unmanned aircraft 100, 200, 400, and the take-off and landing device 50 switches to land landing mode or water landing mode based on different object types of landing destination. be able to. Specifically, when the central control module 101 receives a landing control command during the flight of the unmanned aircraft 100, 200, 400, the environment detection module 107 receives the landing control from the central control module 101. Obtaining a command to control and detect the landing surface detection assembly 74, and determining an object type of landing destination of the drone 100, 200, 400, and transmitting the determination result to the landing control module 109. Thus, the landing control module 109 controls the take-off and landing device 50 to switch to the land landing mode or the water landing mode.

  The landing control module 109 controls the take-off and landing device 50 to switch to the land landing mode or the water landing mode. The landing control module 109 includes a landing landing control unit 1091 and a landing landing control unit 1092, and the landing landing control unit 1091 controls the operations of the floating devices 54, 254, 454 to control the drone 100, 200. Make 400 ready to land on the water. The land landing control unit 1092 controls the operation of the landing gear 52, 252, 452, and prepares the landing gear 100, 200, 400 to land on a destination other than the water surface.

  Specifically, the landing control module 109 receives the object type of the landing destination of the unmanned aircraft 100, 200, 400 emitted by the environment detection module 107, and the landing control device 109 receives the object type of the landing device 50 based on the object type. Control switching. When the landing destination of the drone 100, 200, 400 is a water surface suitable for landing, the distance between the drone 100, 200, 400 and the landing destination is within a predetermined range. When the distance sensor 745 detects it, the landing control unit 1091 controls the connection mechanism 341 to drive the propulsion unit 343 to move it away from the body 12 and controls the floating unit 54 to control the floating unit 54 itself. To prepare the drone 100 to land on the water surface. When the landing destination of the unmanned aircraft 100, 200, 400 is not on the water surface, the distance sensor indicates that the distance between the unmanned aircraft 100, 200, 400 and the landing destination is within a predetermined range. When 745 is detected, the land landing control unit 1092 controls the support mechanism 521 to drive the buffer mechanism 523 to separate it from the body 12 to provide support at the time of landing of the drone 100, the drone Allow 100, 200, 400 to land successfully.

  As shown in FIG. 14, the present invention further provides an unmanned vehicle landing control method, and FIG. 14 shows a flow diagram of the unmanned aircraft landing control method in the embodiment of the present invention. The unmanned aircraft landing control method includes the following steps.

  Step S101: A drone landing control command is received. Specifically, the central control module 101 receives the landing control command during the flight of the unmanned aircraft 100, 200, 400, and sends the landing control command to the travel control module 105 and the environment detection module 107. Transmit

  Step S102: The position of the drone is measured, and the landing destination is determined in advance. Specifically, the environment detection module 107 controls the geomagnetic sensor and the satellite positioning device to position the real time direction of the unmanned aircraft 100, 200, 400, and the unmanned aircraft 100, 200, 400. Determine the geographical location and environmental conditions of the landing destination of

  Step S103: The operation of the power unit 30 is controlled to lower the flight altitude of the drone. Specifically, after acquiring the landing control command from the central control module 101, the travel control module 105 controls the rotary wing assembly 32 of the power unit 30 to operate at a predetermined speed / acceleration. Lowering the flight altitude of the entire drone.

  Step S105: It is determined whether the distance between the drone and the landing destination falls within a predetermined range. Specifically, the environment detection module 107 controls the distance sensor 745 of the landing surface detection assembly 74 to detect the distance between the drone 100, 200, 400 and the landing destination. If it is determined that the distance is within a predetermined range, step S107 is performed. If not, step S103 is performed.

  The distance sensor 745 may detect the distance between the drone and the landing destination in real time, and detects the distance between the drone and the landing destination at an interval. It is also good. The time interval between two detections of the distance sensor 745 may be 1 second, 2 seconds, 3 seconds,... 0.1 seconds, 0.2 seconds, 0.3 seconds,. It may be 1 ms, 2 ms, 3 ms..., Or any other value.

  Step S107: It is determined whether the object surface of the landing destination of the drone is a liquid surface such as a water surface. Specifically, the environment detection module 107 acquires the landing control command from the central control module 101, and the object surface of the unmanned aircraft 100, 200, 400 landing destination is a liquid surface such as a water surface or the like It is controlled such that the landing surface detection assembly 74 detects whether or not it is not, and the determination result is transmitted to the landing control module 109. If the object surface of the landing destination is a liquid surface such as a water surface, step S108 is performed; otherwise, step S113 is performed.

  When the user operating the drone 100 controls the drone 100 to land on the water surface, that is, when the central control module 101 receives a control command of landing on the water in step S101, the determination process of step S107 is performed. And step S108 may be directly executed.

  Step S108: It is determined whether the water depth of the landing destination is suitable for landing the drone 100, 200, 400. Specifically, the depth detector 747 controls the environment detection module 107 to detect the depth of the landing destination, and the depth of the landing destination does not fall within a predetermined depth range. , The landing destination is determined to be a water surface suitable for landing on the drone 100, 200, 400, and step S109 is executed, and the depth of the landing destination is a range of depths provided in advance. If it is determined that the landing destination is the shallow water area not suitable for landing of the drone 100, 200, 400, step S115 is executed.

  Step S109: The operation of the floating devices 54, 254, 454 is controlled to prepare the landing gear 100, 200, 400 for landing on water. Specifically, the above-the-water landing control unit 1091 of the landing control module 109 controls the connection mechanism 341 to drive the propulsion device 343 to move it away from the body 12 and controls the floating device 54 to itself. With the gas filled, the drone 100 prepares to land on the water surface.

  Step S111: The operation of the rotary wing assembly 32 is controlled to lower the flight altitude of the drone until landing on the destination. Specifically, the travel control module 105 controls the rotor blade assembly 32 of the power unit 30 to operate at a predetermined speed / acceleration, and the flight of the entire drone until the drone lands on a destination. Lower the altitude.

  Step S113: The operation of the landing gear 52, 252, 452 is controlled to prepare the landing gear 100, 200, 400 for landing on a destination other than the water surface. Specifically, the land landing control unit 1092 of the landing control module 109 controls the support mechanism 521 and drives the buffer mechanism 523 to separate it from the body 12 to support the drone 100 during landing. The drone 100, 200, 400 lands on the ground smoothly, and executes step S111.

  Step S115: A warning signal is issued to control the drone 100, 200, 400 not to execute the landing control command, and adjust the landing destination. Specifically, the central control module 101 controls the alarm 749 to issue a warning signal not suitable for landing, the landing control module 109 stops control of the takeoff and landing device 50, and the travel control module The step 105 controls the drone 100, 200, 400 to continue the aerial work, and the central control module 101 executes the step S101 after receiving the re-arrival command of the user.

  As shown in FIGS. 15 to 16, the present invention further provides a drone control method, the drone control method including a drone takeoff control method, a drone progress control method, and the drone landing control method. Specifically, it is as follows.

In the drone takeoff control method,
Step S201: A drone takeoff control command is received. Specifically, the drone further includes a self-check device, the drone control system further includes a self-check module, the self-check module operating in the self-check device, the central control module 101 Receives the takeoff control command and transmits the takeoff control command to the self check module.

  Step S203: Check the operating condition of the drone. Specifically, the self-check module controls the self-check device to check the operating condition of the drone to confirm that the drone is suitable for flight. For example, the self-check module controls the self-check device to check whether the amount of battery power of the drone is sufficient, whether the connection between the electric elements is good, etc. Eliminate the safety risks of flight of said drone. When it is determined that the operating condition of the drone is suitable for flight, the takeoff control command is transmitted to the takeoff control module 103, step S205 is executed, and the operating condition of the drone is suitable for flight. If it is determined that it is not, the process ends.

  Step S205: The operation of the power unit 30 is controlled to raise the flight altitude of the drone. Specifically, after acquiring the takeoff control command from the self-check module, the takeoff control module 103 controls the rotary wing assembly 32 of the power unit 30 to operate at a predetermined speed / acceleration, The flight altitude of the entire drone is raised.

In the above-mentioned drone progress control method:
Step S301: A drone progress control command is received. Specifically, after the drone takes off and reaches a predetermined altitude, the central control module 101 receives the progress control command and transmits the progress control command to the progress control module 105. The progress control commands may include, but are not limited to, elevation climb, altitude decline, forward, reverse, turn, pitching, yawing, acceleration, deceleration and the like.

  Step S302: The operation of the power unit 30 is controlled, and the unmanned vehicle is linked to execute a flight mission. Specifically, the travel control module 105 controls the rotary wing assembly 32 of the power unit 30 to operate at a predetermined speed / acceleration, and interlocks the entire unmanned aerial vehicle to execute a corresponding flight mission. Do.

  In the drone landing control method, the drone landing control method is substantially the same as the drone landing control method described above, and will not be described in detail in this specification so as not to lengthen the text.

  The drone, the drone control system, the drone landing control method, and the drone control method according to the present invention detect the object type of the drone landing destination by the landing surface detection device, and the takeoff and landing based on the object type. The device is controlled to switch the working state suitable for the object type. When the landing surface detection device detects that the landing destination is a liquid surface such as a water surface, the floating device of the take-off and landing device is controlled to be filled with air and brought into an expanded ready state, or the take-off and landing device The buoyancy support is controlled to allow the drone to land smoothly on the liquid surface and to navigate in the liquid. Therefore, the drone can fly in the air or navigate in the water.

  Either the rotary wing assembly 32 or the propulsion assembly 34 may independently provide power to travel when the drone 100, 200, 400 is operating on water, the rotary wing assembly 32 or the propulsion may be provided. The assembly 34 may jointly provide power for progression.

  The number of rotary wing assemblies 32 may be different from the number of arms 14, for example, the number of rotary wing assemblies 32 may be less than the number of arms 14, or the rotary wing assemblies The number of may be greater than the number of arms 14. The number of the arms 14 is two, three, four, five, six, seven, eight, and so on. Similarly, the installation method of the plurality of rotary wing assemblies 32 and the plurality of the arms 14 is not limited to the installation corresponding to each one described above, for example, the plurality of the arms 14 One or more of the plurality of blades 14 may be provided with the rotor blade assembly 32, and one or more of the plurality of arms 14 may not be provided with the rotor blade assembly 32, one or more of the rotor blades The assembly 32 may be provided on the same arm 14.

  In some embodiments, the connection mechanism 341 may be a cylinder mechanism. Specifically, the connection mechanism 341 is a linear reciprocating cylinder, and includes a cylinder body and a drive rod provided on the cylinder body, and the cylinder body is provided on the body 12; The drive rod connects the propulsion device 343. The cylinder body drives the drive rod to move the propulsion device 343 to move the propulsion device 343 relatively away from the body 12 or close to the body 12.

  In another embodiment, the connection mechanism 341 may be a voice coil motor, and the propulsion device 343 may be provided at a driving end of the voice coil motor, and the body 12 may be driven by the voice coil motor. Or relatively close to the body 12. The connection mechanism 341 may be a linear motor, and the propulsion device 343 is provided on a mover of the linear motor, and is relatively separated from the body 12 under the drive of the linear motor. Or close to the body 12;

  In another embodiment, the connection mechanism 341 may be an electromagnet mechanism. Specifically, the electromagnet mechanism includes an electromagnet, a permanent magnet, and a linear guide. The linear guide is fixed to the body 12, and the propulsion device 343 is provided slidably on the linear guide. One of the electromagnet and the permanent magnet is attached to the body 12, and the other is attached to the propulsion device 343. By controlling the direction of the current on the electromagnet, the permanent magnet is attracted or repelled to move the propulsion device 343 along the linear guide so as to be relatively separated from the body 12 or Close to the body 12

  In another embodiment, the connection mechanism 341 may be a threaded rod nut mechanism. Specifically, the connection mechanism 341 may include an electric motor, a screw rod, and a nut. The motor is fixed to the body 12, and the nut is placed on the threaded rod and fixed to the propulsion device 343. When the electric motor drives the rolling of the threaded rod, the threaded rod drives the propulsion device 343 by the nut so as to be relatively separated from the body 12 or brought close to the body 12.

  In another embodiment, the connection mechanism 341 is a pinion rack mechanism. Specifically, the pinion rack mechanism may include an electric motor, a pinion, and a rack. The motor is mounted on the body 12, the pinion is mounted on the drive end of the motor, and the rack meshes with the pinion. The propulsion device 343 is mounted on the rack. When the motor drives the rolling of the pinion, the pinion drives the propulsion device 343 by the rack to move relatively away from the body 12 or to approach the body 12.

  In another embodiment, the connection mechanism 341 may be a link mechanism or the like, or may be another mechanical structure other than the connection mechanism, and the connection mechanism 341 drives the propulsion device 343. , Relatively away from the body 12 or in proximity to the body 12. The connection mechanism 341 may be further designed to have a connection structure other than the expansion and contraction structure. For example, the connection mechanism 341 may be an expansion and contraction structure, and the propulsion device 343 may be a connection mechanism 341. The drone 100 is provided on the body 12 to provide power for traveling and advancing on the water surface.

  When the unmanned aircraft 100, 200, 400 is in the floating state or in the non-operating state, the connection mechanism 341 may be in the unfolded state or in the accommodated state. If the working condition of the entire machine is not affected, the deployed or accommodated state of the connection mechanism 341 can be adjusted as needed.

  When the drone 100, 200, 400 is about to land on the water, the control device 70 may control the connection mechanism 341 to deploy the drone 100, 200, 400 before landing. The connection mechanism 341 may be controlled to be deployed after the drone 100, 200, 400 has landed.

  The structure of the support mechanism 521 may be the same as the structure of the connection mechanism 341, that is, the support mechanism 521 has the above-mentioned cylinder mechanism, voice coil motor, electromagnet mechanism, screw rod nut mechanism or pinion rack mechanism The support mechanism 521 may drive the buffer mechanism 523 so as to be relatively separated from the body 12. Alternatively, it may be close to the body 12. The support mechanism 521 may be further designed to be a support structure other than the above-described expandable structure. For example, the support mechanism 521 may be a non-expandable structure, and the buffer mechanism 523 may be a support mechanism 521. Through the body 12.

  When the unmanned aircraft 100, 200, 400 is in the aerial working state or in the stationary state where it is not working, the support mechanism 521 may be in the deployed state or may be in the accommodated state. If it does not affect the working condition of the entire machine, the deployed or accommodated state of the support mechanism 521 can be adjusted as needed.

  The distance sensor 745 is not limited to the above-described sensor type such as a barometer, an ultrasonic distance measuring sensor, or a laser distance measuring sensor, and may be another distance measuring device. For example, the distance sensor 745 may be a vision sensor, and the vision sensor obtains a surface image of the landing destination and analyzes the surface image to know the flight altitude of the drone That is, the distance between the drone and the landing destination can be known.

  In the embodiment of the present invention, the unmanned aerial vehicle is a rotary wing aircraft for carrying out an aerial photographing operation by mounting an imaging device such as a still camera or a video camera. The drone is also used for tasks such as mapping, disaster investigation and relief, aerial monitoring, line patrols and the like. Likewise, the drone may further be a fixed wing aircraft.

  The drone of the present invention can also land on lakes, rivers, oceans, and other water surfaces, and can land on any other suitable liquid surface. For example, when the drone is used to monitor an experiment in solution reaction, it can accrete and / or navigate on the surface of the solution, or the drone accrete and / or sail on the oil surface to Perform tasks such as fluid quality monitoring and oil sample collection.

  The above embodiments are used only to explain the technical method of the present invention, and are not intended to be limiting, although the present invention is described in detail with reference to the above embodiments. It should be understood by those skilled in the art that any modification or equivalent change to the technical method of the present invention does not deviate from the spirit and scope of the technical method of the present invention.

100, 200, 400 Unmanned Vehicles 10 Airframe 12 Body 14 Arm 30 Power Unit 32 Rotary Wing Assembly 321 Mounting Member 323 Drive Member 325 Propeller 34 Propulsion Assembly 341 Connection Mechanism 343 Propulsion Device 50 Takeoff and Landing Device 52, 252 Landing Device 521 Support Mechanism 523 Buffering Mechanism 54, 254, 454 Floating device 541, 2541 Bottom plate 543, 2543 Side plate 70 Control device 72 Main controller 73 Positioning assembly 74 Landing surface detection assembly 741 Image acquisition device 743 Image sensor 745 Distance sensor 747 Depth detector 749 Alarm S1 Unmanned Control system 101 central control module 103 take-off control module 105 progress control module 107 environment detection module 109 landing control module 1091 landing control on water Unit 1092 land accretion control unit

Claims (41)

A drone comprising an airframe and a power unit connected to the airframe, the control device and the take-off and landing device provided on the airframe, the power device and the take-off and landing device being respectively connected to the control device Electrically connected, the control device controls the power unit and the take-off and landing device to switch to the land landing mode or the water landing mode when the landing control command is received .
The airframe includes a body, the take-off and landing gear and the power unit are both provided on the body, the take-off and landing gear includes a floating device, and the floating device causes the unmanned vehicle to land on the water surface Can provide buoyancy and support when sailing,
The floating device includes a bottom plate and a side plate provided on the periphery of the bottom plate, and a predetermined depression angle is formed between the bottom plate and the side plate, and the side plate is adjustably mounted on the bottom plate, drone included angle, characterized in adjustable der Rukoto between the bottom plate and the side plate.   The control device includes a main controller, and the main controller controls the power unit and the take-off and landing device to switch to a land landing mode when the land landing control command is received. The drone described.   The control device includes a main controller, and the main controller controls the take-off and landing device to switch to a floating support mode in the buoyancy support state and controls the power unit when the landing control command is received. The drone according to claim 1, wherein the entire drone is landed on the surface of the water.   The control device includes a distance sensor, and the distance sensor detects a distance between the drone and the water surface, and the main controller controls the take-off and landing device based on the distance to prepare for landing and landing. The drone according to claim 3, characterized in that.   When the distance sensor determines that the distance between the drone and the water surface is within a predetermined range, the main controller controls the take-off and landing device based on the distance to prepare for landing and landing. The drone according to claim 4, characterized in that.   The controller further comprises a depth detector, the depth detector detecting a depth of water, and the main controller detecting the detected depth within a predetermined depth range. The drone according to claim 3, wherein the power unit is controlled to prevent the entire drone from landing when determined by the depth detector.   An alarm is further provided, wherein the alarm indicates that the landing destination is not favorable for landing if the depth detector determines that the depth falls within a predetermined depth range. 7. The drone of claim 6, wherein a signal is emitted to a user operating the drone.   The drone according to claim 7, wherein the alarm is a warning light, a buzzer or an electronic information transmitter. The drone according to any one of the preceding claims, wherein the bottom plate is adjustably connected to the body, and an included angle between the bottom plate and the body is adjustable . The floating device, drone according to any one of claims 1-9, characterized in that a gas-filled buoyancy plate, or a solid buoyant material made of buoyancy plate. The unmanned aerial vehicle according to any one of claims 1 to 10 , wherein the takeoff and landing apparatus further includes a landing gear provided on the body, and the floating device is provided on the landing gear. . The drone according to claim 11 , wherein the landing gear includes a support mechanism provided on the body and a buffer mechanism provided on the support mechanism. The drone according to claim 12 , wherein the buffer mechanism is a buffer member made of an elastic material. The support mechanism is telescopic supporting structure, said supporting mechanism, according to claim 12, wherein the buffer mechanism is driven to relatively away from the body, or is characterized in that is close to the body Drone. The support mechanism is a cylinder, and the buffer mechanism is provided on a drive rod of the cylinder, and the cylinder drives the buffer mechanism by the drive rod to be relatively separated from the body, or Close to the body, or
The voice coil motor, wherein the buffer mechanism is provided at a drive end of the voice coil motor, and the voice coil motor drives the buffer mechanism by the drive end to be relatively separated from the body. Or close to the body, or
A linear motor, wherein the buffer mechanism is provided at a mover of the linear motor, and the linear motor drives the buffer mechanism by the mover so as to be relatively separated from the body, or the body Close to or
A linear guide, an electromagnet, and a permanent magnet are provided, the linear guide is connected to the body, and the buffer mechanism is slidably provided on the linear guide, and the electromagnet and the permanent magnet One is provided in the buffer mechanism, the other of the electromagnet and the permanent magnet is provided in the body, and the permanent magnet is attracted to the electromagnet by controlling the direction of the current on the electromagnet. Or repel to move the buffer mechanism away from the body along the linear guide or in proximity to the body, or
A motor, a screw rod, and a nut, wherein the motor is connected to the body, the screw rod is coaxially fixed to a drive shaft of the motor, and the nut is placed on the screw rod. And connected to the buffer mechanism, the electric motor drives and rotates the screw bar, and the screw bar is screwed with the nut to move the nut relative to the screw bar; The nut moves the buffer mechanism or
The motor includes a motor, a pinion, and a rack, the motor is connected to the body, the pinion is connected to a drive shaft of the motor, the rack is engaged with the pinion, and the buffer mechanism is The rack is mounted on the rack, the electric motor drives and rotates the pinion, the pinion horizontally moves the rack, and the rack moves the buffer mechanism. The drone of claim 14 . 16. The power plant according to any of the preceding claims, further comprising a propulsion unit, wherein the propulsion unit is connected to the body to provide power for navigation on the surface of the drone. The drone described in or . The unmanned aircraft according to claim 16 , wherein the propulsion device is at least one of a water jet propulsion device, a propeller propulsion device, and a spherical motor propulsion device. The power device further includes a connection mechanism, the propulsion device is connected to the body by the connection mechanism, the connection mechanism is an expandable connection structure, and the connection mechanism drives the propulsion device. 17. The drone of claim 16 , wherein the drone can be spaced apart from or close to the body. The connection mechanism is a cylinder, and the propulsion device is provided on a drive rod of the cylinder, and the cylinder drives the propulsion device by the drive rod to be relatively separated from the body, or Close to the body, or
The voice coil motor, wherein the propulsion device is provided at a drive end of the voice coil motor, and the voice coil motor drives the propulsion device by the drive end to be relatively separated from the body. Or close to the body, or
A linear motor, wherein the propulsion device is provided at a mover of the linear motor, and the linear motor drives the propulsion device by the mover to move the propulsion device away from the body, or the body Close to or
A linear guide, an electromagnet, and a permanent magnet, wherein the linear guide is connected to the body, and the propulsion device is slidably provided on the linear guide, and the electromagnet and the permanent magnet One is provided in the propulsion device, the other of the electromagnet and the permanent magnet is provided in the body, and the permanent magnet is attracted to the electromagnet by controlling the direction of the current of the electromagnet. Or repel, to move the propulsion device relatively away from or in proximity to the body along the linear guide, or
A motor, a screw rod, and a nut, wherein the motor is connected to the body, the screw rod is coaxially fixed to a drive shaft of the motor, and the nut is placed on the screw rod. And connected to the propulsion unit, the electric motor drives and rolls the screw bar, and the screw bar is screwed with the nut to move the nut relative to the screw bar; The nut moves the propulsion device or
The motor includes a motor, a pinion, and a rack, the motor is connected to the body, the pinion is connected to a drive shaft of the motor, the rack is engaged with the pinion, and the propulsion device is The rack is mounted on the rack, the electric motor drives and rotates the pinion, the pinion horizontally moves the rack, and the rack moves the propulsion device. A drone according to claim 18 . The power plant further comprises a rotary wing assembly, the rotary wing assembly being rollably connected to the body, and the control device operating the rotary wing assembly when the drone is working in the air Control to provide power for the drone to fly in the air, and as the drone navigates the surface of the water, the controller controls the rotary wing assembly to A drone according to any one of the preceding claims, wherein power is provided for navigation of the drone by rolling and operating at a predetermined angle. The airframe further includes a plurality of arms provided on the body, the plurality of rotary wing assemblies being provided, the plurality of arms being provided around the periphery of the body, each of the rotary wing assemblies 21. The drone of claim 20 , wherein the ditch is rollably mounted to the arm. 22. The rotary wing assembly according to claim 21 , wherein the rotary wing assembly comprises a mounting member rollably provided on the arm, and the control device can control rolling of the mounting member relative to the arm. Drone. 23. The rotary blade assembly according to claim 22 , further comprising a driving member and a propeller, wherein the driving member is provided on the mounting member, and the propeller is provided on the driving member. The drone described. Wherein the control apparatus further comprises a satellite positioning device, the satellite positioning device according to any one of claims 1 23, characterized in that tracking the geographic location where the drone is located in real time Drone. The control device may further include a geomagnetic sensor, and the geomagnetic sensor may track the traveling direction of the drone in real time, and determine geographical direction information of the drone in cooperation with the satellite positioning device. The drone according to claim 24, which is assumed to be. A drone control system operating on a drone including a control device, a power device, and a takeoff and landing device, wherein the control device controls the operation of the power device to power the drone. To control the motion of the take-off and landing gear, and further used as a support at the time of the drone landing,
The take-off and landing gear may include a floating device, and the floating device may provide buoyancy and support when the drone is landed on the water surface and navigated, and the floating device may include a bottom plate and the bottom plate. A side plate provided on the periphery, wherein a predetermined depression angle is formed between the bottom plate and the side plate, the side plate is adjustably mounted on the bottom plate, and a depression angle between the bottom plate and the side plate is Adjustable,
A central control module for receiving takeoff, advance or acclimation control commands of the drone;
A landing control module for controlling the takeoff and landing device to switch to a landing mode or landing mode corresponding to a landing destination when the central control module receives a landing control command;
Drone control system including. The landing control module includes a landing landing control unit, and the landing landing control unit controls the take-off and landing gear to switch to the landing landing mode when the central control module receives the landing landing control command. 27. The drone control system according to claim 26 , wherein The landing control module further includes a land landing control unit, and the land landing control unit controls the takeoff and landing gear to switch to the land landing mode when the central control module receives a land landing control command. 28. The drone control system according to claim 27 , characterized in that: The system further comprises an environment detection module, wherein the environment detection module detects the distance between the drone and the landing destination, and determines that the detected distance falls within a predetermined distance range. The drone control system according to claim 28 , wherein a landing control module controls the take-off and landing gear to switch to landing mode. When the environment detection module determines that the distance between the drone and the landing destination does not fall within the range of the previously provided distance, the progress control module controls the operation of the power unit. The drone control system according to claim 29 , wherein the flight altitude of the drone is lowered. The drone control system according to claim 30 , wherein the environment detection module detects the distance between the drone and the landing destination in real time. The drone control system according to claim 30 , wherein the environment detection module detects the distance between the drone and the landing destination at an interval. The environment detection module detects the depth of water after the central control module receives the landing control command on the water, and determines that the detected depth falls within a predetermined depth range. 31. The drone control system of claim 30 , wherein a landing control module does not control the operation of the take-off and landing gear. And a takeoff control module, wherein the takeoff control module controls the operation of the power unit to raise and take off the drone when the central control module receives a takeoff control command. The drone control system according to any one of items 26 to 33 . The drone further includes a self-check module, and the drone further includes a self-check device, the self-check module controls the self-check device after the central control module receives the takeoff control command. And the takeoff control module controls the operation of the power unit to raise and take off the drone when it is determined that the state of the drone is suitable for flight. A drone control system according to claim 34 , characterized in that. The flight control module further includes a flight control module for controlling the operation of the power unit when the central control module receives a flight control command, whereby the drone flies in the air or the water surface. 35. The drone control system according to claim 34 , characterized in that it navigates. A control method for a drone used on a drone comprising a control device, a power device, and an takeoff and landing device, wherein the control device controls the operation of the power device to power the drone. To control the motion of the take-off and landing gear, and further used as a support at the time of the drone landing,
The take-off and landing gear may include a floating device, and the floating device may provide buoyancy and support when the drone is landed on the water surface and navigated, and the floating device may include a bottom plate and the bottom plate. A side plate provided on the periphery, wherein a predetermined depression angle is formed between the bottom plate and the side plate, the side plate is adjustably mounted on the bottom plate, and a depression angle between the bottom plate and the side plate is Adjustable,
The drone control method is
Receiving an unmanned aircraft landing control command;
Controlling the take-off and landing device based on the landing control command to switch between the landing mode and the landing mode;
Controlling the operation of the power plant to lower the flight altitude of the drone until landing on the destination;
A drone control method including: When it is determined that the control command is a landing landing control command, the depth of water is detected, and when it is determined that the detected depth falls within a predetermined depth range, the take-off and landing gear The method of controlling a drone according to claim 37 , wherein the operation is not controlled. Before the take-off and landing gear is controlled to switch to the landing mode, the distance between the drone and the landing destination is detected, and it is determined that the detected distance falls within a predetermined distance range. The method of claim 37 , wherein the take-off and landing gear is controlled to switch the landing mode. When it is determined that the distance between the drone and the landing destination does not fall within the predetermined distance range, the operation of the power unit is controlled to lower the flight altitude of the drone. 40. The method of claim 39 , wherein: The method according to claim 40 , wherein, when detecting the distance between the drone and the landing destination, detection is performed at intervals or in real time.