JP7076873B1 - Amphibious unmanned aerial vehicle with six rotors that can be tilted based on the FOC power system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an amphibious unmanned aerial vehicle with six rotors capable of tilt rotation based on an FOC power system. An amphibious unmanned aircraft with six rotors includes a base, a first support pipe, a second support pipe, a first propeller assembly, a second propeller assembly, a tilt rotation drive assembly and a FOC control module, said tilt. The rotary drive assembly drives the second support pipe to rotate. The amphibious unmanned aerial vehicle has rotor structures that can be tilt-driven on both sides of the base, whereby the amphibious unmanned aerial vehicle with the six rotors maintains a high-load unmanned aerial vehicle state of 6-axis drive in the air. It is possible to switch to the state of an underwater high speed moving unmanned aerial vehicle with horizontal lateral propulsion underwater, unmanned compared to the technical solution of the overall lateral drive of a tilted unmanned aerial vehicle in the prior art. As the aircraft moves laterally, it has less resistance and is faster and more stable. [Selection diagram] Fig. 1

Description

The present invention relates to the field of unmanned aerial vehicles, and in particular to an amphibious unmanned aerial vehicle with six rotors that can be tilted and rotated based on the FOC power system.

The unmanned aerial vehicle is abbreviated as UAV (Unmanned Aerial Vehicle), and refers to an aircraft that can fly autonomously or remotely without a driver on board. A multi-rotor unmanned aerial vehicle is a special unmanned helicopter with three or more rotor axes. It is rotated by a motor on each axis to drive the rotor to generate lift and thrust. The collective pitch of the rotor is fixed and cannot be changed unlike a normal helicopter. By varying the relative rotational speed between the different rotors, the magnitude of the uniaxial propulsion force can be varied, thereby controlling the navigation trajectory of the aircraft.

Currently, amphibious and underwater navigable unmanned aerial vehicles are mainly fixed-wing aircraft, and although the underwater speed is high, the rudder efficiency is low when the speed is slow, the operation is unstable and the resistance is large, and the aerial operation is realized underwater. It is not often used because it is difficult to do. However, since the rotor unmanned aircraft has a large rotational resistance of the large-diameter propeller underwater, if an aerial propeller and motor are used, it is difficult to control the rotational speed of the motor underwater, and the reverse twist of the rotor is large underwater. It is not often used because it has poor control accuracy, is prone to shaking, and it is difficult to achieve movements such as yawing and forward movement underwater.

In view of the above deficiencies, an object of the present invention is to propose an amphibious unmanned aerial vehicle with six rotors that can be tilted and rotated based on the FOC power system.

To this end, the present invention employs the following technical solutions.

An amphibious unmanned machine with six rotors that can be tilted based on the FOC power system is a base, first support pipe, second support pipe, first propeller assembly, second propeller assembly, tilt rotation drive assembly and FOC control. The module is provided, and there are four first support pipes, the mounting end of each first support pipe is fixedly mounted on the mounting surface of the base, and the four first support members are on the location surface of the mounting surface. Arranged in an X shape along the four drive ends of the first support pipe, the drive ends of the first support pipes are arranged radially with the geometric center of the mounting surface as the center and extend outward. The first propeller assembly is provided in each of the above, and when the first propeller assembly is driven, a vertical upward lifting force is provided to the drive end of the first support pipe at a corresponding position, and the second support pipe is provided. The middle part is attached to the mounting surface of the base via a swivel bearing, the drive ends at both ends of the second support pipe extend outward from both opposite sides of the base, and the geometry of the mounting surface. Arranged symmetrically with respect to the center, the second propeller assembly is provided at each of the two drive ends of the second support pipe, and when the second propeller assembly is driven, it is perpendicular to the second support pipe. The driving force is provided to the drive end of the second support pipe, the tilt rotation drive assembly is attached to the central region of the base, and the middle part of the second support pipe is conductively connected to the tilt rotation drive assembly. The tilt rotation drive assembly drives the second support pipe to rotate about its own axial direction with respect to the base, and the FOC control module controls the first propeller assembly, the second propeller assembly and the like. Electrically connected to a tilt rotary drive assembly, the FOC control module controls the flight of an amphibious unmanned aircraft with six rotors.

Preferably, the first propeller assembly includes a first drive motor and a first rotor, the first drive motor is mounted perpendicular to the drive end of the first support pipe, and the first rotor is the first drive. Mounted horizontally to the drive end of the motor, the second propeller assembly includes a motor mount, two second drive motors and two second rotors, with the second drive motor on opposite sides of the motor mount, respectively. Fixedly attached, the drive ends of the two second drive motors are coaxially arranged and extend in opposite directions, and the two second rotors are attached to the drive ends of the second drive motor, respectively.

Preferably, the diameter of the first rotor is larger than the diameter of the second rotor, and the screw pitch of the first rotor is smaller than the screw pitch of the second rotor.

Preferably, the tilt rotary drive assembly comprises a worm, gear and tilt drive motor.
The tilt drive motor is attached to the base, the gear is axially connected to the drive end of the tilt drive motor, the worm is fitted into the middle of a second support pipe, and the worm is transmitted with the gear. Engage in.

Preferably, the first drive motor and the second drive motor are brushless motors, they are provided with a hall sensor, the tilt drive motor is a brushless gimbal motor, and the FOC control module is the first. It is electrically connected to one drive motor, the second drive motor, the hall sensor, and the tilt drive motor.

Preferably, the second support pipe is attached to the mounting surface of the base via a pipe clamp, the pipe clamp includes an upper holding plate and a lower holding plate, and the lower holding plate is perpendicular to the mounting surface of the base. The upper holding plate is assembled directly above the lower holding plate, whereby a mounting hole is formed between the upper holding plate and the lower holding plate, and the swivel bearing is placed in the mounting hole. It is mounted vertically and the second support pipe penetrates the swivel bearing, whereby the inner ring of the swivel bearing is fitted and fixed to the outer wall of the second support pipe.

Preferably, a stroke stopper is provided on the outer wall of the second support pipe, the photoelectric sensor is vertically mounted on the mounting surface of the base, the photoelectric sensor is horizontally arranged on the side surface of the pipe clamp, and the second support pipe is arranged. When the stroke stopper rotates, the stroke stopper can trigger to the photoelectric sensor at the corresponding position, the photoelectric sensor detects the rotation angle of the second support pipe, and the photoelectric sensor is electrically connected to the FOC control module. The photoelectric sensor is a slot photoelectric switch.

Preferably, a plurality of leg pipes are provided at the bottom of the base, a water level sensor is provided in the leg pipes, and the water level sensor is electrically connected to the FCO control module.

Preferably, the total gravity of the six-rotor amphibious unmanned aircraft is greater than the buoyancy generated when it is completely in the water, and the total gravity of the six-rotor amphibious unmanned aircraft is the maximum rotation in the air. Half of all propeller thrust when driven at speed, said FOC control module employs FOC flight control method, said FOC flight control method includes:
Rotation direction control of the rotor: Of the four first rotors mounted on the base, two of the first rotors on the same diagonal have the same rotation direction, and the rotation of the first rotor on different diagonals. The directions are different, the rotation directions of the second rotors in the two different second support pipes are opposite, and the rotation directions and velocities of the two second rotors in the same second support pipe are the same.

Preferably, the FOC flight control method further comprises:
When an amphibious unmanned aircraft with six rotors is flying in the air, the FOC control module receives a control command and controls the tilt drive motor to drive the second support pipe to rotate. The two second propeller assemblies are arranged parallel to the first propeller assembly and vertically upward, and the first propeller assembly and the second propeller assembly are controlled by the FOC control module of each rotor. Adjusts the rotation speed to realize the raising and lowering operation of the amphibious unmanned aircraft with 6 rotors.
When an amphibious unmanned aircraft with six rotors enters the water and navigates, the FOC control module receives control commands and controls the drive conditions of the first propeller assembly and the second propeller assembly, the first rotor and the second propeller assembly. Decreasing the rotation speed of the second rotor, the amphibious unmanned aircraft with six rotors slowly descends into the water under the action of gravity and vertical upward lift, and the FOC control module is based on the water level sensor. Detecting information in real time and synchronously controlling the rotational speeds of the first and second rotors, the six-rotor amphibious unmanned aircraft is constant under the action of gravity, vertical upward force, and lift. Descent into the water at speed,
When an amphibious unmanned aircraft with six rotors is hovering underwater and the amphibious unmanned aircraft with six rotors is completely under the surface of the water, the water level sensor detects the underwater depth information of each leg in real time. However, if the information parameters of each water level sensor do not match, the FOC control module controls the rotational speed of each of the first rotors to keep the base horizontal, and the amphibious unmanned aircraft with six rotors is horizontal below the surface of the water. When moving, the FOC control module controls the tilt drive motor to rotate the second support pipe, whereby the two second propeller assemblies rotate to provide horizontal drive. The horizontal movement of the 6-rotor amphibious unmanned aircraft stopped in time, and the 6-rotor amphibious unmanned aircraft was hovering underwater.
When an amphibious unmanned aircraft with six rotors is sailing horizontally in water, the FOC control module receives a control command and controls the tilt drive motor to rotate the second support pipe and two. The first propeller assemblies collaborate with each other so that the second propeller assembly is rotated 90 degrees forward to make it horizontal, the propeller assembly is held vertically upwards and placed, and the base remains horizontal. And adjust.

The beneficial effects of the embodiments of the present invention are as follows.
The six-rotored amphibious unmanned aerial vehicle is based on the conventional four-rotored unmanned aerial vehicle, and is provided with tilt-driven rotor structures on both sides of the base, whereby the six-rotored amphibious unmanned aerial vehicle is provided. The unmanned aerial vehicle can maintain the state of a 6-axis drive high-load unmanned aerial vehicle in the air and switch to the state of an underwater high-speed moving unmanned aerial vehicle with horizontal lateral propulsion underwater. Compared to the overall lateral drive solution of the unmanned aerial vehicle, the resistance when the unmanned aerial vehicle moves laterally is smaller, the speed is faster and more stable, and the amphibious unmanned with the above six rotors. When the aircraft enters and exits the surface of the water, it can control its own flight drive status in real time according to changes in buoyancy, maintain the levelness of the entire structure, and fly smoothly.

It is a schematic structural drawing of the amphibious unmanned aerial vehicle with the six rotors in one Embodiment of this invention. It is a structural schematic diagram after disassembling the cover in the Example shown in FIG. It is another structural schematic diagram after disassembling the cover in the Example shown in FIG. It is a schematic top view of the structure after the cover in the Example shown in FIG. 1 is removed. It is the enlarged structure schematic diagram of the part circled in the Example shown in FIG. It is a schematic structural drawing of the amphibious unmanned aerial vehicle with the six rotors in one Embodiment of this invention.

Hereinafter, the technical solution of the present invention will be further described through specific embodiments with reference to the accompanying drawings.

In one embodiment of the present application, as shown in FIGS. 1-5, an amphibious unmanned machine with six tiltable rotors based on the FOC power system includes a base 110, a first support pipe 130, and a second. The support pipe 140, the first propeller assembly 150, the second propeller assembly 160, the tilt rotation drive assembly 170 and the FOC control module are provided, and there are four first support pipes 130, and the mounting end of each first support pipe 130 is the above. It is fixedly attached to the mounting surface of the base 110, the four first support members are arranged in an X shape along the location surface of the mounting surface, and the drive ends of the four first support pipes 130 are the mounting surfaces. The first propeller assembly 150 is provided at the drive end of each of the first support pipes 130, and the first propeller assembly 150 is driven. When Attached, the drive ends at both ends of the second support pipe 140 extend outward from opposite sides of the base 110, respectively, and are arranged symmetrically with respect to the geometric center of the attachment surface. The second propeller assembly 160 is provided at each of the two drive ends of the support pipe 140, and when the second propeller assembly 160 is driven, a driving force perpendicular to the second support pipe 140 is applied to the second support pipe. Provided to the drive end of 140, the tilt rotation drive assembly 170 is mounted in the central region of the base 110, the middle portion of the second support pipe 140 is conductively connected to the tilt rotation drive assembly 170, and the tilt rotation. The drive assembly 170 drives the second support pipe 140 to rotate about its own axial direction with respect to the base 110, and the FOC control module controls the first propeller assembly 150, the second propeller assembly 160 and the like. Electrically connected to the tilt rotary drive assembly 170, the FOC control module controls the flight of an amphibious unmanned aircraft with six rotors.

The first propeller assembly 150 because the six-rotor amphibious unmanned aircraft was able to keep the base 110 level at all times during flight and the first support pipe 130 was fixedly attached to the base 110. The lift provided by the base 110 is always maintained perpendicular to the base 110, i.e., always vertically upwards, and the second support pipe 140 is rotatable under the drive of the tilt rotation drive assembly as required for flight. The second propeller assembly 160 can change the driving force from the second propeller assembly 160 to the base 110, and if the driving force of the second propeller assembly 160 is vertically upward, the second propeller assembly 160 is the base. It exerts a lift effect in the vertical upward direction with respect to the 110, and when the second propeller assembly 160 tilts and rotates, the driving force to the base 110 exerts a lift effect as well as a horizontal drive or braking effect in the horizontal direction. .. The fixed placement of the first propeller assembly 150 under the control of the FOC control module keeps the base 110 horizontal at all times, resulting in the second propeller assembly 160 tilting and rotating. , The driving of the amphibious unmanned aerial vehicle with the six rotors can be diversified, the driving force can be made more accurate, and the flight attitude can be controlled more accurately.

The first propeller assembly 150 includes a first drive motor 151 and a first rotor 152, the first drive motor 151 is mounted perpendicular to the drive end of the first support pipe 130, and the first rotor 152 is said. Mounted horizontally to the drive end of the first drive motor 151, the second propeller assembly 160 includes a motor mount 161, two second drive motors 162 and two second rotors 163 facing the motor mount 161. The second drive motor 162 is fixedly attached to both sides, and the drive ends of the two second drive motors 162 are arranged coaxially and extend in opposite directions, and the two second rotors 163 are respectively. It is attached to the drive end of the second drive motor 162.

The diameter of the first rotor 152 is larger than the diameter of the second rotor 163, and the screw pitch of the first rotor 152 is smaller than the screw pitch of the second rotor 163. Since the first propeller assembly 150 employs a rotor with a large diameter and a small screw pitch, the first propeller assembly 150 has high propulsion efficiency and high-speed characteristics, and is horizontal for an amphibious unmanned aerial vehicle with six rotors. Increased mobility and flight stability. Since the second propeller assembly 160 employs a rotor with a small diameter and a large screw pitch, the resistance in water of the second propeller assembly 160 is smaller, the propulsion speed is faster, and the second propeller assembly 160 has six rotors. It is possible to secure the amphibious unmanned aerial vehicle's amphibious cruising capability and increase the underwater navigation speed.

The tilt rotary drive assembly 170 includes a worm 141, a gear 142 and a tilt drive motor 173, the tilt drive motor 173 is attached to the base 110, and the gear 142 is axially connected to the drive end of the tilt drive motor 173. The worm 141 is fitted into the middle of the second support pipe 140, and the worm 141 is transmissionally engaged with the gear 142.

The first drive motor 151 and the second drive motor 162 are brushless motors, and they are provided with a hall sensor, the tilt drive motor 173 is a brushless gimbal motor, and the FOC control module is the above. It is electrically connected to the first drive motor 151, the second drive motor 162, the hall sensor, and the tilt drive motor 173. The gear 142 is engaged with the worm 141, the gear 142 is electrically connected to a high torque brushless gimbal motor at a low rotational speed, and the FOC control module controls the drive of the brushless gimbal motor to control the gear 142. After rotating, the worm 141 is slowly rotated to amplify the torque to realize tilt rotation of the second support pipe 140, more preferably after forming a transmission structure with the worm 141 and the gear 142. Due to the self-locking characteristics of the worm 141 and the gear 142, it is possible to prevent the second support pipe 140 from being passively tilt-rotated after the brushless gimbal motor is de-energized.

Further, when an amphibious unmanned aircraft with six rotors is propelled underwater, the second propeller assemblies 160 on both sides are mainly used for underwater propulsion to offset the torque due to the high speed rotation of the second rotor 163. Therefore, the two second rotors 163 are arranged so as to face the same drive end of the second support pipe and are driven by a brushless motor, and the brushless motor also has an encoder.

Since the Hall sensor can detect the operating parameters of each motor in real time and know the rotation speed of each propeller and the driving force in the corresponding direction, the FOC control module accurately adjusts the rotation speed of each motor. By doing so, the driving state of each rotor of the amphibious unmanned aircraft with six rotors can be accurately controlled.

The second support pipe 140 is attached to the mounting surface of the base 110 via a pipe clamp 120, the pipe clamp 120 includes an upper holding plate 121 and a lower holding plate 122, and the lower holding plate 122 is the base 110. The upper holding plate 121 is assembled vertically above the lower holding plate 122, whereby a mounting hole is formed between the upper holding plate 121 and the lower holding plate 122. The swivel bearing 111 is vertically mounted in the mounting hole, and the second support pipe 140 penetrates the swivel bearing 111, whereby the inner ring of the swivel bearing 111 fits into the outer wall of the second support pipe 140. It is fixed together.

Specifically, the upper holding plate 121 and the lower holding plate 122 can be connected and mounted by bolts, and the above mounting method simplifies the mounting structure of an amphibious unmanned aerial vehicle with six rotors. Easy to install, easy to install, with less resistance to move in air and water.

A stroke stopper 131 is provided on the outer wall of the second support pipe 140, the photoelectric sensor 132 is vertically mounted on the mounting surface of the base 110, and the photoelectric sensor 132 is horizontally arranged on the side surface of the pipe clamp 120. 2 When the support pipe 140 rotates, the stroke stopper can trigger to the photoelectric sensor 132 at the corresponding position, the photoelectric sensor 132 detects the rotation angle of the second support pipe 140, and the photoelectric sensor 132 detects the rotation angle. Electrically connected to the FOC control module, the photoelectric sensor 132 is a slot photoelectric switch.

In order to ensure the accuracy of the tilt rotation angle of the second propeller assembly 160, the stroke stopper 131 made of plastic is fixed to the second support pipe 140, and two slot photoelectric switches are fixed to the base. Since the propagation distance of infrared rays in water is short, the light source of the slot photoelectric switch adopts blue visible light to reduce false alarms, and the outer layer of the slot photoelectric switch is coated with a transparent resin for waterproofing at the same time. It does not affect the accuracy of the slot photoelectric switch. Specifically, there is a 90 degree angle between the two slot photoelectric switches, which correspond to the vertically upward and horizontal forward positions of the second rotation assembly, respectively, and the stroke stopper 131 blocks the slot photoelectric switch. Then, it is shown that the second propeller assembly 160 tilts to the corresponding position, and at this time, the tilt drive motor 173 stops driving, the second propeller assembly 160 is fixed at the position, and six rotors are attached. The drive mode of the amphibious unmanned aircraft can be switched quickly and accurately.

A plurality of leg pipes 112 are provided at the bottom of the base 110, a water level sensor is provided in the leg pipe 112, and the water level sensor is electrically connected to the FCO control module.

The water level sensor is a component that can be purchased directly from the market, can calculate the distance from the base 110 to the water surface via detection data, and can detect and calculate the buoyancy received by an amphibious unmanned aircraft with six rotors. The FCO control module acquires distance data and buoyancy data based on the water level sensor, and provides real-time feedback control to the first propeller assembly 150 and the second propeller assembly 160 in an amphibious unmanned aircraft with six rotors. Realize and make underwater control of amphibious unmanned aircraft with 6 rotors more accurate and faster. More preferably, the water level sensor is added so that the amphibious unmanned aircraft with six rotors can smoothly enter the water, especially when the amphibious unmanned aircraft with six rotors enters the water from the air. It has an even more pronounced effect on precise control, and conventional techniques completely avoid the effects of unexpected sudden changes due to speed and attitude when an amphibious unmanned aircraft switches between air and underwater flight. be able to.

More preferably, counterweight boxes 113 are symmetrically arranged on the left and right sides of the bottom of the amphibious uncrewed vehicle with the six rotors, and a control circuit, a battery, and the like are provided inside the counterweight box 113. Waterproofness can be ensured, and due to the housing of the two counterweight boxes, the buoyancy center of the amphibious uncrewed vehicle with the six rotors is always above its own center of gravity, and the amphibious with the six rotors is used. The unmanned vehicle quickly achieves self-stabilization in water by the action of buoyancy and gravity, which allows the amphibious unmanned vehicle with the six rotors to keep the base horizontal in the water.

A cover 114 is arranged in parallel directly above the base 110, and the cover 114 is connected to a mounting end of the pipe clamp 120 and the first support pipe 130. On the other hand, the cover 114 can enhance the stability of the support structure of the base 110 and avoid deformation of the base due to excessive force, while the cover 114 is drained in water together with the base 110 in the same flow. It is useful for keeping the speed of the water flow on the top and bottom of the amphibious unmanned aircraft with 6 rotors close and keeping the airframe of the amphibious unmanned aircraft with 6 rotors horizontal, as it can be effective. ..

The total gravity of an amphibious unmanned aircraft with six rotors is greater than the buoyancy generated when it is completely in the water, and the total gravity of an amphibious unmanned aircraft with six rotors is driven at maximum rotational speed in the air. It was half of all propeller thrust when it was fired, and the FOC control module adopted the FOC flight control method.

The FOC flight control method includes the following: control of the rotation direction of the rotor: Of the four first rotor 152 attached to the base 110, the rotation direction of two of the first rotor 152 on the same diagonal line is The same, different diagonal rotation directions of the first rotor 152 are different, the rotation directions of the second rotor 163 in two different second support pipes are opposite, and they are in the same second support pipe. The rotation direction and speed of the two second rotors 163 are the same.

The FOC flight control method further includes:
When an amphibious unmanned aircraft with six rotors is flying in the air, the FOC control module receives a control command and controls the tilt drive motor 173 to rotate the second support pipe 140, thereby 2 The second propeller assembly 160 is arranged parallel to the first propeller assembly 150 and vertically upward, and the first propeller assembly 150 and the second propeller assembly 160 are each controlled by the FOC control module. By adjusting the rotation speed of the rotor, it is possible to raise and lower the amphibious unmanned aircraft with 6 rotors.
When an amphibious unmanned aircraft with six rotors enters the water and navigates, the FOC control module receives a control command and controls the drive conditions of the first propeller assembly 150 and the second propeller assembly 160. The rotation speed of the rotor 152 and the second rotor 163 was reduced, and the amphibious unmanned aircraft with six rotors slowly descended into the water by the action of gravity and vertical upward lift, and the FOC control module was the water level sensor. Based on, it detects information in real time and controls the rotational speeds of the first rotor 152 and the second rotor 163 synchronously, and the amphibious unmanned aircraft with six rotors has gravity, vertical upward force, and lift. Descent into the water at a constant speed under the action of
When an amphibious unmanned aircraft with six rotors is hovering underwater, when the amphibious unmanned aircraft with six rotors is completely under the surface of the water, the water level sensor provides real-time depth information on each leg underwater. If detected and the information parameters of each water level sensor do not match, the FOC control module controls the rotational speed of each of the first rotors 152 to keep the base horizontal, and an amphibious unmanned aircraft with six rotors is underwater. When horizontally moving to, the FOC control module controls the tilt drive motor 173 to rotate the second support pipe 140, whereby the two second propeller assemblies 160 rotate to achieve horizontal drive. As a result, the horizontal movement of the six-rotored amphibious unmanned aircraft stopped in time, and the six-rotored amphibious unmanned aircraft was hovering underwater.
When an amphibious unmanned aircraft with six rotors is sailing horizontally in water, the FOC control module receives a control command and controls the tilt drive motor 173 to rotate the second support pipe 140. Thereby, the two second propeller assemblies 160 are rotated 90 degrees forward to be horizontal, the propeller assembly 150 is held vertically upward and placed so that the base 110 remains horizontal. , The first propeller assemblies cooperate with each other to adjust.

Specifically, as shown in FIG. 6, the total weight of the amphibious unmanned aircraft with the six rotors is Gtotal, and the gravity of the entire aircraft is larger than the buoyancy generated when completely entering the water, and Total gravity is 1/2 of all propeller thrust when driven at maximum rotational speed in the air. The center of buoyancy is designed below the center of gravity, allowing the drone to remain level underwater in its natural state. Water level sensors are installed on the legs to detect the depth of the aircraft submerged in water.

When hovering over the surface of the water, assuming that the buoyancy of the entire amphibious unmanned aircraft with six rotors is F1, the thrust required for the propeller to provide in the vertical direction is {Gtotal-F1}, and at this time, the motors A and D. The thrusts output from, E, and H are {1/4 (Gtotal-F1)}, respectively, and the blade just rotates on the surface of the water, and the ground effect and buoyancy act to hover with very low power. realizable. When it is necessary to leave the water surface and enter the air, the motors B, C, F and G rotate vertically upward from the horizontal front, increasing the rotation speed of the motors A, D, E and H to reach 1/2 thrust. At this time, the unmanned aircraft gradually leaves the surface of the water, but does not completely leave the surface of the water, and a part of the volume still remains in the water to provide buoyancy. At this time, the motors B, C, F, and G operate so as to slightly exceed 1/2 of the thrust, and the original four motors can already achieve the horizontal stability of the quadcopter and the total thrust. Is slightly larger than the total gravity, and some buoyancy can also provide a vertical upward force to offset the gravity, so it can move away from the water very stably.

When an unmanned aircraft needs to land on the surface of the water from the air, it first flies over the surface of the water and gradually slows down until the lower half of the legs etc. is submerged in the water, at which time buoyancy begins and the entire motor is halved. After decelerating to thrust, motors B, C, F, and G gradually decelerate and the total thrust in the vertical direction decreases, so the sum of the buoyancy and the total thrust in the vertical direction becomes smaller than the gravity, and the buoyancy and the vertical direction The unmanned aircraft gradually descends until the total thrust is equal to gravity, so slowly reducing the thrust of the motors B, C, F, G allows the water to enter the water in a stable state and the water level sensor. Can be used to feed back and control the motors B, C, F, G to accurately control the descent speed. When an unmanned machine shakes due to an external factor such as wind, the motors A, D, E, and H can be regarded as a normal X-type 4-axis unmanned machine that can control the tilt of the unmanned machine, and after tilting. Compensation control is performed by the horizontal component force of, and a part of the aircraft enters the water, the resistance in the water is large, and it is difficult to realize the original yawing. Then, the second support pipe is tilted and rotated, and the two second rotors at one end of the second support pipe are driven by increasing the rotation speed, and two at the other end of the second support pipe. When the second rotor is driven by increasing the rotational speed in the opposite direction and the underwater resistance is larger, in the horizontal direction, the amphibious unmanned machine with the six rotors can provide a larger yawing shaft torque. This allows an amphibious unmanned aircraft with six rotors to adjust its posture more quickly and accurately.

The six-rotored amphibious unmanned aerial vehicle is based on the conventional four-rotored unmanned aerial vehicle, and tilt-driven rotor structures are arranged on both sides of the base 110, and the six-rotored amphibious unmanned aerial vehicle is provided. The aircraft can now maintain a high-load unmanned aerial vehicle state with 6-axis drive in the air, and can switch to the state of an underwater high-speed moving unmanned aerial vehicle with horizontal lateral propulsion underwater. Compared to the technical solution of the overall lateral drive of the tilted unmanned aerial vehicle in, the resistance is smaller, faster and more stable when the unmanned aerial vehicle moves horizontally.

It should be noted that the terms used herein are for the purpose of explaining specific embodiments only, and are not intended to limit exemplary embodiments according to the present application. As used herein, the singular is intended to include the plural, unless the context explicitly indicates otherwise, and the terms "contains" and / or "contains" are used herein. When used, it should be understood to indicate that there are features, steps, operations, devices, assemblies, and / or combinations thereof.

Unless otherwise stated, the relative arrangements, mathematical formulas and numerical values of the members and steps described in these examples do not limit the scope of the present invention. On the other hand, for convenience of explanation, it should be understood that the dimensions of the various parts shown in the accompanying drawings are not drawn in actual proportional relations. The techniques, methods, and devices known to those of skill in the art may not be described in detail, but where appropriate, the techniques, methods, and devices should be considered as part of the permitted specification. .. In all examples shown and described herein, any specific value should be construed as an example, not as a limitation. Therefore, other examples of the exemplary embodiment may have different values. Note that in the next drawing, similar symbols and letters indicate similar items, so if an item is defined in one figure, it does not need to be further described in subsequent figures.

In the description of the present invention, the orientation or positional relationship indicated by "front, back, top, bottom, left, right", "horizontal, vertical, vertical, horizontal", "top, bottom", etc. is usually a drawing. Based on the orientation or positional relationship shown in, this is for convenience only to explain and simplify the description, and unless otherwise stated, these directional terms are referred to. It does not indicate or imply that the device or element has a particular direction or must be constructed and operated in a particular direction and is therefore construed as limiting the scope of protection of the invention. Should not be. "Inside, outside" means inside and outside with respect to the contour of each member itself.

For ease of explanation, in this specification, spatially relative, such as "above ...", "above ...", "on top of ...", "on top", etc. Terminology can be used to describe the spatial positional relationship between the device or feature shown in the figure and the other device or feature. It should be understood that spatially relative terms are intended to include different directions of the device in use or in operation in addition to the directions shown in the figure. For example, if a device in a drawing is upside down, it may be described as "above another device or structure" or "above another device or structure" and then "other device or structure". It is positioned as "below" or "under another device or structure". Thus, the exemplary term "above ..." can include both "above ..." and "below ..." orientations. The device may also be positioned in other ways (rotated 90 degrees or located in other directions), and the spatially relative description used herein may be construed accordingly. ..

Furthermore, the definition of a part using words such as "first" and "second" is only for distinguishing the corresponding parts, and the above words have a special meaning unless otherwise specified. Cannot be construed as limiting the scope of protection of the present invention.

It should be noted that the specification of the present application, the scope of claims, and terms such as "first" and "second" in the above drawings are used to distinguish similar objects, and do not necessarily have a specific order or sequence. Not used to explain. The data so used may be exchanged under appropriate circumstances, and as a result, the embodiments of the present application described herein are other than those illustrated or described herein. It should be understood that they may be carried out in the order of.

The technical principle of the present invention has been described above with reference to specific examples. These explanations are for illustration purposes only and should not be construed as limiting the scope of protection of the invention in any way. Based on the description herein, one of ordinary skill in the art can consider other specific embodiments of the invention without creative effort, all of which fall within the scope of the invention.

110 Base 111 Swivel bearing 120 Pipe clamp 121 Upper holding plate 122 Lower holding plate 112 Leg pipe 113 Counter weight box 114 Cover 130 First support pipe 131 Stroke stopper 132 Photoelectric sensor 140 Second support pipe 141 Warm 142 Gear 173 Tilt drive motor 150 1st Propeller Assembly 151 1st Drive Motor 152 1st Rotor 160 2nd Propeller Assembly 161 Motor Mount 162 2nd Drive Motor 163 2nd Rotor 170 Tilt Rotation Drive Assembly 173 Tilt Drive Motor

Claims (8)

Equipped with base, 1st support pipe, 2nd support pipe, 1st propeller assembly, 2nd propeller assembly, tilt rotation drive assembly and FOC (Field Oriented Control) control module.
There are four first support pipes, the mounting ends of each first support pipe are fixedly mounted on the mounting surface of the base, and the four first support pipes are X-shaped along the location surface of the mounting surface. The drive ends of the four first support pipes are arranged in a radial pattern centered on the geometric center of the mounting surface and extend outward.
The first propeller assembly is provided at the drive end of each of the first support pipes, and when the first propeller assembly is driven, a vertical upward lift is applied to the drive end of the first support pipe at a corresponding position. Provided to
The middle portion of the second support pipe is attached to the mounting surface of the base via a swivel bearing, and the drive ends of both ends of the second support pipe extend outward from both opposite sides of the base, and the said. Arranged symmetrically with respect to the geometric center of the mounting surface,
The second propeller assembly is provided at each of the two drive ends of the second support pipe, and when the second propeller assembly is driven, a driving force perpendicular to the second support pipe is applied to the second support pipe. Provided to the drive end,
The tilt rotation drive assembly is attached to the central region of the base, the middle portion of the second support pipe is conductively connected to the tilt rotation drive assembly, and the tilt rotation drive assembly drives the second support pipe. , Rotate the base about its own axial direction,
The FOC control module is electrically connected to the first propeller assembly, the second propeller assembly and the tilt rotation drive assembly, and the FOC control module controls the flight of an amphibious unmanned aerial vehicle with six rotors.
The first propeller assembly includes a first drive motor and a first rotor, the first drive motor is mounted perpendicular to the drive end of the first support pipe, and the first rotor drives the first drive motor. Mounted horizontally on the edge,
The second propeller assembly includes a motor mount, two second drive motors and two second rotors, with the second drive motors fixedly mounted on opposite sides of the motor mount, respectively. The drive ends of the two drive motors are coaxially arranged and extend in opposite directions, and the two second rotors are attached to the drive ends of the second drive motor, respectively.
Tilt rotary drive assembly includes worms, gears and tilt drive motors
The tilt drive motor is attached to the base, the gear is axially connected to the drive end of the tilt drive motor, the worm is fitted into the middle of a second support pipe, and the worm is transmitted with the gear. An amphibious unmanned aircraft with six tiltable rotors based on the FOC power system , characterized by being engaged in. The FOC power system according to claim 1 , wherein the diameter of the first rotor is larger than the diameter of the second rotor, and the screw pitch of the first rotor is smaller than the screw pitch of the second rotor. An amphibious unmanned aerial vehicle with six rotors that can be tilted based on. The first drive motor and the second drive motor are brushless motors, which are provided with a hall sensor, and the tilt drive motor is a brushless gimbal motor.
The FOC power system according to claim 1 , wherein the FOC control module is electrically connected to the first drive motor, the second drive motor, the hall sensor, and the tilt drive motor. An amphibious unmanned aerial vehicle with six rotors that can be tilted based on. The second support pipe is attached to the mounting surface of the base via a pipe clamp, the pipe clamp includes an upper holding plate and a lower holding plate, and the lower holding plate is attached vertically to the mounting surface of the base. , The upper clamp plate is assembled directly above the lower clamp plate, whereby a mounting hole is formed between the upper clamp plate and the lower clamp plate.
The swivel bearing is mounted vertically in the mounting hole, the second support pipe penetrates the swivel bearing, whereby the inner ring of the swivel bearing is fitted and fixed to the outer wall of the second support pipe. An amphibious unmanned machine with six rotors that can be tilted and rotated based on the FOC power system according to claim 1 . A stroke stopper is provided on the outer wall of the second support pipe, the photoelectric sensor is vertically mounted on the mounting surface of the base, the photoelectric sensor is horizontally arranged on the side surface of the pipe clamp, and the second support pipe rotates. When the stroke stopper can trigger to the photoelectric sensor at the corresponding position, the photoelectric sensor detects the rotation angle of the second support pipe, and the photoelectric sensor is electrically connected to the FOC control module. An amphibious unmanned machine with six rotors that can be tilted based on the FOC power system according to claim 4 , wherein the photoelectric sensor is a slot photoelectric switch. The fifth aspect of claim 5 , wherein a plurality of leg pipes are provided on the bottom of the base, a water level sensor is provided in the leg pipes, and the water level sensor is electrically connected to the FOC control module. An amphibious unmanned aircraft with six rotors that can be tilted and rotated based on the FOC power system. The total gravity of an amphibious unmanned aircraft with six rotors is greater than the buoyancy generated when it is completely in the water, and the total gravity of an amphibious unmanned aircraft with six rotors is driven at maximum rotational speed in the air. Half of all propeller thrust when done,
The FOC control module employs a FOC flight control method, the FOC flight control method comprising:
Rotation direction control of the rotor: Of the four first rotors mounted on the base, two of the first rotors on the same diagonal have the same rotation direction, and the rotation of the first rotor on different diagonals. In different directions
It is characterized in that the rotation directions of the second rotors in the two different second support pipes are opposite to each other, and the rotation directions and speeds of the two second rotors in the same second support pipe are the same. An amphibious unmanned aerial vehicle with six rotors that can be tilted based on the FOC power system of claim 6 . The FOC flight control method further includes:
When an amphibious unmanned aircraft with six rotors is flying in the air, the FOC control module receives a control command and controls the tilt drive motor to drive the second support pipe to rotate. The two second propeller assemblies are arranged vertically upward in parallel with the first propeller assembly, and the first propeller assembly and the second propeller assembly rotate each rotor under the control of the FOC control module. Adjusting the speed, realizing the raising and lowering operation of the amphibious unmanned aircraft with 6 rotors,
When an amphibious unmanned aircraft with six rotors enters the water and navigates, the FOC control module receives control commands and controls the drive conditions of the first propeller assembly and the second propeller assembly, the first rotor and the second propeller assembly. Decreasing the rotation speed of the second rotor, the amphibious unmanned aircraft with six rotors slowly descends into the water under the action of gravity and vertical upward lift, and the FOC control module is based on the water level sensor. It detects information in real time and controls the rotational speeds of the first and second rotors synchronously, so that an amphibious unmanned aircraft with six rotors is under the influence of gravity, vertical upward force, and lift. Descent into the water at a constant speed,
When an amphibious unmanned aircraft with six rotors is hovering underwater, the water level sensor detects the underwater depth information of each leg in real time when the amphibious unmanned aircraft with six rotors is completely under the surface of the water. However, if the information parameters of each water level sensor do not match, the FOC control module controls the rotational speed of each of the first rotors to keep the base horizontal, and the amphibious unmanned aircraft with six rotors is horizontal below the surface of the water. When moving, the FOC control module controls the tilt drive motor to rotate the second support pipe, whereby the two second propeller assemblies rotate to provide horizontal drive. The horizontal movement of the 6-rotor amphibious unmanned aircraft stopped in time, and the 6-rotor amphibious unmanned aircraft was hovering underwater.
When an amphibious unmanned aircraft with six rotors is sailing horizontally in water, the FOC control module receives a control command and controls the tilt drive motor to rotate the second support pipe and two. The first propeller assemblies are placed together so that the second propeller assembly is rotated 90 degrees forward to make it horizontal so that the first propeller assembly is held and placed vertically upward and the base remains horizontal. An amphibious unmanned machine with six tiltable rotors based on the FOC power system according to claim 7 , characterized in coordination.

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