WO2021129001A1 - 水空机器人 - Google Patents

水空机器人 Download PDF

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Publication number
WO2021129001A1
WO2021129001A1 PCT/CN2020/117018 CN2020117018W WO2021129001A1 WO 2021129001 A1 WO2021129001 A1 WO 2021129001A1 CN 2020117018 W CN2020117018 W CN 2020117018W WO 2021129001 A1 WO2021129001 A1 WO 2021129001A1
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WO
WIPO (PCT)
Prior art keywords
sealed cabin
control module
brushless motor
fixed
fixed frame
Prior art date
Application number
PCT/CN2020/117018
Other languages
English (en)
French (fr)
Inventor
冀大雄
姚鑫
周佳龙
周帅
娄旭晗
Original Assignee
浙江大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 浙江大学 filed Critical 浙江大学
Priority to US17/421,034 priority Critical patent/US11926414B2/en
Publication of WO2021129001A1 publication Critical patent/WO2021129001A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/14—Control of attitude or depth
    • B63G8/16—Control of attitude or depth by direct use of propellers or jets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C35/00—Flying-boats; Seaplanes
    • B64C35/008—Amphibious sea planes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C35/00—Flying-boats; Seaplanes
    • B64C35/005—Flying-boats; Seaplanes with propellers, rudders or brakes acting in the water
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/83—Electronic components structurally integrated with aircraft elements, e.g. circuit boards carrying loads
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/30—Supply or distribution of electrical power
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
    • B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
    • B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
    • B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
    • B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U50/00—Propulsion; Power supply
    • B64U50/10—Propulsion
    • B64U50/19—Propulsion using electrically powered motors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U60/00—Undercarriages
    • B64U60/50—Undercarriages with landing legs
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02T90/10—Technologies relating to charging of electric vehicles
    • Y02T90/14—Plug-in electric vehicles

Definitions

  • the invention relates to rotary wing aircraft technology, in particular to a water-to-air robot.
  • the water-to-air robot can navigate underwater and in the air.
  • the rotary-wing aircraft has developed rapidly, and the typical representative is the quad-rotor unmanned aerial vehicle. With its advantages of compactness and flexibility, the quadrotor UAV has demonstrated its superior application value in many fields, such as aerial photography and surveying in the field of photography; fixed-point strikes in the military field and so on.
  • the rotary-wing underwater vehicle which is designed based on the motion mode of the rotary-wing UAV, has also developed to a certain extent. Rotor-type underwater vehicles also have the characteristics of strong maneuverability, and are a good underwater carrier, which can also play an effective role in underwater reconnaissance and detection.
  • Water and air dual-purpose aircraft can better combine the advantages of underwater vehicles and unmanned aerial vehicles, and comprehensively expand the application scenarios and functions of the aircraft.
  • the technical problem to be solved by the present invention is to provide a water-to-air robot, which can navigate both underwater and in the air; at the same time, it can both rise from the ground and from the water surface, and can quickly Across the gas-liquid interface.
  • the solution of the present invention is:
  • a water-to-air robot including a waterproof sealed cabin, a fixed frame, a pressure measurement module, a core navigation system, an energy supply system, and a watertight charging port;
  • the middle of the fixed frame is a circular ring structure, the waterproof sealed cabin is fixed in the circular ring, and multiple cantilevers are stretched out at equal intervals around the circular ring;
  • the pressure measurement module includes a pressure sensor, one end of the pressure sensor is set in the waterproof sealed cabin, and one end penetrates and is exposed outside the lower hemispherical shell to measure the current pressure;
  • the core navigation system includes an underwater navigation system and an air navigation system; the underwater navigation system includes an auxiliary fixed platform installed in the middle of the waterproof sealed cabin through a copper column and a nut.
  • the auxiliary fixed platform is equipped with an underwater navigation control module and a relay.
  • the lower navigation control module integrates a 2.4G wireless communication module and an attitude sensor, which are used to communicate and obtain the current navigation attitude information of the aircraft; each cantilever of the fixed frame is equipped with a second brushless motor, and each second The brush motor is equipped with a marine propeller through the coupling;
  • the air navigation system includes a fixed platform located in the middle of the waterproof and sealed cabin.
  • the fixed platform is equipped with a flight control module, a remote control receiver and a power management module;
  • the flight control module is integrated with an attitude sensor, and each cantilever of the fixed frame is also There is a first brushless motor, and each first brushless motor is equipped with a rotor through a coupling;
  • the energy supply system is located in the lower part of the waterproof and sealed compartment, including a battery mounting bracket, which is fixed to the ring of the fixed frame by screws and nuts, and the lithium battery pack, current distribution board and voltage adjustable power distribution are placed in the battery mounting bracket. Board; the first electronic speed controller and the second electronic speed controller are installed on the upper end of the battery mounting bracket; the first electronic speed controller and the first brushless motor are connected by a cable, and the second electronic speed controller is connected with the second brushless motor The motors are connected by cables;
  • the lithium battery pack is connected to the power management module, the voltage variable power distribution board, and the first electronic governor through the current distribution board;
  • the power management module is also connected to the flight control module, and the flight control module is connected to the first electronic governor and The signal connection of the remote control receiver;
  • the variable voltage distribution board is also connected to the second electronic governor through the relay, and the underwater navigation control module is connected through the reed switch.
  • the underwater navigation control module is also connected to the relay and the second electronic speed governor respectively The signal connection of the sensor, the attitude sensor and the pressure sensor;
  • the watertight charging port includes a watertight connector; one end of the watertight connector is set in the watertight sealed compartment and connected to the charging port of the lithium battery pack, and the other end penetrates out of the watertight compartment and is fixed by the charging port fixture for charging. Connect the charging port to charge.
  • an aircraft landing gear is provided on the outer edge of the lower end surface of each cantilever.
  • cantilevers which are arranged around the ring in a crisscross shape, and the length of the cantilever is 145mm.
  • the waterproof sealed cabin body is a spherical structure formed by fixing two upper and lower hemispherical shells through screws and nuts.
  • the pressure sensor is fixed in the waterproof sealed cabin through the sensor fixing part, and a waterproof sealant is also provided between the pressure sensor and the waterproof sealed cabin.
  • the upper and lower surfaces of the middle ring structure of the fixed frame are provided with two sealing grooves, and silicone O-rings are embedded in the grooves to realize the sealing between the fixed frame and the waterproof sealed cabin. .
  • the selection of the marine propeller, the first brushless motor, the rotor, and the second brushless motor in the core navigation system directly affects the power of the vehicle under water and in the air.
  • the type it is necessary to estimate the overall mass and volume of the aircraft (especially the displacement volume) to ensure that the thrust generated by the marine propeller is sufficient to make the aircraft dive, and a certain amount of thrust should be reserved for resisting the aircraft
  • the external force received during underwater navigation similarly, it is necessary to ensure that the lift generated by the rotor is sufficient to lift the aircraft into the air, and a certain amount of lift should be reserved for resisting the external force experienced by the aircraft during air navigation.
  • the selection of brushless motors will have requirements for electronic governors and lithium battery packs; the capacity of lithium battery packs also directly affects the endurance of the aircraft, which need to be fully considered in the aircraft design stage.
  • the internal space of the water-tight cabin is limited, so the size and installation layout of the various components inside the cabin need to be fully considered in the design stage of the aircraft.
  • the aircraft should be properly weighted. When the aircraft is placed on the water surface, it should be ensured that the cantilever is at least 2-3 cm above the water surface, so that the rotor will not be in contact with the water surface when the rotor is in standby rotation (when the aircraft is lifted off the surface of the water, the rotor will be in standby rotation first).
  • the STM32F407 chip of STMicroelectronics can be used as the microprocessor for the underwater navigation control module (the design of the control circuit board in the present invention takes into account the limited internal space of the cabin, and the circuit board is designed as a circular shape. The layout has also been adjusted accordingly);
  • the flight control module can be DJI's NAZA-M V2 flight controller.
  • the pressure sensor can be MS5083-01BA (corresponding data manual is provided at the same time), and the underwater navigation control module can easily write a program to read the current pressure value of the pressure sensor according to the data manual (there are also open source programs on the Internet. Use for reference) to calculate the depth value later.
  • the flight control module adopts DJI's NAZA-M V2 flight controller, which has a built-in flight control program without any modification.
  • the initial parameters of the aircraft can be set according to its user manual (such as initial attitude calibration, flight mode setting, motor standby speed, etc.)
  • the present invention has the following beneficial effects and advantages:
  • the present invention combines unmanned aerial vehicle technology with underwater vehicle technology, which greatly expands the application scenarios of aircraft.
  • the present invention is small in size, light in weight, easy to operate, and can be operated without any professional background personal learning instructions.
  • the present invention has low cost, extremely high practical value, and is easy to popularize.
  • the present invention is easy to process and produce, the process is simple, and it is convenient to be put on the market quickly.
  • Figure 1 is a schematic diagram of the appearance of the water-to-air robot of the present invention (obliquely viewed from top to bottom);
  • Figure 2 is a schematic diagram of the appearance of the water-to-air robot of the present invention (obliquely viewed from bottom to top);
  • Figure 3 is a schematic diagram of the internal structure of the water-to-air robot of the present invention (the upper and lower hemispherical shells are not shown);
  • Figure 4 is an exploded view of the structure of the water-to-air robot of the present invention (the upper and lower hemispherical shells are not shown);
  • Figure 5 is a schematic diagram of the fixed frame of the water-air robot of the present invention.
  • Fig. 6 is a schematic diagram of a battery installation part in the cabin of the water-to-air robot of the present invention.
  • Fig. 7 is an exploded view of the battery installation in the cabin of the water-to-air robot of the present invention.
  • Figure 8 is an exploded view of the underwater navigation control part of the water-to-air robot of the present invention.
  • FIG. 9 is a schematic diagram of the air navigation control part of the water-to-air robot of the present invention.
  • Fig. 10 is a schematic diagram of the connection of the main components of the water-air robot of the present invention.
  • the thick solid line in Figure 10 indicates that there is a higher current in the connected circuit; the thin solid line indicates that there is no wire connection (such as: the first brushless motor is connected to the rotor through a coupling); the thin dashed line indicates that the connected circuit includes Weak current or control signal given by the control module.
  • Fig. 11 is a program diagram for reading the current pressure value of the pressure sensor by the underwater navigation control module of the water-to-air robot of the present invention.
  • 1-Fixed frame 2-1-Upper hemispherical shell, 2-2-Lower hemispherical shell, 3-rotor, 4-first brushless motor, 5-aircraft landing gear, 6-charging port fixture, 7- Watertight connector, 8-second brushless motor, 9-coupling, 10-marine propeller, 11-pressure measurement module, 12-silica gel O-ring, 13-lithium battery pack, 14-second electronic speed regulation Controller, 15-first electronic governor, 16-battery mounting bracket, 17-current distribution board, 18-2.4G wireless communication module, 19-attitude sensor, 20-relay, 21-underwater navigation control module, 22 -Fixed platform, 23-Voltage adjustable power distribution board, 24-Remote control receiver, 25-Flight control module, 26-Auxiliary fixed platform, 27-Power management module.
  • the present invention relates to the field of rotary wing aircraft.
  • the applicant believes that after carefully reading the application documents and accurately understanding the realization principle and purpose of the invention, those of ordinary skill in the relevant field can use the invention correctly.
  • a water-to-air robot which includes a waterproof sealed cabin, a fixed frame 1, a watertight charging port, a pressure measurement module, a core navigation system (including an underwater navigation system and an air navigation system) and an energy supply system:
  • the fixed frame 1 is cross-shaped.
  • the difference from the common four-rotor UAV frame is that the fixed frame 1 has a circular ring shape in the middle, and four cantilever arms are stretched out at equal intervals around the frame.
  • the upper end surface of the cantilever is used for installation.
  • the first brushless motor 4, the lower end surface is used to install the second brushless motor 8 and the aircraft landing gear 5.
  • the core control part of the underwater navigation system, the flight control part of the air navigation system and the energy supply system pass through the copper pillar , Screws and nuts are installed in the middle of the fixed frame 1, so that most of the mass is concentrated in the middle of the frame, which is beneficial to improve the stability of the underwater or air movement of the aircraft.
  • the length of the cantilever should consider the maximum rotation diameter of the rotor 3 in the air navigation system, and reserve sufficient rotation space for the rotor 3. At the same time, it should not be too long to avoid affecting the motion stability of the aircraft.
  • the waterproof sealed cabin body is formed by two upper and lower hemispherical shells 2-1, 2-2 and the fixed frame 1 fixed by screws and nuts, wherein the upper and lower surfaces of the middle ring structure of the fixed frame 1 are each provided with two sealing grooves, The silicone O-shaped sealing ring 12 is embedded in the groove.
  • the upper and lower hemispherical shells 2-1, 2-2 will be compressed with the silicone O-shaped sealing ring 12 under the action of the screw and nut to form a sealed cabin.
  • the core control part of the underwater navigation system, the flight control part of the air navigation system and the energy supply system are installed in the cabin.
  • the components installed on the outside of the waterproof sealed cabin need to be electrically connected to the inside of the cabin through wires. Therefore, the waterproof sealed cabin It is necessary to open a hole to allow the wire to pass, and then use a waterproof sealant to seal the through hole.
  • the core navigation system includes underwater navigation system and air navigation system.
  • the two systems are independent of each other, there is no data interference, and the operational stability of the aircraft can be improved.
  • the underwater navigation system includes a fixed platform 22 located in the middle of the waterproof sealed cabin.
  • the fixed platform 22 is provided with an underwater navigation control module 21, a 2.4G wireless communication module 18, an attitude sensor 19, a relay 20, and a reed switch magnetic control switch. .
  • the 2.4G wireless communication module 18 and the attitude sensor 19 are directly installed in the underwater navigation control module 21, which are used to communicate and obtain the current navigation attitude information of the aircraft;
  • each second brushless motor 8 is equipped with a marine propeller 10 through a coupling 9;
  • there are four second electronic governors 14 which are respectively connected to a second brushless motor 8 for Control the speed;
  • the reed switch is used to control whether the underwater navigation control module 21 is powered on;
  • the relay 20 is triggered by the underwater navigation control module 21 to control whether the second electronic governor 14 is powered on jobs.
  • the air navigation system includes an auxiliary fixed platform 26 located in the middle of the waterproof sealed cabin.
  • the auxiliary fixed platform 26 is equipped with a flight control module 25, a remote control receiver 24 and a power management module 27; the flight control module 25 integrates an attitude sensor, which can be obtained The current attitude information of the aircraft; there are four first brushless motors 4, which are respectively installed on the four cantilevers of the fixed frame 1, and each first brushless motor 4 is equipped with a rotor 3; the first electronic governor 15 shares Four, each connected to a first brushless motor 4 to control its speed; the power management module 27 is used to monitor the current voltage of the lithium battery pack 13.
  • the watertight charging port is composed of a watertight connector 7 and a charging port fixing member 6.
  • the watertight connector penetrates the lower hemispherical shell 2-2, and one end enters the lower hemispherical shell 2-2 to connect to the lithium battery pack 13 in the energy supply system.
  • One end is exposed outside the lower hemispherical shell 2-2 (connect the charging port for charging when charging; connect the watertight plug when not charging or in normal use to ensure that the charging port does not contact the outside to avoid short circuits).
  • the charging port fixing member 6 plays an auxiliary fixing function, and is matched with a waterproof sealant to ensure that the charging port is fixed while sealing the gap between the watertight connector 7 and the through hole to ensure the watertightness of the lower hemispherical shell 2-2.
  • the pressure measurement module 11 is composed of a pressure sensor and a sensor fixture.
  • the pressure sensor penetrates the lower hemispherical shell 2-2, and one end enters the lower hemispherical shell 2-2 to connect to the core control part of the underwater navigation system (the control program can read the current The pressure value, and then calculate the current depth of the vehicle underwater), one end exposed outside the lower hemispherical shell 2-2 used to measure the current pressure (when in the air to measure the pressure in the air; when underwater, to measure the underwater Absolute pressure, which needs to be converted to relative pressure when calculating depth).
  • the sensor fixing part plays a role of auxiliary fixing, cooperates with the waterproof sealant to fix the sensor, and seals the sensor at the same time, so that the sensor only exposes the pressure sensing area.
  • the waterproof sealant should also seal the gap between the sensor wiring and the through hole to ensure the water tightness of the lower hemispherical shell 2-2.
  • the energy supply system includes a battery mounting bracket 16, a lithium battery pack 13, a large current distribution board 17 and a voltage adjustable distribution board 23.
  • the battery mounting bracket 16 is fixed to the central annular part of the fixed frame 1 by screws and nuts.
  • the battery mounting bracket 16 is used for placing the lithium battery pack 12, fixing the second electronic governor 14, the first electronic governor 15, the large current power distribution board 17 and the voltage adjustable power distribution board 23.
  • the battery mounting bracket 16 makes the components in the waterproof and sealed cabin of the aircraft more compactly fixed, and makes full use of the space inside the cabin.
  • the lithium battery pack 13 is connected to the power management module 27, the voltage adjustable power distribution board 23, and the second electronic governor 14 through the current distribution board 17; the power management module 27 is also connected to the flight control module 25, and the flight control module 25 also They are respectively connected to the second electronic governor 14 and the remote control receiver for signals; the voltage-adjustable power distribution board 23 is also connected to the first electronic governor 15 through the relay 20, and connected to the underwater navigation control module 21 through the reed switch.
  • the lower navigation control module 21 also signally connects the relay 20, the first electronic governor 15, the attitude sensor 19 and the pressure sensor respectively.
  • the working process of the present invention is:
  • both the underwater navigation control module and the flight control module are in the standby state, waiting for instructions.
  • the aircraft will automatically float up and send the mission end instruction to the computer.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种水空机器人，包括固定机架（1）、核心航行系统、能源供应系统；固定机架（1）中间为圆环结构，防水密封舱体固定于圆环内，圆环四周等间距伸展出多条悬臂；设于防水密封舱体中部的辅助固定平台（26）上设有水下航行控制模块（21）和继电器（20），固定机架（1）的每个悬臂上设有第二无刷电机（8），每个第二无刷电机（8）通过联轴器（9）安装一个船用螺旋桨（10）；设于防水密封舱体中部的固定平台（22）上设有飞行控制模块（25）、遥控接收机（24）和电源管理模块（27），固定机架（1）的每个悬臂上还设有第一无刷电机（4），每个第一无刷电机（4）通过联轴器安装一个旋翼（3）；能源供应系统设于防水密封舱体下部。水空机器人极大地拓展了航行器的应用场景，并且易于加工、生产，工艺简单，便于快速投放市场。

Description

水空机器人
本申请要求于2019年12月27日提交中国专利局、申请号为201911375997.8、发明名称为“水空机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及旋翼式航行器技术，尤其涉及一种水空机器人。该水空机器人可以在水下及空中航行。
背景技术
近年来，旋翼式航行器发展迅速，典型代表为四旋翼无人机。四旋翼无人机凭借其小巧灵活的优势，已在多个领域中体现出其优越的应用价值，如摄影领域的航拍、测绘；军事领域的定点打击等等。借鉴旋翼式无人机的运动方式而设计出的旋翼式水下航行器，也有了一定的发展。旋翼式水下航行器也具有机动性强的特点，是一种较好的水下运载体，对水下侦查、探测等方面也能发挥有效的作用。
然而，水下航行器并不像无人机那样便于回收。当水下航行器出海执行水下作业时，往往需要人工对其进行投放；完成水下作业后，同样需要人工对其进行回收，这极大的提高了人力成本和时间成本。水空两用型航行器能够较好地结合水下航行器与无人机的优势，全面拓展航行器的应用场景及其功能。
发明内容
本发明所要解决的技术问题在于提供一种水空机器人，这种航行器既能够在水下航行，又能够在空中航行；同时，它既可以从地面升空又可以从水面升空，能够快速的跨越气—液界面。
为解决技术问题，本发明的解决方案是：
提供一种水空机器人，包括防水密封舱体、固定机架、压力测量模块、核心航行系统、能源供应系统和水密型充电口；
固定机架中间为圆环结构，防水密封舱体固定于圆环内，圆环四周等间距伸展出多条悬臂；
压力测量模块包括压力传感器，压力传感器一端设于防水密封舱体内，一端贯穿并露在下半球壳外用于测量当前压强；
核心航行系统包括水下航行系统和空中航行系统；水下航行系统包括通过铜柱和螺母设于防水密封舱体中部的辅助固定平台，辅助固定平台上设有水下航行控制模块和继电器，水下航行控制模块中集成有2.4G无线通信模块和姿态传感器，分别用于通信和获取航行器当前航行姿态信息；固定机架的每个悬臂上设有第二无刷电机，每个第二无刷电机通过联轴器安装一个船用螺旋桨；
空中航行系统包括设于防水密封舱体中部的固定平台，固定平台上设有飞行控制模块、遥控接收机和电源管理模块；飞行控制模块上集成有姿态传感器，固定机架的每个悬臂上还设有第一无刷电机，每个第一无刷电机通过联轴器安装一个旋翼；
能源供应系统设于防水密封舱体下部，包括电池安装支架，电池安装支架通过螺丝螺母与固定机架的圆环固定，电池安装支架内放置锂电池组、电流分电板和电压可调分电板；电池安装支架上端面安装第一电子调速器和第二电子调速器；第一电子调速器与第一无刷电机通过缆线相连，第二电子调速器与第二无刷电机通过缆线相连；
锂电池组通过电流分电板分别连接电源管理模块、电压可变分电板和第一电子调速器；电源管理模块还与飞行控制模块相连，飞行控制模块分别与第一电子调速器和遥控接收机信号连接；电压可变分电板还分别通过继电器连接第二电子调速器，通过干簧管连接水下航行控制模块，水下航行控制模块还分别与继电器、第二电子调速器、姿态传感器和压力传感器信号连接；
水密型充电口包括水密接插件；水密接插件一端设于防水密封舱体内并与锂电池组的充电口连接，另一端穿出至防水密封舱体外并通过充电口固定件固定，用于充电时连接充电接口进行充电。
作为一种改进，每个悬臂下端面外缘设有一个航行器起落架。
作为一种改进，悬臂有四个，呈十字交叉型设于圆环四周，悬臂的长 度为145mm。
作为一种改进，防水密封舱体为由上下两个半球壳通过螺丝螺母固定形成的球体结构。
作为一种改进，压力传感器通过传感器固定件固设于防水密封舱体内，压力传感器与防水密封舱体间还设有防水密封胶。
作为一种改进，固定机架的中间圆环结构的上下两表面各设有两道密封槽，并在槽中嵌入硅胶O型密封圈，用于实现固定机架与防水密封舱体间的密封。
本发明中，核心航行系统中船用螺旋桨、第一无刷电机、旋翼、第二无刷电机的选型直接影响到航行器在水下及空中的动力。在选型时，需要对航行器的整体质量与体积(尤其是排水体积)进行预估，确保船用螺旋桨产生的推力足够使航行器下潜，且应预留出一定的推力用于抵抗航行器在水下航行时受到的外力；同样的，需确保旋翼产生的升力足够使航行器升空，且也应预留出一定的升力用于抵抗航行器在空中航行时受到的外力。此外，无刷电机的选型会对电子调速器和锂电池组产生要求；锂电池组的容量也直接影响到航行器的续航能力，这些都需要在航行器设计阶段予以充分考虑。
本发明中，防水密封舱体的内部空间是有限的，因此舱体内部各元器件的大小及安装布局需要在航行器设计阶段予以充分考虑。
本发明中，航行器应合理配重。当航行器放置于水面时，应保证悬臂至少处于水面以上2-3cm，使旋翼待机旋转时(航行器水面升空时，旋翼会先处于待机旋转状态)，旋翼不会与水面接触。
本发明中，水下航行控制模块可选用意法半导体公司的STM32F407芯片作为微处理器(本发明中控制电路板的设计考虑了舱体的有限内部空间，将电路板设计为圆形，电路的布局也做出相应的调整)；飞行控制模块可选用大疆公司的NAZA-M V2飞行控制器。
本发明中，压力传感器可采用MS5083-01BA(同时提供相应的数据手册)，水下航行控制模块可以根据数据手册十分方便的编写出读取压力传感器当前压力值的程序(网络上也有开源程序可以借鉴)，用以后续计算深度值。
本发明中，飞行控制模块采用大疆公司的NAZA-M V2飞行控制器，内置了飞行控制程序，无需做任何改动。可以根据其用户手册，设定航行器初始参数(如初始姿态校准、飞行模式设定、电机待机转速等)
与现有技术相比，本发明具有以下有益效果及优点：
1.本发明将无人机技术与水下航行器技术相结合，极大地拓展了航行器的应用场景。
2.本发明尺寸小，重量轻，操作简便，没有任何专业背景的个人学习使用说明后即可操作。
3.本发明成本低廉，具有极高的实用价值，便于推广。
4.本发明易于加工、生产，工艺简单，便于快速投放市场。
说明书附图
图1是本发明水空机器人的外形示意图(自上往下斜视)；
图2是本发明水空机器人的外形示意图(自下往上斜视)；
图3是本发明水空机器人的内部结构示意(不显示上下半球壳)；
图4是本发明水空机器人的结构爆炸图(不显示上下半球壳)；
图5是本发明水空机器人的固定机架示意图；
图6是本发明水空机器人舱内电池安装件示意图；
图7是本发明水空机器人舱内电池安装件爆炸图；
图8是本发明水空机器人水下航行控制部分爆炸图；
图9是本发明水空机器人空中航行控制部分示意图；
图10是本发明水空机器人主要元件的连接示意图。(图10中粗实线表示连接的电路中具有较高电流；细实线表示无导线连接(如：第一无刷电机与旋翼间通过联轴器相连)；细虚线表示连接的电路中包括弱电或由控制模块给出的控制信号。)
图11是本发明水空机器人水下航行控制模块读取压力传感器当前压力值的程序图。
附图标记：
1-固定机架，2-1-上半球壳，2-2-下半球壳，3-旋翼，4-第一无刷电机，5-航行器起落架，6-充电口固定件，7-水密接插件，8-第二无刷电机，9- 联轴器，10-船用螺旋桨，11-压力测量模块，12-硅胶O型密封圈，13-锂电池组，14-第二电子调速器，15-第一电子调速器，16-电池安装支架，17-电流分电板，18-2.4G无线通信模块，19-姿态传感器，20-继电器，21-水下航行控制模块，22-固定平台，23-电压可调分电板，24-遥控接收机，25-飞行控制模块，26-辅助固定平台，27-电源管理模块。
具体实施方式
首先需要说明的是，本发明涉及旋翼式航行器领域。申请人认为，如在仔细阅读申请文件、准确理解本发明的实现原理和发明目的以后，有关领域的普通技术人员完全正确使用本发明。
提供一种水空机器人，包括防水密封舱体、固定机架1、水密型充电口、压力测量模块、核心航行系统(包括水下航行系统、空中航行系统)和能源供应系统：
固定机架1呈十字交叉型，与常见的四旋翼无人机机架的不同之处在于该固定机架1中间为圆环型，四周等间距伸展出四条悬臂，悬臂的上端面用于安装第一无刷电机4，下端面用于安装第二无刷电机8和航行器起落架5；同时，水下航行系统的核心控制部分、空中航行系统的飞行控制部分及能源供应系统通过铜柱、螺丝螺母等方式安装在固定机架1的中部，使得大部分质量聚集在机架中部有利于提高航行器在水下或空中的运动稳定性。此外，悬臂的长度应考虑空中航行系统中旋翼3的最大旋转直径，为旋翼3预留出充足的旋转空间，同时也不宜过长，以免影响航行器的运动稳定性。
防水密封舱体由上下两个半球壳2-1、2-2与固定机架1通过螺丝螺母固定形成，其中固定机架1的中间圆环结构的上下两表面各设有两道密封槽，并在槽中嵌入硅胶O型密封圈12，安装时，上下两个半球壳2-1、2-2在螺丝螺母的作用下会与硅胶O型密封圈12压紧，从而形成密封舱。舱内安装有水下航行系统的核心控制部分、空中航行系统的飞行控制部分以及能源供应系统。安装在防水密封舱体外部的元件(第一无刷电机4、第二无刷电机8、压力传感器、水密型充电口)需通过导线与舱体内部产生电气连接，因此，防水密封舱体上需要开孔使导线通过，再用防水密封 胶对通孔做密封处理。
核心航行系统包括水下航行系统和空中航行系统。这两套系统相互独立，不存在数据干扰，可以提高航行器的作业稳定性。水下航行系统包括设于防水密封舱体中部的固定平台22，固定平台22上设有水下航行控制模块21、2.4G无线通信模块18、姿态传感器19、继电器20和干簧管磁控开关。其中，2.4G无线通信模块18和姿态传感器19直接安装在水下航行控制模块21中，分别用于通信和获取航行器当前航行姿态信息；第二无刷电机8共有四个，分别安装在固定机架1的四个悬臂上，每个第二无刷电机8通过联轴器9安装一个船用螺旋桨10；第二电子调速器14共有四个，分别连接一个第二无刷电机8用以控制其转速；干簧管磁控开关用于控制水下航行控制模块21是否上电工作；继电器20由水下航行控制模块21给出触发信号，以控制第二电子调速器14是否上电工作。
空中航行系统包括设于防水密封舱体中部的辅助固定平台26，辅助固定平台26上设有飞行控制模块25、遥控接收机24和电源管理模块27；飞行控制模块25集成了姿态传感器，可以获取航行器当前姿态信息；第一无刷电机4共有四个，分别安装在固定机架1的四个悬臂上，每个第一无刷电机4安装一个旋翼3；第一电子调速器15共有四个，分别连接一个第一无刷电机4用以控制其转速；电源管理模块27用于监测锂电池组13的当前电压。
水密型充电口由水密接插件7和充电口固定件6组成，其中水密接插件贯穿下半球壳2-2，一端进入下半球壳2-2内与能源供应系统中的锂电池组13连接，一端露在下半球壳2-2外(充电时连接充电接口进行充电；不充电或正常使用时连接水密堵头，确保充电口不与外界接触，避免短路)。充电口固定件6起到辅助固定作用，配合防水密封胶确保固定充电口的同时封住水密接插件7与贯穿孔之间的空隙，保证下半球壳2-2的水密性。
压力测量模块11由压力传感器和传感器固定件组成，其中压力传感器贯穿下半球壳2-2，一端进入下半球壳2-2内与水下航行系统的核心控制部分连接(控制程序可读取当前压强值，进而计算得到当前航行器在水下的深度)，一端露在下半球壳2-2外用于测量当前压强(在空气中时测 得空气中的压强；在水下时测得水下的绝对压强，计算深度时需要换算为相对压强)。传感器固定件起到辅助固定作用，配合防水密封胶固定传感器，同时对传感器做密封处理，使传感器仅露出压力感应区域。此外，防水密封胶还应封住传感器接线与贯穿孔之间的间隙，保证下半球壳2-2的水密性。
能源供应系统包括电池安装支架16、锂电池组13、大电流分电板17和电压可调分电板23。其中，电池安装支架16通过螺丝螺母与固定机架1的中间环形部分固定。电池安装支架16用于放置锂电池组12、固定第二电子调速器14、第一电子调速器15以及大电流分电板17和电压可调分电板23。电池安装支架16使得航行器防水密封舱体内的各元器件固定得更为紧凑，充分利用舱体内部的空间。锂电池组13通过电流分电板17分别连接电源管理模块27、电压可调分电板23和第二电子调速器14；电源管理模块27还与飞行控制模块25相连，飞行控制模块25还分别与第二电子调速器14和遥控接收机信号连接；电压可调分电板23还分别通过继电器20连接第一电子调速器15，通过干簧管连接水下航行控制模块21，水下航行控制模块21还分别信号连接继电器20、第一电子调速器15、姿态传感器19和压力传感器。
航行器起落架5共四个，分别通过螺丝螺母安装在固定机架1的四个悬臂上，平稳放置时，四个起落架共同支撑起整个航行器。
本发明的工作过程为：
(以“地面升空——空中航行——水面降落——水下航行——水面升空——空中航行——地面降落”这一常见工作循环为例)
1)地面升空
1.航行器上电后，水下航行控制模块与飞行控制模块均处于待机状态，等待指令。
2.航行器的地面升空与空中航行与操作四旋翼无人机并无区别，因为本发明中水下航行控制模块与飞行控制模块相互独立，且使用的NAZA-M V2飞行控制器原本就用于无人机。参考NAZA-M V2飞行控制器用户手册中的启动操作(不同飞行控制器的启动操作可能不同)，操作遥控器(遥控器与遥控接收机配套，无线传输指令)唤醒飞行控制模块， 使第一无刷电机处于待机转速，此时的转速不能时航行器升空。
3.缓慢推动遥控器的油门杆，第一无刷电机4的转速会逐渐增大。继续缓慢推动油门杆直至航行器顺利升空。
2)空中航行
1.航行器升空后即可视为四旋翼无人机，操纵遥控器的遥杆对航行器进行控制即可。
3)水面降落
1.操纵遥控器使航行器下降并使其尽可能贴近水面。
2.操纵遥控器使第一无刷电机4停机(NAZA-M V2飞行控制器用户手册有相应操作，不同飞行控制器的操作可能不同)。
3.等待航行器在水面处于平稳状态。
4)水下航行
1.使用电脑发送启动指令(水下航行控制模块中的2.4G无线通信模块作为接收)，唤醒水下航行控制模块，程序进入初始化，第二无刷电机8待机(但不转动)。
2.使用电脑发送任务指令，航行器自主执行相应任务。
3.任务完成后，航行器自动上浮，发送任务结束指令给电脑。
4.使用电脑发送关闭指令，使水下航行控制模块回到待机状态。
5)水面升空
1.航行器水面升空与地面升空的操作一致。
6)空中航行
1.同2)
7)地面降落
1.操纵遥控器使航行器下降并使其尽可能贴近地面。
2.操纵遥控器使第一无刷电机4停机(NAZA-M V2飞行控制器用户手册有相应操作，不同飞行控制器的操作可能不同)。
以上实施例是供理解发明之用，并非对本发明的限制，有关领域的普通技术人员，在权利要求技术方案的基础上，还可以作出多种变化或变型，这些变化或变型应当理解为仍属于本发明的保护范围。

Claims (7)

  1. 一种水空机器人，其特征在于，包括防水密封舱体、固定机架、压力测量模块、核心航行系统、能源供应系统和水密型充电口；
    所述固定机架中间为圆环结构，所述防水密封舱体固定于所述圆环内，圆环四周等间距伸展出多条悬臂；
    所述压力测量模块包括压力传感器，压力传感器一端设于防水密封舱体内，一端贯穿并露在下半球壳外用于测量当前压强；
    所述核心航行系统包括水下航行系统和空中航行系统；空中航行系统包括设于防水密封舱体中部的固定平台，固定平台上设有飞行控制模块、遥控接收机和电源管理模块；水下航行控制模块中集成有2.4G无线通信模块和姿态传感器，分别用于通信和获取航行器当前航行姿态信息；固定机架的每个悬臂上设有第二无刷电机，每个第二无刷电机通过联轴器安装一个船用螺旋桨；
    空中航行系统包括设于防水密封舱体中部的固定平台，固定平台上设有飞行控制模块、遥控接收机和电源管理模块；飞行控制模块上集成有姿态传感器，固定机架的每个悬臂上还设有第一无刷电机，每个第一无刷电机通过联轴器安装一个旋翼；
    所述能源供应系统设于防水密封舱体下部，包括电池安装支架，电池安装支架通过螺丝螺母与固定机架的圆环固定，电池安装支架内放置锂电池组、电流分电板和电压可调分电板；电池安装支架上端面安装第一电子调速器和第二电子调速器；第一电子调速器与所述第一无刷电机通过缆线相连，第二电子调速器与所述第二无刷电机通过缆线相连；
    锂电池组通过电流分电板分别连接电源管理模块、电压可变分电板和第一电子调速器；电源管理模块还与飞行控制模块相连，飞行控制模块分别与第一电子调速器和遥控接收机信号连接；所述电压可变分电板还分别通过继电器连接第二电子调速器，通过干簧管连接水下航行控制模块，水下航行控制模块还分别与所述继电器、第二电子调速器、姿态传感器和压力传感器信号连接；
    所述水密型充电口包括水密接插件；水密接插件一端设于防水密封舱体内并与所述锂电池组的充电口连接，另一端穿出至防水密封舱体外并通过充电口固定件固定，用于充电时连接充电接口进行充电。
  2. 根据权利要求1所述的水空机器人，其特征在于，每个所述悬臂下端面外缘设有一个航行器起落架。
  3. 根据权利要求1所述的水空机器人，其特征在于，所述悬臂有四个，呈十字交叉型设于圆环四周，悬臂的长度为145mm。
  4. 根据权利要求1所述的水空机器人，其特征在于，所述防水密封舱体为由上下两个半球壳通过螺丝螺母固定形成的球体结构。
  5. 根据权利要求1所述的水空机器人，其特征在于，所述压力传感器通过传感器固定件固设于防水密封舱体内，压力传感器与防水密封舱体间还设有防水密封胶。
  6. 根据权利要求1所述的水空机器人，其特征在于，所述固定机架的中间圆环结构的上下两表面各设有两道密封槽，并在槽中嵌入硅胶O型密封圈，用于实现固定机架与防水密封舱体间的密封。
  7. 一种水空机器人，其特征在于，包括防水密封舱体、固定机架、压力测量模块、核心航行系统、能源供应系统和水密型充电口；
    所述固定机架中间为圆环结构，所述防水密封舱体固定于所述圆环内，圆环四周等间距伸展出多条悬臂；
    所述压力测量模块包括压力传感器，压力传感器一端设于防水密封舱体内，一端贯穿并露在下半球壳外用于测量当前压强；
    所述核心航行系统包括水下航行系统和空中航行系统；水下航行系统包括设于防水密封舱体中部的固定平台，固定平台上设有水下航行控制模块、2.4G无线通信模块、姿态传感器、继电器和干簧管磁控开关；其中2.4G无线通信模块和姿态传感器直接安装在水下航行控制模块上，分别用于通信和获取航行器当前航行姿态信息；固定机架的每个悬臂上设有第二无刷电机，每个第二无刷电机通过联轴器安装一个船用螺旋桨；
    空中航行系统包括设于防水密封舱体中部的辅助固定平台，辅助固定平台上设有飞行控制模块、遥控接收机和电源管理模块；飞行控制模块上集成有姿态传感器，固定机架的每个悬臂上还设有第一无刷电机，每个第一无刷电机通过联轴器安装一个旋翼；
    所述能源供应系统设于防水密封舱体下部，包括电池安装支架，电池安装支架通过螺丝螺母与固定机架的圆环固定，电池安装支架内放置锂电 池组、电流分电板和电压可调分电板；电池安装支架上端面安装第一电子调速器和第二电子调速器；第一电子调速器与所述第一无刷电机通过缆线相连，第二电子调速器与所述第二无刷电机通过缆线相连；
    锂电池组通过电流分电板分别连接电源管理模块、电压可变分电板和第一电子调速器；电源管理模块还与飞行控制模块相连，飞行控制模块分别与第一电子调速器和遥控接收机信号连接；所述电压可变分电板还分别通过继电器连接第二电子调速器，通过干簧管连接水下航行控制模块，水下航行控制模块还分别与所述继电器、第二电子调速器、姿态传感器和压力传感器信号连接；
    所述水密型充电口包括水密接插件；水密接插件一端设于防水密封舱体内并与所述锂电池组的充电口连接，另一端穿出至防水密封舱体外并通过充电口固定件固定，用于充电时连接充电接口进行充电。
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