WO2023029307A1

WO2023029307A1 - Long-cycle intelligent unmanned vehicle having strong survival power

Info

Publication number: WO2023029307A1
Application number: PCT/CN2021/141071
Authority: WO
Inventors: 邓锐; 王士刚; 宋志杰; 罗富强; 吴铁成; 李豪; 汪昱全; 胡予潇
Original assignee: 中山大学; 南方海洋科学与工程广东省实验室(珠海)
Priority date: 2021-09-03
Filing date: 2021-12-24
Publication date: 2023-03-09
Also published as: CN113815792A

Abstract

Disclosed in the present invention is a long-cycle intelligent unmanned vehicle having a strong survival power, comprising a submersible body, a driving mechanism, a main body, a solar panel, a retracting and releasing mechanism, a monitoring mechanism, and a control mechanism. The interior of the submersible body is hollow. The driving mechanism is used to drive the submersible body to move. The main body is hollow and is arranged above the submersible body. The solar panel is movably connected to the main body and is used to supply power for the unmanned vehicle. The retracting and releasing mechanism is arranged on the main body, and the retracting and releasing mechanism is movably connected to the solar panel. The retracting and releasing mechanism is used for controlling the solar panel to turn towards and turn away from the main body. The monitoring mechanism is used to monitor environmental information. The control mechanism is used to control the unmanned vehicle according to the environment information; when it is determined that the vehicle is in a safe environment, controlling the solar panel to turn away from the main body; and when it is determined that there is a risk of capsizing, controlling the solar panel to turn towards the main body. The present solution can achieve the utilization of wind energy and solar energy, reduce the influence of stormy waves on driving, and solve the problem that the unmanned vehicle cannot work in a severe environment for a long time.

Description

A long-period intelligent unmanned aerial vehicle with strong survivability

technical field

The invention relates to the technical field of unmanned aerial vehicles, in particular to a long-period intelligent unmanned aerial vehicle with strong survivability.

Background technique

As an important tool for ocean exploration, reconnaissance and other tasks, unmanned aerial vehicles need to conduct continuous monitoring operations for a long time, so they must be able to automatically obtain clean energy; in order to achieve this purpose, most of the current unmanned aerial vehicles use Solar power generation, but the conversion efficiency of solar energy is low, it is difficult to continuously propel the ship by relying on solar energy alone as a power source, and it is impossible to achieve long endurance; secondly, ships without special design have a large water surface area, which will be seriously affected by waves on the water surface , it is difficult to maintain the established course and meet the mission requirements.

Therefore, it is necessary to design a new type of long-endurance unmanned aerial vehicle powered by clean energy to meet the requirements of normal task execution, long-endurance, intelligence and high stability in harsh environments at sea.

Contents of the invention

The purpose of the present invention is to provide a long-period intelligent unmanned aerial vehicle with strong survivability to solve the problem that the unmanned aerial vehicle cannot work in a harsh environment for a long time.

In order to solve the above technical problems, the present invention provides a long-period intelligent unmanned aerial vehicle with strong survivability, including a submersible, a drive mechanism, a main body, a solar sail, a retractable mechanism, a monitoring mechanism and a control mechanism; the submersible The interior is hollow; the driving mechanism is arranged on the submerged body, and the driving mechanism is used to drive the submerged body to travel; the main body is connected with the submerged body, and the main body is arranged above the submerged body, so The main body is a hollow structure; the solar sail board is movably connected with the main body, and the solar sail board is used to convert solar energy into electric energy for the use of the strong viability long-period intelligent unmanned aerial vehicle; the retractable mechanism Located on the main body, the retractable mechanism is movably connected with the solar sail, and the retractable mechanism is used to control the solar sail to turn over and away from the main body; the monitoring mechanism is used to monitor Environmental information; the control mechanism is used to control the long-period intelligent unmanned aerial vehicle with strong survivability according to the environmental information; when it is judged to be in a safe environment, control the solar sail panel to turn away from the main body; When it is judged that there is a risk of overturning, the solar panel is controlled to turn over to the main body.

In one of the embodiments, the monitoring mechanism includes an anemometer, the anemometer is installed on the upper part of the main body, and when the wind speed measured by the anemometer is greater than a set value, the control mechanism controls the The solar panels turn over to the main body.

In one of the embodiments, when the wind direction anemometer detects insufficient wind driving or wind obstruction, the control mechanism controls the driving mechanism to start.

In one embodiment, the monitoring mechanism includes an inclination sensor, and when the inclination sensor detects that the inclination angle is greater than a set value, the control mechanism controls the solar sail panel to turn over to the main body.

In one of the embodiments, the monitoring mechanism includes a radar, and when the radar detects that there is an obstacle, the control mechanism controls the long-period intelligent unmanned aerial vehicle with strong survivability to bypass the obstacle.

In one of the embodiments, the monitoring mechanism includes a GPS locator, and the control mechanism is used to control the long-period intelligent unmanned aerial vehicle with strong survivability to move to the destination according to the position information measured by the GPS locator .

In one of the embodiments, the main body is provided with a camera and a wireless transmission mechanism, and the wireless transmission mechanism is used to transmit the content captured by the camera to the device to be received.

In one of the embodiments, the two solar panels are respectively hinged on both sides of the main body, and the rotation centers of the two solar panels are vertically arranged; the retractable mechanism includes a motor, a transmission shaft and telescopic rod; the motor is used to drive the transmission shaft to move back and forth in a straight line; both sides of the transmission shaft are hinged with the telescopic rod; the two telescopic rods are respectively hinged to the two solar panels .

In one of the embodiments, the two driving mechanisms are respectively arranged on two sides of the submerged body.

In one of the embodiments, the submerged body is provided with an ADCP sensor.

The beneficial effects of the present invention are as follows:

First of all, since the present invention includes a solar panel, when it is judged to be in a safe environment, the solar panel is controlled to turn away from the main body, so the solar panel can realize the utilization of wind energy and solar energy at the same time, thereby improving the utilization of clean energy Efficiency, which meets the needs of long-term driving; secondly, when it is judged that there is a risk of overturning, controlling the solar panel to turn over the main body can reduce the impact of wind and waves on the driving of the unmanned aerial vehicle, so as to ensure that the unmanned aerial vehicle Driving safety, thus effectively solving the problem that existing unmanned aerial vehicles cannot work in harsh environments for a long time.

Description of drawings

In order to illustrate the technical solution of the present invention more clearly, the accompanying drawings used in the implementation will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some implementations of the present invention. As far as the skilled person is concerned, other drawings can also be obtained based on these drawings on the premise of not paying creative work.

Fig. 1 is a schematic structural diagram provided by an embodiment of the present invention;

Fig. 2 is the front view structure diagram of Fig. 1;

FIG. 3 is a structural schematic diagram of part A of FIG. 1 .

The reference signs are as follows:

10. Submersible; 11. Battery;

20. Driving mechanism;

30. Subject;

40. Solar panels;

50. Retractable mechanism; 51. Motor; 52. Transmission shaft; 53. Telescopic rod;

60. Control mechanism;

71. Wind direction anemometer; 72. Inclination sensor; 73. Radar; 74. GPS locator; 75. Camera; 76. Wireless transmission mechanism; 77. ADCP sensor.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention.

The present invention provides a long-term intelligent unmanned aerial vehicle with strong survivability, its embodiment is shown in Figure 1 to Figure 3, including a submersible 10, a driving mechanism 20, a main body 30, a solar sail 40, a retractable mechanism 50, Monitoring mechanism and control mechanism 60; submerged body 10 is hollow inside; driving mechanism 20 is arranged on submerged body 10, and driving mechanism 20 is used to drive submerged body 10 to travel; main body 30 is connected with submerged body 10, and main body 30 is arranged on submerged body 10 top , the main body 30 is a hollow structure; the solar sail panel 40 is flexibly connected with the main body 30, and the solar sail panel 40 is used to convert solar energy into electric energy for use by a long-term intelligent unmanned aerial vehicle with strong viability; the retractable mechanism 50 is arranged on the main body 30 , the retractable mechanism 50 is movably connected with the solar sail panel 40, and the retractable mechanism 50 is used to control the solar sail panel 40 to turn over and turn away from the main body 30; the monitoring mechanism is used to monitor environmental information; the control mechanism 60 is used to monitor the strong The survivability long-period intelligent unmanned aerial vehicle is controlled; when it is judged to be in a safe environment, control the solar sail panel 40 to turn away from the main body 30;

During the operation of the unmanned aerial vehicle, the monitoring agency will continue to monitor the environmental information and send the measured environmental information to the control agency 60, and then the control agency 60 will make judgments based on the environmental information, so as to know that the unmanned Whether the craft is in a safe operating environment or is at risk of capsizing.

If the control mechanism 60 judges that the unmanned ship is in a safe environment, it can control the solar panel 40 to turn away from the main body 30. At this time, the solar panel 40 can not only obtain wind power, thereby pushing the unmanned vehicle to move, but also turn the solar panel 40 away from the main body 30. It is converted into electrical energy for use by the unmanned aerial vehicle, such as powering the driving mechanism 20 to meet the active driving requirements of the unmanned aerial vehicle.

If the control mechanism 60 determines that the unmanned aerial vehicle has a risk of overturning, it can control the solar sail panel 40 to turn over to the main body 30 for storage, thereby preventing the solar sail panel 40 from being exposed to the wind, thereby reducing the risk of the unmanned aerial vehicle overturning, It provides a guarantee for the safe operation and driving of unmanned aerial vehicles.

So in summary, this solution can realize the utilization of wind energy and solar energy, and reduce the impact of wind and waves on driving, and effectively solve the problem that unmanned aerial vehicles cannot work in harsh environments for a long time.

It should be pointed out that the main body 30 of this embodiment is a hollow structure, so even if the unmanned aerial vehicle overturns, the main body 30 can also provide buoyancy for the unmanned aerial vehicle, so as to provide the possibility for the unmanned aerial vehicle to return to the normal driving state.

Wherein, a storage battery 11 is provided inside the submersible 10, and the storage battery 11 is used to store the electric energy generated by the solar sail panel 40, thus providing guarantee for the long-term operation of the unmanned aerial vehicle.

As shown in Figure 1, the monitoring mechanism includes a wind direction anemometer 71, the wind direction anemometer 71 is arranged on the top of the main body 30, when the wind direction and anemometer 71 measures the wind speed to be greater than the set value, the control mechanism 60 controls the solar panel 40 to turn over to the main body 30.

After the wind direction anemometer 71 is set, the wind direction anemometer 71 will measure the wind speed and wind direction of the current environment. For example, when the wind speed measured is greater than the set value, it proves that the current environment wind speed is too large, and the deployment of the solar panel 40 is easily stressed. The unmanned aerial vehicle is tilted, so the control mechanism 60 controls the solar sail panel 40 to turn over to the main body 30 for storage, which can reduce the windward force of the unmanned aerial vehicle, thereby reducing the possibility of tilting.

As shown in FIG. 1 , the control mechanism 60 controls the drive mechanism 20 to start when it is detected by the wind direction anemometer 71 that the wind force driving is insufficient or there is wind force obstruction.

For example, when the wind direction and anemometer 71 detects that the current wind direction is consistent with the driving direction of the unmanned aerial vehicle, the driving mechanism 20 can be controlled to suspend work, and the solar panels 40 can be controlled to expand so that the unmanned aerial vehicle can be driven by natural wind to move, and this If it is found that the wind force cannot meet the driving requirements of the unmanned aerial vehicle, the driving mechanism 20 can also be started at the same time, so that the unmanned aerial vehicle can sail under the synergy of the driving mechanism 20 and natural wind force, thereby reducing energy consumption.

If it is found that the wind direction is different from the driving direction of the unmanned aerial vehicle, then the natural wind will hinder the driving of the unmanned aerial vehicle, so at this time, the driving mechanism 20 can be controlled to start, thereby ensuring that the unmanned aerial vehicle can reach the destination smoothly; Therefore, after adopting the above-mentioned control method, the natural wind force can be used more rationally to reduce the energy consumption of the unmanned aerial vehicle.

As shown in FIG. 1 , the monitoring mechanism includes an inclination sensor 72 , and when the inclination sensor 72 detects that the inclination angle is greater than a set value, the control mechanism 60 controls the solar sail panel 40 to turn over to the main body 30 .

The factors that cause the unmanned aerial vehicle to tilt are generally natural wind and waves, and waves cannot be detected by the wind direction and anemometer 71, so this embodiment sets the inclination sensor 72 to detect the current inclination angle of the unmanned aerial vehicle. Or the waves will affect the unmanned aerial vehicle, as long as the inclination is greater than the set value, it can indicate that the unmanned aerial vehicle has a risk of tilting, so at this time the control mechanism 60 controls the folding of the sails and multiple solar panels, which can not only reduce the windward force , can change the force distribution of the unmanned aerial vehicle, so that the center of gravity of the unmanned aerial vehicle is more stable, and the possibility of overturning is further reduced.

As shown in FIG. 1 , the monitoring mechanism includes a radar 73 , and when the radar 73 detects that there is an obstacle, the control mechanism 60 controls the long-period intelligent unmanned aerial vehicle with strong survivability to bypass the obstacle.

During the driving process of the unmanned aerial vehicle, the radar 73 can always monitor whether there are obstacles on the driving route of the unmanned aerial vehicle. The driving of the aircraft is hindered, which also provides a guarantee for the safe driving of the unmanned aircraft.

As shown in FIG. 1 , the monitoring mechanism includes a GPS locator 74 , and the control mechanism 60 is used to control the long-period intelligent unmanned aerial vehicle with strong survivability to move to the destination according to the position information measured by the GPS locator 74 .

After the GPS locator 74 is set, the GPS locator 74 can accurately know the current position of the unmanned aerial vehicle at any time, so that the unmanned aerial vehicle can be controlled to move to the destination accurately.

As shown in FIG. 1 and FIG. 2 , the main body 30 is provided with a camera 75 and a wireless transmission mechanism 76 , and the wireless transmission mechanism 76 is used to transmit the content captured by the camera 75 to the device to be received.

After adding the camera 75 and the wireless transmission mechanism 76, the situation of the working environment of the unmanned aerial vehicle can be photographed at any time, and then the shooting content can be sent to the shore workstation, so that the staff can know the working environment of the unmanned aerial vehicle in time. Plan better work scenarios.

As shown in FIGS. 1 and 2 , the submersible 10 is provided with an ADCP sensor 77 .

After installing the miniature Acoustic Doppler Current Profiler (Acoustic Doppler Current Profiler, ADCP) sensor 77, the monitoring of water velocity, water depth and water flow can be realized, which meets more various monitoring and regulation requirements.

As shown in Figures 1 and 3, two solar panels 40 are respectively hinged on both sides of the main body 30, and the rotation centers of the two solar panels 40 are vertically arranged; the retractable mechanism 50 includes a motor 51, a transmission shaft 52 and telescopic rod 53; motor 51 is used to drive transmission shaft 52 to carry out linear reciprocating movement; both sides of transmission shaft 52 are all hinged with telescopic rod 53; Two telescopic rods 53 are hinged with two solar panels 40 respectively.

When the wind power needs to be utilized, the motor 51 can drive the transmission shaft 52 to move linearly, and the transmission shaft 52 can drive the solar panel 40 to stretch through the telescopic rod 53, so the solar panel 40 in the stretched state can be driven by the wind. The unmanned aerial vehicle moves; when there is no need to use wind energy, the motor 51 can be used to drive the transmission shaft 52 to move in the opposite direction, and the transmission shaft 52 can drive the solar sail 40 to move to fit the main body 30 .

Wherein, the motor 51 is a linear motor, so the linear movement control of the transmission shaft 52 can be realized.

As shown in FIG. 1 , two driving mechanisms 20 are respectively arranged on two sides of the submersible 10 .

After adopting this setting method, the regulation and control of different working states can be carried out to the two driving mechanisms 20, as when one driving mechanism 20 works, then control the other driving mechanism 20 to stop working, or control the two driving mechanisms 20 to produce different sizes. In this way, a variety of mobile control possibilities are realized, and the application requirements of various usage scenarios are met.

It should also be pointed out that the driving mechanism 20 can be configured as an internal propeller, one side of which is provided with a hole for water intake, and the other side is provided with a hole for water drainage.

In the embodiment of the present application, the control mechanism 60 may be one or more controllers or chips with a communication interface capable of implementing a communication protocol, and may also include a memory and related interfaces, a system transmission bus, etc. if necessary; The code related to the controller or chip execution program realizes the corresponding function. The wireless transmission mechanism 76 can be one or more processors or chips with a communication interface capable of implementing a wireless communication protocol, and can also include memory and related interfaces, system transmission buses, etc. if necessary; the processor or chip executes Program-related codes implement corresponding functions.

The above description is a preferred embodiment of the present invention, and it should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also considered Be the protection scope of the present invention.

Claims

A long-period intelligent unmanned aerial vehicle with strong survivability, characterized in that,

Including submersible, driving mechanism, main body, solar panels, retractable mechanism, monitoring mechanism and control mechanism;

The interior of the submersible is hollow;

The drive mechanism is arranged on the submerged body, and the drive mechanism is used to drive the submersible to travel;

The main body is connected to the submerged body, the main body is arranged above the submerged body, and the main body is a hollow structure;

The solar sailing board is movably connected with the main body, and the solar sailing board is used to convert solar energy into electrical energy for use by the long-period intelligent unmanned aerial vehicle with strong survivability;

The retractable mechanism is arranged on the main body, the retractable mechanism is movably connected with the solar sail, and the retractable mechanism is used to control the solar sail to turn over and away from the main body;

The monitoring mechanism is used to monitor environmental information;

The control mechanism is used to control the long-period intelligent unmanned aerial vehicle with strong survivability according to the environmental information; when it is judged to be in a safe environment, control the solar sail panel to turn away from the main body; when it is judged that there is an overturn When there is a risk, control the solar panels to turn over to the main body;

Wherein, the two solar panels are respectively hinged on both sides of the main body, and the rotation centers of the two solar panels are arranged vertically;

The retractable mechanism includes a motor, a transmission shaft and a telescopic rod; the motor is used to drive the transmission shaft to move back and forth in a straight line; both sides of the transmission shaft are hinged with the telescopic rod; the two telescopic rods are respectively Hinged with two solar panels.
The long-period intelligent unmanned aerial vehicle with strong survivability according to claim 1, wherein the monitoring mechanism includes a wind direction and anemometer, and the wind direction and anemometer is arranged on the upper part of the main body, and the wind direction and anemometer When the measured wind speed is greater than the set value, the control mechanism controls the solar sail panel to turn over to the main body.
The long-period intelligent unmanned aerial vehicle with strong survivability according to claim 2, wherein the control mechanism controls the drive mechanism to start when the wind direction and anemometer detects that the wind force driving is insufficient or there is wind force obstruction .
The long-period intelligent unmanned aerial vehicle with strong survivability according to claim 1, wherein the monitoring mechanism includes an inclination sensor, and when the inclination sensor detects that the inclination angle is greater than a set value, the control mechanism controls the The solar panels turn over to the main body.
The long-period intelligent unmanned aerial vehicle with strong survivability according to claim 1, wherein the monitoring mechanism includes a radar, and when the radar detects that there is an obstacle, the control mechanism controls the long-term strong survivability Periodic intelligent unmanned aerial vehicle bypasses obstacles.
The long-period intelligent unmanned aerial vehicle with strong survivability according to claim 1, wherein the monitoring mechanism includes a GPS locator, and the control mechanism is used to control the vehicle according to the position information measured by the GPS locator. The long-period intelligent unmanned aerial vehicle with strong survivability moves to the destination.
The long-period intelligent unmanned aerial vehicle with strong survivability according to claim 1, wherein the main body is provided with a camera and a wireless transmission mechanism, and the wireless transmission mechanism is used to transmit the content captured by the camera to device to be received.
The long-period intelligent unmanned aerial vehicle with strong survivability according to claim 1, wherein the two driving mechanisms are respectively arranged on both sides of the submersible.
The long-period intelligent unmanned aerial vehicle with strong survivability according to claim 1, characterized in that ADCP sensors are provided on the submerged body.