CN-121973967-A - Water-air cross-domain unmanned aerial vehicle

CN121973967ACN 121973967 ACN121973967 ACN 121973967ACN-121973967-A

Abstract

The invention relates to a water-air cross-domain unmanned aerial vehicle, which comprises a body, a rotor propeller and a vector rotating horn. The rotor propeller comprises a shell, a power unit, a blade device and a horn connecting clamp. The vector rotating horn is driven by a steering engine to rotate by a steering engine, one end of the steering engine is connected with the steering engine, and the other end of the steering engine is fixedly provided with a propeller through a connecting clamp. The axis of the blade is vertical to the carbon tube of the horn, the connecting clamp is arranged at the bottom of the shell. The propeller can rotate around the carbon tube axis through steering engine control, so that the posture of the propeller is changed, namely, when the blades are positioned above the carbon tube, the center of gravity of the propeller is higher than the center of gravity of the machine body, the propeller is suitable for flying in the air, the energy consumption is reduced, when the blades are positioned below the carbon tube, the center of gravity of the propeller is reduced, the propeller is higher than the center of gravity of the machine body, the propeller is suitable for underwater navigation, and the stability is improved. According to the invention, through adjusting the direction of the propeller, the gravity center configuration of the unmanned aerial vehicle under two media of air and water is optimized, and the problems of balance efficiency and stability in cross-domain navigation are solved.

Inventors

DING YULONG
ZHAO XIANGDAN
ZHOU SHUCHEN
WANG XINKUN
WANG CHENXIAO
QU ZE
DOU LIHUA
HE BIN

Assignees

同济大学

Dates

Publication Date: 20260505
Application Date: 20260209

Claims (10)

1. The water-air cross-domain unmanned aerial vehicle comprises a machine body (1), a plurality of rotor propellers (3) and a vector rotating horn (2) for arranging each rotor propeller (3) on the machine body (1), wherein the rotor propellers (3) comprise a rotor shell, a rotor power unit, a blade device (36) and a horn connecting clamp (31), the rotor power unit is arranged in the rotor shell, the output end of the rotor power unit is connected with the blade device (36), the blade device (36) is positioned outside the rotor shell, and the horn connecting clamp (31) is arranged on the rotor shell; the vector rotating horn (2) is characterized by comprising: A steering engine frame (21) and a horn support frame (26) which are arranged on the machine body (1), A steering engine (22) arranged on the steering engine frame (21), The horn carbon tube (27) is arranged on the horn support frame (26) through a horn bearing, one end of the horn carbon tube is connected with an output shaft of the steering engine (22), and the other end of the horn carbon tube is connected with the corresponding rotor propeller (3) through a horn connecting clamp (31); The axis of paddle device (36) sets up perpendicularly with horn carbon tube (27), near bottom department of rotor casing is located to horn connecting clamp (31), wherein, near bottom of rotor casing is the one end of keeping away from paddle device (36), rotor propeller (3) are rotated around the axis of horn carbon tube (27) under the drive of horn carbon tube (27), when rotating to paddle device (36) and being located horn carbon tube (27) top, the focus of rotor propeller (3) is higher than the focus of organism (1), when rotating to paddle device (36) and being located horn carbon tube (27) below, the low heart of rotor propeller (3) is higher than the focus of organism (1).
2. The water-air cross-domain unmanned aerial vehicle of claim 1, wherein the horn bearings are provided in a plurality.
3. The water-air cross-domain unmanned aerial vehicle according to claim 1, wherein the vector rotating horn (2) further comprises a steering engine horn connector (23), and the horn carbon tube (27) is connected with an output shaft of the steering engine (22) through the steering engine horn connector (23).
4. A water-air cross-domain unmanned aerial vehicle according to claim 1, wherein the axis of the blade means (36) rotates about the axis of the horn carbon tube (27) in a plane perpendicular to the axis of the horn carbon tube (27).
5. A water-air cross-domain unmanned aerial vehicle according to claim 1, wherein the rotor power unit comprises a main power motor (32), an auxiliary power motor (33) and a rotational speed continuous conversion output device (34), the rotational speed continuous conversion output device (34) having inputs connected to the main power motor (32) and the auxiliary power motor (33), respectively, and outputs connected to the blade device (36).
6. The water-air cross-domain unmanned aerial vehicle according to claim 5, wherein the rotational speed continuous conversion output device (34) comprises a sun gear (341), a sun gear shaft (342), a main transmission gear (343), a planet gear (346), an auxiliary transmission gear (345), an inner gear ring (348) and an output shaft (3410); The sun gear (341) is sleeved on and fixed to a sun gear shaft (342), the main transmission gear (343) is sleeved on and fixed to the sun gear shaft (342) and meshed with a first transmission gear on an output shaft of the main power motor (32), the planet gears (346) are sleeved on and fixed to a planet carrier eccentric shaft (347), the auxiliary transmission gear (345) is sleeved on and fixed to the planet carrier eccentric shaft (347) and meshed with a second transmission gear on an output shaft of the auxiliary power motor (33), the sun gear (341) and the sun gear shaft (342) synchronously rotate, the auxiliary transmission gear (345) and the planet carrier eccentric shaft (347) synchronously rotate, the sun gear (341) and the planet gears (346) are both located in an inner gear ring (348), the inner gear ring (348) is meshed with the planet gears (346) and fixedly connected with an output shaft (3410), and the output shaft (3410) is connected to the blade device (36).
7. A water-air cross-domain unmanned aerial vehicle according to claim 6, wherein the rotational speed continuous conversion output device (34) further comprises a deep groove ball bearing for supporting the output shaft (3410).
8. The water-air cross-domain unmanned aerial vehicle according to claim 1, wherein the machine body (1) comprises an upper carbon plate (11), a lower carbon plate (12) and an avionics cabin (13), the upper carbon plate (11) is a hollowed-out carbon plate used for the avionics cabin (13) to pass through, and symmetrically arranged screw holes are formed in the upper carbon plate (11) and the lower carbon plate (12) and are used for connecting a vector rotating horn (2).
9. A water-air cross-domain unmanned aerial vehicle according to claim 1, further comprising a battery rack (5) and a foot rest (4), the battery rack (5) comprising a battery support column (51), a battery pallet (52) and a battery (53), the foot rest (4) comprising a vertical base (41), foot rest support carbon tubes (42), foot rest tees (43), foot rest carbon tubes (44) and shock absorbing foam (45); The vertical base (41) is connected with the foot rest support carbon tube (42) through screw clamping, the foot rest support carbon tube (42) is connected with the foot rest tee joint (43) through screw clamping, the foot rest tee joint (43) with foot rest carbon tube (44) through screw clamping, damping foam (45) are sleeved on the foot rest carbon tube (44), battery support column (51) and organism (1) fixed connection, battery support plate (52) and battery support column (51) are connected through screw fixing, battery (53) are placed on the battery support plate (52) to tie up with the rolling belt.
10. A method of controlling a water-air cross-domain unmanned aerial vehicle based on claim 6, comprising: When in an air flight state, the rotor propeller (3) is rotated by the vector rotating horn (2) to enable the blade device (36) to be positioned above the horn carbon tube (27); When the aircraft is in an underwater flight state, the rotor propeller (3) is rotated by the vector rotating horn (2) to enable the blade device (36) to be positioned below the horn carbon tube (27); When the unmanned aerial vehicle is in the water cross-domain state to the air, the rotary wing propeller (3) is controlled to rotate through the vector rotary horn (2) so that the extension lines of the axes of the two blade devices (36) positioned on the same side of the machine body are intersected, the height information is detected, the distance between the rotary wing propeller (3) and the water surface is judged based on the height information, when the distance between the rotary wing propeller and the water surface is smaller than a first set threshold distance, the rotary wing propeller (3) is controlled to stop rotating, the blade devices (36) are switched to be positioned below the horn carbon tube (27) through the vector rotary horn (2) and are positioned above the horn carbon tube (27), and then the rotary wing propellers (3) are controlled to reversely rotate and the speed ratio is gradually adjusted to drive the unmanned aerial vehicle to enter the air; When the air-in-water cross-domain type propeller is in water, the speed ratio of each rotor propeller (3) is controlled to be adjusted to enter the water, height information is detected, the distance between the air-in-water type propeller and the water surface is judged based on the height information, after the air-in-water type propeller is judged to enter the water, the rotor propellers (3) are rotated through the vector rotating horn (2) to enable extension lines of axes of two blade devices (36) positioned on the same side of the machine body to intersect, the rotor propellers (3) are controlled to stop rotating, the blade devices (36) are switched to be positioned above the horn carbon tube (27) through the vector rotating horn (2) to be positioned below the horn carbon tube (27), and the rotor propellers (3) are controlled to reversely rotate.

Description

Water-air cross-domain unmanned aerial vehicle Technical Field The invention relates to the field of unmanned aerial vehicles, in particular to a water-air cross-domain unmanned aerial vehicle. Background With the rapid development of ocean science and the continuous diversification of human activities in the ocean, many emerging ocean science and engineering demands have emerged, including urgent need for joint marine and aerial work tasks. The tasks include real-time observation of marine phenomena with high space-time variability in the atmosphere and marine environment, pier loss inspection, marine rescue detection, deep-sea water sample acquisition analysis and the like, and related personnel can acquire rich and comprehensive information data in time and analyze and predict the development of the events. Overall, these tasks have high requirements on real-time performance, and data sharing and intercommunication between two mediums in the sea and the air are required. Obviously, conventional single medium aircraft and submarines have failed to meet the needs of such emerging tasks. Therefore, a water-air-space cross-domain Unmanned Aerial vehicle (un-managed air-aquatic vehicle, UAAV) that can continuously shuttle across domains is the optimal solution for achieving the sea-air cross-domain task. The first problem in realizing the unmanned aerial vehicle is that the unmanned aerial vehicle can stably run in two mediums of water and air, and can stably cross-domain at a water-air interface. Because the density and viscosity of water are much greater than those of air, the resistance of the machine in water is much greater than that in air, which requires that the unmanned aerial vehicle can switch modes quickly when entering into water in the air or flying into the air in the water, so as to ensure the maneuverability of the unmanned aerial vehicle under various mediums. The water-air cross-domain unmanned aerial vehicle at the present stage is mainly designed in an improved mode according to an air Unmanned Aerial Vehicle (UAV), an underwater unmanned aerial vehicle (UUV) and the like. UAVs have evolved into various configurations of fixed wings, multiple rotors, hybrid, etc., each of which has advantages. UUVs have a configuration similar to that of sea dragon. In unmanned machines of the above type, which have in common that propeller-type actuators are used as the primary power source, improvements to UAVs and UUVs can be broadly divided into 1) strategies to maintain the conventional UAV configuration unchanged, to perform a watertight seal process on it, and to select the appropriate actuators to meet the torque and thrust requirements of their operation in the air and under water. 2) Combining the UAV system with the UUV system, and adopting different propeller actuators under different media. The second class of cross-domain unmanned aerial vehicle has huge whole body and low effective load due to the need of two sets of propellers, and is not a mainstream technical direction. For the first type of cross-domain unmanned aerial vehicle, on the one hand, the water-air cross-domain switching is adopted, particularly, the stage of entering water from air is adopted in the prior art, namely, the power is closed when the unmanned aerial vehicle is in contact with the water surface, the unmanned aerial vehicle falls into the water by means of gravity until the blades are immersed in the water, and then the unmanned aerial vehicle is started again to realize the air-water medium switching, and in addition, for the water-air medium switching, the initial torque entering the air is overlarge, so that the energy waste and the serious heat are caused. On the other hand, the first type of cross-domain unmanned aerial vehicle has the problem that the gravity center height of the propeller is not adjustable compared with the gravity center height of the machine body, so that the unmanned aerial vehicle cannot balance the energy consumption in the air and the stability in water, and the problem is more serious particularly when the water-air dual-purpose propeller with continuously adjustable speed ratio is adopted as disclosed in China patent CN 118928737A. Disclosure of Invention The invention aims to provide a water-air cross-domain unmanned aerial vehicle, and the gravity center of a rotor propeller and the positions of a blade device are adjusted by arranging a vector rotating horn, so that different gravity center arrangements can be realized aiming at the air and the water, the gravity center is raised in the air, the gravity center is more energy-saving, the gravity center is depressed in the water, and the balance is stable and the energy is saved. The aim of the invention can be achieved by the following technical scheme: The water-air cross-domain unmanned aerial vehicle comprises a body, a plurality of rotor propellers and a vector rotating horn for arranging each rotor propeller on the body, where