CN-122009546-A - Tilting water-air amphibious unmanned aerial vehicle and control method thereof

CN122009546ACN 122009546 ACN122009546 ACN 122009546ACN-122009546-A

Abstract

The invention relates to a tiltable water-air amphibious unmanned aerial vehicle and a control method thereof, wherein the tiltable water-air amphibious unmanned aerial vehicle comprises a body, a floating body assembly, a plurality of tilting propulsion assemblies and a flight control system; the tilting propulsion assembly comprises a tilting actuating mechanism and rotors, the corresponding rotors are tilted under the take-off and landing mode to enable the floating body assembly to be suitable for a landing surface, the resultant force directions generated by the rotors are consistent with the gravity direction of the unmanned aerial vehicle, so that the unmanned aerial vehicle can take off and land vertically relative to the gravity direction, the corresponding rotors are tilted under the water surface navigation mode to generate horizontal thrust components to form water surface collaborative propulsion with a water surface propulsion device, and under the air flight mode, the corresponding rotors are tilted and the rotating speed of the rotors is adjusted, so that the relative positions of the thrust vectors and the mass center of the fuselage are changed, and the kinematic decoupling of the unmanned aerial vehicle position and attitude control is realized. The invention can improve the lifting stability of the gradient landing surface, realize the active adjustment of the attitude of the air body and enhance the adaptability of the cross-medium transitional terrain.

Inventors

LIU WEI
Hu Liduo

Assignees

华南理工大学

Dates

Publication Date: 20260512
Application Date: 20260410

Claims (10)

1. The tilting water-air amphibious unmanned aerial vehicle is characterized by comprising a machine body, a plurality of tilting propulsion assemblies and a flight control system, wherein the tilting propulsion assemblies and the flight control system are arranged on the machine body; a floating body component is arranged below the machine body and used for providing buoyancy support and water surface propulsion for the unmanned aerial vehicle; each tilting propulsion component comprises a tilting actuating mechanism and a rotor wing, wherein the tilting actuating mechanism is fixedly arranged on the machine body and connected with the rotor wing and is used for driving the rotor wing to tilt relative to the machine body; The flight control system is configured to correspondingly control the tilting executing mechanism and the rotor wing according to the movement mode of the unmanned aerial vehicle; When the unmanned aerial vehicle is in a take-off and landing mode, the corresponding rotor wings are respectively tilted through the plurality of tilting execution mechanisms to compensate the posture deviation of the unmanned aerial vehicle relative to the target take-off and landing posture, so that the floating body component is adapted to the gradient landing surface, the resultant force direction generated by the plurality of rotor wings is consistent with the gravity direction of the unmanned aerial vehicle, and the unmanned aerial vehicle can take off and land vertically relative to the gravity direction; When the unmanned aerial vehicle is in a water surface navigation mode, the corresponding rotor wings are respectively tilted by the plurality of tilting execution mechanisms to generate horizontal thrust components, so that the horizontal thrust components and the floating body component form a water surface cooperative propulsion mechanism, and forward, backward or steering movement is realized; When the unmanned aerial vehicle is in an air flight mode, the corresponding rotor wings are respectively tilted through the plurality of tilting execution mechanisms to adjust the direction of the thrust vector, and the rotating speed of the rotor wings is controlled to adjust the thrust, so that the position and action relation of the thrust vector relative to the mass center of the fuselage are changed, resultant force for position control and resultant moment for gesture control are further constructed, kinematic decoupling of the position and gesture control is realized, and stable flight of the unmanned aerial vehicle according to the expected track and gesture is ensured.
2. The unmanned aerial vehicle of claim 1, wherein the float assembly comprises a pontoon and a water surface propulsion device, the pontoon is fixedly connected to the fuselage to provide buoyancy support for the unmanned aerial vehicle, and the water surface propulsion device is connected to the pontoon to cooperate with the tilting propulsion assembly to achieve water surface navigation.
3. The tiltable water and air amphibious unmanned aerial vehicle of claim 2, wherein the water surface propulsion means is located outside the middle of the pontoon.
4. The tiltable water-air amphibious unmanned aerial vehicle of claim 2, wherein the water surface propulsion device comprises a propulsion motor and a propeller, the propulsion motor is fixedly connected with the pontoon and is in driving connection with the propeller, and a diversion cover is arranged on the outer side of the propeller.
5. The unmanned aerial vehicle of claim 1, wherein the tilting actuator comprises a tilting drive motor and a steering wheel, the tilting drive motor is fixedly connected to the body, and an output shaft of the tilting drive motor is connected with the rotor through the steering wheel.
6. A control method of a tiltable air-water amphibious unmanned aerial vehicle as claimed in any one of claims 1 to 5, comprising: acquiring a motion mode of the unmanned aerial vehicle, and correspondingly controlling a plurality of tilting execution mechanisms to tilt corresponding rotor wings respectively according to the motion mode; When the unmanned aerial vehicle is in a take-off and landing mode, the corresponding rotor wings are respectively tilted through the plurality of tilting execution mechanisms to compensate the posture deviation of the unmanned aerial vehicle relative to the target take-off and landing posture, so that the floating body component is adapted to the gradient landing surface, the resultant force direction generated by the plurality of rotor wings is consistent with the gravity direction of the unmanned aerial vehicle, and the unmanned aerial vehicle can take off and land vertically relative to the gravity direction; When the unmanned aerial vehicle is in a water surface navigation mode, the corresponding rotor wings are respectively tilted by the plurality of tilting execution mechanisms to generate horizontal thrust components, so that the horizontal thrust components and the floating body component form a water surface cooperative propulsion mechanism, and forward, backward or steering movement is realized; when the unmanned aerial vehicle is in an air flight mode, the corresponding rotor wings are respectively tilted through the plurality of tilting execution mechanisms to adjust the direction of the thrust vector, and the rotating speed of the rotor wings is controlled to adjust the thrust, so that the position and action relation of the thrust vector relative to the mass center of the fuselage are changed, resultant force for position control and resultant moment for gesture control are further constructed, kinematic decoupling of the position and gesture control is realized, and stable flight of the unmanned aerial vehicle according to the expected track and gesture is ensured.
7. The control method of the unmanned aerial vehicle capable of tilting over water and air according to claim 6, wherein when the movement mode of the unmanned aerial vehicle is an air flight mode, the pitch angle, the roll angle and the yaw angle of the fuselage are actively adjusted by coordinating the tilting angle and the rotating speed of each rotor wing on the premise of keeping the spatial position coordinates of the unmanned aerial vehicle unchanged.
8. The control method of the tilting water-air amphibious unmanned aerial vehicle according to claim 6, wherein when the movement mode of the unmanned aerial vehicle is an air flight mode, the tilting angle and the rotating speed of each rotor wing are coordinated, and the multidirectional translational movement and the fixed-point hovering of the unmanned aerial vehicle are realized under the condition that the attitude level of the unmanned aerial vehicle is kept unchanged.
9. The control method of the tiltable water-air amphibious unmanned aerial vehicle according to claim 6, wherein when the movement mode of the unmanned aerial vehicle is a water surface navigation mode, the control of the water surface steering is realized by adjusting the water surface propulsion device to enable differential thrust to be generated on two sides of the unmanned aerial vehicle body so as to form yaw moment.
10. The control method of the tilting water-air amphibious unmanned aerial vehicle according to claim 6, wherein in the take-off and landing mode, the tilting angles of all the rotors are independently adjusted according to the stress state of the floating body assembly, the grounding sequence and the current posture of the unmanned aerial vehicle body, when the flight control system judges that the floating body assembly on one side of the unmanned aerial vehicle body is grounded first, the rotor on the corresponding side is tilted through the tilting actuator, so that the thrust vector direction of the side rotor is consistent with the gravity direction, the disturbance of the additional posture caused by asymmetric support is restrained, and the take-off and landing adaptability of the unmanned aerial vehicle in complex ground, water-shore interfaces and slope environments is improved.

Description

Tilting water-air amphibious unmanned aerial vehicle and control method thereof Technical Field The invention relates to the technical field of unmanned aerial vehicles, in particular to a tiltable water-air amphibious unmanned aerial vehicle and a control method thereof. Background Along with the rapid development of unmanned aerial vehicle technology, many rotor unmanned aerial vehicle has wide application in fields such as inspection, survey and drawing and emergency rescue. In order to further expand the medium-crossing operation capability, the water-air amphibious unmanned aerial vehicle realizes lifting and mooring on the water surface through the integrated floating body assembly, so that the operation mode can be switched between the water area and the air environment. Along with the increasing application demands, the water-air amphibious unmanned aerial vehicle needs to have basic flying and floating capabilities, and also needs to have higher stability and environment adaptability in the complex terrain take-off and landing, high-water-level maneuvering navigation and medium-crossing transition processes. The existing water-air amphibious unmanned aerial vehicle mainly adopts a fixed rotor wing structure, and a thrust axis and a fuselage axis of the existing water-air amphibious unmanned aerial vehicle are kept fixed. When the ideal horizontal water surface or ground take off and land, the structure can realize stable take off and land. However, in actual working scenarios, the unmanned aerial vehicle often needs to take off and land on a quay bank slope, mountain road or other non-horizontal hard road surface with a gradient. Because the existing unmanned aerial vehicle lacks the self-adaptive adjustment capability to the terrain gradient, when the fuselage inclines along with the slope, the total lift vector generated by the rotor wing can generate an included angle with the gravity direction, and horizontal component force along the slope direction is generated at the moment of rising and falling. The component force can cause uncontrolled slippage of the unmanned aerial vehicle on the contact surface, particularly on low friction contact surfaces such as pontoons, and the safety risks such as lifting instability, touch obstacles and even body overturning are extremely easy to cause. On the other hand, the existing water-air amphibious unmanned aerial vehicle generally mainly relies on a water surface propulsion device arranged on a floating body to provide propulsion under a water surface navigation mode, and a flight rotor wing does not generally participate in water surface propulsion and steering control, so that the problems of single operation mode and insufficient maneuverability exist in the water surface advancing, retreating, steering and rotating maneuver process. In addition, existing tiltrotor schemes focus on achieving "fixed-wing-multi-rotor" mode switching or improving forward flight efficiency, with tilting logic mainly serving aerodynamic performance optimization in high-speed flight conditions. Such solutions are generally not structurally designed for stationary or low-speed take-off and landing phases, nor do they consider the use of tilting degrees of freedom to compensate for the effect of ground slope on thrust direction and gravity alignment. Therefore, the structural scheme of the water-air amphibious unmanned aerial vehicle which can meet the running requirement of water-air cross media and can realize stable lifting of gradient terrain, auxiliary propulsion of water surface and active regulation of the attitude of an air body is still lacking in the prior art. Disclosure of Invention Aiming at the problems in the prior art, the invention aims to provide the tilting water-air amphibious unmanned aerial vehicle and the control method thereof, which can improve the lifting stability of a gradient landing surface, realize the active adjustment of the attitude of an air body and enhance the adaptability of the cross-medium transitional terrain. In order to achieve the above purpose, the invention adopts the following technical scheme: a tilting water-air amphibious unmanned aerial vehicle comprises a body, a plurality of tilting propulsion components and a flight control system, wherein the tilting propulsion components are arranged on the body; a floating body component is arranged below the machine body and used for providing buoyancy support and water surface propulsion for the unmanned aerial vehicle; each tilting propulsion component comprises a tilting actuating mechanism and a rotor wing, wherein the tilting actuating mechanism is fixedly arranged on the machine body and connected with the rotor wing and is used for driving the rotor wing to tilt relative to the machine body; The flight control system is configured to correspondingly control the tilting executing mechanism and the rotor wing according to the movement mode of the unmanned aerial vehicle; When the