Double-rotor water-air amphibious unmanned aerial vehicle with winged electric eel imitating structure

Abstract

The invention provides a dual-rotor water-air amphibious unmanned aerial vehicle with a plume-like electric eel structure, which comprises a main body assembly, and the main body assembly comprises a triangular bracket, a fuselage main body, an electric eel driving mechanism, a rotary connecting piece, a U-shaped clamping groove, the plume-like electric eel structure and a load platform. According to the unmanned aerial vehicle, the line-like electric eel structures are arranged on the two sides of the fuselage main body, so that the unmanned aerial vehicle can enter and exit water without an underwater propeller or mode switching, and the structures are low in movement energy consumption, so that the unmanned aerial vehicle has the capability of working for a long time and can be flexibly switched between an air mode and a water mode; meanwhile, the system has excellent performances such as ultra-silence, high endurance and high efficiency; according to the invention, the attitude control is realized through a double-rotor structure consisting of the waterproof brushless motor, the output shaft and the folding propeller assembly and through the tilting mechanisms which are mounted front and back, the tilting mechanisms enable the rotors to deflect, different attitudes and motions can be realized through different tilting directions and tilting speeds, and the attitude stability and the motion control are enhanced.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to a double-rotor water-air amphibious unmanned aerial vehicle with a wire-feathered electric eel-like structure. Background Art

[0002] In recent years, drone technology has developed rapidly and has broad application prospects in many fields. However, most existing drones can only move in a single medium (such as water or air), which greatly limits their application. For example, drones moving in the air are difficult to achieve long-distance and accurate underwater searches, while drones moving in the water cannot achieve efficient large-scale aerial movement. This single-medium drone is not only costly, but also inefficient and cannot meet the needs of emergency rescue missions in severe weather conditions.

[0003] Cross-medium unmanned aerial vehicles, as aircraft that can operate in different environments at the same time, have become a research hotspot. However, in existing similar studies, cross-medium aircraft face many difficulties. Different media (such as water and air) are very different, and it is difficult to take into account the navigation performance of aircraft in different media during design. At present, most amphibious drones adopt a quad-rotor configuration, which has great resistance to entering and exiting the water. In terms of mode switching, some drones are only equipped with flying propellers, which need to be extended and folded when entering and exiting the water. Such drones are difficult to dive and often need to be attached to other moving objects with the help of suction cups; some drones dive by adjusting the power output direction of the flying propeller toward the tail, but this method requires continuous rotation of the electric motor, which consumes a lot of energy for propulsion in the water. Due to the limitation of battery capacity, the energy utilization efficiency is low. For this reason, a double-rotor water-air amphibious drone with a wire-feathered electric eel structure is proposed. Summary of the invention

[0004] In view of this, the present invention hopes to provide a dual-rotor water-air amphibious UAV with a wire-feathered electric eel structure to solve or alleviate the technical problems existing in the prior art and at least provide a beneficial option.

[0005] The technical solution of the embodiment of the present invention is implemented as follows: a dual-rotor water-air amphibious UAV with a wire-feathered electric eel structure, comprising a main body assembly, wherein the main body assembly comprises a triangular bracket, a fuselage body, an electric eel drive mechanism, a rotating connector, a U-shaped card slot, a wire-feathered electric eel structure, a mounting groove, a tilt mechanism, a waterproof brushless motor, an output shaft, a folding propeller assembly, a sealed cabin and a load platform; An electric eel driving mechanism is arranged in the middle of both sides of the fuselage main body, and the output ends of the two electric eel driving mechanisms are fixedly connected with five rotating connecting parts, and one side of the five rotating connecting parts on the same side is fixedly connected with the imitation line-feather electric eel structure through a U-shaped slot, and the front and rear parts of the upper surface of the fuselage main body are provided with installation grooves, and the inner side walls of the two installation grooves are fixedly connected with tilting mechanisms, and the output ends of the two tilting mechanisms are installed with waterproof brushless motors through triangular brackets, and the output ends of the two waterproof brushless motors are fixedly connected with folding propeller assemblies through output shafts, a sealed cabin is arranged inside the fuselage main body, and a load platform is installed in the middle of the lower surface of the fuselage main body.

[0006] Further preferably, the folding propeller assembly comprises a connecting arm, a pin, a propeller connecting block and a propeller body; The bottom and top of the outer wall of the output shaft are fixedly connected with connecting arms, the front and rear parts of the adjacent sides of the two connecting arms are rotatably connected with propeller connecting blocks through pin shafts, and the ends of the two propeller connecting blocks that are away from each other are fixedly connected with the propeller body.

[0007] Further preferably, the material of the electric eel imitation structure is a flexible and bendable material.

[0008] Further preferably, the fuselage body includes a nose, a middle fuselage and a tail, the rear surface of the nose is fixedly connected to the front surface of the middle fuselage, the front surface of the tail is fixedly connected to the rear surface of the middle fuselage, the sealed cabin is arranged inside the middle fuselage, horizontal rudder surfaces are installed on both sides of the outer arms of the tail, vertical rudder surfaces are installed on the upper part of the outer arms of the tail, and the load platform is arranged at the bottom of the middle fuselage.

[0009] Further preferably, a battery and a main controller are provided inside the sealed cabin, and an output end of the battery is electrically connected to an input end of the main controller.

[0010] Further preferably, the input ends of the electric eel driving mechanism, the tilting mechanism and the waterproof brushless motor are all electrically connected to the output end of the main controller.

[0011] Further preferably, a wireless communication module is provided on the top of the main controller, and the main controller is connected to the wireless communication module.

[0012] Further preferably, a battery management module is provided on the front portion of the upper surface of the battery, and the battery management module is connected to the battery.

[0013] Further preferably, the connection between the nose, the middle part of the fuselage and the tail is smoothly transitioned.

[0014] Further preferably, the nose, the middle fuselage and the tail are all made of carbon fiber materials.

[0015] The embodiment of the present invention has the following advantages due to the adoption of the above technical solution: 1. The present invention sets the imitation wire-feather electric eel structure on both sides of the fuselage body, so that the UAV can enter and exit the water without underwater propellers and mode switching, and this structure has low motion energy consumption, so that the UAV has the ability to operate for a long time, and the UAV can flexibly switch between air and water modes, and at the same time has the superior performance of ultra-quiet, high endurance, high efficiency, etc. 2. The present invention uses a dual-rotor structure composed of a waterproof brushless motor, an output shaft and a folding propeller assembly, and realizes attitude control through a tilt mechanism installed in front and behind. The tilt mechanism deflects the rotor. Different tilt directions and tilt speeds can achieve different attitudes and movements, thereby enhancing attitude stability and movement control. In addition, the folding propeller assembly can be folded underwater to reduce underwater movement resistance; 3. The present invention realizes motion transition between two different fluid media, water and air, through the UAV, and can switch between three states: underwater stealth, surface marching, and flight, making full use of the high maneuverability of the aircraft and the high concealment of the submarine; at the same time, the payload platform can also be equipped with modern reconnaissance equipment that is portable, easy to use, stable and reliable, cluster-controlled, and combines reconnaissance and attack, thereby improving the operational capabilities in different environments and being able to complete actual mission requirements such as air and sea cross-media reconnaissance and monitoring, marine inspections, and rapid assistance.

[0016] The electric eel drive mechanism is used to control the movement of the rotating connector, so that the flexible and bendable material of the electric eel structure can swing like eel fins, thereby realizing the forward and backward movement of the UAV in the water. This bionic structure does not require complex underwater thrusters and mode switching mechanisms, can enable the UAV to move flexibly in the water, and has low energy consumption, greatly improving the maneuverability and endurance of the UAV in the water; at the same time, in the air, the dual-rotor structure composed of a waterproof brushless motor, output shaft and folding propeller assembly can provide powerful lift, allowing the UAV to take off, land and fly quickly, realizing efficient amphibious motion transition in water and air, and giving full play to the high maneuverability of the aircraft and the high concealment of the submarine.

[0017] Good handling performance The tilt mechanism can precisely control the deflection of the waterproof brushless motor, thereby adjusting the power output direction of the folding propeller assembly. Through different tilt directions and speeds, the drone can achieve various posture movements such as yaw, roll and pitch in the air, which enhances the posture stability and motion control of the drone in the air. In the water, the horizontal and vertical rudders work together with the wire-feathered electric eel structure to adjust the movement direction of the body in the water, so that the drone can also achieve precise control in the water, such as up and down, rolling left and right, etc.

[0018] Versatile mission execution capabilities The payload platform at the nose can be equipped with various equipment according to different mission requirements, such as a gimbal, high frame rate camera, and sensors. The gimbal can adjust the shooting direction of the camera, which is used for underwater and aerial environment shooting. Combined with sensors, it can obtain more environmental information and realize functions such as cruise detection, autonomous and intelligent operation. In addition, the payload platform is replaceable. For example, a small manipulator can be installed to realize operations such as picking up items in the water, so that the drone can perform different tasks in a variety of scenarios, improving the operation ability in different environments. It can be applied to water quality sampling, marine wind power facility detection, offshore ranching, marine inspection, island tourism, military assistance and other fields.

[0020] The above summary is for illustrative purposes only and is not intended to be limiting in any way. In addition to the illustrative aspects, embodiments and features described above, further aspects, embodiments and features of the present invention will be readily apparent by reference to the accompanying drawings and the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 This is a structural diagram of one viewing angle of the present invention; Figure 2 Another perspective structural diagram of the present invention; Figure 3 It is the overall cutaway structural diagram of the present invention; Figure 4 It is a structural diagram of the tilting mechanism and the waterproof brushless motor of the present invention; Figure 5 This is a structural diagram of the rotary connector and the U-shaped slot of the present invention; Figure 6 The structure diagram of the battery and the main controller of the present invention; Figure 7 For the present invention Figure 6 Another perspective structure diagram.

[0023] Figure numerals: 1. Main assembly; 10. Triangle bracket; 11. Fuselage body; 12. Electric eel drive mechanism; 13. Rotating connector; 14. U-shaped slot; 15. Imitation wire-feather electric eel structure; 16. Mounting groove; 17. Tilt mechanism; 18. Waterproof brushless motor; 19. Output shaft; 20. Folding propeller assembly; 21. Sealed cabin; 22. Load platform; 23. Connecting arm; 24. Pin; 25. Propeller connecting block; 26. Propeller body; 27. Nose; 28. Middle fuselage; 29. ​​Tail; 30. Horizontal rudder surface; 31. Vertical rudder surface; 32. Battery; 33. Main controller; 34. Wireless communication module; 35. Battery management module. DETAILED DESCRIPTION

[0024] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0025] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0026] like Figure 1-Figure 7 As shown, an embodiment of the present invention provides a dual-rotor water-air amphibious UAV with a wire-feathered electric eel structure, comprising a main body assembly 1, wherein the main body assembly 1 comprises a triangular bracket 10, a fuselage body 11, an electric eel drive mechanism 12, a rotating connector 13, a U-shaped card slot 14, a wire-feathered electric eel structure 15, a mounting groove 16, a tilting mechanism 17, a waterproof brushless motor 18, an output shaft 19, a folding propeller assembly 20, a sealed cabin 21 and a load platform 22; An electric eel driving mechanism 12 is provided in the middle of both sides of the fuselage main body 11, and the output ends of the two electric eel driving mechanisms 12 are fixedly connected with five rotating connectors 13, and one side of the five rotating connectors 13 on the same side is fixedly connected with a line-feather electric eel structure 15 through a U-shaped slot 14. The front and rear parts of the upper surface of the fuselage main body 11 are provided with mounting grooves 16, and the inner side walls of the two mounting grooves 16 are fixedly connected with a tilting mechanism 17. The output ends of the two tilting mechanisms 17 are installed with waterproof brushless motors 18 through triangular brackets 10, and the output ends of the two waterproof brushless motors 18 are fixedly connected with a folding propeller assembly 20 through an output shaft 19. A sealed cabin 21 is provided inside the fuselage main body 11, and a load platform 22 is installed in the middle of the lower surface of the fuselage main body 11; Among them, the electric eel driving mechanism 12 is located in the middle of both sides of the fuselage body 11. This layout can make the thrust generated by the wire-feather electric eel structure 15 during operation be more evenly distributed on both sides of the fuselage, which is beneficial to maintaining the stability of the UAV in the water. The output end of each electric eel driving mechanism 12 is fixedly connected with five rotating connectors 13. Through this multi-connector design, the movement posture of the wire-feather electric eel structure 15 can be more accurately controlled. The rotating connector 13 and the wire-feather electric eel structure 15 are fixedly connected by a U-shaped slot 14. The U-shaped slot 14 can not only ensure the firmness of the connection, but also allow the wire-feather electric eel to move smoothly. The structure 15 can rotate flexibly within a certain range to achieve a swinging effect similar to that of an eel fin; the wire-feathered electric eel structure 15 is made of a flexible and bendable material, which can generate propulsion force through its own deformation under the drive of the rotating connector 13; when the electric eel driving mechanism 12 drives the rotating connector 13 to move according to a specific law, the flexible material of the wire-feathered electric eel structure 15 will form a wave-like swing, thereby pushing the surrounding water to flow backwards, and according to Newton's third law, the drone obtains a forward reaction force to achieve forward motion; conversely, when the motion law of the rotating connector 13 is reversed, the drone can achieve backward motion; Among them, the output end of the tilt mechanism 17 is connected to the waterproof brushless motor 18 through the tripod bracket 10. The design of the tripod bracket 10 can provide a stable support structure to ensure that the waterproof brushless motor 18 remains firm during the tilting process, and at the same time evenly disperses the stress generated when the motor is working; the waterproof brushless motor 18 is a key component of aerial power, and its output end is fixedly connected to the folding propeller assembly 20 through the output shaft 19; this connection method enables the motor to efficiently transmit the rotational power to the propeller assembly, thereby generating sufficient lift or thrust. When the drone needs to fly in the air, the waterproof brushless motor 18 drives the folding propeller assembly 20 to rotate rapidly. According to the principles of aerodynamics, the propeller generates an upward lift to make the drone take off; when it is necessary to adjust the flight attitude or direction, the tilt mechanism 17 changes the angle of the waterproof brushless motor 18, and then adjusts the thrust direction of the propeller, so as to achieve the yaw, roll and pitch movements of the drone; The sealed cabin 21 is arranged inside the fuselage body 11, and its main function is to protect the internal electronic equipment from the influence of the external environment (such as water, moisture, etc.). The good sealing performance of the sealed cabin 21 ensures that the internal electronic equipment can work normally and is not corroded by water when the drone is diving underwater or floating on the water surface; Among them, the payload platform 22 is installed in the middle of the lower surface of the fuselage body 11. This position is conducive to maintaining the stability of the center of gravity of the drone and is convenient for carrying various mission equipment. The payload platform 22 can be customized and replaced according to different mission requirements. For example, it can be equipped with a high-definition camera for environmental monitoring and shooting, a sensor for collecting various environmental data (such as water quality, temperature, depth, etc.), or a manipulator for performing underwater operation tasks (such as grabbing objects, collecting samples, etc.).

[0027] In one embodiment, specifically: the folding propeller assembly 20 includes a connecting arm 23, a pin 24, a propeller connecting block 25 and a propeller body 26; The bottom and top of the outer wall of the output shaft 19 are fixedly connected with connecting arms 23, and the front and rear parts of the adjacent sides of the two connecting arms 23 are rotatably connected with propeller connecting blocks 25 through pin shafts 24. The ends of the two propeller connecting blocks 25 that are farther away are fixedly connected with propeller bodies 26. When the drone needs to dive in the water, in order to reduce water resistance, the folding propeller assembly 20 needs to fold the propeller bodies 26. During the folding process, the impact force of water causes the propeller to rotate around the pin 24. Since the connecting arm 23 is fixedly connected to the output shaft 19 and their positions are relatively fixed, the propeller body 26 fits more closely with the contour of the fuselage body 11, effectively reducing the resistance during movement in the water. During the flight, the waterproof brushless motor 18 drives the output shaft 19 to rotate, and the output shaft 19 in turn drives the connecting arm 23 to rotate together. Since the connecting arm 23 is rotatably connected to the propeller connecting block 25 through the pin 24, under the combined action of centrifugal force and aerodynamic force, the propeller connecting block 25 will maintain a suitable deployment angle, so that the propeller body 26 can rotate in the best posture, generate sufficient lift and thrust, and realize the flight of the drone. The design of this folding and unfolding function enables the drone to smoothly switch working states in two different media, water and air, thereby improving the adaptability and overall performance of the drone.

[0028] In one embodiment, specifically: the material of the wire-winged electric eel imitation structure 15 is a flexible and bendable material, which has unique physical properties and can imitate the body structure and movement of the wire-winged electric eel. The swimming of the wire-winged electric eel mainly relies on the wave-like swing of its long tail fin. This flexible and bendable material can deform when subjected to external force, and can quickly return to its original state, thereby achieving a swinging effect similar to that of the tail fin; when the electric eel drive mechanism 12 applies a driving force to the wire-winged electric eel imitation structure 15 through the rotating connector 13, the flexible material can bend and swing in a continuous and smooth manner, generating a propulsion force to push the drone forward or backward in the water; firstly, the use of flexible and bendable materials makes the movement of the wire-winged electric eel imitation structure 15 more flexible and natural. Compared with traditional rigid structures, it can better adapt to changes in water flow, reduce resistance when moving in water, and improve propulsion. efficiency; in complex underwater environments, such as areas with turbulent water or obstacles, this flexible structure can adjust its posture through its own deformation to avoid collision with obstacles, thereby enhancing the maneuverability and safety of the UAV in the water; secondly, the swing of the flexible material is relatively quiet, which reduces the noise generated by the UAV when moving in the water, which is very important for some mission scenarios that require covert operations (such as marine life observation, military reconnaissance, etc.), and can reduce the risk of being detected and improve the concealment of the UAV; in addition, since the weight of the flexible material is relatively light, it will not add too much burden to the UAV, which helps to maintain the overall lightweight design of the UAV, and thus is beneficial to improve the UAV's endurance and flight performance. When the UAV needs to fly in the air, the lighter electric eel-like structure 15 has less impact on the flight posture and energy consumption, and can better work with the air power system.

[0029] In one embodiment, specifically: the fuselage body 11 includes a nose 27, a middle fuselage 28 and a tail 29, the rear surface of the nose 27 is fixedly connected to the front surface of the middle fuselage 28, the front surface of the tail 29 is fixedly connected to the rear surface of the middle fuselage 28, the sealed cabin 21 is arranged inside the middle fuselage 28, both sides of the outer arm of the tail 29 are installed with horizontal control surfaces 30, the upper part of the outer arm of the tail 29 is installed with a vertical control surface 31, and the load platform 22 is arranged at the bottom of the middle fuselage 28; Among them, the nose 27 is the front part of the UAV, which is the first to contact the external environment during flight and navigation in water. Its shape and structural design have an important influence on the fluid dynamics performance of the UAV. A reasonable design of the nose 27 can reduce the resistance of air or water and improve the flight or navigation efficiency. The middle part 28 of the fuselage is the core bearing area of ​​the UAV, and a sealed cabin 21 is arranged inside. The existence of the sealed cabin 21 provides a safe and stable working environment for the internal electronic equipment. The good sealing performance of the sealed cabin 21 can prevent water, moisture, dust, etc. from entering the interior, protect the key components such as the battery 32 and the main controller 33 from being disturbed by the external environment, and ensure that the UAV can work normally in various harsh environments (such as underwater diving, humid marine environment, etc.); In addition, a load platform 22 is installed at the bottom of the middle part 28 of the fuselage. This position is conducive to maintaining the center of gravity of the UAV stable, and is convenient for carrying heavier or larger mission equipment, such as manipulators, etc., and can reduce the impact of the load on the flight attitude and navigation stability when the UAV takes off and lands and moves in water; Among them, the tail 29 also plays an important role in the overall performance of the UAV. The horizontal rudders 30 fixedly connected on both sides of the outer arms of the tail 29 and the vertical rudders 31 fixedly connected on the upper part of the outer arms are key components for controlling the movement direction of the UAV in the water; the horizontal rudders 30 are mainly used to control the lateral movement of the UAV in the water, such as turning left and right; the vertical rudders 31 are mainly responsible for controlling the up and down movement of the UAV, such as rising and falling. When the UAV is sneaking in the water, the direction of the force of the water flow on the fuselage can be changed by adjusting the angles of the horizontal rudders 30 and the vertical rudders 31, thereby achieving precise attitude control and direction adjustment, and cooperating with the propulsion force of the imitation wire-feathered electric eel structure 15, the UAV can navigate flexibly in the water.

[0030] In one embodiment, specifically: a battery 32 and a main controller 33 are arranged inside the sealed cabin 21, and the output end of the battery 32 is electrically connected to the input end of the main controller 33; after receiving the power from the battery 32, the main controller 33 accurately controls each component through the internal circuit and chip, and adjusts the driving signal of the electric eel driving mechanism 12 in real time according to the preset program and algorithm, as well as the feedback information from the sensor (such as the attitude sensor, the position sensor, etc.), so that the wire feather electric eel structure 15 can achieve accurate movement and control the propulsion and steering of the UAV in the water; at the same time, it also controls the tilting mechanism 17 The angle of the main controller 33 is adjusted to change the thrust direction of the waterproof brushless motor 18 and the folding propeller assembly 20, so as to realize various posture controls and flight actions of the UAV in the air; the main controller 33 is also responsible for processing and transmitting the data collected by the equipment (such as cameras, sensors, etc.) on the load platform 22, and sending the data to the external control device through the wireless communication module 34 (such as the wireless communication module 34 set on the top of the main controller 33, connected to the main controller 33), and receiving the instructions of the external control device and performing corresponding operations; this highly integrated and intelligent control function enables the UAV to realize autonomous flight and intelligent operation. and remote monitoring, improving the adaptability and execution efficiency of the UAV in complex mission environments. After receiving power from the battery 32, the main controller 33 precisely controls each component through the internal circuit and chip; it adjusts the drive signal of the electric eel drive mechanism 12 in real time according to the preset program and algorithm, as well as the feedback information from the sensor (such as the attitude sensor, the position sensor, etc.), so that the wire feather electric eel structure 15 can achieve precise movement and control the propulsion and steering of the UAV in the water; at the same time, it also controls the angle adjustment of the tilt mechanism 17 to change the thrust of the waterproof brushless motor 18 and the folding propeller assembly 20. direction, realizing various posture control and flight actions of the UAV in the air; the main controller 33 is also responsible for processing and transmitting the data collected by the equipment (such as cameras, sensors, etc.) on the payload platform 22, and sending the data to the external control device through the wireless communication module 34 (such as the wireless communication module 34 set on the top of the main controller 33, connected to the main controller 33), while receiving the instructions of the external control device and performing corresponding operations; this highly integrated and intelligent control function enables the UAV to achieve autonomous flight, intelligent operation and remote monitoring, and improves the adaptability and execution efficiency of the UAV in complex mission environments.

[0031] In one embodiment, specifically: the input ends of the electric eel drive mechanism 12, the tilt mechanism 17 and the waterproof brushless motor 18 are all electrically connected to the output end of the main controller 33; in the actual operation of the UAV, the electric eel drive mechanism 12, the tilt mechanism 17 and the waterproof brushless motor 18 need to work together to achieve various complex water-air amphibious movements; for example, in the process of taking off from the water surface, the main controller 33 first controls the electric eel drive mechanism 12 to stop the movement of the wire-feather electric eel structure 15 to reduce the water resistance; then gradually increases the speed of the waterproof brushless motor 18, and at the same time adjusts the motor angle through the tilt mechanism 17 to make the UAV leave the water smoothly. When flying in the air, the main controller 33 adjusts the speed of the waterproof brushless motor 18 and the angle of the tilt mechanism 17 in real time according to the requirements of the flight attitude and trajectory to maintain the stability and accuracy of the flight; when it is necessary to enter the water, the main controller 33 first controls the waterproof brushless motor 18 to stop rotating and fold the propeller assembly 20, and then starts the electric eel drive mechanism 12 to make the wire feather electric eel structure 15 start working and control the drone to slowly enter the water; when sneaking in the water, the electric eel drive mechanism 12 works in coordination with the horizontal rudder 30 and vertical rudder 31 of the tail 29 to achieve precise navigation control according to the instructions of the main controller 33. This highly coordinated control mechanism enables the drone to freely switch movement modes in two completely different media, water and air, and complete various complex mission operations.

[0032] In one embodiment, specifically: a wireless communication module 34 is provided on the top of the main controller 33, and the main controller 33 is connected to the wireless communication module 34; wherein, the existence of the wireless communication module 34 greatly expands the operating range and application flexibility of the UAV; the operator can understand the operating status of the UAV in real time through the remote control or ground control station in a safe location away from the UAV, and send control instructions according to task requirements; in some complex tasks, such as water quality sampling in large areas of ocean or inspections of offshore wind farm facilities, the UAV can automatically fly according to a preset route, and at the same time transmit the collected data back to the control center in real time through the wireless communication module 34, and the operator can adjust the task strategy or discover potential problems in time according to the real-time data; in addition, in the scenario of multiple UAVs working together, the wireless communication module 34 can also realize communication and data sharing between UAVs, so that they can cooperate with each other to jointly complete complex tasks, such as formation flying, area search, etc., thereby improving operation efficiency and overall performance.

[0033] In one embodiment, specifically: a battery management module 35 is provided on the front of the upper surface of the battery 32, and the battery management module 35 is connected to the battery 32; the battery management module 35 accurately monitors and controls the charging and discharging process of the battery 32 to ensure that the battery is always in the best working state, and can provide a stable power supply for the UAV, which helps to improve the reliability of the flight and operation of the UAV and reduce failures or accidents caused by battery problems; at the same time, reasonable battery management can extend the cycle life of the battery 32 and reduce the use cost of the UAV. During long-term mission execution, such as marine inspections or environmental monitoring missions, a reliable battery management module 35 can ensure that the UAV continues to operate stably under different environmental conditions, thereby improving the success rate and efficiency of mission completion; in addition, accurate power monitoring information is transmitted to the external control device through the wireless communication module 34, and the operator can reasonably plan the flight mission and return time of the UAV according to the remaining battery power, thereby further optimizing the use of the UAV.

[0034] In one embodiment, specifically: the connection between the nose 27, the middle fuselage 28 and the tail 29 is smoothly transitioned; the connection between the nose 27, the middle fuselage 28 and the tail 29 adopts a smooth transition design, which has a significant optimization effect on the fluid dynamics performance of the drone in both water and air media; when flying in the air, this smooth transition can effectively reduce the air flow separation phenomenon when the air flows through the fuselage. The air flow separation will cause uneven pressure distribution on the surface of the fuselage, generate additional resistance, and reduce flight efficiency. The smooth transition design allows air to flow through the fuselage more smoothly, reduces air resistance, and improves the flight speed and endurance of the drone. It can also improve the stability during flight, reduce the bumps and jitters caused by air flow interference, and make the flight smoother; when sailing in the water, the smooth transition also helps to reduce the resistance of the water flow to the fuselage. The density of water is much greater than that of air, and the resistance effect on objects is more obvious. When the UAV is sneaking in the water, the smooth connection can make the water flow smoothly around the fuselage to avoid the formation of turbulence and vortexes, thereby reducing the water resistance and improving the efficiency of underwater navigation. In addition, this design can also reduce the impact force between the fuselage and the water, and reduce the noise caused by the impact of the water flow, which is conducive to the UAV to perform covert tasks underwater, such as marine life observation and underwater facility monitoring.

[0035] In one embodiment, specifically: the materials of the nose 27, the middle fuselage 28 and the tail 29 are all carbon fiber materials. Carbon fiber materials have an extremely high strength-to-weight ratio, which allows the nose 27, the middle fuselage 28 and the tail 29 to maintain a relatively light weight while having sufficient strength. In the design of drones, lightweight is very important. A lighter fuselage weight can reduce energy consumption during flight and improve battery life. For amphibious drones, when sailing in water, a lighter fuselage can also help reduce sinking force and improve buoyancy efficiency, making the drone more flexible to control in water. At the same time, the high strength of carbon fiber materials can ensure that the fuselage is not easily deformed or damaged when subjected to various complex external forces (such as aerodynamics during flight, water flow impact in water, impact during takeoff and landing, etc.), thereby ensuring the structural integrity and safety of the drone.

[0036] When the present invention is working: When the UAV needs to take off from the water, the main controller 33 controls the electric eel drive mechanism 12 to stop working, so that the wire-feather electric eel structure 15 remains stationary and reduces the resistance in the water; at the same time, the main controller 33 controls the two waterproof brushless motors 18 to start, driving the propeller body 26 of the folding propeller assembly 20 to rotate and generate an upward lift. As the lift gradually increases, the UAV begins to leave the water. During takeoff, the tilt mechanism 17 can adjust the angle of the waterproof brushless motor 18 as needed to maintain the stable posture of the UAV. When flying in the air, the main controller 33 controls the rotation speed of the two waterproof brushless motors 18 to achieve the basic flight actions of the UAV, such as rising, falling, moving forward and backward. For example When the drone needs to rise, the speed of the two motors is increased; when it needs to turn, the front and rear two waterproof brushless motors 18 are made to produce different deflection angles through the tilt mechanism 17, thereby realizing yaw movement; at the same time, the wireless communication module 34 receives the command of the external control device such as the remote control or the ground control station in real time, and transmits the flight status information of the drone such as the position, altitude, speed, attitude, etc. back to the external device, so as to realize the remote monitoring and control of the drone by the operator; when the drone needs to enter the water from the air, the main controller 33 first controls the waterproof brushless motor 18 to stop rotating, and then controls the folding propeller assembly 20 to fold the propeller body 26 through the action of the connecting arm 23 and the pin shaft 24 To reduce the resistance in the water, at the same time, the electric eel driving mechanism 12 starts to work, driving the rotating connector 13 to drive the flexible and bendable material of the wire-feather electric eel structure 15 to swing, generating forward or backward thrust, so that the UAV slowly enters the water. During the entry into the water, the horizontal rudder surface 30 and the vertical rudder surface 31 can be fine-tuned as needed to keep the UAV's entry posture stable; when sneaking in the water, the electric eel driving mechanism 12 continuously controls the movement of the wire-feather electric eel structure 15, and realizes the forward, backward, and turning movements of the UAV in the water by adjusting the rotation angle and frequency of the rotating connector 13. The horizontal rudder surface 30 and the vertical rudder surface 31 work in coordination with the wire-feather electric eel structure 15 to further accurately control the UAV The direction of movement of the human-machine in the water; for example, when it is necessary to turn left, the horizontal rudder surface 30 on the left is deflected upward, and the horizontal rudder surface 30 on the right is deflected downward, and at the same time, the swing amplitude of the left side of the imitation line feather electric eel structure 15 is reduced, and the swing amplitude of the right side is increased, generating a left turning torque; in addition, according to the different equipment on the load platform 22, the drone can perform a variety of tasks. For example, when equipped with high-definition cameras and sensors, it can shoot and collect data of underwater or aerial environments, obtain water quality information, marine facility conditions, topography and other data, and transmit the data back to the control center in real time through the wireless communication module 34; if equipped with equipment such as manipulators, it can perform operations such as picking up objects and collecting samples in the water;During the execution of the task, the main controller 33 coordinates the work of the electric eel drive mechanism 12, the tilt mechanism 17, the waterproof brushless motor 18 and the equipment on the load platform 22 according to the preset program or the received external instructions to ensure the smooth completion of the task. ;

[0037] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A dual-rotor water-air amphibious UAV with a structure imitating a wire-feathered electric eel, characterized in that: The invention comprises a main body assembly (1), wherein the main body assembly (1) comprises a tripod bracket (10), a fuselage body (11), an electric eel driving mechanism (12), a rotating connecting piece (13), a U-shaped slot (14), a wire-feather electric eel structure (15), a mounting groove (16), a tilting mechanism (17), a waterproof brushless motor (18), an output shaft (19), a folding propeller assembly (20), a sealed cabin (21) and a load platform (22); An electric eel drive mechanism (12) is provided in the middle of both sides of the fuselage main body (11); the output ends of the two electric eel drive mechanisms (12) are fixedly connected to five rotating connectors (13); one side of the five rotating connectors (13) located on the same side is fixedly connected to a wire-feather electric eel structure (15) through a U-shaped slot (14); the front and rear parts of the upper surface of the fuselage main body (11) are provided with mounting grooves (16); the inner side walls of the two mounting grooves (16) are fixedly connected to a tilting mechanism (17); the output ends of the two tilting mechanisms (17) are installed with a waterproof brushless motor (18) through a triangular bracket (10); the output ends of the two waterproof brushless motors (18) are fixedly connected to a folding propeller assembly (20) through an output shaft (19); a sealed cabin (21) is provided inside the fuselage main body (11); and a load platform (22) is installed in the middle of the lower surface of the fuselage main body (11).

2. The dual-rotor amphibious UAV with a structure imitating a wire-feathered electric eel according to claim 1, characterized in that: The folding propeller assembly (20) comprises a connecting arm (23), a pin shaft (24), a propeller connecting block (25) and a propeller body (26); The bottom and top of the outer wall of the output shaft (19) are fixedly connected to a connecting arm (23); the front and rear portions of the adjacent sides of the two connecting arms (23) are rotatably connected to a propeller connecting block (25) via a pin shaft (24); and the ends of the two propeller connecting blocks (25) that are separated from each other are fixedly connected to a propeller body (26).

3. The dual-rotor amphibious UAV with a structure imitating a wire-feathered electric eel according to claim 1, characterized in that: The material of the electric eel-like structure (15) is a flexible and bendable material.

4. The dual-rotor water-air amphibious UAV with a wire-feathered electric eel-like structure according to claim 1, characterized in that: The fuselage body (11) comprises a nose (27), a middle fuselage portion (28) and a tail (29); the rear surface of the nose (27) is fixedly connected to the front surface of the middle fuselage portion (28); the front surface of the tail (29) is fixedly connected to the rear surface of the middle fuselage portion (28); the sealed cabin (21) is arranged inside the middle fuselage portion (28); horizontal control surfaces (30) are installed on both sides of the outer arms of the tail (29); a vertical control surface (31) is installed on the upper part of the outer arms of the tail (29); and the load platform (22) is arranged at the bottom of the middle fuselage portion (28).

5. The dual-rotor water-air amphibious UAV with a wire-feathered electric eel-like structure according to claim 1, characterized in that: A storage battery (32) and a main controller (33) are arranged inside the sealed cabin (21), and an output end of the storage battery (32) is electrically connected to an input end of the main controller (33).

6. The dual-rotor amphibious drone with a structure imitating a wire-feathered electric eel according to claim 5, characterized in that: The input ends of the electric eel driving mechanism (12), the tilting mechanism (17) and the waterproof brushless motor (18) are all electrically connected to the output end of the main controller (33).

7. The dual-rotor water-air amphibious UAV with a structure imitating a wire-feathered electric eel according to claim 6, characterized in that: A wireless communication module (34) is provided on the top of the main controller (33), and the main controller (33) is connected to the wireless communication module (34).

8. The dual-rotor water-air amphibious UAV with a structure imitating a wire-feathered electric eel according to claim 5, characterized in that: A battery management module (35) is provided at the front portion of the upper surface of the storage battery (32), and the battery management module (35) is connected to the storage battery (32).

9. The dual-rotor water-air amphibious UAV with a structure imitating a wire-feathered electric eel according to claim 4, characterized in that: The connection between the nose (27), the middle part of the fuselage (28) and the tail (29) is smoothly transitioned.

10. The dual-rotor water-air amphibious UAV with a structure imitating a wire-feathered electric eel according to claim 4, characterized in that: The nose (27), the middle fuselage (28) and the tail (29) are all made of carbon fiber materials.

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