A shipborne unmanned aerial vehicle and its combined land, sea and air transport method

Abstract

This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically a shipborne UAV and its combined land-sea-air transport method, including a shipborne endurance device. The shipborne endurance device includes a hollow hull, a solar panel fixedly connected to the top of the hollow hull, a battery fixedly connected to the upper part of the hollow hull, a sleeve fixedly connected to the upper part of the hollow hull, a cargo compartment sleeved on the outer ring of the sleeve, and a fully charged controller fixedly connected to the upper part of the hollow hull. The relative movement of two sets of centering clamping plates can center and clamp the cargo compartment, keeping the center of gravity of the cargo compartment and the UAV aligned, thereby reducing airflow vortex interference encountered by the UAV when carrying the cargo compartment, thus improving the stability of the UAV's flight. Furthermore, the limitation of the limiting rod can prevent the cargo compartment from slipping and causing damage to the cargo inside the cargo compartment, thereby improving the integrity of the cargo inside the cargo compartment during transportation.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically a shipborne UAV and its combined land, sea and air transport method. Background Technology

[0002] Shipborne unmanned aerial vehicles (UAVs) are unmanned aircraft that use various types of ships as carriers and are operated by radio remote control equipment or their own program control devices. They can perform a variety of tasks in the maritime environment, such as monitoring ships, assisting in search and rescue, and environmental monitoring. They have advantages such as improved response speed, increased monitoring range, high cost-effectiveness, strong data collection and analysis capabilities, and flexibility and portability.

[0003] In existing technologies, drones take off from a ship-borne platform, fly to their destination according to a preset route or operating instructions, and monitor their flight status and surrounding environment in real time through onboard sensors and cameras. Upon arrival, they release the cargo from their payload to a designated location, and then return to the ship-borne platform according to instructions, landing smoothly to complete the entire transportation mission.

[0004] The above-mentioned solutions still have some problems in practical application. Although existing shipborne drones can complete transportation tasks, when drones are operating at low altitudes in cities, the airflow around tall buildings is complex, forming various air vortices and turbulence. When drones fly near these buildings, the cargo compartment is affected by lateral forces, which can cause the cargo compartment to shift. This shift will cause the overall center of gravity of the drone to change. When the cargo compartment is shifted to one side by lateral forces, the drone will tilt, which will affect the stability of the drone when carrying cargo. Secondly, air vortices will interfere with the flight stability of the drone, causing the drone to sway or change its attitude. When this interference is strong enough, it will affect the clamping stability between the cargo compartment and the drone, causing the cargo compartment to slip. During the slip, the cargo will be squeezed by the cargo compartment or other cargo, causing changes in shape, such as deformation or twisting.

[0005] Therefore, the present invention provides a shipborne unmanned aerial vehicle and a method for combined land, sea and air transport. Summary of the Invention

[0006] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0007] The technical solution adopted by the present invention to solve its technical problem is as follows: The present invention provides a shipborne unmanned aerial vehicle (UAV) including a shipborne endurance device. The shipborne endurance device includes a hollow hull, a solar panel fixedly connected to the top of the hollow hull, a battery fixedly connected to the upper part of the hollow hull, a sleeve fixedly connected to the upper part of the hollow hull, a cargo compartment sleeved on the outer ring of the sleeve, a fully charged controller fixedly connected to the upper part of the hollow hull, a cargo UAV disposed above the fully charged controller, and a centering clamping mechanism disposed at the bottom of the cargo UAV.

[0008] The centering clamping mechanism includes a fixed base plate fixed to the bottom of the cargo drone. Two sets of centering clamping plates are slidably arranged below the fixed base plate. The relative movement of the two sets of centering clamping plates can clamp the cargo cabin, reducing the airflow vortex interference encountered by the cargo drone when it is flying with the cargo cabin.

[0009] Preferably, the solar panel, battery, cargo compartment, and fully charged controller are arranged on the same horizontal plane in sequence. The solar panel, battery, and fully charged controller are connected by a line. The upper part of the fully charged controller is inserted into the bottom of the two wings of the cargo drone. The arrangement of the solar panel and battery can improve the overall flight time of the device.

[0010] Preferably, a first electric cylinder is fixedly connected to the lower part of the fixed base plate near the side. A first telescopic rod is slidably connected inside the first electric cylinder. A fixed block is fixedly connected to one end of the first telescopic rod, and a sliding plate is fixedly connected inside the fixed block.

[0011] Preferably, the movement of the first telescopic rod can provide power support for the movement of subsequent devices.

[0012] Preferably, a guide block is fixedly connected to the bottom of the fixed base plate, a sliding block is slidably connected inside the guide block, a sliding plate is fixedly connected to the bottom of the sliding block, a centering clamping plate is fixedly connected to the bottom of the sliding plate, a first pulling rod is rotatably connected to the bottom of the sliding plate, the other end of the first pulling rod is rotatably connected to a rotating long plate via a pin, a rotating rod is provided in the middle of the rotating long plate, the rotating long plate is rotatably connected inside the rotating long plate, and a second pulling rod is rotatably connected to the bottom of one side of the rotating long plate via a pin.

[0013] Preferably, the guide block provides limiting and support for the movement of the sliding plate, thereby improving the stability of the sliding plate's movement. The rotation of the rotating long plate can drive the second and first pulling rods to retract and expand outward, thereby driving the two sets of centering clamping plates to move synchronously. This allows the cargo compartment to be clamped in the middle of the cargo drone's lower part, reducing the airflow vortex interference experienced by the cargo drone when it is flying with the cargo compartment.

[0014] Preferably, the centering clamping mechanism is provided with a rotation limiting mechanism on its side for limiting the position. The rotation limiting mechanism includes a second electric cylinder, a second telescopic rod is slidably connected inside the second electric cylinder, a downward rotating column is rotatably connected to one end of the second telescopic rod, a sliding ball is fixedly connected to the outer ring surface of the downward rotating column, a fixed cylinder is fixedly connected to the side of the centering clamping plate, a guide groove is opened inside the fixed cylinder, a steering plate is fixedly connected to the bottom of the downward rotating column, and a limiting rod is fixedly connected to the upper part of the steering plate.

[0015] Preferably, the guide groove is composed of a vertical groove and an arc-shaped groove, and the included angle between the two grooves is greater than 90 degrees. The cooperation between the arc-shaped groove of the guide groove and the sliding ball can drive the steering plate to rotate 180 degrees, so that the top of the steering plate can fit with the bottom of the cargo compartment, thereby providing support for the cargo compartment when the cargo drone is flying. The setting of the limiting rod can limit the cargo compartment, thereby preventing the cargo compartment from sliding.

[0016] A method for combined land, sea, and air transport using shipborne unmanned aerial vehicles (UAVs) is as follows:

[0017] Preliminary preparations: Transport the cargo hold to the loading location, load the cargo to be transported into the cargo hold, and moor the hollow hull in the river channel at the loading location;

[0018] Ship transportation phase: The cargo-filled cargo compartment is transported to the top of the hollow hull and inserted into the sleeve. At this time, the cargo drone is activated and the hollow hull is driven by the cargo drone to travel along the predetermined route.

[0019] Drone transport phase: When the hollow hull reaches the nearest river channel to the unloading point, the cargo drone will detach from the hollow hull. When the bottom of the cargo drone approaches the cargo compartment, the first electric cylinder is activated. At this time, the first electric cylinder will drive the first telescopic rod to move in the direction of the first electric cylinder, and at the same time, it will drive the sliding plate to move synchronously. When the sliding plate moves, it will push the rotating long plate to rotate around the rotating long plate through the first pulling rod. At the same time, the second pulling rod will also move synchronously, which will drive another set of centering clamping plates connected to one side of the second pulling rod to move, thereby centering and clamping the cargo compartment.

[0020] Specifically, during the drone transportation phase, when the bottom of the cargo-carrying drone approaches the cargo compartment, the first electric cylinder is activated. At this time, the first telescopic rod sliding inside the first electric cylinder will drive the sliding plate to move linearly along the guide block. Simultaneously, the first pull rod will push against the rotating long plate and rotate around the rotating rod in the middle. When the rotating rod rotates, it will move with the second pull rod on its other side, and simultaneously drive another set of sliding plates to move synchronously. When the two sets of sliding plates move linearly towards the center of the fixed base plate, they will drive the two sets of centering clamping plates to move linearly synchronously, thereby clamping and limiting the cargo compartment.

[0021] The beneficial effects of this invention are as follows:

[0022] 1. In this invention, when the sliding plate is moved by activating the first electric cylinder, the bottom of the sliding block and the top of the sliding plate are fixed, and the sliding block slides on the outer ring surface of the guide block. Therefore, while the sliding plate moves, it is restricted by the guide block to move in a straight line, and at the same time, it pushes the first pulling rod to move synchronously. Since the first pulling rod and the rotating plate are connected by a pin, the movement of the first pulling rod will synchronously drive the rotating plate to rotate around the rotating rod in its middle. At the same time, since there is also a second pulling rod on the other side of the rotating plate connected by a pin, the rotation of the rotating plate will also cause the rotating plate to rotate. When activated, the second lever is pulled synchronously, and at the same time, another set of sliding plates is pulled to move in a straight line. Since the bottom of both sets of sliding plates is fixed with centering clamping plates, the relative linear movement of the two sets of sliding plates will drive the two sets of centering clamping plates to move synchronously, thereby clamping the cargo cabin. The relative movement of the two sets of centering clamping plates can center and clamp the cargo cabin, keeping the center of gravity of the cargo cabin and the cargo drone consistent, thereby reducing the airflow vortex interference encountered by the cargo drone when flying with the cargo cabin, and thus improving the stability of the cargo drone's flight.

[0023] 2. This invention utilizes the linear motion of the downward rotating column. Since the arc-shaped groove of the fixed cylinder is half-circled around the inner ring surface of the fixed cylinder, when the sliding ball slides to the other side of the arc-shaped groove of the guide groove, the steering plate fixed to the bottom of the downward rotating column will drive the limiting rod to rotate 180 degrees. At this time, the upper part of the steering plate will be completely in contact with the bottom of the cargo compartment, and the limiting rod will be in contact with the side of the lower part of the cargo compartment. The steering plate can provide corresponding support for the cargo compartment during the flight of the cargo drone. At the same time, since the upper part of the steering plate is relatively rough, it can increase the friction between the cargo compartment and the steering plate. Meanwhile, the limitation of the limiting rod can prevent the cargo compartment from slipping and causing damage to the cargo inside the cargo compartment, thereby improving the integrity of the cargo inside the cargo compartment during transportation. Attached Figure Description

[0024] The invention will now be further described with reference to the accompanying drawings.

[0025] Figure 1 This is a schematic diagram of the overall structure of a preferred embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the position and structure of the sleeve and cargo compartment shown in this invention;

[0027] Figure 3 This is a schematic diagram of the position and structure of the shipborne endurance device and the centering clamping mechanism shown in this invention.

[0028] Figure 4 This is a three-dimensional structural diagram of the centering clamping mechanism shown in this invention;

[0029] Figure 5 This is the invention shown Figure 4 Enlarged structural diagram at point A in the middle;

[0030] Figure 6 This is a schematic diagram of the positional structure of the centering clamping mechanism and the rotation limiting mechanism shown in this invention;

[0031] Figure 7 This is a three-dimensional structural diagram of the rotation limiting mechanism shown in this invention;

[0032] Figure 8 This is a schematic diagram of the internal structure of the fixed cylindrical column shown in this invention.

[0033] In the diagram: 1. Onboard endurance device; 101. Hollow hull; 102. Solar panel; 103. Battery; 104. Sheath; 105. Cargo compartment; 106. Fully charged controller;

[0034] 2. Cargo-carrying drones;

[0035] 3. Centering clamping mechanism; 301. Fixed base plate; 302. First electric cylinder; 303. First telescopic rod; 304. Fixed block; 305. Sliding plate; 306. Centering clamping plate; 307. Guide block; 308. Sliding block; 309. First pulling rod; 310. Rotating long plate; 311. Rotating rod; 312. Second pulling rod;

[0036] 4. Rotation limit mechanism; 401. Second electric cylinder; 402. Second telescopic rod; 403. Downward rotating column; 404. Sliding ball; 405. Fixed cylinder; 406. Guide groove; 407. Steering plate; 408. Limit rod. Detailed Implementation

[0037] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0038] Example 1

[0039] like Figures 1 to 8 As shown, one embodiment of the present invention is as follows:

[0040] A shipborne unmanned aerial vehicle (UAV) includes a shipborne endurance device 1. The shipborne endurance device 1 includes a hollow hull 101. A solar panel 102 is fixedly connected to the top of the hollow hull 101. A battery 103 is fixedly connected to the upper part of the hollow hull 101. A sleeve 104 is fixedly connected to the upper part of the hollow hull 101. A cargo compartment 105 is sleeved on the outer ring of the sleeve 104. A fully charged controller 106 is fixedly connected to the upper part of the hollow hull 101. A cargo UAV 2 is disposed above the fully charged controller 106. A centering clamping mechanism 3 is disposed at the bottom of the cargo UAV 2.

[0041] The centering clamping mechanism 3 includes a fixed base plate 301 fixed to the bottom of the cargo drone 2. Two sets of centering clamping plates 306 are slidably arranged below the fixed base plate 301. The relative movement of the two sets of centering clamping plates 306 can clamp the cargo cabin 105, reduce the airflow vortex interference encountered by the cargo drone 2 when carrying the cargo cabin 105, and thus improve the stability of the cargo drone 2 during flight.

[0042] Specifically, when drones are conducting low-altitude operations in urban areas, the airflow around tall buildings is complex, forming various air vortices and turbulence. When drones fly near these buildings, the cargo compartment is affected by lateral forces, which can cause the cargo compartment to shift. This shift in the cargo compartment will cause the overall center of gravity of the drone to change. When the cargo compartment is shifted to one side by lateral forces, the drone will tilt, which will affect the stability of the drone when flying with a cargo.

[0043] Therefore, this invention solves this problem by setting a certain structure. The cargo-carrying cabin 105, filled with cargo, is fitted onto the sleeve 104. At this time, the cargo-carrying drone 2 is started. When the cargo-carrying drone 2 is started, it will drive the hollow hull 101 to sail along the predetermined route in the river. During the sailing, the solar panel 102 converts light energy into electrical energy, and the converted electrical energy is stored in the battery 103 through the circuit. When the cargo-carrying drone 2 needs to be recharged, the power controller 106 will transfer the electrical energy in the battery 103 to the cargo-carrying drone 2 through the circuit. When the predetermined route is reached, the cargo-carrying drone 2 is started. At this time, the cargo-carrying drone 2 will carry the cargo-carrying cabin 105 and sail at low altitude. However, when the drone is performing low-altitude operations in the city, the airflow around the tall buildings in the urban environment is more complex, and various air currents will be formed. When a drone flies near these buildings, its cargo compartment is affected by vortexes and turbulence, causing it to shift. This shift alters the drone's center of gravity, leading to tilting and affecting its stability. The centering clamping mechanism 3 is activated. When activated, the two sets of centering clamping plates 306 sliding below the fixed base plate 301 move synchronously towards the center of the fixed base plate 301, thus centering and clamping the cargo compartment 105. This ensures the cargo compartment 105 maintains the same center of gravity as the drone 2, reducing airflow vortex interference and improving flight stability.

[0044] like Figure 4 As shown in the figure, a first electric cylinder 302 is fixedly connected to the lower part of the fixed base plate 301 near the side in this embodiment. A first telescopic rod 303 is slidably connected inside the first electric cylinder 302. A fixed block 304 is fixedly connected to one end of the first telescopic rod 303. A sliding plate 305 is fixedly connected inside the fixed block 304.

[0045] Specifically, when the hollow hull 101 sails to the river channel closest to the unloading point, the cargo-carrying drone 2 is activated. When the bottom of the cargo-carrying drone 2 approaches the cargo compartment 105, the first electric cylinder 302 is activated. At this time, the first electric cylinder 302 will pull the first telescopic rod 303 inside it to move in a straight line. At the same time, it will pull the sliding plate 305 through the fixed block 304 to move synchronously. The pulling of the first telescopic rod 303 can provide corresponding power support for the operation of subsequent equipment.

[0046] like Figure 4 and Figure 5As shown, in this embodiment, a guide block 307 is fixedly connected to the bottom of the fixed base plate 301. A sliding block 308 is slidably connected inside the guide block 307. A sliding plate 305 is fixedly connected to the bottom of the sliding block 308. A centering clamping plate 306 is fixedly connected to the bottom of the sliding plate 305. A first pulling rod 309 is rotatably connected to the bottom of the sliding plate 305. The other end of the first pulling rod 309 is rotatably connected to a rotating long plate 310 via a pin. A rotating rod 311 is provided in the middle of the rotating long plate 310. The rotating long plate 310 is rotatably connected inside the rotating long plate 310. A second pulling rod 312 is rotatably connected to the bottom of one side of the rotating long plate 310 via a pin.

[0047] Specifically, when the sliding plate 305 moves, since the bottom of the sliding block 308 is fixed to the top of the sliding plate 305, and the sliding block 308 slides on the outer ring surface of the guide block 307, the sliding plate 305 will be restricted by the guide block 307 to move in a straight line while moving, and will push the first pulling rod 309 to move synchronously. Since the first pulling rod 309 and the rotating long plate 310 are connected by a pin, the first pulling rod 309 will drive the rotating long plate 310 to rotate around the rotating rod 311 in the middle while moving. At the same time, since the other side of the rotating long plate 310 is also connected to the second pulling rod 312 by a pin, the second pulling rod 312 will be pulled synchronously when the rotating long plate 310 rotates, and will pull another set of sliding plates 305 to move in a straight line while moving.

[0048] Since the bottom of both sets of sliding plates 305 is fixed with centering clamping plates 306, when the two sets of sliding plates 305 move in a relative straight line, they will drive the two sets of centering clamping plates 306 to move synchronously, thereby clamping the cargo compartment 105. Through the relative movement of the two sets of centering clamping plates 306, the cargo compartment 105 can be centered and clamped, so that the center of gravity of the cargo compartment 105 and the cargo drone 2 are kept consistent, thereby reducing the airflow vortex interference encountered by the cargo drone 2 when carrying the cargo compartment 105, and thus improving the stability of the cargo drone 2 during flight.

[0049] like Figure 7 and Figure 8As shown, the centering clamping mechanism 3 of this embodiment is provided with a rotation limiting mechanism 4 for limiting the position on its side. The rotation limiting mechanism 4 includes a second electric cylinder 401. A second telescopic rod 402 is slidably connected inside the second electric cylinder 401. A downward rotating column 403 is rotatably connected to one end of the second telescopic rod 402. A sliding ball 404 is fixedly connected to the outer ring surface of the downward rotating column 403. A fixed cylinder 405 is fixedly connected to the side of the centering clamping plate 306. A guide groove 406 is opened inside the fixed cylinder 405. A steering plate 407 is fixedly connected to the bottom of the downward rotating column 403. A limiting rod 408 is fixedly connected to the upper part of the steering plate 407.

[0050] Specifically, when the centering clamping mechanism 3 completes its work, the second electric cylinder 401 is activated. At this time, the second electric cylinder 401 pushes the second telescopic rod 402 inside it to move linearly, and at the same time drives the downward rotating column 403 to move synchronously. At this time, the sliding ball 404 fixed on the outer ring surface of the downward rotating column 403 is in the vertical groove of the guide groove 406. Therefore, the downward rotating column 403 will drive the steering plate 407 and the limit rod 408 to move linearly. When the sliding ball 404 slides along the guide of the guide groove 406 to the junction of the vertical groove and the arc groove, the upper part of the steering plate 407 fixed at the bottom of the downward rotating column 403 will be slightly higher than the bottom of the cargo compartment 105. The second electric cylinder 401 will continue to push the second telescopic rod 402 to move linearly. At this time, the sliding ball 404 will slide into the arc groove of the guide groove 406 and slide along the arc groove.

[0051] Since the arc-shaped groove of the fixed cylinder 405 is half-circled around the inner ring surface of the fixed cylinder 405, when the sliding ball 404 slides to the other side of the arc-shaped groove of the guide groove 406, the steering plate 407 fixed to the bottom of the downward rotating column 403 will drive the limiting rod 408 to rotate 180 degrees. At this time, the upper part of the steering plate 407 will be completely in contact with the bottom of the cargo compartment 105, and the limiting rod 408 will be in contact with the lower side of the cargo compartment 105. The steering plate 407 can provide corresponding support for the cargo compartment 105 during the flight of the cargo drone 2. At the same time, since the upper part of the steering plate 407 is relatively rough, it can increase the friction between the cargo compartment 105 and the steering plate 407. Meanwhile, the limitation of the limiting rod 408 can prevent the cargo compartment 105 from slipping and causing damage to the cargo inside the cargo compartment 105, thereby improving the integrity of the cargo inside the cargo compartment 105 during transportation.

[0052] Example 2

[0053] like Figures 1 to 8As shown in the comparison with Embodiment 1, another embodiment of the present invention is: a method for combined land, sea, and air transport using a shipborne unmanned aerial vehicle, the specific steps of which include:

[0054] Preliminary preparations: Transport the cargo hold 105 to the loading location, load the cargo to be transported into the cargo hold 105, and moor the hollow hull 101 in the river channel at the loading location.

[0055] Ship transportation phase: The cargo compartment 105 filled with cargo is transported to the top of the hollow hull 101, and the cargo compartment 105 is inserted into the sleeve 104. At this time, the cargo drone 2 is started, and the hollow hull 101 is driven along the predetermined route by the cargo drone 2.

[0056] During the drone transportation phase: When the hollow hull 101 reaches the river channel closest to the unloading point, the cargo drone 2 will detach from the hollow hull 101. When the bottom of the cargo drone 2 approaches the cargo compartment 105, the first electric cylinder 302 is activated. At this time, the first electric cylinder 302 will drive the first telescopic rod 303 to move in the direction of the first electric cylinder 302, and at the same time drive the sliding plate 305 to move synchronously. When the sliding plate 305 moves, it will push the rotating long plate 310 to rotate around the rotating long plate 310 through the first pull rod 309. At this time, the second pull rod 312 will also move synchronously, which can drive another set of centering clamping plates 306 connected to one side of the second pull rod 312 to move, thereby centering and clamping the cargo compartment 105.

[0057] Specifically, during the drone transportation phase, when the bottom of the cargo drone 2 approaches the cargo compartment 105, the first electric cylinder 302 is activated. At this time, the first telescopic rod 303 sliding inside the first electric cylinder 302 will drive the sliding plate 305 to move linearly along the guide block 307. Simultaneously, the first pulling rod 309 will abut against the rotating long plate 310 and rotate around the rotating rod 311 in the middle. When the rotating rod 311 rotates, it will drive the second pulling rod 312 on the other side to move. Simultaneously, it will drive another set of sliding plates 305 to move synchronously. When the two sets of sliding plates 305 move linearly towards the middle of the fixed base plate 301, they will drive the two sets of centering clamping plates 306 to move linearly synchronously, thereby clamping and limiting the cargo compartment 105.

[0058] Working principle: When the hollow hull 101 sails to the river channel closest to the unloading point, the cargo-carrying drone 2 is activated. When the bottom of the cargo-carrying drone 2 approaches the cargo compartment 105, the first electric cylinder 302 is activated. At this time, the first electric cylinder 302 will pull the first telescopic rod 303 inside it to move in a straight line. At the same time, it will pull the sliding plate 305 through the fixed block 304 to move synchronously. The pulling of the first telescopic rod 303 can provide corresponding power support for the operation of subsequent equipment.

[0059] When the sliding plate 305 moves, since the bottom of the sliding block 308 is fixed to the top of the sliding plate 305 and the sliding block 308 slides on the outer ring surface of the guide block 307, the sliding plate 305 will be restricted by the guide block 307 to move in a straight line while moving. At the same time, it will push the first pulling rod 309 to move synchronously. Since the first pulling rod 309 and the rotating long plate 310 are rotated by a pin, the first pulling rod 309 will drive the rotating long plate 310 to rotate around the rotating rod 311 in the middle at the same time. At the same time, since the other side of the rotating long plate 310 is also connected to the second pulling rod 312 by a pin, the second pulling rod 312 will be pulled synchronously when the rotating long plate 310 rotates, and at the same time, it will pull another set of sliding plates 305 to move in a straight line.

[0060] Since the bottom of both sets of sliding plates 305 is fixed with centering clamping plates 306, when the two sets of sliding plates 305 move in a relative straight line, they will drive the two sets of centering clamping plates 306 to move synchronously, thereby clamping the cargo compartment 105. Through the relative movement of the two sets of centering clamping plates 306, the cargo compartment 105 can be centered and clamped, so that the center of gravity of the cargo compartment 105 and the cargo drone 2 are kept consistent, thereby reducing the airflow vortex interference encountered by the cargo drone 2 when carrying the cargo compartment 105, and thus improving the stability of the cargo drone 2 during flight.

[0061] When the centering clamping mechanism 3 completes its work, the second electric cylinder 401 is activated. At this time, the second electric cylinder 401 will push the second telescopic rod 402 inside it to move linearly, and at the same time drive the downward rotating column 403 to move synchronously. At this time, the sliding ball 404 fixed on the outer ring surface of the downward rotating column 403 is in the vertical groove of the guide groove 406. Therefore, the downward rotating column 403 will drive the steering plate 407 and the limit rod 408 to move linearly. When the sliding ball 404 slides along the guide of the guide groove 406 to the junction of the vertical groove and the arc groove, the upper part of the steering plate 407 fixed at the bottom of the downward rotating column 403 will be slightly higher than the bottom of the cargo compartment 105. The second electric cylinder 401 will continue to push the second telescopic rod 402 to move linearly. At this time, the sliding ball 404 will slide into the arc groove of the guide groove 406 and slide along the arc groove.

[0062] Since the arc-shaped groove of the fixed cylinder 405 is half-circled around the inner ring surface of the fixed cylinder 405, when the sliding ball 404 slides to the other side of the arc-shaped groove of the guide groove 406, the steering plate 407 fixed to the bottom of the downward rotating column 403 will drive the limiting rod 408 to rotate 180 degrees. At this time, the upper part of the steering plate 407 will be completely in contact with the bottom of the cargo compartment 105, and the limiting rod 408 will be in contact with the lower side of the cargo compartment 105. The steering plate 407 can provide corresponding support for the cargo compartment 105 during the flight of the cargo drone 2. At the same time, since the upper part of the steering plate 407 is relatively rough, it can increase the friction between the cargo compartment 105 and the steering plate 407. Meanwhile, the limitation of the limiting rod 408 can prevent the cargo compartment 105 from slipping and causing damage to the cargo inside the cargo compartment 105, thereby improving the integrity of the cargo inside the cargo compartment 105 during transportation.

[0063] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A shipborne unmanned aerial vehicle (UAV), comprising a shipborne endurance device (1), the shipborne endurance device (1) comprising a hollow hull (101), a solar panel (102) fixedly connected to the upper part of the hollow hull (101), a battery (103) fixedly connected to the upper part of the hollow hull (101), a sleeve (104) fixedly connected to the upper part of the hollow hull (101), a cargo compartment (105) sleeved on the outer ring of the sleeve (104), a charge / discharge controller (106) fixedly connected to the upper part of the hollow hull (101), and a cargo UAV (2) disposed above the charge / discharge controller (106), characterized in that: The cargo-carrying drone (2) is provided with a centering clamping mechanism (3) at its bottom; The centering clamping mechanism (3) includes a fixed base plate (301) fixed to the bottom of the cargo drone (2). Two sets of centering clamping plates (306) are slidably arranged below the fixed base plate (301). The relative movement of the two sets of centering clamping plates (306) can center and clamp the cargo cabin (105), so that the center of gravity of the cargo cabin (105) and the cargo drone (2) are consistent, thereby reducing the airflow vortex interference when the cargo drone (2) carries the cargo cabin (105) during flight. The centering clamping mechanism (3) is provided with a rotation limiting mechanism (4) for limiting the position on its side. The rotation limiting mechanism (4) includes a second electric cylinder (401). A second telescopic rod (402) is slidably connected inside the second electric cylinder (401). A downward rotating column (403) is rotatably connected to one end of the second telescopic rod (402). A sliding ball (404) is fixedly connected to the outer ring surface of the downward rotating column (403). A fixed cylinder (405) is fixedly connected to the side of the centering clamping plate (306). A guide groove (406) is opened inside the fixed cylinder (405). A steering plate (407) is fixedly connected to the bottom of the downward rotating column (403). A limiting rod (408) is fixedly connected to the upper part of the steering plate (407). The guide groove (406) is composed of a vertical groove and an arc groove, and the included angle between the two grooves is greater than 90 degrees. The arc groove of the guide groove (406) and the sliding ball (404) can drive the steering plate (407) to rotate 180 degrees, so that the top of the steering plate (407) can fit with the bottom of the cargo compartment (105), thereby providing support for the cargo compartment (105) when the cargo drone (2) is flying. The setting of the limiting rod (408) can limit the cargo compartment (105) to avoid the cargo compartment (105) from sliding.

2. The shipborne unmanned aerial vehicle according to claim 1, characterized in that: The solar panel (102), battery (103), cargo compartment (105), and charge / discharge controller (106) are on the same horizontal plane and arranged in sequence. The solar panel (102), battery (103), and charge / discharge controller (106) are connected by a line. The upper part of the charge / discharge controller (106) is inserted into the bottom of the two wings of the cargo drone (2). The arrangement of the solar panel (102) and battery (103) can improve the overall battery life of the device.

3. A shipborne unmanned aerial vehicle according to claim 1, characterized in that: A first electric cylinder (302) is fixedly connected to the lower part of the fixed base plate (301) near the side. A first telescopic rod (303) is slidably connected inside the first electric cylinder (302). A fixed block (304) is fixedly connected to one end of the first telescopic rod (303). A sliding plate (305) is fixedly connected inside the fixed block (304).

4. A shipborne unmanned aerial vehicle according to claim 3, characterized in that: The movement of the first telescopic rod (303) can provide power support for the movement of subsequent devices.

5. A shipborne unmanned aerial vehicle according to claim 3, characterized in that: The bottom of the fixed base plate (301) is fixedly connected to a guide block (307), and a sliding block (308) is slidably connected inside the guide block (307). The sliding plate (305) is fixedly connected to the bottom of the sliding block (308), and a centering clamping plate (306) is fixedly connected to the bottom of the sliding plate (305). A first pulling rod (309) is rotatably connected to the bottom of the sliding plate (305). The other end of the first pulling rod (309) is rotatably connected to a rotating long plate (310) via a pin. A rotating rod (311) is provided in the middle of the rotating long plate (310). The rotating rod (311) is rotatably connected inside the rotating long plate (310). A second pulling rod (312) is rotatably connected to the bottom of one side of the rotating long plate (310) via a pin.

6. A shipborne unmanned aerial vehicle according to claim 5, characterized in that: The guide block (307) provides a limit and support for the movement of the sliding plate (305), thereby improving the stability of the movement of the sliding plate (305). The rotation of the rotating long plate (310) can drive the second pulling rod (312) and the first pulling rod (309) to retract and expand, thereby driving the two sets of centering clamping plates (306) to move synchronously, so that the cargo cabin (105) can be clamped in the middle of the cargo drone (2) below, reducing the airflow vortex interference when the cargo drone (2) carries the cargo cabin (105) during flight.

7. A method for combined land, sea, and air transport using a shipborne unmanned aerial vehicle (UAV), comprising the shipborne UAV described in claim 1, characterized in that: Specifically: Preliminary preparations: Transport the cargo hold (105) to the cargo loading location, load the cargo to be transported into the cargo hold (105), and moor the hollow hull (101) in the river channel at the cargo loading location; Ship transportation stage: The cargo compartment (105) filled with cargo is transported to the top of the hollow hull (101), and the cargo compartment (105) is inserted into the sleeve (104). At this time, the cargo drone (2) is started, and the hollow hull (101) is driven by the cargo drone (2) to sail along the predetermined route. During the drone transportation phase: When the hollow hull (101) reaches the river channel closest to the unloading point, the cargo drone (2) will detach from the hollow hull (101). When the bottom of the cargo drone (2) approaches the cargo compartment (105), the first electric cylinder (302) is activated. At this time, the first electric cylinder (302) will drive the first telescopic rod (303) to move in the direction of the first electric cylinder (302), and at the same time, it will drive the sliding plate (305) to move synchronously. When the sliding plate (305) moves, it will push the rotating long plate (310) to rotate around the rotating long plate (310) through the first pull rod (309). At this time, the second pull rod (312) will also move synchronously, which will drive another set of centering clamping plates (306) connected to one side of the second pull rod (312) to move, thereby centering and clamping the cargo compartment (105). When the centering clamping mechanism (3) completes its work, the second electric cylinder (401) is activated. At this time, the second electric cylinder (401) will push the second telescopic rod (402) inside it to move linearly, and at the same time drive the downward rotating column (403) to move synchronously. At this time, the sliding ball (404) fixed on the outer ring surface of the downward rotating column (403) is in the vertical groove of the guide groove (406). Therefore, the downward rotating column (403) will drive the steering plate (407) and the limit rod ( 408) When the sliding ball (404) slides along the guide groove (406) to the junction of the vertical groove and the arc groove, the upper part of the steering plate (407) fixed at the bottom of the downward rotating column (403) will be slightly higher than the bottom of the cargo compartment (105), and the second electric cylinder (401) will continue to push the second telescopic rod (402) to move in a straight line. At this time, the sliding ball (404) will slide into the arc groove of the guide groove (406) and slide along the arc groove. Since the arc-shaped groove of the fixed cylinder (405) is half-circled around the inner annular surface of the fixed cylinder (405), when the sliding ball (404) slides to the other side of the arc-shaped groove of the guide groove (406), the steering plate (407) fixed to the bottom of the downward rotating column (403) will drive the limiting rod (408) to rotate 180 degrees. At this time, the upper part of the steering plate (407) will be completely in contact with the bottom of the cargo compartment (105), and the limiting rod (408) will be in contact with the lower side of the cargo compartment (105). The steering plate (407) can provide corresponding support for the cargo compartment (105) during the flight of the cargo drone (2). At the same time, since the upper part of the steering plate (407) is relatively rough, it can increase the friction between the cargo compartment (105) and the steering plate (407). Meanwhile, the limit rod (408) can prevent the cargo compartment (105) from slipping and causing damage to the cargo inside the cargo compartment (105), thereby improving the integrity of the cargo inside the cargo compartment (105) during transportation.

8. A method for combined land, sea, and air transport of a shipborne unmanned aerial vehicle according to claim 7, characterized in that: The specific UAV transportation stage is as follows: when the bottom of the cargo-carrying UAV (2) approaches the cargo compartment (105), the first electric cylinder (302) is activated. At this time, the first telescopic rod (303) sliding inside the first electric cylinder (302) will drive the sliding plate (305) to move linearly along the guide block (307). At the same time, the first pull rod (309) will push against the rotating long plate (310) and rotate around the rotating rod (311) in the middle. When the rotating rod (311) rotates, it will drive the second pull rod (312) on the other side to move. At the same time, it will drive another set of sliding plates (305) to move synchronously. When the two sets of sliding plates (305) move linearly towards the middle of the fixed base plate (301) synchronously, they will drive the two sets of centering clamping plates (306) to move linearly synchronously, thereby clamping and limiting the cargo compartment (105).

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