Tailstock type overwater vertical take-off and landing fixed-wing unmanned aerial vehicle

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a tailstock type overwater vertical take-off and landing fixed-wing unmanned aerial vehicle which can float and park on the water surface, can vertically take off to leave the water and is switched into a fixed-wing mode for cruising and level flight. The unmanned aerial vehicle comprises a four-rotor support buoy and a wing body fusion body fixed to the upper portion of the four-rotor support buoy, small wing type buoys are arranged on wing tips of the two sides of the wing body fusion body respectively, and lifting ailerons capable of deflecting up and down are arranged on the rear edges of wings on the two sides of the wing body fusion body respectively. And four motor rotor propeller propelling devices are uniformly arranged at the tip part of the four-rotor bracket buoy.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of unmanned aerial vehicle, in particular to a tail seat type water vertical take-off and landing fixed wing unmanned aerial vehicle, which can float on the water surface, vertically take off from the water and convert into a fixed wing mode for cruising and flat flying. BACKGROUND

[0002] At present, a large number of tail seat type vertical take-off and landing unmanned aerial vehicle products have emerged at home and abroad, but all of them adopt the traditional landing mode on land, and there is no tail seat type unmanned aerial vehicle product that can realize water vertical take-off and landing.

[0003] Four-rotor unmanned aerial vehicles have been popular in the consumer market, and unmanned aerial vehicle products with waterproof capability that can realize water vertical take-off and landing have emerged, but the four-rotor configuration determines that such unmanned aerial vehicles cannot have sufficient endurance capability, and the endurance capability of the above products is less than 30 minutes. SUMMARY

[0004] The purpose of the present application is to provide a tail seat type water vertical take-off and landing fixed wing unmanned aerial vehicle, to improve the flexibility and survivability of existing shipborne unmanned aerial vehicles, to develop a tail seat type water unmanned aerial vehicle that can continuously and stably float on the water surface and survive in high sea conditions, which can vertically take off from the water surface, hover in the air and maneuver, and have high cruising efficiency after converting into a cruising and flat flying state, to solve the problem that existing water unmanned aerial vehicles cannot balance vertical take-off and landing and high efficiency cruising, and to lay a foundation for subsequent development of new low-altitude new-quality new-domain unmanned combat equipment.

[0005] The technical solution of the present application is as follows:

[0006] The present application provides a tail seat type water vertical take-off and landing fixed wing unmanned aerial vehicle, which comprises a four-rotor support float, a wing-body fusion body fixed above the four-rotor support float, a small wing type float arranged on both sides of the wing-body fusion body, an elevating aileron capable of upward and downward deflection arranged on the trailing edge of the wing on both sides of the wing-body fusion body, and four motor propeller propulsion devices uniformly arranged on the tip of the four-rotor support float.

[0007] Further, the four-rotor support float provides static buoyancy for the whole machine floating on the water surface and serves as a support structure for the four motor propeller propulsion devices, and the four-rotor support float is made of lightweight high-strength glass fiber material.

[0008] Further, the wing-body fusion body is made of lightweight high-strength carbon fiber material and is subjected to waterproof and corrosion-resistant treatment, and in the cruising flight state, the aerodynamic shape of the wing-body fusion body provides lift for the whole machine to balance the gravity.

[0009] Further, the winglet type buoy plays a role of auxiliary buoy in the floating state on the water surface, provides a part of static buoyancy, and provides a stable restoring moment for the whole machine to ensure floating stability; in the cruising and flat flying state, the winglet type buoy plays a role of wing tip winglet, provides heading stability, reduces wing tip vortex intensity, reduces induced drag, and improves cruising efficiency.

[0010] Further, the elevators are the control surfaces of the whole machine, and the same deflection of the elevators on both sides can provide a pitch control moment, and the differential deflection of the elevators on both sides can provide a roll control moment, so as to realize control of two channels of pitch and roll.

[0011] Further, the four motor rotor propeller propulsion devices provide vertical pull force to balance the gravity of the whole machine in the vertical take-off and landing state on the water surface, realize vertical take-off and landing out of water, realize attitude control of the whole machine through differential in the vertical take-off and landing state, generate forward pull force to balance the resistance of the whole machine in the cruising and flat flying state, and also form control moments of two channels of pitch and yaw through differential.

[0012] Further, the airfoil of the wing-body fusion body is a rear edge reverse camber airfoil.

[0013] Further, the winglet type buoy is a double trapezoidal layout with a tip-to-root ratio of 0.75 and an aspect ratio of 5.

[0014] Further,

[0015] (1) In the floating state on the water surface, the four-rotor support buoy provides main static buoyancy of the whole machine, and the winglet type buoy ensures floating stability of the whole machine.

[0016] (2) In the vertical take-off state, the four motor rotor propeller propulsion devices are started, the rotating speed of the motor is increased, the rotor pull force is greater than the gravity of the whole machine, and the whole machine is vertically taken off into the air.

[0017] (3) In the air hovering state, the rotating speed of the motor is adjusted, the rotor pull force balances the gravity of the whole machine, the whole machine is realized in the air hovering state, and the change of the attitude of the whole machine is realized through differential control of the rotating speed of the four motors.

[0018] (4) Mode conversion transition, under the control of the flight control system, the four motor rotor propeller propulsion devices are controlled through the rotating speed, so that the whole machine completes attitude tilt transition, adjusts the whole machine thrust axis from the vertical state to the horizontal state, and enters the cruising and flat flying state.

[0019] (5) Cruise flat state, four motor rotor propeller propulsion device provides forward pull, balance the whole machine resistance, while the wing body under the action of aerodynamics, produce lift balance the whole machine gravity, wing body and small wing type float form high efficiency aerodynamic shape, realize high lift drag ratio cruise flat flight;

[0020] (6) Mode conversion transition, into the air hovering mode;

[0021] (7) Four motor speed reduction, gradually landing on the water, restore to the water floating state.

[0022] The beneficial effects of the technical scheme of the present application are:

[0023] (1) Water survival; can be stable on the water, with high stability and wave resistance, can be hidden and pre-served machine, also can maintain the floating state of water operation.(2) Vertical take-off and landing: can take off vertically on the water, without the need for conventional waterborne aircraft take-off water slide process, the adaptability to severe sea conditions is significantly enhanced.(3) High efficiency cruise: can be converted into fixed mode for high efficiency cruise, the wing body can ensure the high cruise lift-drag ratio of the whole machine, thereby significantly improving the range and time of conventional multi-rotor aircraft.(4) Compact system: the same power system takes into account vertical take-off and cruise flat, there is no dead weight, low power redundancy. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 A tail seat type water vertical take-off fixed wing unmanned aerial vehicle structure schematic diagram provided by the embodiment of the present application;

[0025] Figure 2 A tail seat type water vertical take-off fixed wing unmanned aerial vehicle control process schematic diagram provided by the embodiment of the present application;

[0026] Figure 3 A wing body wing type design schematic diagram provided by the embodiment of the present application;

[0027] Figure 4 Four-rotor support float and small wing type float effect schematic provided by the embodiment of the present application Figure 1 ;

[0028] Figure 5 Four-rotor support float and small wing type float effect schematic provided by the embodiment of the present application Figure 2 ;

[0029] Figure 6 A wing type schematic diagram of small wing type float provided by the embodiment of the present application;

[0030] Figure 7 A side view of small wing type float provided by the embodiment of the present application;

[0031] Figure 8 A four-rotor up-down differential pitch enhancement schematic diagram provided for the embodiment of the present application;

[0032] Figure 9 A four-rotor left-right differential yaw enhancement schematic diagram provided for the embodiment of the present application;

[0033] 1-four-rotor support float, 2-wing-body fusion, 3-small wing float, 4-elevon, 5-four-motor rotor propeller propulsion device. DETAILED DESCRIPTION

[0034] The technical solutions of the present application will be described in detail below with reference to the accompanying drawings.

[0035] The tail seat type aircraft has the characteristics of not needing a runway, being able to take off and land vertically, and being able to realize high-efficiency cruise flight. Compared with a helicopter, the tail seat type aircraft has a faster cruise flight speed and a higher cruise efficiency; compared with a tilt-rotor aircraft, the tail seat type aircraft saves the tilt mechanism and the corresponding actuator, and has advantages in weight and reliability; compared with a lift+cruise type EVTOL configuration, all power devices of the tail seat type aircraft can work in both vertical take-off and cruise flight states, so that there is no dead weight problem. Therefore, the tail seat type aircraft has unique advantages in the field of vertical take-off and landing aircrafts.

[0036] The tail seat type water vertical take-off and landing fixed-wing unmanned aerial vehicle of the present application is composed of multiple key components, and the specific structure and implementation method of the present application are as follows:

[0037] Reference Figure 1 The specific structure of the tail seat type water vertical take-off and landing fixed-wing unmanned aerial vehicle of the present application is as follows:

[0038] (1) Four-rotor support float

[0039] The four-rotor support float provides static buoyancy for the whole machine in the floating state on the water surface, and is also a support structure for the four-motor propeller propulsion device. The whole float is made of lightweight high-strength glass fiber material, and through water-tight design and waterproof treatment, the support and motor installation structure also adopts waterproof sealing treatment, which can adapt to water splashing and other situations in the floating state on the water surface.

[0040] (2) Wing-body fusion

[0041] The wing-body fusion is fixed above the four-rotor support float, is made of lightweight high-strength carbon fiber material, and is subjected to waterproof and corrosion-resistant treatment. In the cruise flight state, the aerodynamic shape of the wing-body fusion provides lift for the whole machine to balance the gravity.

[0042] (3) Small wing float

[0043] The component is located at the wing tip of both sides of the blended wing body, and plays a role of auxiliary float in the water floating state, provides a part of static buoyancy, and can provide a stable restoring moment for the whole machine to ensure the floating stability; in the cruising and flat flying state, the wing tip wing plays a role of wing tip wing, and on one hand provides the heading stability, and on the other hand reduces the wing tip vortex intensity, reduces the induced drag, and improves the cruising efficiency.

[0044] (4) Elevator

[0045] The elevators arranged on the trailing edges of the wings of both sides of the blended wing body can be upwardly and downwardly deflected, and are the only set of control surfaces of the whole machine; the same direction deflection of both sides can provide a pitch control moment, and the differential deflection provides a roll control moment, so that the control of two channels of pitch and roll is realized.

[0046] (5) Motor rotor propeller propulsion device

[0047] Four motor rotor propeller propulsion devices are arranged and installed at the tip of the four-rotor support float, and in the vertical take-off and landing state on the water surface, the four rotors provide vertical pulling force to balance the gravity of the whole machine, so that the vertical take-off and landing out of water is realized. In the vertical take-off and landing state, the four motors realize the attitude control of the whole machine through differential. In the cruising and flat flying state, the four motor rotor propulsion systems generate forward pulling force to balance the resistance of the whole machine in the flying state. Meanwhile, the four motors can also form control moments of two channels of pitch and yaw through differential, so that the maneuverability of the whole machine is significantly improved.

[0048] Reference Figure 2 The specific implementation method of the tail seat type water vertical take-off fixed-wing unmanned aerial vehicle is as follows:

[0049] (1) In the water floating state, the four-rotor support float provides the main static buoyancy of the whole machine, and the wing tip wing type float ensures the floating stability of the whole machine.

[0050] (2) In the vertical take-off state, the motor rotor propeller propulsion device is started, the motor speed is increased, and after the rotor pulling force is greater than the gravity of the whole machine, the whole machine is vertically taken off into the air.

[0051] (3) In the air hovering state, the motor speed is adjusted, the rotor pulling force balances the gravity of the whole machine, and the air hovering of the whole machine is realized. At this time, the change of the attitude of the whole machine can be realized through the differential control of the four motors.

[0052] (4) Mode conversion transition. Under the control of the flight control system, the motor rotor propeller propulsion device is controlled through the speed, so that the whole machine completes the attitude tilt transition, adjusts from the vertical state of the whole machine thrust axis to the horizontal state of the whole machine thrust axis, and enters the cruising and flat flying state.

[0053] (5) Cruise state, the motor rotor propeller propulsion device provides forward pull, balance the whole machine resistance, while the wing-body fuselage under the action of aerodynamics, produce lift to balance the whole machine gravity, wing-body fuselage and wing tip winglet type float form high efficiency aerodynamic shape, realize high lift-drag ratio cruise flight.

[0054] (6) Mode conversion transition, into the air hovering mode.

[0055] (7) The motor speed is reduced, gradually landing on the water surface, and restoring to the water floating state.

[0056] Wing-body fuselage airfoil design

[0057] For the wing-body configuration, its aerodynamic characteristics are equivalent to the flying wing, therefore in the embodiment of the application, the design of the airfoil is extremely critical, since the flying wing configuration has no horizontal tail, the whole machine is required to have as small a nose-down moment as possible in the cruise state, so as to achieve the self-trim effect without horizontal tail, therefore in the airfoil design, the wing-body configuration of the application adopts a rear edge reverse camber airfoil, as shown in Figure 3 , so as to realize the self-trim of the whole machine in cruise.

[0058] Wing tip winglet type float design

[0059] The tail seat vertical take-off and landing unmanned aerial vehicle of the application, referring to Figure 4 and Figure 5 , in the water floating state, on the one hand, the four-rotor frame adopts watertight design to provide most of the static buoyancy, in order to ensure the floating stability, a winglet type float is added at the wing tip, on the one hand, in the cruise state, the winglet type float plays a role of wing tip winglet, reduces the induced drag, and improves the cruise efficiency of the whole machine, on the other hand, in the water floating state, the winglet type float provides a stable moment as a float. Therefore, the wing tip winglet type float needs to meet the requirement of static buoyancy on the displacement under the design requirement of the traditional wing tip winglet, and also needs to meet the requirement of high aerodynamic efficiency of the wing tip winglet in the flight state under the design requirement of the float, after comprehensive trade-off, the winglet type float adopts a NACA0014 airfoil, a tip-to-root ratio of 0.75, and a double-trapezoidal layout with a aspect ratio of 5, as shown in Figure 6 and Figure 7 , which can realize the compromise between the displacement and the cruise efficiency.

[0060] Power type maneuvering enhanced control strategy

[0061] In the scheme of the application, the unmanned aerial vehicle has no horizontal tail of the traditional aircraft, in order to improve its maneuverability, a power type maneuvering enhanced strategy is adopted, that is, when performing pitch control and yaw control, the four rotor motors are differentially controlled to realize the enhancement of the pitch and yaw moments, and then the whole machine maneuverability is improved, as shown in Figure 8 and Figure 9 .

[0062] The beneficial effects of the technical scheme of the present application are as follows:

[0063] (1) Water surface survival; it can stably float on the water surface, has high stability and wave resistance, can be hidden and pre-positioned for action, and can also maintain the floating state for water surface operation. (2) Vertical take-off and landing: it can take off and land vertically on the water surface, without the need for the water sliding process required for conventional water-based aircraft take-off, and the adaptability to harsh sea conditions is significantly enhanced. (3) High-efficiency cruising: it can be converted into a fixed mode for high-efficiency cruising, and the wing-body combination can ensure high cruising lift-drag ratio of the whole machine, thereby significantly improving the range and time of conventional multi-rotor aircraft. (4) Compact system: the same power system considers vertical take-off and landing and cruising flight, and there is no dead weight, and the power redundancy is low.

Claims

1. A tail-sitter amphibious vertical take-off and landing fixed-wing unmanned aerial vehicle, characterized in that, The unmanned aerial vehicle comprises a four-rotor support float, a wing-body fusion body fixed above the four-rotor support float, winglet floats arranged at both sides of the wing-body fusion body, and elevators arranged at the trailing edges of the wings on both sides of the wing-body fusion body.

2. The tail stand type water-based vertical take-off and landing fixed-wing unmanned aerial vehicle according to claim 1, characterized in that, The four-rotor support float provides static buoyancy for the whole machine to float on the water surface and serves as a support structure for the four motor propeller propulsion devices.

3. The tail stand type water-based vertical take-off and landing fixed-wing unmanned aerial vehicle according to claim 1, characterized in that, The wing-body fusion body is made of lightweight high-strength carbon fiber material and is subjected to waterproof and corrosion-resistant treatment.

4. The tail stand type water-based vertical take-off and landing fixed-wing unmanned aerial vehicle according to claim 1, characterized in that, The winglet floats serve as auxiliary floats in the floating state on the water surface, provide part of the static buoyancy, and provide stable restoring moments for the whole machine to ensure floating stability.

5. The tail stand type water-based vertical take-off and landing fixed-wing unmanned aerial vehicle according to claim 1, characterized in that, The elevators serve as the control surfaces of the whole machine, and the same-direction deflection of the elevators on both sides provides a pitch control moment, and the differential deflection of the elevators on both sides provides a roll control moment, thereby realizing the control of the pitch and roll channels.

6. The tail stand type water-based vertical take-off and landing fixed-wing unmanned aerial vehicle according to claim 1, characterized in that, The four motor propeller propulsion devices provide vertical pull force to balance the gravity of the whole machine in the vertical take-off and landing state on the water surface, thereby realizing the vertical take-off and landing.

7. The tail stand type water-based vertical take-off and landing fixed-wing unmanned aerial vehicle according to claim 1, characterized in that, The airfoil of the wing-body fusion body is a rear-cambered airfoil.

8. The tail stand type water-based vertical take-off and landing fixed-wing unmanned aerial vehicle according to claim 1, characterized in that, The winglet floats have a double-trapezoidal layout with a tip-to-root ratio of 0.75 and an aspect ratio of 5.

9. The tail seat type water vertical take-off and landing fixed-wing unmanned aerial vehicle according to claim 1, characterized in that, (1) in the floating state on the water surface, the four-rotor support float provides the main static buoyancy of the whole machine, and the winglet floats ensure the floating stability of the whole machine; (2) in the vertical take-off state, the four motor propeller propulsion devices are started, the motor speed is increased, and the rotor pull force is greater than the gravity of the whole machine, thereby realizing the vertical take-off of the whole machine into the air; (3) in the air hovering state, the motor speed is adjusted, the rotor pull force balances the gravity of the whole machine, thereby realizing the air hovering of the whole machine, and the attitude of the whole machine is changed through the differential control of the four motors; (4) mode conversion transition, under the control of the flight control system, the four motor propeller propulsion devices are controlled through the motor speed, thereby realizing the attitude transition of the whole machine from the vertical state of the thrust axis of the whole machine to the horizontal state of the thrust axis of the whole machine, and entering the cruising state. (5) Cruise state, four electric motor rotor propeller propulsion devices provide forward pull, balance the whole machine resistance, while the wing-body fuselage under the action of aerodynamics, produce lift to balance the whole machine gravity, wing-body fuselage and small wing type float form high efficiency aerodynamic shape, realize high lift-drag ratio cruise flight; (6) Mode conversion transition, into the air hovering mode; (7) Four electric motor speed is reduced, gradually landing on the water, restore to the water floating state.

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