A transformable sea and air amphibious detection system and method suitable for multi-platform deployment

Abstract

The present invention provides a deformable sea and air amphibious detection system and method suitable for multi-platform delivery, the system comprising: a control system, a fuselage, a rotor system, a distributed special-shaped buoy and a payload delivery system; the rotor system comprises a rotor retracting and extending power device, a rotor folding and unfolding mechanism and a rotor mechanism; the present invention provides a deformable sea and air amphibious detection system suitable for multi-platform delivery, the system can live on the water surface for a long time, detect underwater targets through the payload delivery system, and has a certain short-distance rapid migration capability, which can ensure the continuous tracking of underwater mobile targets in a short time. In addition, the system can be autonomously deformed based on mission conditions, and has the characteristics of being easy to carry, maneuverable and flexible, easy to use, safe and efficient, sea and air amphibious, and having strong environmental adaptability.

Description

Technical Field

[0001] The present invention belongs to the technical field of aircraft, and in particular relates to a transformable sea and air amphibious detection system and method suitable for multi-platform deployment. Background Art

[0002] Amphibious aircraft refers to a type of aircraft that can fly in the air and stay on the water surface by its own buoyancy. Relying on its powerful flight ability and ability to stay on the water surface, this type of aircraft can not only perform reconnaissance and detection operations in the air, but also suspend and recover payload devices on complex water surfaces. In the needs of marine military and engineering, it can detect air, surface and underwater targets in key areas, and has great application potential in the fields of marine survey and reconnaissance, battlefield support and marine rescue.

[0003] The main feature of sea-air amphibious aircraft is that they can meet the needs of air, surface and underwater operations. Most of the existing amphibious aircraft adopt an integrated design, which cannot meet the operational needs and have flexible and convenient folding capabilities, so they cannot achieve rapid and long-distance deployment. Summary of the invention

[0004] In view of the defects of the prior art, the present invention provides a transformable sea and air amphibious detection system and method suitable for multi-platform deployment, which can effectively solve the above problems.

[0005] The technical solution adopted by the present invention is as follows:

[0006] The present invention provides a transformable sea and air amphibious detection system suitable for multi-platform deployment, comprising: a control system, a fuselage (1), a rotor system, distributed special-shaped buoys (2) and a load deployment system;

[0007] The rotor system includes a rotor retracting and extending power device, a rotor folding and unfolding mechanism and a rotor mechanism;

[0008] The rotor retracting and extending power device comprises: an upper encapsulation body (3), a retracting and extending stepping motor (4), a lead screw (5), a cross nut slider (6A) and a cross guide groove (6B); the upper encapsulation body (3) is fixedly installed above the fuselage (1); the cross guide groove (6B) is fixedly installed vertically in the direction of the top circle center axis of the upper encapsulation body (3), the lead screw (5) is coaxially installed inside the cross guide groove (6B), and the cross nut slider (6A) is screwed on the external thread of the lead screw (5), and when the lead screw (5) rotates, it drives the cross nut slider (6A) to move up and down along the cross guide groove (6B); the retracting and extending stepping motor (4) is fixedly installed inside the upper encapsulation body (3), and the power output shaft of the retracting and extending stepping motor (4) vertically passes through the top circle center of the upper encapsulation body (3) and is fixed to the bottom of the lead screw (5) for driving the lead screw (5) to rotate;

[0009] Wherein, the cross nut slider (6A) has four cross-shaped symmetrical nut slider hinge parts;

[0010] The rotor folding and unfolding mechanism comprises four rotor folding and unfolding units which are symmetrically distributed in a cross shape; each of the rotor folding and unfolding units is evenly distributed along the top circumference of the upper packaging body (3), and each of the rotor folding and unfolding units has the same structure, and comprises: a main connecting arm (7), a secondary connecting arm (8), a buoy pull rod (9) and a power pull rod (10);

[0011] A main connecting arm mounting hole (3-1) is fixedly installed at the top edge of the upper packaging body (3) in a direction parallel to the radial extension line of a corresponding hinged portion of the nut slider, and a secondary connecting arm mounting hole (3-2) is fixedly installed outside the main connecting arm mounting hole (3-1) and at a position lower than the main connecting arm mounting hole (3-1);

[0012] The inner end of the main connecting arm (7) is hinged to the upper encapsulation body (3) through the main connecting arm mounting hole (3-1), the outer end of the main connecting arm (7) is hinged to the upper end of the buoy pull rod (9), the auxiliary connecting arm (8) is located below the main connecting arm (7) and is parallel to the main connecting arm (7), the inner end of the auxiliary connecting arm (8) is hinged to the upper encapsulation body (3) through the auxiliary connecting arm mounting hole (3-2), and the outer end of the auxiliary connecting arm (8) is hinged to the lower end of the buoy pull rod (9), thereby forming a parallelogram structure;

[0013] The lower end of the buoy tie rod (9) is fixedly mounted with the distributed special-shaped buoy (2); a power tie rod hinge hole (7-1) is provided in the middle of the main connecting arm (7); the upper end of the power tie rod (10) is hinged to a nut slider hinge part of the cross nut slider (6A); and the lower end of the power tie rod (10) is hinged to the main connecting arm (7) through the power tie rod hinge hole (7-1);

[0014] When the cross nut slider (6A) moves upward along the cross guide groove (6B), the power pull rod (10) is driven to drive the parallelogram structure to rotate inward around the main connecting arm mounting hole (3-1), so that the rotor folding and unfolding mechanism is folded, so that the main connecting arm (7) and the auxiliary connecting arm (8) form a vertical state; at the same time, when folded into place, each distributed special-shaped buoy (2) surrounds the outside of the main connecting arm (7) and the auxiliary connecting arm (8), and is spliced ​​to form a cylindrical shape;

[0015] When the cross nut slider (6A) moves downward along the cross guide groove (6B), the power pull rod (10) is driven to drive the parallelogram structure to rotate outward around the main connecting arm mounting hole (3-1), thereby unfolding the rotor folding and unfolding mechanism, so that the main connecting arm (7) and the auxiliary connecting arm (8) form a horizontal state. At the same time, when unfolded in place, each distributed special-shaped buoy (2) is in a vertical downward state;

[0016] The rotor mechanism is arranged at the outer end of each main connecting arm (7), located directly above the corresponding distributed special-shaped buoy (2); the rotor mechanism comprises a rotor motor (11) and a rotor propeller (12) fixed on the rotor motor (11); the rotor motor (11) drives the rotor propeller (12) to rotate, thereby generating lift;

[0017] The load delivery system is installed at the lower part of the fuselage (1).

[0018] Preferably, the cross guide groove (6B) is a cross square slide groove, and its structure is as follows: four rectangular columns are arranged at four corner positions of the square, and the tops of the four rectangular columns are fixed by a limiting mechanism (6C); through the action of the limiting mechanism (6C), the gap between two adjacent rectangular columns forms a stable guide slide groove, thereby forming the cross guide groove (6B) with four guide slide grooves; the limiting mechanism (6C) also has a limiting effect on the rotor folding and unfolding unit being folded into place;

[0019] The cross nut slider (6A) comprises four slider units arranged in a cross shape, and each slider unit is adapted to a corresponding guide slot.

[0020] Preferably, the upper packaging body (3), the body (1) and the lower packaging body (13) are all cylindrical structures and are fixedly sealed and installed in sequence from top to bottom.

[0021] Preferably, the diameter of the cylindrical structure is D, and the length of the main connecting arm (7) is greater than 0.5D.

[0022] Preferably, the rotor blades (12) are a pair of forward and reverse blades, and the blade diameters are the same.

[0023] Preferably, the distributed special-shaped buoy (2) uses EPS material to provide additional buoyancy while ensuring lightness; when the rotor folding and unfolding mechanism is fully folded, the outer diameter of the distributed special-shaped buoy (2) is smaller than the diameter D.

[0024] Preferably, the load delivery system comprises a lower packaging body (13), a detection task load (14) and a rope pulley device;

[0025] The lower encapsulation body (13) is fixedly installed below the fuselage (1); the detection mission load (14) and the rope pulley device are installed inside the lower encapsulation body (13);

[0026] Wherein: the rope pulley device comprises a load delivery stepping motor (15), a winding wheel (16), a guide wheel (17), a ceramic guide wheel (18) and a cable (19);

[0027] The lower package body (13) has an upper cavity platform and a lower cavity platform which are isolated and sealed from each other; the load delivery stepper motor (15) is fixed to the upper cavity platform of the lower package body (13); the power output shaft of the load delivery stepper motor (15) vertically passes through the upper cavity platform of the lower package body (13) and is fixedly connected to the upper end of the winding wheel (16); the guide wheel (17) and the ceramic guide wheel (18) are both fixedly installed on the lower cavity platform of the lower package body (13); one end of the cable (19) is wound around the winding wheel (16); the other end of the cable (19) passes through the guide wheel (17) and the ceramic guide wheel (18) and is then tied to the upper end of the detection mission payload (14);

[0028] When the load delivery stepper motor (15) is working, it drives the winding wheel (16) to rotate clockwise, so that one end of the cable (19) is continuously wound around the winding wheel (16), thereby lifting the detection task load (14); when the load delivery stepper motor (15) drives the winding wheel (16) to rotate counterclockwise, it continuously releases the cable (19), thereby releasing the detection task load (14).

[0029] Preferably, the load delivery system further comprises a load safety device;

[0030] The load protection device comprises an upper retaining frame (20), a lower retaining frame (21), a steering gear (22) and a crank (23);

[0031] The upper retaining frame (20) and the lower retaining frame (21) are fixedly installed inside the cavity of the lower packaging body (13), and the upper retaining frame (20) and the lower retaining frame (21) are both provided with detection task load limiting holes, and the upper retaining frame (20) and the lower retaining frame (21) are sleeved on the outside of the detection task load (14) through their respective detection task load limiting holes to limit the shaking of the detection task load (14) in the cavity of the lower packaging body (13);

[0032] The crank (23) is arranged below the lower retaining frame (21), and the crank (23) is connected to the output shaft of the steering gear (22). The steering gear (22) and the crank (23) form a switch structure. When the detection task load (14) needs to be dropped, the steering gear (22) drives the crank (23) to rotate and open, so that the detection task load (14) falls freely; when the detection task load (14) is lifted into place, the steering gear (22) drives the crank (23) to rotate and close, so that the crank (23) supports the detection task load (14) to prevent the detection task load (14) from falling off, thereby playing a safety role for the detection task load (14).

[0033] The present invention also provides a method for a transformable sea and air amphibious detection system suitable for multi-platform deployment, comprising the following steps:

[0034] Step 1: The transformable sea and air amphibious detection system is in an initial state during transportation, and is in a fully folded cylindrical state; wherein the fully folded cylindrical state means that the rotor folding and unfolding mechanism is in a fully folded state, at which time, each distributed special-shaped buoy (2) completely surrounds the rotor folding and unfolding mechanism inside, each distributed special-shaped buoy (2) is assembled together to form a cylindrical shape, and is coaxially located directly above the fuselage (1), and the diameter of the cylindrical shape formed by the assembled distributed special-shaped buoys (2) is smaller than the diameter of the fuselage (1); therefore, the transformable sea and air amphibious detection system is cylindrical as a whole;

[0035] Step 2, after the transformable body sea and air amphibious detection system is transported to the designated location, the transformable body sea and air amphibious detection system is deployed; wherein, during the process of the transformable body sea and air amphibious detection system being dropped, the transformable body sea and air amphibious detection system is maintained in a completely folded state;

[0036] Step 3, when the transformable body sea and air amphibious detection system is dropped onto the water surface, it is in a floating state; wherein the floating state means that the axis of the transformable body sea and air amphibious detection system is parallel to the water surface, or the transformable body sea and air amphibious detection system is inclined at a certain angle to the water surface;

[0037] Step 4, when the control system detects that the transformable marine and air amphibious detection system is already in a floating state on the water surface, an unfolding instruction is sent to the retractable stepping motor (4), causing the retractable stepping motor (4) to rotate a specific number of steps, thereby fully unfolding the rotor folding and unfolding mechanism. At the same time, the distributed special-shaped buoys (2) are in a vertical state. Through the supporting effect of the distributed special-shaped buoys (2) at the four corners and the supporting effect of the fuselage (1) at the center point, the transformable marine and air amphibious detection system floats on the water surface. At this point, the transformable marine and air amphibious detection system completes the transformation from the fully folded state to the unfolded state.

[0038] Step 5, after the transformable sea and air amphibious detection system floats stably on the water surface, the control system issues a command to start the payload delivery system, so that the payload delivery stepper motor (15) drives the detection mission payload (14) to reach a predetermined depth, and then collects detection data, and transmits the collected detection data back in real time;

[0039] Step 6, after completing the specific detection task, the control system issues a command to cause the load delivery stepper motor (15) to drive the detection task load (14) to recover and reset;

[0040] Step 7, then, the control system starts the rotor motor (11), and the rotor motor (11) drives the rotor blade (12) to rotate, thereby generating lift, so that the transformable sea and air amphibious detection system takes off and returns to the base, or flies to a new location, repeating the process of landing, detection, and take-off.

[0041] The transformable sea and air amphibious detection system and method suitable for multi-platform deployment provided by the present invention has the following advantages:

[0042] The present invention provides a transformable sea and air amphibious detection system suitable for multi-platform deployment. The system can reside on the water surface for a long time, detect underwater targets through a payload delivery system, and has a certain short-distance rapid migration capability, which can ensure the continuous tracking of underwater moving targets in a short time. In addition, the system can be autonomously transformed based on mission conditions, and has the characteristics of being easy to carry, maneuverable and flexible, easy to use, safe and efficient, sea and air amphibious, and having strong environmental adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a schematic diagram of the structure of the present invention in a fully unfolded state;

[0044] Figure 2 is a schematic diagram of the structure of the present invention in a fully folded state;

[0045] Figure 3 It is a structural schematic diagram of the rotor folding and unfolding mechanism;

[0046] Figure 4 is a schematic diagram of the structure of the upper package body and the cross guide groove;

[0047] Figure 5 It is a structural schematic diagram of the payload delivery system in the detection mission payload recovery state;

[0048] Figure 6 It is a schematic diagram of the structure of the sheave device of the load delivery system;

[0049] Figure 7 It is a structural schematic diagram of a load safety device of a load delivery system;

[0050] Figure 8 It is a schematic diagram of the state of the detection mission payload of the payload delivery system performing underwater detection;

[0051] Fig. 9 It is a schematic diagram of the state changes of the present invention, such as landing on the water surface, deploying on the water, and taking off on the water;

[0052] Fig.10 It is a flow chart of the working of the present invention.

[0053] in:

[0054] 1. Fuselage; 2. Distributed special-shaped buoys; 3. Upper package; 3-1. Main connecting arm mounting hole; 3-2. Auxiliary connecting arm mounting hole; 4. Retractable stepper motor; 5. Lead screw; 6A. Cross nut slider; 6B. Cross guide groove; 6C. Limiting mechanism; 7. Main connecting arm; 7-1. Power pull rod hinge hole; 8. Auxiliary connecting arm; 9. Float pull rod; 10. Power pull rod; 11. Rotor motor; 12. Rotor propeller; 13. Lower package; 14. Detection mission payload; 15. Load delivery stepper motor; 16. Winding wheel; 17. Guide wheel; 18. Ceramic guide wheel; 19. Cable; 20. Upper retaining frame; 21. Lower retaining frame; 22. Servo; 23. Crank. DETAILED DESCRIPTION

[0055] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0056] The present invention provides a transformable sea and air amphibious detection system suitable for multi-platform deployment. The system can reside on the water surface for a long time, detect underwater targets through a payload delivery system, and has a certain short-distance rapid migration capability, which can ensure the continuous tracking of underwater moving targets in a short time. In addition, the system can be autonomously transformed based on mission conditions, and has the characteristics of being easy to carry, maneuverable and flexible, easy to use, safe and efficient, sea and air amphibious, and having strong environmental adaptability.

[0057] The present invention provides a transformable sea and air amphibious detection system suitable for multi-platform deployment, which has a fully folded state and a fully unfolded state, such as Figure 1 As shown in the figure, it is a fully expanded state diagram; Figure 2 The diagram shown is a fully folded state diagram, including: a control system, a fuselage 1, a rotor system, distributed special-shaped buoys 2 and a load delivery system.

[0058] The following is a detailed introduction to the rotor system, distributed special-shaped buoys and load delivery system:

[0059] (I) Rotor system

[0060] The rotor system includes a rotor retraction and extension power device, a rotor folding and unfolding mechanism and a rotor mechanism.

[0061] (1.1) Rotor retraction and extension power device

[0062] refer to Figure 3 and Figure 4 The rotor retracting and extending power device includes: an upper package 3, a retracting and extending stepping motor 4, a lead screw 5, a cross nut slider 6A and a cross guide groove 6B;

[0063] The upper encapsulation body 3 is fixedly installed on the top of the fuselage 1; a cross guide groove 6B is fixedly installed vertically in the direction of the center axis of the top circle of the upper encapsulation body 3, a lead screw 5 is coaxially installed inside the cross guide groove 6B, and a cross nut slider 6A is screwed on the external thread of the lead screw 5 to form a lead screw nut structure with the cross nut slider 6A, and when the lead screw 5 rotates, the cross nut slider 6A is driven to move up and down along the cross guide groove 6B; a retractable stepper motor 4 is fixedly installed inside the upper encapsulation body 3, and the retractable stepper motor 4 can adopt a stepper motor with a model of 42BYGH40S, and the power output shaft of the retractable stepper motor 4 vertically passes through the top center of the upper encapsulation body 3 and is fixed to the bottom of the lead screw 5, so as to drive the lead screw 5 to rotate; wherein, the cross nut slider 6A has four cross-shaped symmetrical nut slider hinge parts;

[0064] As a specific implementation, the cross guide groove 6B is a cross square slide groove, and its structure is as follows: four rectangular columns are arranged at four corners of the square, and the tops of the four rectangular columns are fixed by a limiting mechanism 6C; through the action of the limiting mechanism 6C, a stable guide slide groove is formed in the gap between two adjacent rectangular columns, thereby forming a cross guide groove 6B with four guide slide grooves; the limiting mechanism 6C also has a limiting effect on the folding and unfolding unit of the rotor to be folded into place;

[0065] The cross nut slider 6A includes four slider units arranged in a cross shape, and each slider unit is matched with a corresponding guide slot.

[0066] (1.2) Rotor folding and unfolding mechanism

[0067] The rotor folding and unfolding mechanism includes four rotor folding and unfolding units symmetrically distributed in a cross shape; each rotor folding and unfolding unit is evenly distributed along the top circumference of the upper packaging body 3, and each rotor folding and unfolding unit has the same structure, including: a main connecting arm 7, a secondary connecting arm 8, a buoy pull rod 9 and a power pull rod 10;

[0068] In a direction parallel to the radial extension line of the corresponding hinged portion of the nut slider, a main connecting arm mounting hole 3-1 is fixedly installed at the top edge of the upper packaging body 3, and a secondary connecting arm mounting hole 3-2 is fixedly installed outside the main connecting arm mounting hole 3-1 and at a position lower than the main connecting arm mounting hole 3-1;

[0069] The inner end of the main connecting arm 7 is hinged to the upper packaging body 3 through the main connecting arm mounting hole 3-1, the outer end of the main connecting arm 7 is hinged to the upper end of the buoy pull rod 9, the auxiliary connecting arm 8 is located below the main connecting arm 7 and is parallel to the main connecting arm 7, the inner end of the auxiliary connecting arm 8 is hinged to the upper packaging body 3 through the auxiliary connecting arm mounting hole 3-2, and the outer end of the auxiliary connecting arm 8 is hinged to the lower end of the buoy pull rod 9, thereby forming a parallelogram structure;

[0070] The distributed special-shaped buoy 2 is fixedly installed at the lower end of the buoy tie rod 9; wherein, the distributed special-shaped buoy 2 uses EPS material, which provides additional buoyancy while ensuring lightness. When the rotor folding and unfolding mechanism is fully folded, the outer diameter of the distributed special-shaped buoy 2 is smaller than the diameter D.

[0071] A power rod hinge hole 7-1 is provided in the middle of the main connecting arm 7, the upper end of the power rod 10 is hinged to a nut slider hinge part of the cross nut slider 6A, and the lower end of the power rod 10 is hinged to the main connecting arm 7 through the power rod hinge hole 7-1;

[0072] When the cross nut slider 6A moves upward along the cross guide groove 6B, the driving power pull rod 10 drives the parallelogram structure to rotate inward around the main connecting arm mounting hole 3-1, so that the rotor folding and unfolding mechanism is folded, so that the main connecting arm 7 and the auxiliary connecting arm 8 form a vertical state; at the same time, when folded into place, each distributed special-shaped buoy 2 surrounds the outside of the main connecting arm 7 and the auxiliary connecting arm 8, and is spliced ​​to form a cylindrical shape;

[0073] When the cross nut slider 6A moves downward along the cross guide groove 6B, the driving power pull rod 10 drives the parallelogram structure to rotate outward around the main connecting arm mounting hole 3-1, thereby unfolding the rotor folding and unfolding mechanism, making the main connecting arm 7 and the auxiliary connecting arm 8 form a horizontal state. At the same time, when unfolded into place, each distributed special-shaped pontoon 2 is in a vertical downward state.

[0074] (1.3) Rotor mechanism

[0075] A rotor mechanism is arranged at the outer end of each main connecting arm 7, directly above the corresponding distributed special-shaped buoy 2; the rotor mechanism includes a rotor motor 11 and a rotor propeller 12 fixed on the rotor motor 11, and the rotor motor 11 drives the rotor propeller 12 to rotate, thereby generating lift; as a specific implementation method, the rotor propeller 12 is a pair of forward and reverse propellers, and the propeller diameters are the same.

[0076] Therefore, in the present invention, a total of four rotors are provided, and the four rotors are evenly distributed along the circumference of the upper packaging body 3; when the arm folding and unfolding mechanism is fully unfolded, the four rotors are in a horizontal cross shape. When the four rotors are working, the rotor motor 11 drives the rotor propeller 12 to rotate, thereby generating lift.

[0077] (II) Distributed special-shaped buoys

[0078] The distributed special-shaped buoys are an original design of the present invention, and a total of 4 distributed special-shaped buoys are arranged; each distributed special-shaped buoy has the same shape, and includes a left-side special-shaped buoy and a right-side special-shaped buoy that are symmetrical on the left and right, and the surfaces of the left-side special-shaped buoy and the right-side special-shaped buoy are arc-shaped curved surfaces.

[0079] When in the fully folded state, the four distributed special-shaped pontoons are synchronously driven to retract. On the one hand, the rotor folding and unfolding mechanism is enclosed in the internal space surrounded by the distributed special-shaped pontoons; on the other hand, the four distributed special-shaped pontoons just form a cylindrical shape, and the diameter of the cylindrical shape is smaller than the diameter of the fuselage body.

[0080] In the fully deployed state, the four distributed special-shaped buoys are each located at the end of a main connecting arm, and the distributed special-shaped buoys are a vertical downward structure.

[0081] The advantages of adopting the above design method are:

[0082] 1. When in the fully folded state, it is mainly used for the deployment process of the detection system. Therefore, since the four distributed special-shaped floats form a cylindrical shape and are smaller than the diameter of the fuselage, the resistance of the deployment process will not be increased, ensuring the accurate deployment of the detection system.

[0083] 2. When fully deployed, the distributed special-shaped floats are in a vertical downward structure at the four corners. The buoyancy provided by the distributed special-shaped floats can provide stable support for the overall detection system.

[0084] 3. The lower end of the special-shaped buoy adopts a wedge shape, which can ensure that the detection system is subject to less resistance in the initial stage of entering the water. At the same time, the wedge shape can ensure that the buoyancy provided by the buoy shows an approximately linear growth trend when the detection system enters the water, avoiding the adverse effects on the stability of the detection system when entering the water due to the sudden change of buoyancy around. Similarly, for the detection system out of water stage, it can reduce the sudden change of buoyancy at the moment of the buoy out of water to a certain extent, reduce the amplitude of the uncertain variables that the control system needs to compensate, reduce the burden of the control system, and ensure good system response.

[0085] (III) Load delivery system

[0086] The load delivery system is installed at the lower part of the fuselage 1. Figure 5 , Figure 6 and Figure 8 , the load delivery system includes a lower package 13, a detection task load 14 and a rope pulley device;

[0087] The lower package body 13 is fixedly installed below the fuselage 1; the detection mission load 14 and the rope pulley device are installed inside the lower package body 13;

[0088] The 14-core sensor of the detection mission payload uses a low-noise vector sensor, which has an embedded geomagnetic sensor that can monitor in real time the changes in the heading angle of the vector sensor itself caused by the water flow.

[0089] Wherein: the rope pulley device includes a load delivery stepping motor 15, a winding wheel 16, a guide wheel 17, a porcelain guide wheel 18 and a cable 19;

[0090] The lower package body 13 has an upper cavity platform and a lower cavity platform which are isolated and sealed from each other; a load delivery stepper motor 15 is fixed to the upper cavity platform of the lower package body 13, and the load delivery stepper motor 15 can adopt a motor of model: SPT5535LV-360, and a power output shaft of the load delivery stepper motor 15 vertically passes through the upper cavity platform of the lower package body 13 and is fixedly connected to the upper end of the winding wheel 16, and a guide wheel 17 and a ceramic guide wheel 18 are both fixedly installed on the lower cavity platform of the lower package body 13, one end of a cable 19 is wound around the winding wheel 16, and the other end of the cable 19 passes through the guide wheel 17 and the ceramic guide wheel 18, and is tied to the upper end of the detection mission payload 14;

[0091] When the load delivery stepper motor 15 is working, it drives the winding wheel 16 to rotate clockwise, so that one end of the cable 19 is continuously wound around the winding wheel 16, thereby lifting the detection task load 14; when the load delivery stepper motor 15 drives the winding wheel 16 to rotate counterclockwise, it continuously releases the cable 19, thereby releasing the detection task load 14.

[0092] The load delivery system also includes a load safety device;

[0093] refer to Figure 7 , the load safety device includes an upper retainer 20, a lower retainer 21, a steering gear 22 and a crank 23;

[0094] The upper retainer 20 and the lower retainer 21 are fixedly installed inside the cavity of the lower packaging body 13, and both the upper retainer 20 and the lower retainer 21 are provided with detection task load limiting holes. The upper retainer 20 and the lower retainer 21 are sleeved on the outside of the detection task load 14 through their respective detection task load limiting holes to limit the shaking of the detection task load 14 in the cavity of the lower packaging body 13;

[0095] A crank 23 is arranged below the lower retaining frame 21, and the crank 23 is connected to the output shaft of the servo 22. The servo 22 may be a servo of model OMG-R4PRO-40BF. The servo 22 and the crank 23 form a switch structure. When the detection mission load 14 needs to be dropped, the servo 22 drives the crank 23 to rotate and open, so that the detection mission load 14 falls freely; when the detection mission load 14 is lifted into place, the servo 22 drives the crank 23 to rotate and close, so that the crank 23 supports the detection mission load 14 to prevent the detection mission load 14 from falling off, thereby protecting the detection mission load 14.

[0096] In the present invention, the upper package body 3, the fuselage 1 and the lower package body 13 are all cylindrical structures, and are fixed and sealed in sequence from top to bottom. The diameter of the cylindrical structure is D, and the length of the main connecting arm 7 is greater than 0.5D.

[0097] The present invention also provides a method for a transformable sea and air amphibious detection system suitable for multi-platform deployment, referring to Fig. 9 and Fig.10 , including the following steps:

[0098] Step 1: The transformable sea and air amphibious detection system is in an initial state during transportation, which is a cylindrical shape in a completely folded state;

[0099] The cylindrical shape in the fully folded state means that the rotor folding and unfolding mechanism is in the fully folded state, at which time, each distributed special-shaped buoy 2 completely surrounds the rotor folding and unfolding mechanism inside, each distributed special-shaped buoy 2 is assembled together to form a cylindrical shape, and is coaxially located directly above the fuselage 1, and the diameter of the cylindrical shape formed by the distributed special-shaped buoy 2 is smaller than the diameter of the fuselage 1; therefore, the deformable sea and air amphibious detection system is cylindrical as a whole;

[0100] Step 2, after the transformable body sea and air amphibious detection system is transported to the designated location, the transformable body sea and air amphibious detection system is deployed; wherein, during the process of the transformable body sea and air amphibious detection system being dropped, the transformable body sea and air amphibious detection system is maintained in a completely folded state;

[0101] Step 3, when the transformable body sea and air amphibious detection system is dropped onto the water surface, it is in a floating state; wherein the floating state means that the axis of the transformable body sea and air amphibious detection system is parallel to the water surface, or the transformable body sea and air amphibious detection system is inclined at a certain angle to the water surface;

[0102] Step 4, when the control system detects that the transformable marine and air amphibious detection system is already in a floating state on the water surface, it sends an unfolding instruction to the retractable stepping motor 4, causing the retractable stepping motor 4 to rotate a specific number of steps, so that the rotor folding and unfolding mechanism is fully unfolded. At the same time, the distributed special-shaped buoys 2 are in a vertical state. The support of the distributed special-shaped buoys 2 at the four corners and the support of the fuselage 1 at the center point make the transformable marine and air amphibious detection system float on the water surface. At this point, the transformable marine and air amphibious detection system completes the transformation from the fully folded state to the unfolded state.

[0103] Step 5: After the transformable sea and air amphibious detection system floats stably on the water surface, the control system issues a command to start the payload delivery system, so that the payload delivery stepper motor 15 drives the detection mission payload 14 to reach a predetermined depth, and then collects detection data, and transmits the collected detection data back in real time;

[0104] Step 6, after completing the specific detection task, the control system issues a command to make the load delivery stepper motor 15 drive the detection task load 14 to recover and reset;

[0105] Step 7, then, the control system starts the rotor motor 11, and the rotor motor 11 drives the rotor blade 12 to rotate, thereby generating lift, so that the transformable sea and air amphibious detection system takes off and returns to the base, or flies to a new location, repeating the process of landing, detection, and take-off.

[0106] The present invention provides a transformable sea and air amphibious detection system and method suitable for multi-platform deployment, which has the following advantages:

[0107] (1) The present invention adopts a special distributed special-shaped buoy design to enable the detection system to stay on the water surface for a long time, and realizes the detection of underwater targets by launching and recovering the detection mission payload. At the same time, a unique rotor retracting and extending mechanism is designed based on the principle of parallelogram mechanism, and the rotor system is deployed and folded by a retracting and extending stepper motor, making it easy to launch and deploy through shore-based, offshore and air-based platforms, which greatly enhances the environmental adaptability of the detection system and expands the scope of application of the detection system.

[0108] (2) It is easy to carry, flexible, easy to use, safe and efficient, amphibious in the sea and air, and has strong environmental adaptability.

[0109] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be considered as the scope of protection of the present invention.

Claims

1. A transformable sea and air amphibious detection system suitable for multi-platform deployment, characterized in that: include: A control system, a fuselage (1), a rotor system, a distributed special-shaped buoy (2) and a load delivery system; The rotor system includes a rotor retracting and extending power device, a rotor folding and unfolding mechanism and a rotor mechanism; The rotor retracting and extending power device comprises: an upper encapsulation body (3), a retracting and extending stepping motor (4), a lead screw (5), a cross nut slider (6A) and a cross guide groove (6B); the upper encapsulation body (3) is fixedly installed above the fuselage (1); the cross guide groove (6B) is fixedly installed vertically in the direction of the top circle center axis of the upper encapsulation body (3), the lead screw (5) is coaxially installed inside the cross guide groove (6B), and the cross nut slider (6A) is screwed on the external thread of the lead screw (5), and when the lead screw (5) rotates, it drives the cross nut slider (6A) to move up and down along the cross guide groove (6B); the retracting and extending stepping motor (4) is fixedly installed inside the upper encapsulation body (3), and the power output shaft of the retracting and extending stepping motor (4) vertically passes through the top circle center of the upper encapsulation body (3) and is fixed to the bottom of the lead screw (5) for driving the lead screw (5) to rotate; Wherein, the cross nut slider (6A) has four cross-shaped symmetrical nut slider hinge parts; The rotor folding and unfolding mechanism comprises four rotor folding and unfolding units which are symmetrically distributed in a cross shape; each of the rotor folding and unfolding units is evenly distributed along the top circumference of the upper packaging body (3), and each of the rotor folding and unfolding units has the same structure, and comprises: a main connecting arm (7), a secondary connecting arm (8), a buoy pull rod (9) and a power pull rod (10); A main connecting arm mounting hole (3-1) is fixedly installed at the top edge of the upper packaging body (3) in a direction parallel to the radial extension line of a corresponding hinged portion of the nut slider, and a secondary connecting arm mounting hole (3-2) is fixedly installed outside the main connecting arm mounting hole (3-1) and at a position lower than the main connecting arm mounting hole (3-1); The inner end of the main connecting arm (7) is hinged to the upper encapsulation body (3) through the main connecting arm mounting hole (3-1), the outer end of the main connecting arm (7) is hinged to the upper end of the buoy pull rod (9), the auxiliary connecting arm (8) is located below the main connecting arm (7) and is parallel to the main connecting arm (7), the inner end of the auxiliary connecting arm (8) is hinged to the upper encapsulation body (3) through the auxiliary connecting arm mounting hole (3-2), and the outer end of the auxiliary connecting arm (8) is hinged to the lower end of the buoy pull rod (9), thereby forming a parallelogram structure; The lower end of the buoy tie rod (9) is fixedly mounted with the distributed special-shaped buoy (2); a power tie rod hinge hole (7-1) is provided in the middle of the main connecting arm (7); the upper end of the power tie rod (10) is hinged to a nut slider hinge part of the cross nut slider (6A); and the lower end of the power tie rod (10) is hinged to the main connecting arm (7) through the power tie rod hinge hole (7-1); When the cross nut slider (6A) moves upward along the cross guide groove (6B), the power pull rod (10) is driven to drive the parallelogram structure to rotate inward around the main connecting arm mounting hole (3-1), so that the rotor folding and unfolding mechanism is folded, so that the main connecting arm (7) and the auxiliary connecting arm (8) form a vertical state; at the same time, when folded into place, each distributed special-shaped buoy (2) surrounds the outside of the main connecting arm (7) and the auxiliary connecting arm (8), and is spliced ​​to form a cylindrical shape; When the cross nut slider (6A) moves downward along the cross guide groove (6B), the power pull rod (10) is driven to drive the parallelogram structure to rotate outward around the main connecting arm mounting hole (3-1), thereby unfolding the rotor folding and unfolding mechanism, so that the main connecting arm (7) and the auxiliary connecting arm (8) form a horizontal state. At the same time, when unfolded in place, each distributed special-shaped buoy (2) is in a vertical downward state; The rotor mechanism is arranged at the outer end of each main connecting arm (7), located directly above the corresponding distributed special-shaped buoy (2); the rotor mechanism comprises a rotor motor (11) and a rotor propeller (12) fixed on the rotor motor (11); the rotor motor (11) drives the rotor propeller (12) to rotate, thereby generating lift; the rotor propeller (12) is a pair of forward and reverse propellers, and the propeller diameters are the same; The load delivery system is installed at the lower part of the fuselage (1); the load delivery system comprises a lower encapsulation body (13), a detection mission load (14) and a pulley device; the lower encapsulation body (13) is fixedly installed below the fuselage (1); the detection mission load (14) and the pulley device are installed inside the lower encapsulation body (13); the upper encapsulation body (3), the fuselage (1) and the lower encapsulation body (13) are all cylindrical structures, and are fixedly sealed and installed in sequence from top to bottom.

2. The transformable sea and air amphibious detection system suitable for multi-platform deployment according to claim 1 is characterized in that: The cross guide groove (6B) is a cross square slide groove, and its structure is as follows: four rectangular columns are arranged at four corner positions of the square, and the tops of the four rectangular columns are fixed by a limiting mechanism (6C); through the action of the limiting mechanism (6C), the gap between two adjacent rectangular columns forms a stable guide slide groove, thereby forming the cross guide groove (6B) with four guide slide grooves; the limiting mechanism (6C) also has a limiting effect on the rotor folding and unfolding unit being folded into place; The cross nut slider (6A) comprises four slider units arranged in a cross shape, and each slider unit is adapted to a corresponding guide slot.

3. The transformable sea and air amphibious detection system suitable for multi-platform deployment according to claim 1 is characterized in that: The diameter of the cylindrical structure is D, and the length of the main connecting arm (7) is greater than 0.5D.

4. The transformable sea and air amphibious detection system suitable for multi-platform deployment according to claim 3 is characterized in that: The distributed special-shaped buoy (2) uses EPS material to provide additional buoyancy while ensuring lightness; when the rotor folding and unfolding mechanism is fully folded, the outer diameter of the distributed special-shaped buoy (2) is smaller than the diameter D.

5. The transformable sea and air amphibious detection system suitable for multi-platform deployment according to claim 1 is characterized in that: The rope pulley device comprises a load delivery stepping motor (15), a winding wheel (16), a guide wheel (17), a ceramic guide wheel (18) and a cable (19); The lower package body (13) has an upper cavity platform and a lower cavity platform which are isolated and sealed from each other; the load delivery stepper motor (15) is fixed to the upper cavity platform of the lower package body (13); the power output shaft of the load delivery stepper motor (15) vertically passes through the upper cavity platform of the lower package body (13) and is fixedly connected to the upper end of the winding wheel (16); the guide wheel (17) and the ceramic guide wheel (18) are both fixedly installed on the lower cavity platform of the lower package body (13); one end of the cable (19) is wound around the winding wheel (16); the other end of the cable (19) passes through the guide wheel (17) and the ceramic guide wheel (18) and is then tied to the upper end of the detection mission payload (14); When the load delivery stepper motor (15) is working, it drives the winding wheel (16) to rotate clockwise, so that one end of the cable (19) is continuously wound around the winding wheel (16), thereby lifting the detection task load (14); when the load delivery stepper motor (15) drives the winding wheel (16) to rotate counterclockwise, it continuously releases the cable (19), thereby releasing the detection task load (14).

6. The transformable sea and air amphibious detection system suitable for multi-platform deployment according to claim 5 is characterized in that: The load delivery system also includes a load safety device; The load protection device comprises an upper retaining frame (20), a lower retaining frame (21), a steering gear (22) and a crank (23); The upper retaining frame (20) and the lower retaining frame (21) are fixedly installed inside the cavity of the lower packaging body (13), and the upper retaining frame (20) and the lower retaining frame (21) are both provided with detection task load limiting holes, and the upper retaining frame (20) and the lower retaining frame (21) are sleeved on the outside of the detection task load (14) through their respective detection task load limiting holes to limit the shaking of the detection task load (14) in the cavity of the lower packaging body (13); The crank (23) is arranged below the lower retaining frame (21), and the crank (23) is connected to the output shaft of the steering gear (22). The steering gear (22) and the crank (23) form a switch structure. When the detection task load (14) needs to be dropped, the steering gear (22) drives the crank (23) to rotate and open, so that the detection task load (14) falls freely; when the detection task load (14) is lifted into place, the steering gear (22) drives the crank (23) to rotate and close, so that the crank (23) supports the detection task load (14) to prevent the detection task load (14) from falling off, thereby playing a safety role for the detection task load (14).

7. A working method of a transformable sea and air amphibious detection system suitable for multi-platform deployment as described in any one of claims 1 to 6, characterized in that: The following steps are involved: Step 1: The transformable sea and air amphibious detection system is in an initial state during transportation, which is a cylindrical shape in a completely folded state; The cylindrical shape in the fully folded state means that the rotor folding and unfolding mechanism is in the fully folded state, at which time, each distributed special-shaped buoy (2) completely surrounds the rotor folding and unfolding mechanism inside, each distributed special-shaped buoy (2) is assembled together to form a cylindrical shape, and is coaxially located directly above the fuselage (1), and the diameter of the cylindrical shape formed by the assembled distributed special-shaped buoys (2) is smaller than the diameter of the fuselage (1); therefore, the transformable sea and air amphibious detection system is cylindrical as a whole; Step 2, after the transformable body sea and air amphibious detection system is transported to the designated location, the transformable body sea and air amphibious detection system is deployed; wherein, during the process of the transformable body sea and air amphibious detection system being dropped, the transformable body sea and air amphibious detection system is maintained in a completely folded state; Step 3, when the transformable body sea and air amphibious detection system is dropped onto the water surface, it is in a floating state; wherein the floating state means that the axis of the transformable body sea and air amphibious detection system is parallel to the water surface, or the transformable body sea and air amphibious detection system is inclined at a certain angle to the water surface; Step 4, when the control system detects that the transformable marine and air amphibious detection system is already in a floating state on the water surface, an unfolding instruction is sent to the retractable stepping motor (4), causing the retractable stepping motor (4) to rotate a specific number of steps, thereby fully unfolding the rotor folding and unfolding mechanism. At the same time, the distributed special-shaped buoys (2) are in a vertical state. Through the supporting effect of the distributed special-shaped buoys (2) at the four corners and the supporting effect of the fuselage (1) at the center point, the transformable marine and air amphibious detection system floats on the water surface. At this point, the transformable marine and air amphibious detection system completes the transformation from the fully folded state to the unfolded state. Step 5, after the transformable sea and air amphibious detection system floats stably on the water surface, the control system issues a command to start the payload delivery system, so that the payload delivery stepper motor (15) drives the detection mission payload (14) to reach a predetermined depth, and then collects detection data, and transmits the collected detection data back in real time; Step 6, after completing the specific detection task, the control system issues a command to cause the load delivery stepper motor (15) to drive the detection task load (14) to recover and reset; Step 7, then, the control system starts the rotor motor (11), and the rotor motor (11) drives the rotor blade (12) to rotate, thereby generating lift, so that the transformable sea and air amphibious detection system takes off and returns to the base, or flies to a new location, repeating the process of landing, detection, and take-off.

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