Unmanned aerial vehicle with underwater submersible capability

Abstract

The present invention discloses an unmanned aerial vehicle with an underwater submersible function, including: an aircraft frame; an aircraft fuselage, which is adapted and installed with the aircraft frame; a flight function component, which is installed on the aircraft frame and is adapted to the aircraft fuselage; a submersible function component, which is installed on the aircraft frame and is adapted to the aircraft fuselage; and an aircraft attitude adjustment component, which is adapted and installed with the aircraft fuselage and is used to adjust the submersible attitude of the aircraft in the water. The unmanned aerial vehicle with the underwater submersible function has the ability to submerge in water while flying in the air, and can adjust its attitude in the water, so that the aircraft can adapt to both submersible navigation in the water and flying in the air at the same time. It can also adjust its attitude according to the requirements of the functional devices carried by the unmanned aerial vehicle to adapt to the operation requirements of the functional devices, which greatly improves the multifunctional operation capability of the unmanned aerial vehicle in complex environments and has good application prospects.

Description

Technical Field

[0001] The present application belongs to the field of unmanned aerial vehicle technology, and specifically relates to an unmanned aerial vehicle with underwater diving capability. Background Art

[0002] A drone is a mobile, responsive, unmanned flying vehicle that is widely used in a variety of industries. Drones equipped with multiple functional equipment can perform tasks in special environments. For example, drones equipped with cameras, sensors and other devices can be used in many fields such as firefighting, police work, transportation, exploration, disaster relief and investigation, and weather monitoring. Due to the complexity of the mission environment and the diversity of tasks, aircraft not only need to perform flight operations, but may also need to perform underwater operations. Due to the different operating environments, aircraft usually find it difficult to perform tasks in the water, which increases the difficulty of the operation. At present, the functions and mission execution capabilities of drones are generally single, which makes it difficult to meet the needs of multi-task and multi-environment mission execution. Summary of the invention

[0003] In view of this, some embodiments disclose an unmanned aerial vehicle with a submersible function, the unmanned aerial vehicle comprising:

[0004] Aircraft rack;

[0005] The aircraft fuselage is adapted and installed with the aircraft frame;

[0006] The flight function component is arranged and installed on the aircraft frame and is adapted to the aircraft fuselage;

[0007] The submersible function component is arranged and installed on the aircraft frame and is adapted to the aircraft fuselage;

[0008] The aircraft attitude adjustment component is adapted to the aircraft fuselage and is used to adjust the aircraft's diving attitude in the water.

[0009] Further, in some embodiments, the unmanned aerial vehicle with underwater submersible capability disclosed herein has a flight function component including:

[0010] The retractable rotor arm is mounted on the aircraft frame;

[0011] A rotor propeller is arranged and mounted on a retractable rotorcraft arm;

[0012] a first electric motor for driving the rotor propeller;

[0013] Among them, the aircraft fuselage is provided with a structure adapted to the rotor propeller and the retractable rotor arm;

[0014] When the retractable rotor arms and rotor propellers are arranged in the aircraft fuselage, the aircraft fuselage as a whole is streamlined; the retractable rotor arms and rotor propellers extend from the aircraft fuselage, and the rotor propellers are symmetrically distributed around the aircraft fuselage, and are configured to provide power for the unmanned aerial vehicle.

[0015] In some embodiments of the unmanned aerial vehicle with underwater diving function, a plurality of retractable rotor arms are provided, and the arrangement planes of the plurality of retractable rotor arms are perpendicular to the central axis of the aircraft fuselage.

[0016] In some embodiments of the unmanned aerial vehicle with underwater diving function, a plurality of retractable rotor arms are provided, and a setting plane of the plurality of retractable rotor arms is parallel to the central axis of the aircraft fuselage.

[0017] Some embodiments disclose an unmanned aerial vehicle with underwater submersible function, wherein the submersible function component includes:

[0018] A propeller is mounted on the aircraft frame and located at the tail of the aircraft fuselage;

[0019] The second electric motor is used to drive the propeller.

[0020] Some embodiments disclose an unmanned aerial vehicle with underwater submersible function, wherein the submersible function component includes:

[0021] A water flow duct is arranged on the aircraft fuselage, wherein the inlet end of the water flow duct is arranged at the front end of the aircraft fuselage, and the outlet end of the water flow duct is arranged at the rear end of the aircraft fuselage;

[0022] The water pump is arranged in the water flow duct.

[0023] In some embodiments of the unmanned aerial vehicle with underwater submersible function, the aircraft attitude adjustment component includes:

[0024] A ballast tank, provided in the fuselage of the aircraft;

[0025] The ballast tank water pipe is used to introduce water into the ballast tank or discharge water from the ballast tank.

[0026] In some embodiments of the unmanned aerial vehicle with underwater submersible function, the pressure tank includes two independent parts, one of which is arranged at the front part of the aircraft fuselage, and the other is arranged at the rear part of the aircraft fuselage.

[0027] In some embodiments of the unmanned aerial vehicle with underwater submersible function, the aircraft attitude adjustment component includes:

[0028] An airbag is movably disposed in the aircraft fuselage and communicated with the outside of the aircraft fuselage;

[0029] The push rod is arranged in the fuselage of the aircraft and is used to expand or contract the airbag.

[0030] Some embodiments disclose an unmanned aerial vehicle with an underwater submersible function, wherein a plurality of airbags are arranged at intervals in the aircraft body, and each airbag is independently controlled.

[0031] The unmanned aerial vehicle with underwater diving function disclosed in the embodiment of the present invention can realize flying in the air and diving in the water at the same time, and can adjust the posture of underwater diving, so that the aircraft can adapt to underwater diving and air flight at the same time. The posture can also be adjusted according to the requirements of the functional components carried by the unmanned aerial vehicle to adapt to the operation requirements of the functional components, which greatly improves the multi-functional operation capability of the unmanned aerial vehicle in complex environments and has good application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 . Example 1: Schematic diagram of the structure of an unmanned aerial vehicle with underwater diving function;

[0033] Figure 2 . Left view of the unmanned aerial vehicle with underwater submersible function in Example 1;

[0034] Figure 3 . Example 1 right view of an unmanned aerial vehicle with underwater submersible function;

[0035] Figure 4 . Figure 1 AA cross-sectional view of an unmanned aerial vehicle with underwater submersible capabilities;

[0036] Figure 5 . Figure 1 AA cross-sectional view of an underwater submersible unmanned aerial vehicle (rotor arms open);

[0037] Figure 6 . Schematic diagram of the flight state of an unmanned aerial vehicle with underwater submersible function in Example 1;

[0038] Figure 7 . Figure 6 A bird's-eye view of the flight status of an unmanned aerial vehicle with underwater diving capabilities;

[0039] Figure 8 . Schematic diagram of an unmanned aerial vehicle with underwater submersible function in Example 2;

[0040] Fig. 9 . Example 2 Schematic diagram of attitude adjustment of an unmanned aerial vehicle with underwater diving function;

[0041] Fig.10 . Schematic diagram of the submerged state of an unmanned aerial vehicle with underwater submergence function in Example 3;

[0042] Fig.11 . Example 3: Right view of an unmanned aerial vehicle with underwater submersible function;

[0043] Fig.12 . Schematic diagram of the flight status of an unmanned aerial vehicle with underwater submersible function in Example 3;

[0044] Fig.13 Example 3: A top view of the flight status of an unmanned aerial vehicle with underwater submersible function;

[0045] Fig.14 . Schematic diagram of the submerged state of an unmanned aerial vehicle with underwater submergence function in Example 4;

[0046] Fig.15 . Example 4: Left view of the submerged state of an unmanned aerial vehicle with underwater submergence function;

[0047] Fig.16 . Example 4: AA cross-sectional view of the submerged state of an unmanned aerial vehicle with underwater submergence function;

[0048] Fig.17 . Example 4: AA cross-sectional view of the flight state of an unmanned aerial vehicle with underwater submersible function (rotor arms open);

[0049] Fig.18 . Example 4: Schematic diagram of the airbag of an unmanned aerial vehicle with underwater diving function in the open state.

[0050] Reference numerals

[0051] 1 Aircraft body 2 Aircraft frame

[0052] 3 Submersible function components 4 Flying function components

[0053] 5 Aircraft attitude adjustment component 11 Tail

[0054] 30 Water duct 31 Water pump

[0055] 32 Second motor 33 Propeller

[0056] 40 Retractable rotor arm 41 Rotor propeller

[0057] 51 First water pressure tank 52 First water pipe

[0058] 53 Second water pressure tank 54 Second water pipe

[0059] 55 The third ballast tank 56 The third water pipe

[0060] 57 Fourth ballast tank 58 Fourth water pipe

[0061] 59 Airbag 60 Push rod DETAILED DESCRIPTION

[0062] The word "embodiment" used here as an "exemplary" does not necessarily mean that any embodiment described is superior to or better than other embodiments. Unless otherwise specified, the performance index tests in the embodiments of this application are performed using conventional test methods in the art. It should be understood that the terms described in this application are only used to describe specific implementation methods and are not used to limit the content disclosed in this application.

[0063] Unless otherwise specified, the technical and scientific terms used in this document have the same meanings as commonly understood by ordinary technicians in the technical field to which this application belongs; other experimental methods and technical means not specifically specified in this application refer to experimental methods and technical means commonly used by ordinary technicians in this field.

[0064] The terms "substantially" and "approximately" used herein are used to describe small fluctuations. For example, they can refer to less than or equal to ±5%, such as less than or equal to ±2%, such as less than or equal to ±1%, such as less than or equal to ±0.5%, such as less than or equal to ±0.2%, such as less than or equal to ±0.1%, such as less than or equal to ±0.05%. The numerical data represented or presented in the range format herein are used only for convenience and brevity, and should therefore be flexibly interpreted as including not only the values ​​clearly listed as the limits of the range, but also all independent values ​​or sub-ranges contained in the range. For example, the numerical range of "1-5%" should be interpreted as including not only the clearly listed values ​​of 1% to 5%, but also the independent values ​​and sub-ranges within the range shown. Therefore, independent values ​​such as 2%, 3.5% and 4% and sub-ranges such as 1%-3%, 2%-4% and 3%-5% are included in this numerical range. This principle also applies to the range of only one numerical value. In addition, such an interpretation applies regardless of the width of the range or the characteristics described.

[0065] In this document, including in the claims, transitional words such as "comprises," "includes," "with," "having," "containing," "involving," "accommodating," etc. are understood to be open-ended, i.e., meaning "including but not limited to." Only the transitional words "consisting of" and "composed of" are closed transitional words.

[0066] In order to better illustrate the content of the present application, numerous specific details are provided in the specific examples below. It should be understood by those skilled in the art that the present application can also be implemented without certain specific details. In the embodiments, some methods, means, instruments, equipment, etc. well known to those skilled in the art are not described in detail in order to highlight the main purpose of the present application.

[0067] Under the premise of no conflict, the technical features disclosed in the embodiments of the present application can be combined arbitrarily, and the resulting technical solutions belong to the contents disclosed in the embodiments of the present application.

[0068] In some embodiments, an unmanned aerial vehicle with an underwater submersible function includes: an aircraft frame, and an aircraft fuselage adapted to be installed with the aircraft frame. Generally, the aircraft frame is a rigid structural component and can serve as a supporting structure of the unmanned aerial vehicle. The aircraft fuselage is generally a rigid shell structural component and can serve as an outer shell of the unmanned aerial vehicle and an outer shape structure of the unmanned aerial vehicle. The aircraft frame and the aircraft fuselage constitute the main structure of the unmanned aerial vehicle. Other structural components can be installed in the main structure, and functional devices can be arranged at appropriate positions to meet the requirements of the unmanned aerial vehicle to perform operating tasks.

[0069] Other structural components that can be installed on the main structure include: a flight function component for realizing aerial flight. Generally, the flight function component is installed on the aircraft frame and is compatible with the aircraft fuselage; a submersible function component for realizing underwater submersible function. Generally, the submersible function component is adaptively installed on the aircraft frame and is compatible with the aircraft fuselage; an aircraft attitude adjustment component for adjusting the aircraft attitude. Generally, the aircraft attitude adjustment component is adaptively arranged with the aircraft fuselage and is used to adjust the submersible attitude of the aircraft in the water, realize the conversion of the aircraft's aerial flight attitude and underwater submersible attitude, and can also adjust the submersible depth of the unmanned aerial vehicle in the water.

[0070] As an optional embodiment, the flight function components of an unmanned aerial vehicle with an underwater diving function include: a retractable rotor arm, which is arranged and installed on an aircraft frame; a rotor propeller, which is arranged and installed on the retractable rotor arm; a first motor, which is used to drive the rotor propeller; wherein a structure compatible with the rotor propeller and the retractable rotor arm is provided on the aircraft fuselage; as an optional embodiment, when the unmanned aerial vehicle is in diving mode, the retractable rotor arm and the rotor propeller are arranged in the aircraft fuselage; when the unmanned aerial vehicle is in flight mode, the retractable rotor arm and the rotor propeller extend from the aircraft fuselage, and the rotor propellers are symmetrically distributed around the aircraft fuselage. Generally, a retractable rotor arm refers to an installation base for installing a rotor propeller, which can be retracted into the aircraft fuselage to form an integrated streamlined shape suitable for diving in the water, and can also be extended from the aircraft fuselage to fix the rotor propeller outside the aircraft fuselage, suitable for flying in the air; generally, the retractable rotor arm is driven by a first electric motor to achieve its movement, and a battery, such as a power battery pack, can be selected as the power source of the first electric motor.

[0071] As an optional embodiment, the flight function component provided in the unmanned aerial vehicle can not only realize aerial flight, but also realize underwater diving. No dedicated diving function component is provided in the unmanned aerial vehicle; the structure of the unmanned aerial vehicle can be simplified, that is, the flight function component and the diving function component of the unmanned aerial vehicle can be combined into one.

[0072] As an optional embodiment, the retractable rotor arms of the unmanned aerial vehicle are provided in a plurality, and the setting planes of the plurality of retractable rotor arms are perpendicular to the central axis of the aircraft fuselage. For example, the retractable rotor arms can be provided in 4, 6 or 8 numbers, etc., and the plurality of retractable rotor arms are provided and mounted on the aircraft frame and are located in the same plane, and each retractable rotor arm is provided with a corresponding rotor propeller; and the plurality of rotor propellers are located in the setting plane and rotate together to provide power for the unmanned aerial vehicle.

[0073] Generally, the setting plane of the retractable rotor arms can be selected to be perpendicular to the central axis of the aircraft fuselage, so that the unmanned aerial vehicle maintains a vertical attitude during flight; or the setting planes of multiple retractable rotor arms can be selected to be parallel to the central axis of the aircraft fuselage, so that the unmanned aerial vehicle maintains a horizontal attitude during flight.

[0074] Further, as an optional embodiment, the central axis of the aircraft fuselage is located in the setting plane of the retractable rotor arm, and the unmanned aerial vehicle maintains a horizontal posture during flight.

[0075] As an optional embodiment, the submersible function component of the unmanned aerial vehicle with the underwater submersible function includes:

[0076] A propeller is mounted on the aircraft frame and located at the tail of the aircraft fuselage;

[0077] The second electric motor is used to drive the propeller.

[0078] Generally, the propeller is adaptively arranged at the tail of the aircraft fuselage, and is adaptively provided with a water inlet, a water outlet channel and a fairing, so that the propeller provides optimized propulsion for the aircraft; generally, a second electric motor can be selected to drive the propeller, and a battery can also be selected as the power source of the second electric motor.

[0079] As an optional embodiment, the submersible function component of the unmanned aerial vehicle with the underwater submersible function includes: a water flow duct, which is arranged inside the aircraft fuselage, the inlet end of the water flow duct is arranged at the front end of the aircraft fuselage, and the outlet end of the water flow duct is arranged at the rear end of the aircraft fuselage;

[0080] The water pump is arranged in the water flow duct.

[0081] Generally, there are multiple water ducts, which are symmetrically arranged on the aircraft fuselage. The inlet end of the water duct is arranged at the front end of the aircraft fuselage, and the outlet end is arranged at the rear end of the aircraft fuselage. A water pump is arranged in the water duct. When the water pump is operating, a high-speed water flow is formed in the water duct, thereby providing power for the unmanned aerial vehicle to dive in the water.

[0082] As an optional embodiment, the aircraft attitude adjustment component of the unmanned aerial vehicle with the underwater submersible function includes:

[0083] A water-pressurized tank, provided in the fuselage of the aircraft;

[0084] The ballast tank water pipe is used to introduce water into the ballast tank or discharge water from the ballast tank.

[0085] Generally, water pressure tanks are arranged inside the fuselage of an aircraft and distributed at appropriate positions of the fuselage. On the one hand, the diving depth of the aircraft in the water can be adjusted by injecting an appropriate amount of water therein. On the other hand, by arranging water pressure tanks at different positions inside the fuselage of the aircraft, different positions can be controlled to adjust the aircraft to different postures in the water. For example, the aircraft can be in a vertical posture or a horizontal posture in the water.

[0086] As an optional embodiment, the pressure tank of the unmanned aerial vehicle includes two independent parts, one of which is arranged at the front of the aircraft fuselage, and the other is arranged at the rear of the aircraft fuselage. The attitude of the aircraft is adjusted by injecting or discharging water in the pressure tanks of the two independent parts. For example, the water in the pressure tank at the front of the aircraft fuselage can be discharged, and an appropriate amount of water can be injected into the pressure tank at the rear of the aircraft fuselage to control the aircraft in a vertical attitude in the water; an appropriate amount of water can be injected into the two independent pressure tanks respectively to keep the aircraft in a constant attitude, and its depth in the water can be adjusted by controlling the mass of the water in the pressure tanks.

[0087] As an optional embodiment, the aircraft attitude adjustment component of the unmanned aerial vehicle with the underwater submersible function includes:

[0088] An airbag is movably disposed in the aircraft fuselage and communicated with the outside of the aircraft fuselage;

[0089] The push rod is arranged in the fuselage of the aircraft and is used to control the expansion or contraction of the airbag.

[0090] Generally, the buoyancy of the UAV in the water can be adjusted by airbags, and then the depth of the UAV in the water can be adjusted. By setting airbags at different parts of the UAV, the buoyancy of different parts of the UAV can also be controlled, and then the posture of the UAV in the water can be controlled to be vertical or horizontal.

[0091] As an optional embodiment, a push rod is disposed inside the airbag, and the push rod is a retractable component. When the push rod is expanded, the airbag can be pushed outside the aircraft fuselage, making it in an open state, thereby increasing the buoyancy of the unmanned aerial vehicle; when the push rod is retracted, the airbag can be retracted into the aircraft fuselage, thereby restoring the buoyancy of the unmanned aerial vehicle.

[0092] As an optional embodiment, there are multiple airbags, which are arranged at intervals in the aircraft fuselage, and each airbag is provided with a corresponding push rod, so that independent control of the airbag can be achieved.

[0093] As an optional embodiment, an airbag and a water-pressurized tank may be provided in the UAV at the same time, and other matching components may be provided. The posture and underwater depth of the UAV may be adjusted by adjusting the coordination of the airbag and the water-pressurized tank.

[0094] The technical details are further illustrated below in conjunction with the embodiments and drawings.

[0095] Example 1

[0096] The unmanned aerial vehicle with underwater submersible function disclosed in Example 1 is as follows: Figure 1 As shown, it includes an aircraft frame 2 and an aircraft fuselage 1 adapted to be installed therewith, and the aircraft fuselage 1 is streamlined as a whole; a submersible function component 3 is installed on the aircraft frame 2, such as Figure 2 As shown, the submersible function component 3 includes a water duct 30 and a water pump 31 disposed therein; four symmetrically distributed water ducts 30 are disposed on the aircraft fuselage 1, which open at the front end of the aircraft fuselage 1 and have an outlet located at the rear end of the aircraft fuselage 1, as shown in FIG. Figure 3 As shown, a tail wing 11 is provided at the tail end of the aircraft fuselage 1, and four identical tail wing 11 are symmetrically distributed on the outer wall of the aircraft fuselage between four water flow ducts 30 at intervals;

[0097] The flight function components 4 are arranged and installed on the aircraft frame 2, wherein four flight function components 4 are symmetrically arranged along the outer circumference of the aircraft fuselage 1, such as Figure 4As shown; the flight function component 4 includes a retractable rotor arm 40, one end of which is rotatably connected to the aircraft frame 2 to realize the retraction and extension of the retractable rotor arm 40, and the other end of the retractable rotor arm 40 is provided with a rotor propeller 41; the aircraft frame 2 is provided with a structure adapted to the retractable rotor arm 40 and the rotor propeller 41, and the aircraft fuselage 1 is also provided with a structure adapted to the retractable rotor arm 40 and the rotor propeller 41, so that the retractable rotor arm 40 and the rotor propeller 41 installed on the aircraft frame 2 can be retracted and set inside the aircraft fuselage 1, so that the aircraft fuselage 1 maintains a streamlined shape suitable for diving; at the same time, the retractable rotor arm 40 can be extended without hindrance to send the rotor propeller 41 to the outside of the aircraft fuselage 1, so that the rotor propeller is in a setting state suitable for flight;

[0098] In Example 1, when the unmanned aerial vehicle is in a submerged state, Figure 1 As shown, the aircraft fuselage 1 is in a horizontal posture, the flight function component is retracted into the aircraft frame 2 and is located inside the aircraft fuselage 1, so that the aircraft fuselage 1 is streamlined as a whole, and the water pump of the submersible function component 3 sends water from the inlet to the outlet of the water duct to form a water flow with a certain flow rate as the submersible power. The direction of the water flow is as shown in FIG. Figure 1 Indicated by the water flow arrows;

[0099] When the UAV is in flight, Figure 6 As shown, the aircraft fuselage 1 is in a vertical posture, and the retractable rotor arms 40 of the flight function assembly 4 send out the rotor propellers 41 symmetrically distributed around the aircraft fuselage 1, as shown in FIG. Figure 7 As shown; the rotor propeller 41 rotates under the drive of the first motor, forming an airflow from the head to the tail of the aircraft fuselage 1, which serves as the driving force for the aircraft to fly.

[0100] Example 2

[0101] In Example 2, the unmanned aerial vehicle includes an aircraft frame 2 and an aircraft fuselage 1 adapted to be mounted thereon; the aircraft frame 2 is disposed in the middle of the aircraft fuselage 1, dividing the aircraft fuselage 1 into two parts: the front part of the aircraft fuselage and the rear part of the aircraft fuselage; Figure 8 As shown, the aircraft fuselage 1 is in a vertical posture, and two independent aircraft attitude adjustment components 5 are arranged inside the aircraft fuselage 1; a submersible function component 3 is arranged at the end of the aircraft fuselage 1, and the submersible function component 3 includes a propeller 33 and a second motor 32 arranged inside the aircraft fuselage and connected to the propeller 33; the propeller 33 is arranged inside the water flow cover, and the water flow cover has a suitable water inlet, water outlet and cover structure to ensure that the propeller provides sufficient power;

[0102] The aircraft attitude adjustment assembly 5 provided at the front of the aircraft fuselage 1 includes a third pressure tank 55 and a fourth pressure tank 57 provided on the inner wall of the shell of the front of the aircraft fuselage 1, which are independent of each other and are respectively provided with a third water pipe 56 and a fourth water pipe 58 in communication;

[0103] The aircraft attitude adjustment assembly 5 disposed at the rear of the aircraft fuselage 1 comprises a first pressure water tank 51 and a second pressure water tank 53 disposed on the inner wall of the shell at the rear of the aircraft fuselage 1, which are independent of each other and are respectively connected with a first water pipe 52 and a second water pipe 54; wherein the first pressure water tank 51 and the third pressure water tank 55 are located on the same side of the aircraft fuselage 1, and the second pressure water tank 53 and the fourth pressure water tank 57 are located on the other side of the aircraft fuselage 1;

[0104] If a proper amount of water is injected into the first pressure tank 51 and the second pressure tank 52 of the aircraft attitude adjustment assembly 5 located at the rear of the aircraft fuselage, Figure 8 As shown, if no water is injected into the aircraft attitude adjustment component 5 at the front of the aircraft fuselage, the aircraft fuselage 1 is in a vertical attitude when placed in the water; as an optional embodiment, water is injected into both the aircraft attitude adjustment component 5 at the rear of the aircraft fuselage and the aircraft attitude adjustment component 5 at the front of the aircraft fuselage. If the water volume ratio is controlled within a suitable range, the aircraft fuselage can also maintain a handling attitude in the water;

[0105] If no water is injected into the third water pressure tank 55 at the front of the aircraft fuselage, no water is injected into the first water pressure tank 51 at the rear of the aircraft fuselage, and an appropriate amount of water is injected into the fourth water pressure tank 57 at the front of the aircraft fuselage, and an appropriate amount of water is injected into the second water pressure tank 53 at the rear of the aircraft fuselage, then when the aircraft fuselage is placed in water, the side of the aircraft fuselage 1 injected with water is located at the bottom, and the other side without water is located at the top, and the aircraft fuselage 1 is in a horizontal posture. As an optional embodiment, if water is injected into the water pressure tanks on one side of the aircraft fuselage and the water pressure tanks on the other side, and if the water ratio is controlled within an appropriate range, the horizontal posture of the aircraft fuselage can also be achieved.

[0106] When the unmanned aerial vehicle needs to dive in the water, it can be adjusted to a horizontal posture and the propeller at the tail can be used to drive its movement; when it needs to fly in the air, the aircraft body can be adjusted to a vertical posture by adjusting the water injection volume in the ballast tank, and then its diving depth can be further lowered by further adjusting the water injection volume until the flight function component surfaces. The flight function component is then started, and the vertical posture can be maintained for flight.

[0107] Example 3

[0108] The unmanned aerial vehicle with underwater submersible function disclosed in Example 3 is as follows: Fig.10As shown, it includes an aircraft frame 2 and an aircraft fuselage 1 adapted and installed therewith, and the aircraft fuselage 1 is streamlined as a whole; a submersible function component 3 is installed at the tail end of the aircraft fuselage 1, and the submersible function component 3 includes a propeller 33 and a second motor 32 connected thereto; a tail wing 11 is arranged at the tail end of the aircraft fuselage 1, and a total of four tail wings 11 are arranged, which are symmetrically distributed on the outer wall of the aircraft fuselage around the submersible function component 3 at intervals, as shown in FIG. Fig.11 As shown;

[0109] The aircraft frame 2 is provided with a flight function assembly 4, wherein four flight function assemblies 4 are symmetrically arranged along the outer circumference of the aircraft fuselage 1, as shown in FIG. Fig.12 As shown; the flight function component 4 includes a retractable rotor arm 40, one end of which is rotatably connected to the aircraft frame 2 to realize the retraction and extension of the retractable rotor arm 40, and the other end of the retractable rotor arm 40 is provided with a rotor propeller 41; the aircraft frame 2 is provided with a structure adapted to the retractable rotor arm 40 and the rotor propeller 41, and the aircraft fuselage 1 is also provided with a structure adapted to the retractable rotor arm 40 and the rotor propeller 41, so that the retractable rotor arm 40 and the rotor propeller 41 installed on the aircraft frame 2 can be retracted and installed inside the aircraft fuselage 1, so that the aircraft fuselage 1 maintains a streamlined shape suitable for diving; at the same time, the retractable rotor arm 40 can be extended without hindrance to send the rotor propeller 41 to the outside of the aircraft fuselage 1, so that the rotor propeller is in a suitable position for flight;

[0110] In Example 3, when the UAV is in the submersible mode, Fig.10 As shown, the aircraft fuselage 1 is in a horizontal posture, the flight function component is retracted into the aircraft frame 2 and located inside the aircraft fuselage 1, so that the aircraft fuselage 1 is streamlined as a whole, and the propeller of the submersible function component 3 sends water out of the water flow protection cover to form a water flow with a certain flow rate as the submersible power. The direction of the water flow is as shown in FIG. Fig.10 Indicated by the water flow arrows;

[0111] When the drone is in flight mode, Fig.12 As shown, the aircraft fuselage 1 is in a vertical posture, and the retractable rotor arms 40 of the flight function assembly 4 send out the rotor propellers 41 symmetrically distributed around the aircraft fuselage 1, as shown in FIG. Fig.13 As shown; the rotor propeller 41 rotates under the drive of the first motor, forming an airflow from the head to the tail of the aircraft fuselage 1, which serves as the flight power of the aircraft.

[0112] Example 4

[0113] The unmanned aerial vehicle with a submersible function disclosed in the fourth embodiment includes an aerial vehicle fuselage 1 and an aerial vehicle frame 2 adapted and installed therewith, the setting plane of the aerial vehicle frame 2 and the central axis of the aerial vehicle fuselage 1 are located in the same plane, the tail area of ​​the aerial vehicle fuselage 1 is provided with a tail wing 11, and the tail end of the aerial vehicle fuselage 1 is provided with a submersible function component 3; the lower area of ​​the aerial vehicle fuselage 1 is provided with a plurality of air bags 59;

[0114] The aircraft frame 2 is provided with a flight function component, which includes a rotor propeller 40 and a retractable rotor arm 41 for mounting the rotor propeller 40 on the aircraft frame 2. Fig.16 As shown, there are four retractable rotor arms 41, which are symmetrically arranged on both sides of the aircraft fuselage 1, wherein two retractable rotor arms 41 are located at the front of the aircraft fuselage 1, and the other two retractable rotor arms 41 are located at the rear of the aircraft fuselage 1;

[0115] The airbag 59 is installed inside the aircraft fuselage 1 through a push rod 60. The airbag 59 can be pushed out from the aircraft fuselage through the push rod 60. The airbag 59 located outside the aircraft fuselage 1 can affect the buoyancy of the aircraft fuselage, which can adjust the depth of the unmanned aerial vehicle in the water, and can also help adjust the height of the unmanned aerial vehicle in the air, which is conducive to maintaining the stability of its posture. There are multiple airbags, evenly distributed on both sides of the aircraft fuselage, such as Fig.18 As shown, in order to maintain the balance and stability of the aircraft body attitude.

[0116] The UAV is in submerged mode. Fig.14 As shown, the aircraft fuselage 1 is in a horizontal position as a whole, and the flight function component 4 is retracted into the aircraft fuselage 1, as shown in FIG. Fig.17 As shown; the submersible functional component 3 located at the tail end of the aircraft fuselage 1 drives the water flow as the power of the aircraft submersible, and the direction of the water flow is as follows Fig.14 As shown by the water flow arrow; the airbag 59 extends out of the aircraft fuselage 1, which can change the buoyancy of the aircraft in the water and control its depth in the water; by controlling the distance of the airbag 59 extending out of the aircraft fuselage 1 and the size of the airbag, the position of the unmanned aerial vehicle in the water can be further controlled;

[0117] When the unmanned aerial vehicle is in flight mode, the entire aircraft body 1 is in a horizontal position, the flight function component 4 extends out of the aircraft body 1, and the rotor propeller 40 is arranged around the aircraft body 1, such as Fig.15 , Fig.17 shown.

[0118] The unmanned aerial vehicle with underwater submergence function disclosed in the embodiment of the present invention can realize the function of flying in the air and also has the ability to submerge in the water, and can adjust the posture in the water, so that the aircraft can adapt to underwater submergence and air flight at the same time, and can also adjust the posture according to the requirements of the functional components carried by the unmanned aerial vehicle to adapt to the operation requirements of the functional components, which greatly improves the multifunctional operation capability of the unmanned aerial vehicle in complex environments and has good application prospects.

[0119] The technical solutions disclosed in this application and the technical details disclosed in the embodiments are merely illustrative of the inventive concept of this application and do not constitute a limitation on the technical solutions of this application. Any conventional changes, replacements or combinations of the technical details disclosed in this application have the same inventive concept as this application and are within the protection scope of the claims of this application.

Claims

1. An unmanned aerial vehicle with underwater submersible function, characterized in that: The unmanned aerial vehicle includes: Aircraft frame; aircraft fuselage, adapted to be mounted on the aircraft frame; A flight function component is mounted on the aircraft frame and is adapted to the aircraft fuselage for achieving flight; the flight function component includes: a retractable rotor arm mounted on the aircraft frame; a rotor propeller mounted on the retractable rotor arm; and a first motor for driving the rotor propeller; Wherein, a structure adapted to the rotor propeller and the retractable rotor arm is arranged on the aircraft fuselage; when the retractable rotor arm and the rotor propeller are arranged in the aircraft fuselage, the aircraft fuselage is streamlined as a whole; when the retractable rotor arm and the rotor propeller extend from the aircraft fuselage, the rotor propeller is symmetrically distributed around the aircraft fuselage, and is used to provide power for the unmanned aerial vehicle; A submersible function component is arranged and installed on the aircraft frame and is adapted to the aircraft fuselage for realizing submersible navigation; the submersible function component includes: a water flow duct, which is arranged on the aircraft fuselage, the inlet end of the water flow duct is arranged at the front end of the aircraft fuselage, and the outlet end of the water flow duct is arranged at the rear end of the aircraft fuselage; a water pump is arranged in the water flow duct; The aircraft attitude adjustment component is matched with the aircraft fuselage and is used to adjust the diving attitude of the unmanned aerial vehicle in water.

2. The unmanned aerial vehicle with underwater submersible function according to claim 1, characterized in that: The retractable rotor arms are arranged in plurality, and the arrangement planes of the plurality of retractable rotor arms are perpendicular to the central axis of the aircraft fuselage.

3. The unmanned aerial vehicle with underwater submersible function according to claim 1, characterized in that: The retractable rotor arms are arranged in plurality, and the arrangement planes of the plurality of retractable rotor arms are parallel to the central axis of the aircraft fuselage.

4. The unmanned aerial vehicle with underwater submersible function according to claim 1, characterized in that: The submersible function components include: A propeller is mounted on the aircraft frame and located at the tail of the aircraft fuselage; The second electric motor is used to drive the propeller.

5. The unmanned aerial vehicle with underwater submersible function according to claim 1, characterized in that: The aircraft attitude adjustment component comprises: A water pressure tank, disposed in the aircraft fuselage; The water pipe of the pressure tank is used to introduce water into the pressure tank or discharge water from the pressure tank.

6. The unmanned aerial vehicle with underwater submersible function according to claim 5, characterized in that: The pressure tank comprises two parts which are independent of each other, one part is arranged at the front part of the aircraft fuselage, and the other part is arranged at the rear part of the aircraft fuselage.

7. The unmanned aerial vehicle with underwater submersible function according to claim 1, characterized in that: The aircraft attitude adjustment component comprises: an airbag, movably disposed in the aircraft fuselage and communicating with the exterior of the aircraft fuselage; A push rod is arranged in the aircraft fuselage and is used to expand or contract the airbag.

8. The unmanned aerial vehicle with underwater submersible function according to claim 7, characterized in that: There are multiple airbags, which are arranged at intervals in the aircraft fuselage, and each airbag is independently controlled.

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