A coaxial rotor cross-medium multi-living unmanned system

Abstract

The present application discloses a coaxial rotor cross-medium multi-aquatic unmanned system, which includes a main body cabin and a plurality of power units symmetrically arranged relative to the main body cabin; each power unit includes a variant mechanism and a coaxial rotor assembly installed on the variant mechanism. The variant mechanism includes a fixed bracket fixedly connected to the main body cabin, a rotating bracket rotatably connected to the fixed bracket. The rotating bracket is provided with a driving motor and a power rod connected to the output shaft of the driving motor; the coaxial rotor assembly includes a propeller coaxially installed on the outer side of the axial direction of the power rod and a rolling wheel on the inner side of the axial direction of the power rod; the driving mechanism drives the rotating bracket to rotate at different angles relative to the fixed bracket in the vertical plane through a push rod, so as to place the propeller and the rolling wheel at a plurality of working positions corresponding to a plurality of motion modes of the unmanned system respectively. The present application can cope with the natural environment with diverse terrains and has the characteristics of simple structure, convenient and fast switching.

Description

Technical Field

[0001] This application relates to the technical field of unmanned systems, and particularly to a coaxial rotor cross-medium multi-amphibious unmanned system with a reusable variant mechanism, such as an unmanned aerial vehicle, an unmanned vehicle, an unmanned boat, etc. Background Art

[0002] At present, water-land amphibious aircraft and seaplanes that take off and land on water are in a mature development stage, but cross-medium unmanned systems with the ability to submerge underwater and repeatedly enter and exit the water still have problems in terms of power during navigation, water entry and exit ability, and sealing performance.

[0003] Chinese Patent Application CN201711386555 discloses a fixed-wing sea-air multi-amphibious vehicle and control method, which can achieve large-range flight observation in the air, long-range underwater gliding observation, and rely on the vertical takeoff and landing function to realize the switching of different motion modes in water and air. However, when moving underwater, it can only adjust the forward and backward movement of the floating center of the fuselage and combine with the fixed wing to perform a zigzag underwater gliding motion. This motion method is slow, has a long turning path, and low power efficiency. At the same time, due to the presence of the fixed wing, the multi-amphibious vehicle needs to perform mode conversion between the rotor and the fixed wing during air movement, which makes the motion control system of the vehicle in the air extremely complex and also increases the volume of the fuselage.

[0004] Chinese Patent Application CN201810255330.3 discloses a coaxial tilt-rotor sea-air vehicle. Through the vector cooperation of the coaxial sea-air dual-purpose combined motor and the tilt-rotor combined motor, this invention realizes the omnidirectional movement of the coaxial tilt-rotor vehicle across media in water and air. However, its underwater movement requires four underwater thrusters to generate the same obliquely downward force. The vertical component continuously cancels the gravity, and the horizontal component controls the forward movement and turning. The energy consumption for diving is large, and the underwater motion control system is complex.

[0005] Chinese Patent Application CN201910533404 discloses a cross-shaped coaxial tilt-rotor amphibious unmanned aerial vehicle, which is provided with a tilt-type coaxial multi-rotor mechanism. By controlling the tilt of the rotors, it replaces changing the yaw angle of the fuselage by increasing or decreasing the speed of the motor to change the anti-torque. When moving underwater, the motors on both sides are tilted forward, and the fuselage remains horizontal to reduce resistance and improve the utilization efficiency of the maximum lift of the motor, enabling the unmanned aerial vehicle to perform self-rotation and work in the air and under large resistance underwater. However, when moving underwater, the average density of the fuselage is greater than that of water, and the fuselage will sink in the natural state. It is necessary to continuously increase or decrease the speed of the motors on two coaxial multi-rotor mechanisms to adjust the floating and diving of the fuselage. The energy consumption for floating and diving is large, and the underwater motion control system is complex. Summary of the Invention

[0006] The present application discloses an unmanned system to solve the problem of poor environmental adaptability of traditional single-medium or amphibious unmanned robots.

[0007] According to an embodiment of the present application, an unmanned system is provided, including a main body cabin and a power system connected to the main body cabin. The power system includes a plurality of power units symmetrically arranged relative to the main body cabin.

[0008] Each power unit includes a variant mechanism and a coaxial rotor assembly mounted on the variant mechanism. The variant mechanism includes a fixed bracket fixedly connected to the main body cabin, a rotating bracket rotatably connected to the fixed bracket. The rotating bracket is provided with a driving motor and a power rod connected to the output shaft of the driving motor. The coaxial rotor assembly includes a propeller coaxially mounted on the outer side of the axial direction of the power rod and a rolling wheel on the inner side of the axial direction of the power rod.

[0009] Wherein, the main body cabin further includes a driving mechanism, which is connected to the rotating bracket through a push rod and is used to drive the rotating bracket to rotate at different angles relative to the fixed bracket in a vertical plane, so as to place the propeller and the rolling wheel at a plurality of working positions corresponding to a plurality of motion modes of the unmanned system.

[0010] In some other examples, the rolling wheel includes a central wheel shaft, an outer peripheral wheel rim and a plurality of paddle blades for connecting the central wheel shaft and the outer peripheral wheel rim. The central wheel shaft is movably sleeved on the power rod. The driving mechanism drives the rolling wheel to move along the axial direction of the power rod through the push rod to switch between a first working state and a second working state. Wherein, in the first working state, power coupling is achieved between the rolling wheel and the power rod; in the second working state, power decoupling is achieved between the rolling wheel and the power rod.

[0011] In some other examples, the rotating bracket includes a sliding sleeve sleeved outside the power rod, and the push rod is connected to the sliding sleeve. The rolling wheel is fixedly installed at one end of the sliding sleeve through a bearing assembly, so that the rolling wheel can freely rotate relative to the sliding sleeve.

[0012] In some other examples, the rolling wheel or the bearing assembly is provided with a first locking mechanism, and the power rod is provided with a second locking mechanism. In the first working state, the first locking mechanism engages with the second locking mechanism to achieve power coupling between the rolling wheel and the power rod; in the second working state, the first locking mechanism is separated from the second locking mechanism to achieve power decoupling between the rolling wheel and the power rod.

[0013] In some other examples, two latch pins eccentrically arranged relative to the center line of the sliding sleeve are provided on both sides of the sliding sleeve in the direction perpendicular to the rotation plane of the rotating bracket, and each latch pin is connected to the driving mechanism through a push rod.

[0014] In some other examples, the rotating bracket includes an annular body, and a cylindrical portion extends radially outward from the annular body, and the driving motor is installed in the cylindrical portion; the fixed bracket includes a first hemispherical shell and a second hemispherical shell, and the two hemispherical shells are connected into one body through a connecting shaft inside the shell in a manner of clamping the annular body from both sides, so that when the annular body is driven by an external force, it can rotate around the connecting shaft between the two hemispherical shells.

[0015] In some other examples, sealing rings are respectively provided between the two hemispherical shells and the annular body to form a sealed cabin between the two hemispherical shells, and a circuit board is provided in the sealed cabin, and the circuit board is connected to the driving motor.

[0016] In some other examples, the fixed bracket further includes a floating and sinking water tank for water inlet or drainage. Alternatively, the floating and sinking water tank can also be provided in the main cabin.

[0017] In some other examples, a control unit is provided in the main cabin, and the control unit is connected to the driving mechanism and is connected to the circuit board through a circuit provided inside the fixed bracket.

[0018] In some more specific examples, in this unmanned system, the working positions at least include: a first working position, where the rotating bracket is substantially perpendicular to the fixed bracket in a vertical plane, so that the rotation planes of the propeller and the rolling wheels are located in a horizontal plane, and the rolling wheels are in the second working state; a second working position, where the rotating bracket is substantially coaxially arranged with the fixed bracket in a vertical plane, so that the rotation planes of the propeller and the rolling wheels are located in a vertical plane, and the rolling wheels are in the first working state; and a third working position located between the first working position and the second working position, where a predetermined angle is formed between the rotating bracket and the fixed bracket in a vertical plane, so that the rotation planes of the propeller and the rolling wheels are located in an inclined plane, and the rolling wheels are in the second working state.

[0019] In some more specific examples, the unmanned system includes four of the power units. Among them, the propellers and propeller blades of the first power unit and the third power unit have a forward structure, while the propellers and propeller blades of the second power unit and the fourth power unit have a reverse structure. The first power unit and the second power unit are arranged on one side of the main body cabin, and the third power unit and the fourth power unit are arranged on the other side of the main body cabin. In the first working position, the unmanned system can execute a flight motion mode, and four propellers provide power to achieve flight and hovering in the air. In the second working position, the unmanned system can execute a ground motion mode, and four rolling wheels provide ground thrust, or execute an underwater motion mode, and the propeller blades of the rolling wheels on the same side of the main body cabin provide thrust in water. In the third working position, the unmanned system can execute a surface motion mode, and the propellers on the same side of the main body cabin provide air thrust.

[0020] In the unmanned system of the present application, preferably, the driving mechanism drives the rotating bracket to rotate within a range of 180° relative to the fixed bracket in a vertical plane through a push rod.

[0021] The present application selects the power structure by means of power transmission rod switching and adopts a single-rod coaxial structure, realizing the combination of the air propellers of traditional unmanned aircraft and unmanned surface ships, the water propellers of unmanned ships and submarines, and the road rollers of unmanned vehicles. It solves the problem that the environmental adaptability of traditional single-medium or amphibious unmanned robots has limitations, can cope with various natural environmental terrains, and has the characteristics of simple structure, convenient and fast switching.

[0022] Through the following detailed description of the exemplary embodiments of the present application with reference to the accompanying drawings, other features and advantages of the present application will become clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings described herein are used to provide a further understanding of the present application, and constitute a part of the present application. The schematic embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation to the present application.

[0024] In the drawings:

[0025] Figure 1 is a schematic diagram of the overall structure of the unmanned system according to an embodiment of the present application;

[0026] Figure 2 is a schematic diagram of a single power unit structure of the unmanned system according to an embodiment of the present application;

[0027] Figure 3 、 Figure 4 is a schematic diagram of the decomposed structure of a single power unit of the unmanned system according to an embodiment of the present application;

[0028] Figure 5 Schematic diagram of the flight motion mode of the unmanned system according to an embodiment of the present application;

[0029] Figure 6 Schematic diagram of the surface motion mode of the unmanned system according to an embodiment of the present application;

[0030] Figure 7 Schematic diagram of the unmanned system flipping in the surface motion mode;

[0031] Figure 8 Schematic diagram of the underwater motion mode of the unmanned system according to an embodiment of the present application;

[0032] Figure 9 Schematic diagram of the ground motion mode of the unmanned system according to an embodiment of the present application. Detailed implementation manners

[0033] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and in no way limits the present application and its application or use.

[0034] Figure 1 Schematic diagram of the overall structure of the unmanned system according to an embodiment of the present application. As Figure 1 described, the present application discloses an unmanned system, including a main body cabin 10 and a power system connected to the main body cabin. The power system includes a plurality of power units 11-14 symmetrically arranged relative to the main body cabin.

[0035] Each power unit 11-14 includes a variant mechanism 100 and coaxial rotor assemblies 111, 112; 121, 122; 131, 132; 141, 142 mounted on the variant mechanism.

[0036] Figure 2 Schematic diagram of the structure of a single power unit of the unmanned system according to an embodiment of the present application, Figure 3 、 Figure 4 Schematic diagram of the disassembled structure of a single power unit of the unmanned system according to an embodiment of the present application. As shown in the figure, the variant mechanism 100 includes a fixed bracket 1 fixedly connected to the main body cabin 11, a rotating bracket 3 rotatably connected to the fixed bracket, a driving motor 32 mounted on the rotating bracket 3, and a power rod 4 connected to the output shaft 321 of the driving motor 32.

[0037] Taking the power unit 11 as an example, the coaxial rotor assembly includes a propeller 111 coaxially installed on the outer side of the axial direction of the power rod 4 and a rolling wheel 112 on the inner side of the axial direction of the power rod 4.

[0038] The main cabin 10 further includes a driving mechanism (not shown), which is connected to the rotating bracket 3 through a push rod 7 and is used to drive the rotating bracket 3 to rotate at different angles relative to the fixed bracket 1 in a vertical plane, so as to place the propeller 111 and the rolling wheel 112 at multiple working positions corresponding to multiple motion modes of the unmanned system respectively.

[0039] The rolling wheel 112 includes a central wheel shaft, an outer peripheral wheel rim 1121 and a plurality of paddle blades 1122 for connecting the central wheel shaft and the outer peripheral wheel rim 1121. The central wheel shaft is movably sleeved on the power rod 4. The driving mechanism drives the rolling wheel 112 to move along the axial direction of the power rod 4 through the push rod 7 to switch between a first working state and a second working state. Among them, in the first working state, power coupling is achieved between the rolling wheel and the power rod. In the second working state, the power coupling between the rolling wheel and the power rod is released.

[0040] The rotating bracket 3 includes a sliding sleeve 5 sleeved on the outside of the power rod, and the push rod 7 is connected to the sliding sleeve 5. The rolling wheel is fixedly installed at one end of the sliding sleeve 5 through bearing assemblies 52 and 53, so that the rolling wheel can freely rotate relative to the sliding sleeve.

[0041] Refer to Figure 3 、 Figure 4 , exemplarily, the bearing assembly includes a bearing 52 and a rotating locking pin 53. The outer ring of the bearing 52 is fixed in the push-pull ring 51 of the sliding sleeve 5. The central wheel shaft of the rolling wheel is fixedly sleeved on the rotating locking pin 53, and the rotating locking pin 53 is fixedly connected to the inner ring of the bearing 52, so as to fix the rolling wheel and the sliding sleeve 5 in the axial direction, but can freely rotate relative to the sliding sleeve 5.

[0042] The rotating locking pin is provided with a first locking mechanism, and the power rod is provided with a second locking mechanism. In the first working state, the first locking mechanism is engaged with the second locking mechanism to achieve power coupling between the rolling wheel and the power rod; in the second working state, the first locking mechanism is separated from the second locking mechanism to release the power coupling between the rolling wheel and the power rod.

[0043] Exemplarily, the first locking mechanism is, for example, a card slot provided at the end of the rotating pin, and at least a part of the card slot exposes the end face of the central wheel shaft. The second locking mechanism is a pin 8 provided on the power rod. When the pin is engaged with the card slot, power coupling is achieved between the rolling wheel and the power rod, that is, the power provided by the driving motor to the power rod via the output shaft is transmitted to the rolling wheel.

[0044] Referring to Figure 2 、 Figure 4 , on both sides of the sliding sleeve 5 in the direction perpendicular to the rotation plane of the rotating bracket, there are provided two pins 6 that are eccentrically arranged relative to the center line of the sliding sleeve, and each pin is connected to the driving mechanism through a push rod 7.

[0045] Referring to Figure 3 , the rotating bracket includes an annular main body 31, and the annular main body 31 extends radially outward to form a cylindrical portion 311, and the driving motor 32 is installed in the cylindrical portion 311. The fixed bracket includes a first hemispherical shell 21 and a second hemispherical shell 22. The two hemispherical shells are connected into one body by a connecting shaft 221 inside the shell in a manner of clamping the annular main body from both sides, so that when the annular main body is driven by an external force, it can rotate around the connecting shaft between the two hemispherical shells.

[0046] Sealing rings 24 are respectively provided between the two hemispherical shells and the annular main body to form a sealed chamber between the two hemispherical shells. A circuit board 23 is provided in the sealed chamber, and the circuit board 23 is connected to the driving motor 32.

[0047] In some examples, each fixed bracket further includes a floating and sinking water tank 9 for water inlet and drainage. Alternatively, the floating and sinking water tank 9 can also be provided on the main body cabin, for example, 2 or 4 floating and sinking water tanks are symmetrically arranged around the main body cabin.

[0048] In some examples, the main body cabin is provided with a control unit (not shown), and the control unit is connected to the driving mechanism and is connected to the circuit board 23 through a circuit (via the channel 222) provided inside the fixed bracket.

[0049] In the present application, the working positions at least include: a first working position, where the rotating bracket is substantially perpendicular to the fixed bracket in a vertical plane, such that the rotation planes of the propeller and the rolling wheels are in a horizontal plane, and the rolling wheels are in the second working state; a second working position, where the rotating bracket is substantially coaxially arranged with the fixed bracket in a vertical plane, such that the rotation planes of the propeller and the rolling wheels are in a vertical plane, and the rolling wheels are in the first working state; and a third working position between the first working position and the second working position, where a predetermined angle is formed between the rotating bracket and the fixed bracket in a vertical plane, such that the rotation planes of the propeller and the rolling wheels are in an inclined plane, and the rolling wheels are in the second working state.

[0050] Exemplarily, referring to Figure 1 , the unmanned system includes four of the power units. Among them, the propellers and propeller blades of the first power unit 11 and the third power unit 13 are in a forward structure, and the propellers and propeller blades of the second power unit 12 and the fourth power unit 14 are in a reverse structure. The first power unit 11 and the fourth power unit 14 are arranged on one side of the main body cabin, and the second power unit 12 and the third power unit 13 are arranged on the other side of the main body cabin. Therefore, the first power unit 11 is provided with a forward propeller and forward rolling wheels, the second power unit 12 is provided with a reverse propeller and reverse rolling wheels, the third power unit 13 is provided with a forward propeller and forward rolling wheels, and the fourth power unit 14 is provided with a reverse propeller and reverse rolling wheels.

[0051] Exemplarily, each rolling wheel is composed of a circular wheel and water blades. Alternatively, the circular wheel can also be a ground walking mechanism of other shapes, such as a wheel-leg walking mechanism.

[0052] Exemplarily, the propeller can be a two-blade propeller, or alternatively a three-blade or four-blade propeller.

[0053] In the present application, a forward propeller means that it provides an upward air lift force when rotating forward and a downward air lift force when rotating in reverse. A reverse propeller means that it provides an upward air lift force when rotating in reverse and a downward air lift force when rotating forward. A forward rolling wheel (or forward propeller blade) means that it provides a thrust in the direction away from the main body cabin in water when rotating forward and a thrust in the direction towards the main body cabin in water when rotating in reverse. A reverse rolling wheel (or reverse propeller blade) means that it provides a thrust in the direction away from the main body cabin in water when rotating in reverse and a thrust in the direction towards the main body cabin in water when rotating forward.

[0054] In the first working position, the unmanned system can perform a flying motion mode. In the second working position, the unmanned system can perform a ground motion mode or an underwater motion mode. In the third working position, the unmanned system can perform a surface motion mode.

[0055] In the unmanned system of the present application, the propeller of each power unit is used to provide lift in the flight motion mode and thrust in the surface motion mode (surface navigation mode), the rolling wheel is used to provide thrust in the underwater motion mode (underwater stealth mode) and the ground motion mode (land walking mode), and the buoyancy water tank is used to provide buoyancy and sinking force in water. The push rod and the eccentrically arranged latch are used to control the propeller and the rolling wheel to synchronously rotate and deform around the center by up to 180 degrees. The push rod and the sliding sleeve are used to control the position of the rolling wheel on the power rod so that the rolling wheel and the power rod can be dynamically coupled or decoupled.

[0056] By setting a data interface C on the fixed bracket, data interaction between the circuit board on the fixed bracket and the control unit in the main cabin is achieved, such as sending and receiving control instructions.

[0057] The unmanned system in the present application can be transformed into a fan of an aerodynamic boat on the water surface to provide forward power, and can be transformed into rollers of a four-wheel vehicle on land to provide forward power through the state switching of the deformation mechanism. At the same time, with the buoyancy and sinking force provided by the small buoyancy water tank, as well as the adjustment and changes of the deformation mechanism and the multi-modal motion control unit, the unmanned system can further be transformed into a submarine underwater to achieve underwater stealth motion.

[0058] The following combination Figures 5-9 The above-mentioned motion mode of the unmanned system is described in detail.

[0059] Figure 5 It is a schematic diagram of the flight motion mode of the unmanned system according to the embodiment of the present application. As shown in the figure, when the unmanned system is in the aerial flight mode, the four groups of push rods on the four variant mechanisms around the main cabin are pushed into the main cabin, and the other end of the push rod drives the sliding structure (sleeve 5) to make the center of the power rod and the center of the fixed bracket form a 90-degree angle. The drive motor drives the four propellers to rotate through the power rod. Among them, the forward propeller of the first power unit rotates forward, the reverse propeller of the second power unit rotates reversely, the forward propeller of the third power unit rotates forward, and the reverse propeller of the fourth power unit rotates reversely, so that the entire unmanned system can achieve aerial flight motion and air hovering functions like a traditional four-rotor drone.

[0060] Figure 6It is a schematic diagram of the surface motion mode of the unmanned system according to the embodiment of the present application. As shown in the figure, when the unmanned system is in the surface navigation mode, the four groups of push rods on the four surrounding variant mechanisms are pushed toward the outside of the main cabin, and the other end of the push rod drives the sliding structure to make the center of the power rod and the center of the fixed bracket form an obtuse angle, for example, an angle of 135 degrees. When the entire body moves horizontally to the right side of the main cabin (direction shown in the figure), the drive motor drives the two propellers on the left side of the main cabin to rotate through the power rod. Among them, the forward propeller of the first power unit is reversed, and the reverse propeller of the fourth power unit is forward. When the entire body moves horizontally to the left side of the main cabin, the drive motor drives the two propellers on the right side of the main cabin to rotate through the power rod. Among them, the reverse propeller of the second power unit is forward, and the forward propeller of the third power unit is reversed. That is, the air thrust generated by the two propellers on the same side enables the entire unmanned system to achieve the surface navigation motion function like a traditional unmanned surface ship.

[0061] When the unmanned system is in the surface navigation mode, it may be hit by large waves and cause the entire body to flip horizontally. The four propellers used to provide air thrust will all be submerged in the water, and the body cannot move normally on the water surface. To solve this problem, when it is detected that the body has flipped horizontally on the water surface (for example, a flip detection device is set in the main cabin), the control drive mechanism uses a push rod to first adjust the rotating bracket to be horizontal with the fixed bracket (that is, the two are coaxial), and then adjust the thrust of the two push rods respectively, so that the thrusts on the two eccentric pins are different (when the rotating bracket is horizontal with the fixed bracket, one of the two eccentric pins is in a higher position and the other is in a lower position, and a larger inward thrust, that is, a pulling force, is applied to the pin in the higher position, such as Figure 7 As shown in the figure, the angle between the center of the power rod and the center of the fixed bracket changes, thereby controlling the propeller and the rolling wheel to rotate and deform around the center, so that the four propellers are exposed to the water surface again to provide air thrust and continue to make the body move normally on the water surface.

[0062] Figure 8 The figure is a schematic diagram of the underwater motion mode of the unmanned system according to the embodiment of the present application. As shown in the figure, when the unmanned system is in the underwater stealth mode, the four groups of push rods on the four surrounding variant mechanisms are pushed toward the outside of the main cabin, and the other end of the push rod drives the sliding structure to make the center of the power rod and the center of the fixed bracket form an angle of 180 degrees. The driving motor drives the two propellers on the same side to rotate through the power rod, and at the same time, the rolling wheel is in the first working state, and the rolling wheel is driven to rotate through the latch 8.

[0063] In the present application, the propeller adopts a slender air blade, and the paddle blade of the rolling wheel adopts a wide water blade. Since the water flow rate of the water blade is much greater than that of the air blade, the thrust generated is also much greater. Therefore, when the unmanned system moves underwater, the water blade provides the main thrust.

[0064] The four small sinking and floating water tanks around the main cabin adjust the buoyancy of the body in all directions by taking in and out water, and control the underwater balance, underwater sinking and floating process of the entire body. This application uses the suction and drainage device to adjust the buoyancy state of the body, solves the problem of failure to exit the water due to the air propeller touching the water surface during the exit process, and reduces the energy consumption of buoyancy and diving. It can also help the body achieve underwater balance adjustment and vertical take-off and landing on the water surface.

[0065] When the entire body moves horizontally to the left side of the main cabin, the drive motor drives the two rolling wheels on the right side of the main cabin to rotate through the power rod. Among them, the reverse rolling wheel of the second power unit rotates forward, and the forward rolling wheel of the third power unit rotates reversely. When the entire body moves horizontally to the right side of the main cabin, the drive motor drives the two rolling wheels on the left side of the main cabin to rotate through the power rod. Among them, the forward rolling wheel of the first power unit rotates reversely, and the reverse rolling wheel of the fourth power unit rotates forward. Through the underwater thrust generated by the two rolling wheels on the same side, the unmanned system realizes the underwater stealth movement function like a traditional unmanned submarine.

[0066] Figure 9 The figure is a schematic diagram of the ground motion mode of the unmanned system according to the embodiment of the present application. As shown in the figure, when the unmanned system is in the ground mode, the four groups of push rods on the four surrounding variant mechanisms are pushed toward the outside of the main cabin, and the other end of the push rod drives the sliding structure to make the center of the power rod and the center of the fixed bracket form an angle of 180 degrees. The driving motor drives the four propellers to rotate through the power rod, and at the same time, the rolling wheel is in the first working state, and the rolling wheel is driven to rotate through the latch 8.

[0067] When the entire body moves toward the front of the main cabin, the drive motor drives the four rolling wheels on both sides of the main cabin to rotate through the power rod. Among them, the forward rolling wheel of the first power unit reverses, the reverse rolling wheel of the fourth power unit reverses, the reverse rolling wheel of the second power unit rotates forward, and the forward rolling wheel of the third power unit rotates forward. When the entire body moves toward the rear of the main cabin, the drive motor drives the four rolling wheels on both sides of the main cabin to rotate through the power rod. Among them, the forward rolling wheel of the first power unit rotates forward, the reverse rolling wheel of the fourth power unit rotates forward, the reverse rolling wheel of the second power unit reverses, and the forward rolling wheel of the third power unit reverses. Through the ground thrust generated by the four rolling wheels on both sides, the unmanned system realizes the ground land movement function like a traditional unmanned vehicle.

[0068] The above embodiments are only used to illustrate the technical solutions of the present application and not to limit them. Although the present application has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that: it is still possible to modify the specific implementation manners of the present application or perform equivalent replacements on some technical features; without departing from the spirit of the technical solutions of the present application, they should all be covered within the scope of the technical solutions claimed in the present application.

Claims

1. An unmanned system, comprising a main body cabin and a power system connected to the main body cabin, characterized in that, The power system includes a plurality of power units symmetrically arranged relative to the main cabin; Each power unit includes a variant mechanism and a coaxial rotor assembly mounted on the variant mechanism. The variant mechanism includes a fixed bracket fixedly connected to the main cabin, a rotating bracket rotatably connected to the fixed bracket. The rotating bracket is equipped with a driving motor and a power rod connected to the output shaft of the driving motor. The coaxial rotor assembly includes a propeller coaxially installed on the outer side of the axial direction of the power rod and a rolling wheel on the inner side of the axial direction of the power rod; Wherein, the main cabin further includes a driving mechanism, which is connected to the rotating bracket through a push rod and is used to drive the rotating bracket to rotate at different angles relative to the fixed bracket in a vertical plane, so as to place the propeller and the rolling wheel at a plurality of working positions corresponding to a plurality of motion modes of the unmanned system; Wherein, the rotating bracket includes a sliding sleeve sleeved outside the power rod. The sliding sleeve is provided with two pins eccentrically arranged relative to the center line of the sliding sleeve on both sides in the direction perpendicular to the rotating plane of the rotating bracket. Each pin is connected to the driving mechanism through a push rod. The push rod and the eccentrically arranged pins are used to control the synchronous rotation deformation of the propeller and the rolling wheel around the center by up to 180 degrees. The push rod and the sliding sleeve are used to control the position of the rolling wheel on the power rod, so that the rolling wheel realizes power coupling or decoupling with the power rod.

2. The unmanned system according to claim 1, wherein The rolling wheel includes a central wheel shaft, an outer wheel rim and a plurality of paddle blades for connecting the central wheel shaft and the outer wheel rim. The central wheel shaft is movably sleeved on the power rod. The driving mechanism drives the rolling wheel to move along the axial direction of the power rod through the push rod to switch between a first working state and a second working state. Wherein, in the first working state, the rolling wheel is power-coupled with the power rod; in the second working state, the rolling wheel is decoupled from the power rod.

3. The unmanned system according to claim 2, wherein The rolling wheel is fixedly installed at one end of the sliding sleeve through a bearing assembly, so that the rolling wheel can rotate freely relative to the sliding sleeve.

4. The unmanned system according to claim 3, characterized in that, The rolling wheel or the bearing assembly is provided with a first locking mechanism, and the power rod is provided with a second locking mechanism. In the first working state, the first locking mechanism is engaged with the second locking mechanism to realize power coupling between the rolling wheel and the power rod; in the second working state, the first locking mechanism is separated from the second locking mechanism to decouple the rolling wheel from the power rod.

5. The unmanned system according to claim 3, characterized in that, The rotating bracket includes an annular main body, and a cylindrical part extends radially outward from the annular main body. The driving motor is installed in the cylindrical part. The fixed bracket includes a first hemispherical shell and a second hemispherical shell. The two hemispherical shells are connected into one body by a connecting shaft inside the shell in a manner of clamping the annular main body from both sides, so that the annular main body can rotate around the connecting shaft between the two hemispherical shells when driven by an external force.

6. The unmanned system according to claim 5, characterized in that, Sealing rings are respectively provided between the two hemispherical shells and the annular body to form a sealed chamber between the two hemispherical shells. A circuit board is provided in the sealed chamber, and the circuit board is connected to the drive motor.

7. The unmanned system according to claim 5, wherein The fixed bracket further includes a floating and sinking water tank for water inlet or drainage.

8. The unmanned system according to any one of claims 2-7, characterized in that, The working positions at least include: a first working position, where the rotating bracket is substantially perpendicular to the fixed bracket in a vertical plane, such that the rotation planes of the propeller and the rolling wheels are in a horizontal plane, and the rolling wheels are in the second working state; a second working position, where the rotating bracket is substantially coaxial with the fixed bracket in a vertical plane, such that the rotation planes of the propeller and the rolling wheels are in a vertical plane, and the rolling wheels are in the first working state; and a third working position between the first working position and the second working position, where the rotating bracket forms a predetermined angle with the fixed bracket in a vertical plane, such that the rotation planes of the propeller and the rolling wheels are in an inclined plane, and the rolling wheels are in the second working state.

9. The unmanned system according to claim 8, characterized in that, It includes four of the power units. Among them, the propellers and propeller blades of the first power unit and the third power unit are of a forward structure, and the propellers and propeller blades of the second power unit and the fourth power unit are of a reverse structure. The first power unit and the second power unit are arranged on one side of the main body cabin, and the third power unit and the fourth power unit are arranged on the other side of the main body cabin; in the first working position, the unmanned system can execute a flight motion mode, and the four propellers provide power to achieve flight and hovering in the air; in the second working position, the unmanned system can execute a ground motion mode, and the four rolling wheels provide ground thrust, or execute an underwater motion mode, and the propeller blades of the rolling wheels on the same side of the main body cabin provide water thrust; in the third working position, the unmanned system can execute a water surface motion mode, and the propellers on the same side of the main body cabin provide air thrust.

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