A water-air amphibious unmanned vehicle equipped with a dual-power system

Abstract

The present invention discloses an amphibious unmanned aerial vehicle equipped with a dual-power system, comprising a bow vector rotor assembly, a bow pressure-resistant watertight shell fixedly connected to the bow vector rotor assembly, an attitude adjustment assembly fixedly connected to the bow pressure-resistant watertight shell, a tail pressure-resistant watertight shell fixedly connected to the attitude adjustment assembly, and a tail vector propulsion assembly fixedly connected to the tail pressure-resistant watertight shell; the bow vector rotor assembly is used to provide lift for flight and can obtain control torque by deflecting the rotor direction; the tail vector propulsion assembly is used to provide forward thrust for the vehicle in water and obtain additional control torque; the attitude adjustment assembly adjusts the attitude of the vehicle by combining the longitudinal position of the center of mass of the device and the buoyancy within the bow pressure-resistant watertight shell. According to the present invention, through the combination of two different power devices, the vehicle has good maneuverability in different media, and the movement performance across the medium is stable and easy to control.

Description

Technical Field

[0001] The present invention relates to the technical field of observation-type marine equipment, and in particular to an amphibious unmanned vehicle equipped with a dual-power system. Background Art

[0002] Currently, unmanned underwater vehicles (UUVs) are widely used in various marine applications, including marine resource development, ocean observation, and marine research. However, most UUVs require a launch and recovery system. However, this system is subject to many external environmental factors. In high sea conditions, waves can cause large relative motions of the ship, making it difficult to launch and recover the vehicle. Furthermore, compared to drones, UUVs move very slowly in the water and are not suitable for rapid searches or multi-sea area ocean monitoring. Furthermore, drones currently monitor the ocean only through visual means and lack the advantage of UUVs in directly accessing the vast amount of chemical, physical, and geographical information in the ocean.

[0003] Conventional fixed-wing amphibious vehicles, due to their large wing area, are susceptible to significant impact forces from the water surface, which can easily cause them to disintegrate during cross-medium crossings. Therefore, most cross-medium fixed-wing vehicles are based on biomimetic principles, emulating amphibious creatures found in nature. For example, Martin has developed a vehicle that folds its wings like an osprey upon entry to reduce impact forces from the water surface. However, these vehicles, based on submarine-launched platforms, lack the ability to operate underwater and cannot make multiple entries and exits. Another type of biomimetic vehicle can propel itself underwater, similar to a flying fish, using its tail fins and gliding through the air by deploying its pectoral fins. While these biomimetic structures have potential applications for cross-medium crossings, the current method of falling into the water does not fully address the significant impact forces on the vehicle at the water-liquid interface. This still presents a risk of danger during cross-medium crossings and significantly challenges the vehicle's structural lifespan. However, the common multi-rotor structure does not have good hydrodynamic characteristics, which is not conducive to long-term navigation in the water, and the underwater maneuverability is difficult to meet the needs. Summary of the Invention

[0004] In order to address the shortcomings of the prior art, the present invention aims to provide an amphibious unmanned aerial vehicle equipped with a dual-power system, which has good maneuverability in different media, stable movement across media, and is easy to control. In order to achieve the above-mentioned purpose and other advantages of the present invention, an amphibious unmanned aerial vehicle equipped with a dual-power system is provided, comprising:

[0005] A bow vector rotor assembly, a bow pressure-resistant watertight casing fixed to the bow vector rotor assembly, an attitude adjustment assembly fixed to the bow pressure-resistant watertight casing, a tail pressure-resistant watertight casing fixed to the attitude adjustment assembly, and a tail vector propulsion assembly fixed to the tail pressure-resistant watertight casing;

[0006] The attitude adjustment assembly includes a lower watertight hatch cover, a stepper motor fixed to the lower watertight hatch cover, a screw rod fixedly connected to the output end of the stepper motor, a rubber piston fixed to the end of the screw rod away from the stepper motor, an upper watertight hatch cover arranged opposite to the lower watertight hatch cover, and a cylindrical water tank fixed to the middle part of the upper watertight hatch cover, a vent hole being formed on the end surface of the cylindrical water tank away from the lower watertight hatch cover, an end of the screw rod away from the stepper motor extending into the interior of the cylindrical water tank, a screw rod nut being fixedly connected to the interior of the end of the cylindrical water tank near the lower watertight hatch cover, and the rubber piston performing piston motion within the cylindrical water tank;

[0007] The nose vector rotor assembly is used to provide lift for flight and can obtain control torque by deflecting the rotor direction;

[0008] The tail vector propulsion assembly is used to provide forward thrust for the vehicle in water and obtain additional control torque.

[0009] Preferably, a plurality of lower watertight hatch cover sealing ring grooves and an upper watertight hatch cover sealing ring grooves are respectively provided on the outer sides of the lower watertight hatch cover and the upper watertight hatch cover, and a plurality of sliding guide rails are interspersed between the lower watertight hatch cover and the upper watertight hatch cover.

[0010] Preferably, the tail vector propulsion assembly includes a tail machine base fixedly connected to the tail pressure-resistant watertight casing, one end of the tail machine base away from the tail pressure-resistant watertight casing fixedly connected to the underwater ducted propeller through a ball hinge and a propeller connecting rod, and a right servo and a left servo located in the middle of the tail machine base, the right servo is connected to a right servo pull rod, and the left servo is connected to a left servo pull rod, and the right servo pull rod and the left servo pull rod are both fixed to one end of the tail machine base close to the underwater ducted propeller.

[0011] Preferably, the bow vector rotor assembly includes a bow machine base fixedly connected to the bow pressure-resistant watertight shell, a transverse servo fixedly arranged inside the bow machine base, a vertical servo fixedly arranged on the side of the bow machine base, an end of the bow machine base away from the bow pressure-resistant watertight shell movably connected to the machine base outer ring through an outer ring bearing, a base inner ring movably connected to the machine base outer ring through an inner ring bearing, and a coaxial reverse propeller motor fixed to the base inner ring, and the coaxial reverse propeller motor is movably connected to an upper rotor and a lower rotor.

[0012] Preferably, the vertical servo is fixedly connected to a vertical servo rod, and one end of the vertical servo rod away from the vertical servo is fixedly connected to the outer ring of the base; the transverse servo is fixedly connected to a transverse servo rod, and one end of the transverse servo rod away from the transverse servo is fixedly connected to the inner ring of the base.

[0013] Compared with existing technologies, the present invention offers the following advantages: it can achieve amphibious navigation by continuously transitioning between air and water, allowing for vertical takeoff from land or a ship's deck, flying a certain distance before entering a target area for submerged navigation, then ascending to the surface and ascending vertically from the water, finally returning autonomously. This reduces the reliance of conventional submersibles on motherships, and allows for aerial reconnaissance of the water surface and underwater data collection, with the ability to dive to a depth of 50 meters. Furthermore, the dual-use platform offers significant advantages in data collection: mobile observations above the water surface can cover a larger area, while also enabling direct observation of underwater man-made structures and oceanographic data.

[0014] The multifunctional attitude adjustment system achieves a vertically buoyant position by combining center-of-gravity adjustment and buoyancy adjustment methods enabled by variant technology, ensuring the rotor remains stable on the water. This added transition phase makes this method more stable than the currently used method of directly extracting the propeller from the water. It avoids the additional interference to the rotor motor caused by the significant differences in the properties of water and air, resulting in greater stability during cross-medium motion.

[0015] The bow and stern propulsion systems utilize vectored motion, employing a control technique that leverages the deflection of the main thrust and pull relative to the longitudinal axis to alter the required control torque for navigational attitude. This coordinated approach achieves high speeds and excellent course-changing performance. Underwater, this method does not rely on fluid dynamics and can generate the required control torque even at low speeds. This results in improved maneuverability and excellent positional stability, further facilitating underwater operations.

[0016] The torpedo-shaped rotor boasts smooth lines and superior hydrodynamic characteristics. Exposed components like the motor and steering gear are coated with a waterproof and corrosion-resistant coating, eliminating the need for additional sealing. Compared to traditional underwater unmanned vehicles, the watertight structure is smaller and lighter, making flight easier and significantly improving endurance.

[0017] The main structure is integrally formed using 3D printing technology and has excellent pressure resistance and watertightness. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the overall three-dimensional structure of the underwater navigation state of the water-air amphibious unmanned vehicle equipped with a dual-power system according to the present invention;

[0019] Figure 2 A schematic diagram of the overall three-dimensional structure of an amphibious unmanned aerial vehicle equipped with a dual-power system according to the present invention in an airborne state;

[0020] Figure 3 Schematic diagram of the assembly of the attitude adjustment device of the water-air amphibious unmanned vehicle equipped with a dual-power system according to the present invention;

[0021] Figure 4 This is a structural diagram of a posture adjustment device for an amphibious unmanned vehicle equipped with a dual-power system according to the present invention;

[0022] Figure 5 A full cross-sectional view of the attitude adjustment device of the water-air amphibious unmanned vehicle equipped with a dual-power system according to the present invention;

[0023] Figure 6 Schematic diagram of the structure of the tail vector propulsion device of the water-air amphibious unmanned vehicle equipped with a dual-power system according to the present invention;

[0024] Figure 7 The figure is a schematic structural diagram of the bow vector rotor device of the water-air amphibious unmanned vehicle equipped with a dual power system according to the present invention. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] Reference Figure 1-7 A water-air amphibious unmanned aircraft equipped with a dual-power system includes: a bow vector rotor assembly 1, a bow pressure-resistant watertight shell 2 fixedly connected to the bow vector rotor assembly 1, an attitude adjustment assembly 3 fixedly connected to the bow pressure-resistant watertight shell 2, a tail pressure-resistant watertight shell 4 fixedly connected to the attitude adjustment assembly 3, and a tail vector propulsion assembly 5 fixedly connected to the tail pressure-resistant watertight shell 4; a bow balance wing 8 and a tail balance wing 6 are respectively fixedly connected to the bow pressure-resistant watertight shell 2 and the tail pressure-resistant watertight shell 4, and the bow balance wing 8 serves to prevent the aircraft from rolling.

[0027] The attitude adjustment assembly 3 includes a lower watertight hatch cover 3.1, a stepper motor 3.2 fixed to the lower watertight hatch cover 3.1, a screw 3.8 fixed to the output end of the stepper motor, a rubber piston 3.7 fixed to the end of the screw 3.8 away from the stepper motor 3.2, an upper watertight hatch cover 3.4 arranged opposite to the lower watertight hatch cover 3.1, and a cylindrical water tank 3.6 fixed to the middle part of the upper watertight hatch cover 3.4. The end surface of the cylindrical water tank 3.6 away from the lower watertight hatch cover 3.1 is provided with a vent hole 3.5. The end of the screw 3.8 away from the stepper motor 3.2 extends to the cylindrical water tank. Inside 3.6, a screw nut 3.9 is fixed to the end of the cylindrical water tank 3.6 near the lower watertight hatch 3.1. A rubber piston 3.7 is positioned within the cylindrical water tank 3.6 and performs piston motion. Multiple lower watertight hatch cover sealing ring grooves 3.10 and upper watertight hatch cover sealing ring grooves 3.3 are respectively formed on the outer surfaces of the lower watertight hatch 3.1 and upper watertight hatch cover 3.4. Multiple sliding guides 7 are interspersed between the lower watertight hatch 3.1 and upper watertight hatch cover 3.4. The attitude adjustment assembly 3 can be extended or shortened along the sliding guides 7 to switch between the different attitudes required for diving and flight. The lower watertight hatch 3.1 is axially sealed to the aft pressure-resistant watertight shell 4 through the lower watertight hatch cover sealing ring grooves 3.10. The upper watertight hatch cover 3.4 is axially sealed to the forward pressure-resistant watertight shell 2 using a step-seal method in the upper watertight hatch cover sealing ring grooves 3.3. The stepper motor 3.2 transmits power to the screw rod 3.8, driving the screw rod 3.8 to rotate and screw into the screw nut 3.9 fixed to the upper end cover 3.4. By changing the forward and reverse rotation of the stepper motor 3.2, the screw rod 3.8 is controlled to rotate in and out of the screw nut 3.9, causing the upper structure of the attitude adjustment device 3 to perform reciprocating linear motion, changing the longitudinal position of the center of mass. The process of screw rod 3.8 rotating in and out can drive the rubber piston 3.7 to reciprocate in the cylindrical water tank 3.6. The top of the cylindrical water tank 3.6 is provided with a vent hole 3.5 connected to the bow pressure-resistant watertight shell 2 to reduce the internal gas compression resistance. The hole in the nut 3.9 is connected to the external water, and ballast water is pumped into or discharged from the cylindrical water tank 3.6 to change the size of the bow buoyancy. The attitude adjustment component 3 adjusts the attitude of the aircraft by combining the change of the longitudinal position of the center of mass of the equipment and the size of the buoyancy within the bow pressure-resistant watertight shell 2.

[0028] The nose vector rotor assembly 1 is used to provide lift for flight and can obtain control torque by deflecting the rotor direction;

[0029] The tail vector propulsion assembly 5 is used to provide forward thrust for the vehicle in water and obtain additional control torque. It can also deflect the thrust direction and cooperate with the head vector rotor assembly 1 to obtain additional control torque.

[0030] Furthermore, the tail vector propulsion assembly 5 includes a tail machine base 5.1 fixedly connected to the tail pressure-resistant watertight casing 4, an end of the tail machine base 5.1 away from the tail pressure-resistant watertight casing 4 is fixedly connected to the underwater ducted propeller 5.5 through a ball hinge and a propeller connecting rod 5.4, and a right servo 5.2 and a left servo 5.7 located in the middle of the tail machine base 5.1, the right servo 5.2 is connected to the right servo pull rod 5.3, and the left servo 5.7 is connected to the left servo pull rod 5.6, and the right servo pull rod 5.3 and the left servo pull rod 5.6 are both fixed to the end of the tail machine base 5.1 close to the underwater ducted propeller 5.5. The right servo 5.2 and the left servo 5.7 convert the rotary motion of the steering wheel into the planar reciprocating motion of the right servo rod 5.3 and the left servo rod 5.6, which drive the deflection of the underwater ducted propeller 5.5. The right servo 5.2 and the left servo 5.7 achieve the deflection of the underwater ducted propeller 5.5 in the specified direction by cooperating with the different angular position relationships of the steering wheel.

[0031] Furthermore, the nose vector rotor assembly 1 includes a nose machine base 1.5 fixed to the nose pressure-resistant watertight shell 2, a transverse servo 1.6 fixedly arranged inside the nose machine base 1.5, a vertical servo 1.7 fixedly arranged on the side of the nose machine base 1.5, an end of the nose machine base 1.5 away from the nose pressure-resistant watertight shell 2 is movably connected to the machine base outer ring 1.10 through an outer ring bearing 1.3, a base inner ring 1.12 movably connected to the machine base outer ring 1.10 through an inner ring bearing 1.4, and A coaxial counter-propeller motor 1.11 is fixedly connected to the base inner ring 1.12. The upper rotor 1.1 and the lower rotor 1.2 are movably connected to the coaxial counter-propeller motor 1.11. A vertical servo pull rod 1.8 is fixedly connected to the vertical servo 1.7. The end of the vertical servo pull rod 1.8 away from the vertical servo 1.7 is fixedly connected to the base outer ring 1.10. A horizontal servo pull rod 1.9 is fixedly connected to the horizontal servo 1.6. The end of the horizontal servo pull rod 1.9 away from the horizontal servo 1.6 is fixedly connected to the base inner ring 1.12. The inner and outer shafts within the coaxial counter-propeller motor 1.11 rotate in opposite directions, driving the upper rotor 1.1 and the lower rotor 1.2 in opposite directions, providing lift and offsetting the huge torque generated by their respective rotations, preventing the aircraft from spinning. The bottom of the bow engine base (1.5) is fixedly connected to the bow pressure-resistant watertight casing (2), serving as support for the rotor assembly. Its top is connected to the engine base outer ring (1.10) via an outer ring bearing (1.3). Driven by the vertical servos (1.7) and vertical servo tie rods (1.8), the outer ring (1.10) can deflect in the fore-aft direction around the outer ring bearing (1.3), while remaining relatively fixed to the bow engine base (1.5) in the left-right direction. The base inner ring (1.12) is connected to the engine base outer ring (1.10) via an inner ring bearing (1.4). Driven by the transverse servos (1.6) and transverse servo tie rods (1.9), the inner ring (1.12) can deflect in the left-right direction around the inner ring bearing (1.4), while remaining relatively fixed to the base outer ring (1.10) in the fore-aft direction. A coaxial reverse propeller motor (1.11) is fixedly connected to the base inner ring (1.12). Deflection in a specified direction is achieved by controlling the attitude of the base inner ring (1.12).

[0032] The number of devices and processing scales described herein are intended to simplify the description of the present invention, and applications, modifications, and variations of the present invention will be apparent to those skilled in the art.

[0033] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the description and implementation methods. They can be fully applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the present invention is not limited to the specific details and illustrations shown and described herein.

Claims

1. An amphibious unmanned vehicle equipped with a dual power system, characterized in that: include: A bow vector rotor assembly (1), a bow pressure-resistant watertight housing (2) fixedly connected to the bow vector rotor assembly (1), an attitude adjustment assembly (3) fixedly connected to the bow pressure-resistant watertight housing (2), a tail pressure-resistant watertight housing (4) fixedly connected to the attitude adjustment assembly (3), and a tail vector propulsion assembly (5) fixedly connected to the tail pressure-resistant watertight housing (4); The attitude adjustment assembly (3) includes a lower watertight hatch cover (3.1), a stepper motor (3.2) fixed to the lower watertight hatch cover (3.1), a screw rod (3.8) fixed to the output end of the stepper motor, a rubber piston (3.7) fixed to the end of the screw rod (3.8) away from the stepper motor (3.2), an upper watertight hatch cover (3.4) arranged opposite to the lower watertight hatch cover (3.1), and a rubber piston (3.7) fixed to the middle part of the upper watertight hatch cover (3.4). A cylindrical water tank (3.6) is provided, wherein an air vent (3.5) is provided on one end of the cylindrical water tank (3.6) away from the lower watertight hatch cover (3.1), an end of the screw rod (3.8) away from the stepping motor (3.2) extends into the interior of the cylindrical water tank (3.6), an end of the cylindrical water tank (3.6) close to the lower watertight hatch cover (3.1) is fixedly connected with a screw rod nut (3.9), and a rubber piston (3.7) is located in the cylindrical water tank (3.6) and performs piston motion; The nose vector rotor assembly (1) is used to provide lift for flight and can obtain control torque by deflecting the rotor direction; The tail vector propulsion assembly (5) is used to provide forward thrust for the vehicle in water and obtain additional control torque; The tail vector propulsion assembly (5) comprises a tail engine base (5.1) fixedly connected to the tail pressure-resistant watertight shell (4), an end of the tail engine base (5.1) away from the tail pressure-resistant watertight shell (4) fixedly connected to the underwater ducted propeller (5.5) through a ball hinge and a propeller connecting rod (5.4), and a right servo (5.2) and a left servo (5.7) located in the middle of the tail engine base (5.1), the right servo (5.2) is connected to a right servo pull rod (5.3), the left servo (5.7) is connected to a left servo pull rod (5.6), and the right servo pull rod (5.3) and the left servo pull rod (5.6) are both fixedly connected to one end of the tail engine base (5.1) close to the underwater ducted propeller (5.5); The bow vector rotor assembly (1) comprises a bow machine base (1.5) fixedly connected to a bow pressure-resistant watertight casing (2), a transverse servo (1.6) fixedly arranged inside the bow machine base (1.5), a vertical servo (1.7) fixedly arranged on a side of the bow machine base (1.5), an end of the bow machine base (1.5) away from the bow pressure-resistant watertight casing (2) having a machine base outer ring (1.10) movably connected via an outer ring bearing (1.3), a base inner ring (1.12) movably connected to the machine base outer ring (1.10) via an inner ring bearing (1.4), and a coaxial reverse propeller motor (1.11) fixedly connected to the base inner ring (1.12), wherein the coaxial reverse propeller motor (1.11) is movably connected to an upper rotor (1.1) and a lower rotor (1.2).

2. The amphibious unmanned vehicle equipped with a dual power system according to claim 1, characterized in that: A plurality of lower end watertight hatch cover sealing ring grooves (3.10) and an upper end watertight hatch cover sealing ring grooves (3.3) are respectively provided on the outer sides of the lower end watertight hatch cover (3.1) and the upper end watertight hatch cover (3.4), and a plurality of sliding guide rails (7) are interspersed between the lower end watertight hatch cover (3.1) and the upper end watertight hatch cover (3.4).

3. The amphibious unmanned vehicle equipped with a dual power system according to claim 1, characterized in that: A vertical servo pull rod (1.8) is fixedly connected to the vertical servo (1.7), and an end of the vertical servo pull rod (1.8) away from the vertical servo (1.7) is fixedly connected to an outer ring of the machine seat (1.10); a horizontal servo pull rod (1.9) is fixedly connected to the horizontal servo (1.6), and an end of the horizontal servo pull rod (1.9) away from the horizontal servo (1.6) is fixedly connected to an inner ring of the base (1.12).

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