A reconnaissance and strike integrated amphibious heterogeneous vehicle and working method thereof

Abstract

The present invention provides an amphibious heterogeneous vehicle for reconnaissance and attack and a working method thereof, including a driving device, a flying device, a reconnaissance device, a strike device, a driving and flying separation device, an arm deployment and folding device, and a blade adjustment device. The present invention has the following beneficial effects: the amphibious heterogeneous vehicle can simultaneously mount reconnaissance and strike devices, and has both reconnaissance and strike functions in driving mode and flying mode; the amphibious heterogeneous vehicle has a high degree of intelligence, and can automatically switch between driving mode and flying mode. In the strike mode, the two-axis servo mechanism can be controlled to be linked with the reconnaissance pod, automatically determine the firing time, and autonomously complete the firing.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned vehicle intelligent equipment, and in particular relates to an amphibious heterogeneous reconnaissance and strike integrated vehicle and a working method thereof. Background Art

[0002] With the rapid development of my country's comprehensive strength and the increasing level of scientific research, unmanned intelligent equipment has developed rapidly in the fields of police, aerospace, etc., which has also put forward higher requirements for the intelligence of drones and unmanned vehicles. Unmanned vehicles can travel on land and are less affected by weather, but their functions are relatively simple and cannot cope well with complex terrains such as congestion and collapse. Drones can fly at low altitudes and low speeds and are not restricted by terrain, but they are significantly affected by weather and cannot move freely after landing. Their functions are also simple. Therefore, the combination of drones and unmanned vehicles, namely amphibious heterogeneous vehicles, came into being. They can travel on the ground and fly in the air, and are not affected by terrain and weather. At present, amphibious heterogeneous vehicles are mainly used for reconnaissance and do not have the function of attack. When driving, they are limited by the size of the arms and propellers when passing through narrow spaces. When flying, the driving device will act as an invalid weight, affecting the flight time of the amphibious heterogeneous vehicle, and the degree of intelligence is low when switching between driving and flying modes. Summary of the invention

[0003] In view of this, the present invention aims to provide an amphibious heterogeneous reconnaissance and strike vehicle and a working method thereof, so as to solve at least one problem existing in the above-mentioned prior art.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0005] An amphibious heterogeneous vehicle for reconnaissance and strike, comprising a traveling device, a flying device, a reconnaissance device, a strike device, a traveling and flying separation device, an arm deployment and folding device, and a blade positioning device. The traveling and flying separation device and the blade positioning device are both installed above the traveling device. The flying device is installed above the traveling device through the traveling and flying separation device. The arm deployment and folding device is installed at the central axis of the bottom of the flying device. A reconnaissance device is installed on one side of the bottom of the flying device, and a strike device is installed on the top of the flying device.

[0006] Furthermore, the traveling device includes an unmanned vehicle body and tracks, the tracks are installed on both sides of the unmanned vehicle body, and a plurality of bosses are provided on the top of the unmanned vehicle body, and the bosses are used to cooperate with the installation of the flying device and the blade adjustment device.

[0007] Furthermore, the flight device includes a body, a plurality of connecting columns, a plurality of No. 1 arm connecting parts, a plurality of No. 2 arm connecting parts, a plurality of No. 3 arm connecting parts, a flight control, an arm body, a No. 1 motor, a hub and a propeller. The flight control is installed inside the body, and 4 connecting columns are evenly distributed around the bottom of the body. The bottom of each connecting column is used in conjunction with a boss on the unmanned vehicle body. A groove is respectively opened on one side of each connecting column. The groove of the connecting column is used in conjunction with the driving and flying separation device. The body A No. 1 arm connecting piece is symmetrically installed on both sides of the body, and the other end of each No. 1 arm connecting piece is connected to one end of the No. 3 arm connecting piece through the No. 2 arm connecting piece. Both ends of the No. 3 arm connecting piece are respectively connected to an arm body, and a No. 1 motor is installed at the end of each arm body away from the No. 3 arm connecting piece. The output shaft of the No. 1 motor is connected to two propellers through a hub. An arm unfolding and folding device is installed at the central axis at the bottom of the body, and the arm unfolding and folding device is movably connected to the No. 2 arm connecting piece.

[0008] Furthermore, the reconnaissance device includes a reconnaissance pod, and the strike device includes a two-axis servo mechanism and a bomb hanging assembly, wherein the bottom of the two-axis servo mechanism is mounted to the fuselage body, the bomb hanging assembly is mounted above the two-axis servo mechanism, and the bomb hanging assembly is mounted above the bomb drum;

[0009] The two-axis servo mechanism includes a pitch assembly and an azimuth assembly, the bottom of the pitch assembly is mounted to the fuselage body, the azimuth assembly is mounted above the middle of the pitch assembly, and the azimuth assembly is mounted to the bomb hanging assembly through the pitch assembly;

[0010] The bomb hanging assembly includes a hanger plate, a support frame, an upper cover frame and a buckle. The bottom of the hanger plate is installed to the orientation assembly. A support frame is symmetrically installed on both sides of the top of the hanger plate. A bomb cylinder is arranged above each support frame. One end of each support frame is connected to the upper cover frame through a rotating shaft, and the other end of each support frame is connected to the upper cover frame through a buckle.

[0011] Furthermore, the pitch assembly includes a pitch motor, a motor adapter, a No. 1 motor mounting plate, a pitch bearing, a pitch connecting shaft, a No. 1 pitch connecting plate, an arm connecting plate, an arm member, a motor cross plate, a No. 2 pitch connecting plate, a pitch shaft, a damping shaft, a damping support and a damper; the No. 1 motor mounting plate and the arm member are symmetrically arranged, one side of the No. 1 motor mounting plate is connected to the No. 1 pitch connecting plate through the pitch connecting shaft, one side of the arm member is connected to the No. 2 pitch connecting plate through the pitch shaft, the tops of the No. 1 pitch connecting plate and the No. 2 pitch connecting plate are respectively connected to the two ends of the motor cross plate, the azimuth assembly is installed on the bracket plate through the motor cross plate, the No. 1 motor mounting plate and the arm member are connected below by two arm connecting plates, the No. 1 motor mounting plate, the arm connecting plate and the bottom of the arm member are all installed on the body, the The pitch motor is installed on the No. 1 motor mounting plate through a motor adapter, and a No. 1 bearing mounting hole is provided on the No. 1 motor mounting plate, and a pitch bearing is installed in the No. 1 bearing mounting hole, and the pitch connecting shaft is interference fit with the pitch bearing in the No. 1 bearing mounting hole, and one end of the pitch connecting shaft is fixedly connected to the output shaft of the pitch motor, and the other end of the pitch connecting shaft is sleeved on the No. 1 pitch connecting plate, a damping support is installed on one side of the support arm member, and the damper is installed on the damping support, and a No. 2 bearing mounting hole is provided on the support arm member, and a pitch bearing is installed in the No. 2 bearing mounting hole, one end of the pitch shaft is sleeved on the No. 2 pitch connecting plate, the middle part of the other end of the pitch shaft is interference fit with the pitch bearing in the No. 2 bearing mounting hole, and the other end of the pitch shaft is fixedly installed on one end of the damping shaft, and the other end of the damping shaft is installed in the damper.

[0012] Furthermore, the azimuth assembly includes an azimuth motor, an azimuth shaft and an azimuth bearing, the azimuth motor is installed under the motor cross plate, the output shaft of the azimuth motor is connected to the lower end of the azimuth shaft, the upper end of the azimuth shaft is interference fit with the azimuth bearing located in the motor cross plate, and the upper end of the azimuth shaft is connected to the bottom of the bracket plate.

[0013] Furthermore, the driving and flying separation device includes a worm gear bearing, an azimuth worm gear, a limiting turntable, an azimuth worm, a worm mounting plate, a worm bearing, a bearing outer retaining ring, a No. 2 motor mounting plate, a No. 1 coupling and a separation motor. A mounting hole for placing the worm gear bearing is opened on the unmanned vehicle body. The worm gear bearing is interference fit with the lower end of the azimuth worm gear. The upper end of the azimuth worm gear is installed in the middle of the limiting turntable. The outer side of the limiting turntable is installed in cooperation with the groove on the connecting column. One side of the azimuth worm gear is connected to one end of the azimuth worm. A worm mounting plate is sleeved on the outside of one end of the azimuth worm, and one end of the azimuth worm is installed to the bearing outer retaining ring through a worm bearing. The bearing outer retaining ring is installed to both sides of the worm mounting plate. The other end of the azimuth worm is connected to the output shaft of the separation motor through the No. 1 coupling. The separation motor is installed to the unmanned vehicle body through the No. 2 motor mounting plate.

[0014] Furthermore, the arm unfolding and folding device includes a support plate, a folding motor, a No. 2 coupling, a left-hand screw, a right-hand screw, a No. 1 fixed end, a No. 1 ball screw nut, a No. 1 supporting side, a screw support plate and a connecting rod. Both ends of the folding motor are mounted to the bottom of the machine body through a support plate, and the output shafts at both ends of the folding motor are respectively connected to the left-hand screw and the right-hand screw after passing through the support plate and the No. 2 coupling in sequence. One end of the left-hand screw and the right-hand screw are both mounted to the bottom of the machine body through the support plate. A No. 1 fixed end is installed respectively, and the No. 1 fixed end is connected to one side of a support plate located on a left-hand screw or a right-hand screw, and the other ends of the left-hand screw and the right-hand screw are respectively installed on the screw support plate through the No. 1 support side, and the top of the screw support plate is installed on the No. 1 arm connecting piece, and a long through hole is opened on the No. 1 arm connecting piece, and a connecting rod is movably installed in the long through hole, and a nut connecting seat is respectively sleeved on the No. 1 ball screw nut of the left-hand screw and the right-hand screw, and the two ends of the connecting rod are respectively movably installed on the nut connecting seat and the No. 2 arm connecting piece.

[0015] Furthermore, the blade positioning device includes a positioning motor, a No. 3 motor mounting plate, a No. 3 coupling, a No. 2 fixed end, a positioning screw, a No. 2 ball screw nut, a No. 2 supporting side, a sliding rod and a slider. The positioning motor is installed to the unmanned vehicle body through the No. 3 motor mounting plate, and the output shaft of the positioning motor is connected to one end of the positioning screw through the No. 3 coupling. The two ends of the positioning screw are respectively installed to the unmanned vehicle body through the No. 2 fixed end and the No. 2 supporting side. The upper end of the No. 2 ball screw nut of the positioning screw is respectively movably connected to two sliding rods, and the two sliding rods are symmetrically arranged. Each sliding rod is slidably sleeved with a sliding block at one end away from the No. 2 ball screw nut, and the bottom of the sliding block is installed in cooperation with the boss of the unmanned vehicle body.

[0016] Furthermore, a working method of a reconnaissance and strike integrated amphibious heterogeneous vehicle comprises the following steps:

[0017] S1. The amphibious heterogeneous vehicle enters the working area, the system is powered on, and self-checking begins;

[0018] S2. After the self-check is completed, determine whether the communication is normal and whether the satellite is successfully positioned;

[0019] S3. After the communication is normal and the satellite positioning is successful, the route is planned according to the mission and uploaded;

[0020] S4, the system automatically drives along the route, conducts real-time reconnaissance during driving, and monitors the driving current A1 in real time;

[0021] S5, when the monitored driving current A1<A0, the amphibious heterogeneous vehicle continues to travel along the track;

[0022] S6, when the monitored driving current A1>A0, the amphibious heterogeneous vehicle is hindered from traveling and moves backwards for a certain distance s1;

[0023] S7, after driving the positioning motor to automatically adjust the slide bar to position a1, the constraint of the propeller is released, the folding motor is driven, the arm is automatically controlled to unfold, and the aircraft is switched to the flight state;

[0024] S8, automatically take off, fly to a predetermined altitude, and then fly a certain distance s2 along the track;

[0025] S9, automatic landing, driving the folding motor, automatically folding the aircraft arm, switching to the driving state, driving the positioning motor, automatically adjusting the slide bar to the initial position, limiting the position of the propeller, and avoiding damage to the propeller during driving;

[0026] S10. Determine whether to conduct a long-duration flight according to the mission;

[0027] S11. If a long flight is not required, continue along the route to the target area;

[0028] S12, the reconnaissance pod automatically identifies the target, the personnel automatically tracks the target after confirming the target, and the servo automatically aims at the target;

[0029] S13. After the ground personnel send the firing permission command, the system automatically determines the firing timing and automatically completes the firing. The damage effect is evaluated through the reconnaissance pod. After the mission is completed, the system returns to the home position.

[0030] S14. If a long-term flight is really required, the separation motor is driven to drive the limit turntable to rotate a certain angle θ1 to release the restriction of the driving and flying separation device;

[0031] S15, after driving the positioning motor to automatically adjust the slide bar to position a1, the constraint of the propeller is released, the folding motor is driven, the aircraft arm is automatically controlled to unfold, and the aircraft is switched to the flight state;

[0032] S16: Autonomous takeoff, vehicle and aircraft separation, and after reaching a predetermined altitude, the aircraft will fly along the route and hover over the target area;

[0033] S17, the reconnaissance pod automatically identifies the target, the personnel automatically tracks the target after confirming the target, and the servo automatically aims at the target;

[0034] S18. After the ground personnel sends the firing permission command, the system automatically determines the firing timing and completes the firing automatically. The damage effect is evaluated through the reconnaissance pod. After the mission is completed, the system returns.

[0035] Compared with the prior art, the reconnaissance and strike integrated amphibious heterogeneous vehicle and the working method thereof described in the present invention have the following advantages:

[0036] (1) The present invention discloses an amphibious heterogeneous vehicle for reconnaissance and strike and a working method thereof. The amphibious heterogeneous vehicle can be equipped with reconnaissance and strike devices at the same time, and has both reconnaissance and strike functions in driving mode and flight mode. The amphibious heterogeneous vehicle has a high degree of intelligence and can automatically switch between driving mode and flight mode. In the strike mode, the two-axis servo mechanism can be controlled to work in conjunction with the reconnaissance pod, automatically determine the firing time, and autonomously complete the firing.

[0037] (2) The present invention discloses an amphibious heterogeneous vehicle capable of reconnaissance and strike and a method for operating the same. The amphibious heterogeneous vehicle is provided with a driving and flying separation device. In the flying state, the driving device can be regarded as an invalid weight, which will affect the flight time. The driving device and the flying device can be separated by automatic control according to combat requirements, and the flying device can perform reconnaissance and strike missions independently.

[0038] (3) The present invention discloses an amphibious heterogeneous reconnaissance and strike vehicle and a working method thereof. The amphibious heterogeneous vehicle is provided with an arm deployment and folding device. When the vehicle is switched to the flight state, the arm can be automatically controlled to be deployed. When the vehicle is switched to the driving state, the arm can be automatically controlled to be folded. The overall dimensions are minimized. When the vehicle passes through a narrow space, the vehicle will not be restricted by the size of the arm and the propeller, thereby improving the shuttle capability of the system.

[0039] (4) The present invention discloses an amphibious heterogeneous reconnaissance and strike vehicle and a working method thereof. The amphibious heterogeneous vehicle is provided with a blade positioning device. When the vehicle is switched to the driving state, the arm is in a folded state. The propeller will be vertically downward due to the effect of gravity and may come into contact with the ground during driving, causing damage to the propeller. The position of the propeller can be constrained by the blade positioning device. When the vehicle is switched to the flight state, the position constraint of the propeller can be automatically released. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the accompanying drawings:

[0041] Figure 1 It is a schematic diagram of the overall structure of an embodiment of the present invention;

[0042] Figure 2 A schematic diagram of a flying device according to an embodiment of the present invention;

[0043] Figure 3 A schematic diagram of a striking device according to an embodiment of the present invention;

[0044] Figure 4 It is a front view schematic diagram of the striking device according to an embodiment of the present invention;

[0045] Figure 5 It is a cross-sectional schematic diagram of a striking device according to an embodiment of the present invention;

[0046] Figure 6 This is a schematic diagram of a driving and flying separation device according to an embodiment of the present invention;

[0047] Figure 7 A schematic diagram of an arm unfolding and folding device according to an embodiment of the present invention;

[0048] Figure 8 This is a schematic diagram of a blade positioning device according to an embodiment of the present invention;

[0049] Fig. 9 A schematic diagram of the initial position of the blade in-position device according to an embodiment of the present invention;

[0050] Fig.10 This is a schematic diagram of the position of the blade in-position device a1 according to an embodiment of the present invention;

[0051] Fig.11 The figure is a schematic diagram of the working method described in the embodiment of the present invention.

[0052] Description of reference numerals:

[0053] 1. Driving device; 11. Unmanned vehicle body; 12. Tracks; 2. Flying device; 21. Aircraft body; 22. Connecting column; 23. No. 1 machine arm connector; 24. No. 2 machine arm connector; 25. No. 3 machine arm connector; 26. Machine arm body; 27. No. 1 motor; 28. Hub; 29. ​​Propeller; 3. Reconnaissance device; 31. Reconnaissance pod; 4. Strike device; 41. Two-axis servo mechanism; 411. Pitch assembly; 4111. Pitch motor; 4112, motor adapter; 4113, No. 1 motor mounting plate; 4114, pitch connecting shaft; 4115, No. 1 pitch connecting plate; 4116, support arm connecting plate; 4117, support arm member; 4118, motor cross plate; 4119, No. 2 pitch connecting plate; 41110, pitch axis; 41111, damping axis; 41112, damping support; 41113, damper; 412, azimuth assembly; 4121, azimuth motor; 4122, azimuth 42. Bomb hanging assembly; 421. Hanging rack plate; 422. Support frame; 423. Upper cover frame; 424. Buckle; 43. Bomb cylinder; 5. Driving and flying separation device; 51. Azimuth worm gear; 52. Limiting turntable; 53. Azimuth worm; 54. Worm mounting plate; 55. Bearing outer retaining ring; 56. No. 2 motor mounting plate; 57. No. 1 coupling; 58. Separation motor; 6. Arm unfolding and folding device; 61. Support plate; 62. Folding motor; 63. Coupling No. 2; 64. Left-hand screw; 65. Right-hand screw; 66. Fixed end No. 1; 67. Ball screw nut No. 1; 68. Support side No. 1; 69. Screw support plate; 610. Connecting rod; 7. Blade positioning device; 71. Positioning motor; 72. Motor mounting plate No. 3; 73. Coupling No. 3; 74. Fixed end No. 2; 75. Positioning screw; 76. Ball screw nut No. 2; 77. Support side No. 2; 78. Slide bar; 79. Slider. DETAILED DESCRIPTION

[0054] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments may be combined with each other.

[0055] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0056] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0057] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0058] like Figures 1 to 11 As shown, an amphibious heterogeneous vehicle with integrated reconnaissance and strike functions is composed of a driving device 1, a flying device 2, a reconnaissance device 3, a strike device 4, a driving and flying separation device 5, an arm unfolding and folding device 6, and a blade adjustment device 7.

[0059] The driving device 1 is mainly composed of an unmanned vehicle body 11 and a crawler track 12. It is the main bearing platform of the amphibious heterogeneous vehicle. It can be used as a driving platform of the amphibious heterogeneous vehicle when driving, as a flying platform of the amphibious heterogeneous vehicle when flying, and as a landing platform of the amphibious heterogeneous vehicle when landing. It can resist the impact of the ground when landing. The flying device 2 is mainly composed of a body 21, a plurality of connecting columns 22, a plurality of No. 1 arm connecting parts 23, a plurality of No. 2 arm connecting parts 24, a No. 3 arm connecting part 25, a flight control (flight controller), an arm body 26, a No. 1 motor 27, a hub 28, and a propeller 29. A plurality of bosses are arranged on the driving device 1. One end of the connecting column 22 cooperates with the plurality of bosses on the driving device 1 to limit the rotation of the flying device 2. The other end of the connecting column 22 is fixed to the body 21. A groove is arranged on the connecting column 22 to cooperate with the limit turntable 52 to limit the vertical position of the flying device 2. The flying device 2 is the flying platform of the amphibious heterogeneous vehicle and has the basic flying functions of a drone. When encountering complex terrains such as congestion and collapse during driving, the arms can be automatically unfolded and the vehicle can automatically take off to cross the complex terrain.

[0060] The reconnaissance device 3 is composed of a reconnaissance pod 31, and the strike device 4 is mainly composed of a two-axis servo mechanism 41 and a bomb hanging assembly 42. The two-axis servo mechanism 41 can be linked with the reconnaissance pod 31 to automatically adjust the launch angle of the strike load and automatically aim at the target. The bomb hanging assembly 42 is installed on the azimuth axis of the two-axis servo mechanism 41, and can carry a variety of strike loads, so that the strike load can be quickly replaced.

[0061] The two-axis servo mechanism 41 is composed of a pitch assembly 411 and an azimuth assembly 412. The pitch assembly 411 includes a pitch motor 4111, a motor adapter 4112, a No. 1 motor mounting plate 4113, a pitch bearing, a pitch connecting shaft 4114, a No. 1 pitch connecting plate 4115, an arm connecting plate 4116, an arm member 4117, a motor cross plate 4118, a No. 2 pitch connecting plate 4119, a pitch axis 41110, a damping axis 41111, a damping support 41112 and a damper 41113. The azimuth assembly 412 includes an azimuth motor 4121, an azimuth axis 4122 and an azimuth bearing.

[0062] The bomb hanging assembly 42 is composed of a hanging frame plate 421, a support frame 422, an upper cover frame 423, and a buckle 424. The motor adapter 4112 is installed on the No. 1 motor mounting plate 4113, and the pitch motor 4111 is installed on the motor adapter 4112. The No. 1 motor mounting plate 4113 is provided with a bearing mounting hole, and the pitch connecting shaft 4114 is interference fit with a pitch bearing and fixedly installed with the pitch motor 4111; the damping support 41112 is installed on the support arm, and the damper 41113 is installed on the damping support 41112. The support arm 4117 is provided with a bearing mounting hole, and the pitch shaft 41110 is interference fit with a pitch bearing and fixedly installed with the damping shaft 41111; the No. 2 pitch connecting plate 4119 and the No. 1 pitch connecting plate 4115 are respectively installed on the pitch connecting shaft 4114 and pitch axis 41110, the motor cross plate 4118 is installed on the second pitch connecting plate 4119 and the first pitch connecting plate 4115; the azimuth motor 4121 is fixed under the motor cross plate 4118, the motor cross plate 4118 is provided with a bearing hole for installing the azimuth bearing, the azimuth axis 4122 is interference fit with the azimuth bearing and is fixed to the azimuth motor 4121, and a circular boss is provided on the azimuth axis 4122 for fixing the rack plate 421; support frames 422 are fixed at both ends of the rack plate 421, a cartridge 43 is placed on the support frame 422, the upper cover frame 423 is connected to one end of the support frame 422 by a rotating shaft, and the other end is connected to the snap buckle 424 for quick opening and closing.

[0063] The travel and flight separation device 5 is composed of a worm gear bearing, an azimuth worm gear 51, a limit turntable 52, an azimuth worm 53, a worm mounting plate 54, a worm gear bearing, a bearing outer retaining ring 55, a No. 2 motor mounting plate 56, a No. 1 coupling 57, and a separation motor 58. Through the worm gear transmission, the travel device 1 and the flight device 2 can be separated. A worm gear bearing is provided on the travel device 1, and the azimuth worm gear 51 is installed with an interference fit with the worm gear bearing. An azimuth worm 53 is provided on the side of the azimuth worm gear 51. The azimuth worm 53 is installed on the worm mounting plate 54 through a worm gear bearing and fixed on the travel device 1. The azimuth worm 53 is connected to the separation motor 58 through the No. 1 coupling 57. The rotation of the separation motor 58 can drive the rotation of the azimuth worm 53, thereby driving the rotation of the azimuth worm gear 51. A limit turntable 52 is provided on the azimuth worm wheel 51 and fixed by screws. A plurality of connecting posts 22 of the flying device 2 are provided with grooves. The end of the limit turntable 52 cooperates with the grooves on the connecting posts 22 to limit the position of the flying device 2. Through the transmission of the worm gear, the position limit of the flying device 2 can be released, and the traveling device 1 can be separated from the flying device 2. In the flying state, the traveling device 1 can be regarded as an invalid weight. Therefore, in the process of performing a mission, in order to pursue long-term operation, the traveling device 1 and the flying device 2 can be separated, and the flying device 2 can perform the mission alone.

[0064] The arm unfolding and folding device 6 is composed of a support plate 61, a folding motor 62, a No. 2 coupling 63, a left-hand screw 64, a right-hand screw 65, a No. 1 fixed end 66, a No. 1 ball screw nut 67, a No. 1 supporting side 68, a screw support plate 69, and a connecting rod 610. The support plate 61 and the screw support plate 69 are fixed below the machine body 21, and the folding motor 62 is installed on the support plate 61. The two ends of the folding motor 62 are respectively connected to two No. 2 couplings 63, and the other ends of the two No. 2 couplings 63 are respectively connected to the left-hand screw 64 and the right-hand screw 65. The No. 1 fixed end 66 and the No. 1 supporting side 68 are respectively connected to the left-hand screw 64 and the right-hand screw 65. The left-hand screw 64 and the right-hand screw 65 are respectively installed on the support plate 61 and the screw support plate 69, and the two ends of the left-hand screw 64 and the right-hand screw 65 are respectively installed on the No. 1 fixed end 66 and the No. 1 support side 68. The left-hand screw 64 and the right-hand screw 65 are driven to rotate by the folding motor 62. Two No. 1 ball screw nuts 67 are respectively installed on the left-hand screw 64 and the right-hand screw 65. The two ends of the connecting rod 610 are respectively connected to the No. 1 ball screw nut 67 and the No. 2 machine arm connecting piece 24. The rotation of the left-hand screw 64 and the right-hand screw 65 will drive the No. 1 ball screw nut 67 to move linearly, and the machine arm can be unfolded and folded through the connecting rod 610. In actual use, the rapid unfolding and folding of the machine arm can be automatically realized through the transmission of the ball screw (left-hand screw 64, right-hand screw 65) and the connecting rod 610. When in driving state, the arms are in a folded state, which can minimize the driving size and improve the shuttle capability. When in flying state, the arms are in an unfolded state, providing the power required for flight.

[0065] The blade positioning device 7 is composed of a positioning motor 71, a No. 3 motor mounting plate 72, a No. 3 coupling 73, a No. 2 fixed end 74, a positioning screw 75, a No. 2 ball screw nut 76, a No. 2 supporting side 77, a slide bar 78, and a slider 79. The positioning motor 71 is connected to the positioning screw 75 through the No. 3 coupling 73. The two ends of the positioning screw 75 are respectively connected to the No. 2 fixed end 74 and the No. 2 supporting side 77. The No. 2 ball screw nut 76 is installed on the positioning screw 75. The No. 2 ball screw nut 76 is provided with a threaded hole for connecting the slide bar 78. The slide bar 78 can rotate relatively along the threaded hole. The slider 79 is connected to the boss of the traveling device 1 and can rotate relatively on the boss. The slide bar 78 can move on the inner hole of the slider 79. The positioning screw 75 is driven to rotate by the positioning motor 71, and the rotation of the positioning screw 75 drives the second ball screw nut 76 to move linearly, driving the slide bar 78 to slide in the slider 79, thereby realizing the rotation of the slider 79 and the slide bar 78 along the boss, and then the position of the propeller 29 can be adjusted. The position of the propeller 29 can be adjusted through the transmission of the ball screw (positioning screw 75). When switching from the flight state to the driving state, the arm is in a folded state, and the propeller 29 is vertically downward due to the action of gravity. It is easy to contact the ground or other obstacles during driving and be damaged. Therefore, the position of the propeller 29 can be adjusted by the blade positioning device 7 to avoid damage to the propeller 29.

[0066] This amphibious heterogeneous vehicle can automatically and intelligently switch between driving mode and flight mode. When driving, it can monitor the state of the driving current in real time. When the driving current continues to increase and exceeds a certain threshold, driving is obstructed and it will automatically switch to flight mode. The system will fly over the obstacle and land, and then switch to driving mode again to continue moving forward.

[0067] When the amphibious heterogeneous vehicle is in the attack state, after the reconnaissance pod 31 automatically tracks the target and stabilizes, the system will integrate the posture information of the amphibious vehicle platform, the posture information of the reconnaissance pod 31, and the position information of the target, and can automatically control the two-axis servo mechanism 41 to work with the reconnaissance pod 31, aim at the target in real time, automatically determine the firing time, and complete the firing autonomously.

[0068] A working method of an amphibious heterogeneous vehicle for reconnaissance and attack, wherein the control process is as follows:

[0069] S1. The amphibious heterogeneous vehicle enters the working area, the system is powered on, and self-checking begins;

[0070] S2. After the self-check is completed, determine whether the communication is normal and whether the satellite is successfully positioned;

[0071] S3. After the communication is normal and the satellite positioning is successful, the route is planned according to the mission and uploaded;

[0072] S4, the system automatically drives along the route, conducts real-time reconnaissance during driving, and monitors the driving current A1 in real time;

[0073] S5, when the monitored driving current A1<A0, the amphibious heterogeneous vehicle continues to travel along the track;

[0074] S6, when the monitored driving current A1>A0, the amphibious heterogeneous vehicle is hindered from traveling and moves backwards for a certain distance s1;

[0075] S7, after driving the position adjustment motor 71 (i.e., the drive motor-3 in the figure) to automatically adjust the slide bar 78 to the position a1, the constraint of the propeller 29 is released, and the folding motor 62 (i.e., the drive motor-2 in the figure) is driven to automatically control the arm to unfold and switch to the flight state;

[0076] S8, automatically take off, fly to a predetermined altitude, and then fly a certain distance s2 along the track;

[0077] S9, automatic landing, driving the folding motor 62, automatically folding the aircraft arm, switching to the driving state, driving the positioning motor 71, automatically adjusting the slide bar 78 to the initial position, limiting the position of the propeller 29, and preventing the propeller 29 from being disconnected from the ground and damaged during driving;

[0078] S10. Determine whether to conduct a long-duration flight according to the mission;

[0079] S11. If a long flight is not required, continue along the route to the target area;

[0080] S12, the reconnaissance pod 31 automatically identifies the target, the personnel automatically tracks the target after confirming the target, and the servo automatically aims at the target;

[0081] S13, after the ground personnel sends the firing permission command, the system automatically determines the firing timing, automatically completes the firing, and evaluates the damage effect through the reconnaissance pod 31. After the mission is completed, the system returns;

[0082] S14, if it is necessary to fly for a long time, drive the separation motor 58 (i.e., the drive motor-1 in the figure) to drive the limit turntable 52 to rotate a certain angle θ1, and release the restriction of the driving and flying separation device 5;

[0083] S15, after driving the position adjustment motor 71 to automatically adjust the slide bar 78 to the position a1, the constraint of the propeller 29 is released, and the folding motor 62 is driven to automatically control the arm to unfold and switch to the flight state;

[0084] S16: Autonomous takeoff, vehicle and aircraft separation, and after reaching a predetermined altitude, the aircraft will fly along the route and hover over the target area;

[0085] S17, the reconnaissance pod 31 automatically identifies the target, the personnel automatically tracks the target after confirming the target, and the servo automatically aims at the target;

[0086] S18. After the ground personnel sends the firing permission command, the system automatically determines the firing timing, automatically completes the firing, and evaluates the damage effect through the reconnaissance pod 31. After the mission is completed, the system returns.

[0087] Advantages of the present invention:

[0088] 1. The amphibious heterogeneous vehicle can be equipped with reconnaissance and strike devices at the same time4, and has both reconnaissance and strike functions in driving mode and flight mode.

[0089] 2. The amphibious heterogeneous vehicle has a high degree of intelligence and can automatically switch between driving mode and flight mode. In the attack state, it can control the two-axis servo mechanism 41 to work in conjunction with the reconnaissance pod, automatically determine the firing time, and complete the firing autonomously.

[0090] 3. The amphibious heterogeneous vehicle is provided with a driving and flying separation device 5. In the flying state, the driving device 1 can be regarded as invalid weight, which will affect the flight time. According to combat requirements, the driving device 1 and the flying device 2 can be separated by automatic control, and the flying device 2 can perform reconnaissance and strike missions alone.

[0091] 4. The amphibious heterogeneous vehicle is provided with an arm deployment and folding device 6, which can automatically control the arm deployment when switching to the flight state, and can automatically control the arm folding when switching to the driving state, thereby minimizing the external dimensions. When passing through narrow spaces, it will not be restricted by the size of the arms and propellers, thereby improving the system's shuttle capability.

[0092] 5. The amphibious heterogeneous vehicle is provided with a blade positioning device 7. When switched to the driving state, the arm is in a folded state, and the propeller will be vertically downward due to the effect of gravity. It may come into contact with the ground during driving, causing damage to the propeller. The position of the propeller can be constrained by the blade positioning device 7. When switched to the flight state, the position constraint of the propeller can be automatically contacted.

[0093] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A reconnaissance and strike amphibious heterogeneous vehicle, characterized by: The invention comprises a driving device (1), a flying device (2), a reconnaissance device (3), a striking device (4), a driving and flying separation device (5), an arm unfolding and folding device (6), and a blade positioning device (7). The driving and flying separation device (5) and the blade positioning device (7) are both installed above the driving device (1). The flying device (2) is installed above the driving device (1) through the driving and flying separation device (5). The arm unfolding and folding device (6) is installed at the middle axis of the bottom of the flying device (2). The reconnaissance device (3) is installed on one side of the bottom of the flying device (2). The striking device (4) is installed on the top of the flying device (2). The driving device (1) comprises an unmanned vehicle body (11) and crawlers (12), crawlers (12) are respectively installed on both sides of the unmanned vehicle body (11), and a plurality of bosses are provided on the top of the unmanned vehicle body (11), and the bosses are used to cooperate with the installation of the flying device (2) and the blade adjustment device (7); The flight device (2) comprises a body (21), a plurality of connecting columns (22), a plurality of No. 1 arm connecting pieces (23), a plurality of No. 2 arm connecting pieces (24), a plurality of No. 3 arm connecting pieces (25), a flight control, an arm body (26), a No. 1 motor (27), a hub (28) and a propeller (29). The flight control is installed inside the body (21). Four connecting columns (22) are evenly distributed around the bottom of the body (21). The bottom of each connecting column (22) cooperates with a boss on the unmanned vehicle body (11). A groove is provided on one side of each connecting column (22). The groove of the connecting column (22) cooperates with the driving and flying separation device (5). A No. 1 arm connection piece (23) is symmetrically installed on both sides of the body (21), and the other end of each No. 1 arm connection piece (23) is connected to one end of a No. 3 arm connection piece (25) through a No. 2 arm connection piece (24). Both ends of the No. 3 arm connection piece (25) are respectively connected to an arm body (26). A No. 1 motor (27) is installed at one end of each arm body (26) away from the No. 3 arm connection piece (25). The output shaft of the No. 1 motor (27) is connected to two propellers (29) through a propeller hub (28). An arm unfolding and folding device (6) is installed at the middle axis of the bottom of the body (21), and the arm unfolding and folding device (6) is movably connected to the No. 2 arm connection piece (24); The driving and flying separation device (5) comprises a worm gear bearing, an azimuth worm gear (51), a limiting turntable (52), an azimuth worm (53), a worm mounting plate (54), a worm gear bearing, a bearing outer retaining ring (55), a second motor mounting plate (56), a first coupling (57) and a separation motor (58). The unmanned vehicle body (11) is provided with a mounting hole for accommodating the worm gear bearing. The worm gear bearing is interference-fitted with the lower end of the azimuth worm gear (51). The upper end of the azimuth worm gear (51) is mounted on the middle of the limiting turntable (52). The outer side of the limiting turntable (52) is connected to the connecting column (2 2), one side of the azimuth worm wheel (51) is connected to one end of the azimuth worm (53), one end of the azimuth worm (53) is sleeved with a worm mounting plate (54), and one end of the azimuth worm (53) is mounted to a bearing outer retaining ring (55) through a worm bearing, and the bearing outer retaining ring (55) is mounted to both sides of the worm mounting plate (54), and the other end of the azimuth worm (53) is connected to the output shaft of the separation motor (58) through a No. 1 coupling (57), and the separation motor (58) is mounted to the unmanned vehicle body (11) through a No. 2 motor mounting plate (56); The blade positioning device (7) comprises a positioning motor (71) and two symmetrically arranged slide bars (78). The positioning motor (71) adjusts the position of the slide bars (78) through a ball screw structure. The slide bars (78) are used to release the constraints of the propeller (29) and switch to a flight state, or to limit the position of the propeller (29) to prevent the propeller (29) from being damaged by vertically downward contact with the ground due to gravity.

2. The amphibious heterogeneous reconnaissance and strike vehicle according to claim 1, characterized in that: The reconnaissance device (3) comprises a reconnaissance pod (31), and the strike device (4) comprises a two-axis servo mechanism (41) and a bomb hanging assembly (42), wherein the bottom of the two-axis servo mechanism (41) is mounted to the aircraft body (21), the bomb hanging assembly (42) is mounted above the two-axis servo mechanism (41), and the bomb hanging assembly (42) is mounted above the bomb hanging assembly (42). A bomb barrel (43) is mounted above the bomb hanging assembly (42); The two-axis servo mechanism (41) comprises a pitch component (411) and an azimuth component (412); the bottom of the pitch component (411) is mounted on the machine body (21); the azimuth component (412) is mounted on the middle part above the pitch component (411); and the azimuth component (412) passes through the pitch component (411) and is mounted on the bomb hanging component (42); The bomb hanging assembly (42) comprises a hanging frame plate (421), a support frame (422), an upper cover frame (423) and a buckle (424); the bottom of the hanging frame plate (421) is mounted on the orientation assembly (412); two support frames (422) are symmetrically mounted on the top of the hanging frame (421); a bomb cylinder (43) is arranged above each support frame (422); one end of each support frame (422) is connected to the upper cover frame (423) through a rotating shaft; and the other end of each support frame (422) is connected to the upper cover frame (423) through a buckle (424).

3. The amphibious heterogeneous reconnaissance and strike vehicle according to claim 2 is characterized by: The pitch assembly (411) comprises a pitch motor (4111), a motor adapter (4112), a first motor mounting plate (4113), a pitch bearing, a pitch connecting shaft (4114), a first pitch connecting plate (4115), an arm connecting plate (4116), an arm member (4117), a motor cross plate (4118), a second pitch connecting plate (4119), a pitch shaft (41110), a damping shaft (41111), a damping support (41112) and a damper (41113); the first motor mounting plate (4113) and the arm member (4117) are symmetrically arranged; the first motor mounting plate (4113) and the arm member (4117) are symmetrically arranged; The side of the support arm (4117) is connected to the first pitch connection plate (4115) through the pitch connection axis (4114); one side of the support arm (4117) is connected to the second pitch connection plate (4119) through the pitch axis (41110); the tops of the first pitch connection plate (4115) and the second pitch connection plate (4119) are respectively connected to the two ends of the motor cross plate (4118); the azimuth assembly (412) passes through the motor cross plate (4118) and is installed on the bracket plate (421); the first motor mounting plate (4113) and the support arm (4117) are connected below by two support arm connection plates (4116); the first motor mounting plate (4113) and the support arm connection plate (4119) are ... first motor mounting plate (4113) and the support arm connection plate (4119) are connected to the second pitch connection plate (4119) through the pitch axis (41110); the first motor mounting plate (4113) and the support arm connection plate (4119) are connected to the second pitch connection plate (4119) through the pitch axis (41110); the first motor mounting plate (4113) and the The connecting plate (4116) and the bottom of the supporting arm (4117) are both mounted on the machine body (21); the pitch motor (4111) is mounted on the No. 1 motor mounting plate (4113) through the motor adapter (4112); the No. 1 motor mounting plate (4113) is provided with a No. 1 bearing mounting hole; the pitch bearing is mounted in the No. 1 bearing mounting hole; the pitch connecting shaft (4114) is interference fit with the pitch bearing in the No. 1 bearing mounting hole; one end of the pitch connecting shaft (4114) is fixedly connected to the output shaft of the pitch motor (4111); the other end of the pitch connecting shaft (4114) is sleeved on the No. 1 pitch connecting plate (4115); the supporting arm (4117) is provided with a No. 1 bearing mounting hole; the pitch connecting shaft (4114) is sleeved on the No. 1 pitch connecting plate (4115); the supporting arm (4117) is provided with a No. 1 bearing mounting hole; the pitch connecting shaft (4114) is sleeved on the No. 1 pitch connecting plate (4115); the supporting arm (4117) is sleeved on the No. 1 motor mounting plate (4113 ... A damping support (41112) is installed on one side of the arm member (4117), and the damper (41113) is installed on the damping support (41112). A No. 2 bearing mounting hole is opened on the support arm member (4117), and a pitch bearing is installed in the No. 2 bearing mounting hole. One end of the pitch axis (41110) is sleeved with the No. 2 pitch connecting plate (4119), and the middle part of the other end of the pitch axis (41110) is interference fit with the pitch bearing in the No. 2 bearing mounting hole, and the other end of the pitch axis (41110) is fixedly installed with one end of the damping axis (41111), and the other end of the damping axis (41111) is installed in the damper (41113).

4. The reconnaissance and strike amphibious heterogeneous vehicle according to claim 3 is characterized by: The azimuth assembly (412) comprises an azimuth motor (4121), an azimuth shaft (4122) and an azimuth bearing. The azimuth motor (4121) is installed below the motor cross plate (4118). The output shaft of the azimuth motor (4121) is connected to the lower end of the azimuth shaft (4122). The upper end of the azimuth shaft (4122) is interference fit with the azimuth bearing located in the motor cross plate (4118), and the upper end of the azimuth shaft (4122) is connected to the bottom of the bracket plate (421).

5. The amphibious heterogeneous reconnaissance and strike vehicle according to claim 1, characterized in that: The arm unfolding and folding device (6) comprises a support plate (61), a folding motor (62), a No. 2 coupling (63), a left-hand screw (64), a right-hand screw (65), a No. 1 fixed end (66), a No. 1 ball screw nut (67), a No. 1 supporting side (68), a screw support plate (69) and a connecting rod (610). Both ends of the folding motor (62) are mounted below the machine body (21) through a support plate (61). The output shafts at both ends of the folding motor (62) pass through the support plate (61) and the No. 2 coupling (63) in sequence and are then connected to the left-hand screw (64) and the right-hand screw (65). One end of the left-hand screw (64) and the right-hand screw (65) are mounted below the machine body (21) through the support plate (61). A No. 1 fixed end (66) is also installed at one end of the screw (65), and the No. 1 fixed end (66) is connected to one side of a support plate (61) located on the left-hand screw (64) or the right-hand screw (65). The other ends of the left-hand screw (64) and the right-hand screw (65) are respectively installed on the screw support plate (69) through the No. 1 support side (68). The top of the screw support plate (69) is installed on the No. 1 machine arm connecting member (23). The No. 1 machine arm connecting member (23) is provided with a long through hole, and a connecting rod (610) is movably installed in the long through hole. A nut connecting seat is respectively sleeved on the No. 1 ball screw nut (67) of each of the left-hand screw (64) and the right-hand screw (65), and the two ends of the connecting rod (610) are respectively movably installed on the nut connecting seat and the No. 2 machine arm connecting member (24).

6. The reconnaissance and strike amphibious heterogeneous vehicle according to claim 1, characterized in that: The blade positioning device (7) comprises a No. 3 motor mounting plate (72), a No. 3 coupling (73), a No. 2 fixed end (74), a positioning screw (75), a No. 2 ball screw nut (76), a No. 2 supporting side (77) and a slider (79); the positioning motor (71) is mounted to the unmanned vehicle body (11) via the No. 3 motor mounting plate (72); the output shaft of the positioning motor (71) is connected to one end of the positioning screw (75) via the No. 3 coupling (73). The two ends of the positioning screw (75) are respectively installed to the unmanned vehicle body (11) through the second fixed end (74) and the second supporting side (77), and the upper end of the second ball screw nut (76) of the positioning screw (75) is movably connected to two sliding rods (78), and each sliding rod (78) is slidably sleeved with a sliding block (79) at one end away from the second ball screw nut (76), and the bottom of the sliding block (79) is installed in cooperation with the boss of the unmanned vehicle body (11).

7. A working method of an amphibious heterogeneous reconnaissance and strike vehicle, applied to the amphibious heterogeneous reconnaissance and strike vehicle according to any one of claims 1 to 6, characterized in that: The following steps are involved: S1. The amphibious heterogeneous vehicle enters the working area, the system is powered on, and self-checking begins; S2. After the self-check is completed, determine whether the communication is normal and whether the satellite is successfully positioned; S3. After the communication is normal and the satellite positioning is successful, the route is planned according to the mission and uploaded; S4, the system automatically drives along the route, conducts real-time reconnaissance during driving, and monitors the driving current A1 in real time; S5, when the monitored driving current A1<A0, the amphibious heterogeneous vehicle continues to travel along the track; S6, when the monitored driving current A1>A0, the amphibious heterogeneous vehicle is hindered from traveling and moves backwards for a certain distance s1; S7, after driving the position adjustment motor (71) to automatically adjust the slide bar (78) to the position a1, the constraint of the propeller (29) is released, and the folding motor (62) is driven to automatically control the arm to unfold and switch to the flight state; S8, automatically take off, fly to a predetermined altitude, and then fly a certain distance s2 along the track; S9, automatically landing, driving the folding motor (62), automatically folding the machine arm, switching to the driving state, driving the position adjustment motor (71), automatically adjusting the slide bar (78) to the initial position, limiting the position of the propeller (29), and preventing the propeller (29) from contacting the ground and being damaged during driving; S10. Determine whether to conduct a long-duration flight according to the mission; S11. If a long flight is not required, continue along the route to the target area; S12, the reconnaissance pod (31) automatically identifies the target, the personnel automatically tracks the target after confirming the target, and the servo automatically aims at the target; S13, after the ground personnel sends the firing permission command, the system automatically determines the firing timing, automatically completes the firing, and evaluates the damage effect through the reconnaissance pod (31). After the mission is completed, the system returns; S14, if it is necessary to fly for a long time, drive the separation motor (58), drive the limit turntable (52) to rotate a certain angle θ1, and release the restriction of the driving and flying separation device (5); S15, after driving the position adjustment motor (71) to automatically adjust the slide bar (78) to the position a1, the constraint of the propeller (29) is released, and the folding motor (62) is driven to automatically control the arm to unfold and switch to the flight state; S16: Autonomous takeoff, vehicle and aircraft separation, after reaching a predetermined altitude, fly along the route to hover over the target area; S17, the reconnaissance pod (31) automatically identifies the target, the personnel automatically tracks the target after confirming the target, and the servo automatically aims at the target; S18. After the ground personnel sends a firing permission command, the system automatically determines the firing timing, automatically completes the firing, and evaluates the damage effect through the reconnaissance pod (31). After the mission is completed, the system returns.

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