A UAV for underwater topographic survey

Abstract

The present invention belongs to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle for underwater topography measurement, the present invention comprises: a fuselage, a nose and a tail are respectively arranged at two ends of the fuselage, and a propeller is arranged at the tail; a casing is fixedly mounted on the fuselage; a camera assembly is mounted on the nose; a pair of brackets are fixedly connected to the fuselage, rotatable side wings are connected to the brackets, a first rotating shaft is fixedly connected to the side wings, and the first rotating shaft is rotatably connected to the brackets; a groove is arranged on the surface of the side wings, a retractable supporting wing is rotatably connected in the groove, a second rotating shaft is fixedly connected to the supporting wing, and the second rotating shaft is rotatably connected to the side wing; the first rotating shaft is connected to a transmission assembly for driving the second rotating shaft to rotate, and the second rotating shaft is fixedly connected to a gear matched with the transmission assembly; by installing a pair of side wings on the unmanned aerial vehicle, and the supporting wings are installed on the side wings, various movements of the unmanned aerial vehicle can be realized, and the flexibility is high and the maneuverability is good.

Description

Technical Field

[0001] The invention relates to the technical field of unmanned aerial vehicles, and in particular to an unmanned aerial vehicle used for underwater topography measurement. Background Art

[0002] Underwater drones, also known as underwater robots, have begun to emerge in consumer markets such as fishery environment testing and diving entertainment in recent years. However, compared to drones, which are relatively mature in technology and products and have been accepted by the consumer market, underwater robots have yet to be developed in terms of technology and product form. Existing underwater drones can be mainly divided into two types: cable-controlled remote-controlled submersibles and cable-free remote-controlled submersibles. The underwater environment is harsh and dangerous, and people's diving depth is limited, so underwater robots have become an important tool for developing the ocean. With people's further understanding and utilization of the ocean, underwater robots are still a hot area of ​​research.

[0003] The power design of underwater robots on the market now usually arranges independent propulsion devices in the horizontal and vertical directions respectively, or uses buoyancy adjustment devices, so that forward power and diving power can be obtained respectively, realizing the robot's floating, diving, forward and turning movements underwater; although this method can better meet the robot's underwater movement needs, there are still some disadvantages: the traditional underwater robot's movement freedom is related to the number and position of the thrusters. If the robot is to float, dive, move forward and turn underwater, more thrusters need to be arranged; and increasing the number of thrusters will inevitably make the robot more bulky, complex and costly. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a drone for underwater topography measurement. By installing a pair of side wings on the drone, and supporting wings on the side wings, the drone can achieve various movements, aiming to solve the problems in the background technology.

[0005] In order to achieve the above technical objectives, the specific technical scheme of the present invention is as follows: a drone for underwater topography measurement proposed by the present invention includes: a fuselage, a nose and a tail are respectively provided at both ends of the fuselage, and a propeller is provided at the tail; a casing is fixedly mounted on the fuselage; a camera assembly is mounted on the nose; a pair of brackets are fixedly connected to the fuselage, and rotatable side wings are connected to the brackets for adjusting the lifting and lowering of the drone, and a first rotating shaft is fixedly connected to the side wings, and the first rotating shaft is rotatably connected to the brackets; a groove is provided on the surface of the side wings, and a retractable supporting wing is rotatably connected in the groove for changing the steering of the drone, and a second rotating shaft is fixedly connected to the supporting wing, and the second rotating shaft is rotatably connected to the side wing; the first rotating shaft is connected to a transmission assembly for driving the second rotating shaft to rotate, and the second rotating shaft is fixedly connected to a gear that cooperates with the transmission assembly.

[0006] As a preferred technical solution of the present invention, the transmission assembly includes a first rotating disk and a second rotating disk, both of which are rotatably connected to the first rotating shaft, the first rotating disk is connected to a toothed disk that rotates together, the toothed disk is meshed with the gear, and the first rotating disk is fixedly connected to a pair of ratchet rings through a connecting rod, and the tooth grooves on the two ratchet rings are in opposite directions; wherein, when the first rotating disk rotates, it drives the second rotating disk and the toothed disk to rotate; when the second rotating disk and the toothed disk rotate, they will not drive the first rotating disk to rotate.

[0007] As a preferred technical solution of the present invention, a pair of U-shaped guide frames are symmetrically fixedly connected to the surface of the second rotating disk, a slider is slidably connected inside the guide frame, an elastic member is fixedly connected to one end of the slider and the guide frame, a support rod is fixedly connected to the slider, and the ends of the two support rods are respectively provided with pawls that engage with two ratchet rings.

[0008] As a preferred technical solution of the present invention, the slider is fixedly connected with an inclined block, one side of the inclined block is provided with an inclined surface, and the toothed disc is fixedly connected with a pair of rods for driving the slider to slide, the rods cooperate with the inclined surfaces of the inclined block, and when the toothed disc rotates forward or reversely, it will respectively drive two different sliders to move, so that the pawl is separated from the ratchet ring.

[0009] As a preferred technical solution of the present invention, both of the two brackets are connected with a liftable lifting frame for driving the first rotating disk to rotate. One end of the lifting frame is fixedly connected with a cross bar, and a horizontal sliding hole is provided on the cross bar. The surface of the first rotating disk is fixedly connected with a sliding shaft that slides with the sliding hole.

[0010] As a preferred technical solution of the present invention, a motor frame is installed on the fuselage, a first motor is installed on the motor frame, a driving gear is connected to the first motor, the two first rotating shafts are fixedly connected by a coupling, and a driven gear meshing with the driving gear is installed on the coupling.

[0011] As a preferred technical solution of the present invention, a second motor is installed on the motor frame, and an incomplete gear is connected to the second motor for controlling the lifting of the two lifting frames. One end of the lifting frame is fixedly connected to a rack meshing with the incomplete gear, and the incomplete gear is arranged between the two racks.

[0012] As a preferred technical solution of the present invention, a guide frame slidably connected to the lifting frame is fixedly connected to the bracket, and a guide rod slidably connected to the lifting frame is fixedly connected to the fuselage.

[0013] As a preferred technical solution of the present invention, the bracket is provided with an arc-shaped avoidance hole matched with the second rotating shaft, and a friction sleeve is provided at the connection between the second rotating shaft and the side wing.

[0014] As a preferred technical solution of the present invention, a pair of balancing frames are symmetrically fixedly connected to both sides of the fuselage.

[0015] The beneficial effects of the present invention are as follows: the present invention connects a pair of rotatable side wings to the fuselage, and the lifting and lowering of the UAV can be adjusted by changing the angle of the side wings. The side wings are connected with rotatable supporting wings, and the rotation of the two supporting wings can be controlled separately through the cooperation of the lifting frame and the transmission assembly, thereby changing the resistance size of the UAV side wings and realizing the steering function of the UAV. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The present invention is a schematic structural diagram of an unmanned aerial vehicle for underwater topography measurement.

[0017] Figure 2 This is a schematic diagram of the connection between the two side wings proposed by the present invention.

[0018] Figure 3 This is a schematic structural diagram of the wing proposed by the present invention.

[0019] Figure 4 This is a schematic diagram of the structure of the transmission assembly proposed by the present invention.

[0020] Figure 5 This is an exploded schematic diagram of the transmission assembly proposed by the present invention.

[0021] Figure 6 This is a schematic structural diagram of the second rotating disk proposed by the present invention.

[0022] Figure 7 This is a schematic structural diagram of the lifting frame proposed by the present invention.

[0023] Figure 8 This is a schematic diagram of the motor frame proposed in the present invention.

[0024] In the figure: 1, fuselage; 101, nose; 102, tail; 103, propeller; 104, casing; 105, balance frame; 2, side wing; 201, wing support; 202, groove; 203, first rotating shaft; 204, second rotating shaft; 205, gear; 206, guide rod; 207, guide frame; 208, driven gear; 209, coupling; 210, friction sleeve; 3, transmission assembly; 301, first rotating disk; 3011, ratchet ring; 3012, connecting rod; 301 3. Sliding shaft; 302. Second rotating disk; 3021. Guide frame; 3022. Sliding block; 3023. Support rod; 3024. Ratchet; 3025. Bevel block; 3026. Elastic member; 303. Toothed plate; 3031. Rod body; 4. Bracket; 401. Avoidance hole; 5. Lifting frame; 501. Cross bar; 502. Sliding hole; 503. Rack; 6. Motor frame; 601. First motor; 602. Incomplete gear; 603. Second motor; 604. Driving gear; 7. Camera assembly. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0026] Embodiment: This embodiment discloses a drone for underwater topography measurement, such as Figure 1-Figure 8 As shown, it comprises: a fuselage 1, a nose 101 and a tail 102 are respectively provided at both ends of the fuselage 1, a lithium battery and a circuit are installed inside the fuselage 1, a propeller 103 is provided at the tail 102, and the propeller 103 plays a role of propulsion. The overall mass of the UAV is 3kg, and the buoyancy in water is slightly greater than the gravity; further, a pair of balance frames 105 are symmetrically fixedly connected on both sides of the fuselage 1 to improve the balance performance of the UAV; a casing 104 is fixedly mounted on the fuselage 1 to seal the fuselage 1; a camera assembly 7 is mounted on the nose 101, and the camera assembly 7 can rotate 360° to facilitate monitoring of the underwater surrounding environment.

[0027] like Figure 2-Figure 3As shown, a pair of brackets 4 are fixedly connected to the fuselage 1, and a rotatable side wing 2 is connected to the bracket 4, which is used to adjust the rise and fall of the UAV. When the side wing 2 is tilted upward along the forward direction, the UAV rises; when the side wing 2 is tilted downward along the forward direction, the UAV descends; a first rotating shaft 203 is fixedly connected to the side wing 2, and the first rotating shaft 203 is rotatably connected to the bracket 4; a groove 202 is provided on the upper surface of the side wing 2, and a retractable supporting wing 201 is rotatably connected in the groove 202, which is used to change the steering of the UAV. When the supporting wing 201 is unfolded, the resistance of the side wing 2 increases. When the two supporting wings 201 are unfolded, the resistance of the side wing 2 increases. When the resistances experienced by the wing 2 are different in size, according to the principles of mechanics, the drone turns to the side with greater resistance. For example, when turning left, the left wing 201 can be unfolded, and the greater the degree of unfolding of the left wing 201, the greater the turning angle; a second rotating shaft 204 is fixedly connected to the wing 201, and the second rotating shaft 204 is rotatably connected to the wing 2; the first rotating shaft 203 is connected to a transmission assembly 3, which is used to drive the second rotating shaft 204 to rotate, thereby adjusting the unfolding state of the wing 201, and the second rotating shaft 204 is fixedly connected to a gear 205 that cooperates with the transmission assembly 3.

[0028] Preferably, the bracket 4 is provided with an arc-shaped avoidance hole 401 that cooperates with the second rotating shaft 204. The avoidance hole 401 takes the first rotating shaft 203 as the center. When the side wing 2 rotates, the second rotating shaft 204 moves in the avoidance hole 401, and a friction sleeve 210 is provided at the connection between the second rotating shaft 204 and the side wing 2 to increase the friction between the support wing 201 and the side wing 2, improve the stability of the angle of the support wing 201, and avoid the angle of the support wing 201 from changing automatically under the action of water flow.

[0029] like Figure 4-Figure 6 As shown, the transmission assembly 3 includes a first rotating disk 301 and a second rotating disk 302, and the first rotating disk 301 and the second rotating disk 302 are both rotatably connected to the first rotating shaft 203. In this embodiment, when the first rotating disk 301 rotates, the second rotating disk 302 and the toothed disk 303 are driven to rotate; when the second rotating disk 302 and the toothed disk 303 rotate, they will not drive the first rotating disk 301 to rotate. The first rotating disk 301 is connected to a toothed disk 303 that rotates together. The toothed disk 303 meshes with the gear 205, and the side wing 2 rotates. When the side wing 201 is moved, the second rotating shaft 204 is driven to move along the avoidance hole 401. During the movement, the gear 205 revolves along the toothed disc 303. Since the gear 205 and the toothed disc 303 are meshed, the gear 205 will drive the toothed disc 303 to rotate when it revolves, thereby avoiding the influence of the side wing 2 on the supporting wing 201 when it rotates, so that the rotation of the side wing 2 and the supporting wing 201 does not affect each other; wherein, the first rotating disc 301 is fixedly connected to a pair of ratchet rings 3011 through a connecting rod 3012, and the tooth grooves on the two ratchet rings 3011 are in opposite directions.

[0030] like Figure 6As shown, a pair of U-shaped guide frames 3021 are symmetrically fixedly connected to the surface of the second rotating disk 302, a slider 3022 is slidably connected in the guide frame 3021, an elastic member 3026 is fixedly connected to one end of the slider 3022 and the guide frame 3021, a support rod 3023 is fixedly connected to the slider 3022, and the ends of the two support rods 3023 are respectively provided with pawls 3024 engaged with two ratchet rings 3011, one pawl 3024 is engaged with one ratchet ring 3011, and the pawl 3024 engages with the ratchet ring 3011 under the elastic force of the elastic member 3026. 1 meshing; and the slider 3022 is fixedly connected with an inclined block 3025, the two inclined blocks 3025 are arranged in mirror symmetry, and one side of the inclined block 3025 is provided with an inclined surface, and the toothed disc 303 is fixedly connected with a pair of rod bodies 3031 for driving the slider 3022 to slide, and the rod bodies 3031 cooperate with the inclined surfaces of the inclined blocks 3025. When the toothed disc 303 rotates forward or reverse, one of the sliders 3022 will be driven to move toward the center direction of the second rotating disc 302 through the rod body 3031, and one of the ratchet pawls 3024 will be driven to contract and separate from the ratchet ring 3011.

[0031] The working principle of the transmission assembly 3 is as follows: when the toothed disc 303 rotates forward, due to the opposite directions of the tooth grooves in the two ratchet circles 3011, one of the ratchet circles 3011 will hinder one pawl 3024, and the other ratchet circle 3011 will not hinder the other pawl 3024. Due to the rotation of the toothed disc 303, the blocked slider 3022 will be driven to move through the rod body 3031, driving the blocked pawl 3024 to shrink inward, and the pawl 3024 is separated from the ratchet circle 3011, so that the two pawls 3024 will not be hindered by the ratchet circle 3011, and the toothed disc 303 can drive the second pawl 3024 to move forward when rotating forward. The second rotating disk 302 rotates forwardly, while the first rotating disk 301 remains stationary; similarly, when the toothed disk 303 rotates reversely, it will drive the second rotating disk 302 to rotate reversely, while the first rotating disk 301 remains stationary; and when the first rotating disk 301 rotates forwardly or reversely, there will be a pawl 3024 in meshing state with the ratchet ring 3011, so that when the first rotating disk 301 rotates, it will drive the second rotating disk 302 to rotate, the second rotating disk 302 drives the toothed disk 303 to rotate, the toothed disk 303 drives the gear 205 to rotate, and then drives the support wing 201 to unfold or retract the support wing 201.

[0032] like Figure 3 and Figure 7 As shown, both brackets 4 are connected with a liftable lifting frame 5 for driving the first rotating disk 301 to rotate. One end of the lifting frame 5 is fixedly connected with a cross bar 501, and a horizontal sliding hole 502 is provided on the cross bar 501. A sliding shaft 3013 that slidably cooperates with the sliding hole 502 is fixedly connected to the surface of the first rotating disk 301. When the lifting frame 5 is raised or lowered, the sliding shaft 3013 will slide in the sliding hole 502, thereby driving the first rotating disk 301 to rotate.

[0033] Preferably, a guide frame 207 slidably connected to the lifting frame 5 is fixedly connected to the bracket 4, and a guide rod 206 slidably connected to the lifting frame 5 is fixedly connected to the fuselage 1, and the guide rod 206 is close to the rack 503 to ensure the stability of the lifting frame 5 when it is raised or lowered.

[0034] like Figure 2 and Figure 8 As shown, a motor frame 6 is installed on the fuselage 1, and the motor frame 6 is installed at the center of the fuselage 1. A first motor 601 is installed on the motor frame 6, and a driving gear 604 is connected to the first motor 601. The two first rotating shafts 203 are fixedly connected through a coupling 209, and a driven gear 208 meshing with the driving gear 604 is installed on the coupling 209. The driving gear 604 is driven to rotate by the first motor 601, and the driven gear 208 is driven to rotate, thereby simultaneously driving the two side wings 2 to rotate in the same direction; a second motor 603 is installed on the motor frame 6, and the second motor 603 is connected to An incomplete gear 602 is connected to control the lifting of the two lifting frames 5. One end of the lifting frame 5 is fixedly connected to a rack 503 meshing with the incomplete gear 602. The incomplete gear 602 is arranged between the two racks 503. The second motor 603 can drive the incomplete gear 602 to rotate forward or reverse. When the incomplete gear 602 rotates, the incomplete gear 602 will mesh with one of the racks 503, thereby driving one of the lifting frames 5 to rise, while the other lifting frame 5 does not move, thereby driving one of the supporting wings 201 to rotate, while the other supporting wing 201 does not move, thereby realizing the steering function of the drone.

[0035] To further illustrate, in the present invention, all control circuits of the drone are sealed and placed inside the fuselage 1, and are fixed, and the electronic components are waterproofed to a certain extent; and the first motor 601 and the second motor 603 are both waterproof motors, and the lithium battery is used to power the entire fuselage.

[0036] Working principle: When the UAV is in use, the propeller 103 propels the UAV forward, the camera assembly 7 shoots and records the underwater environment, and the first motor 601 can drive the two side wings 2 to rotate in the same direction at the same time, changing the horizontal angle of the side wings 2. When the side wings 2 are tilted upward along the forward direction, the UAV rises; when the side wings 2 are tilted downward along the forward direction, the UAV descends, thereby realizing the lifting and lowering of the UAV; and the forward and reverse rotation of the second motor 603 is used to control the lifting and lowering of the lifting frames 5 on both sides. When the lifting frames 5 rise, the transmission assembly 3 drives the second rotating shaft 204 to rotate, thereby driving the wing 201 to unfold, so that the resistance of one of the side wings 2 increases, and the two side wings 2 are subjected to different resistances, thereby realizing the steering of the UAV.

[0037] Finally, it should be noted that in the description of the present invention, it should be noted that the terms "vertical", "up", "down", "horizontal", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on the present invention.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention is described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An unmanned aerial vehicle for underwater topographic surveying, comprising a fuselage (1), wherein two ends of the fuselage (1) are respectively provided with a nose (101) and a tail (102), and a propeller (103) is provided at the tail (102); characterized in that: Also includes: A housing (104) fixedly mounted on the body (1); A camera assembly (7) mounted on the machine head (101); A pair of brackets (4) are fixedly connected to the fuselage (1); rotatable side wings (2) are connected to the brackets (4) for adjusting the rise and fall of the drone; a first rotating shaft (203) is fixedly connected to the side wings (2); and the first rotating shaft (203) is rotatably connected to the brackets (4); A groove (202) is provided on the surface of the side wing (2), and a retractable wing (201) is rotatably connected in the groove (202) for changing the direction of the drone; a second rotation shaft (204) is fixedly connected to the wing (201), and the second rotation shaft (204) is rotatably connected to the side wing (2); The first rotating shaft (203) is connected to a transmission assembly (3) for driving the second rotating shaft (204) to rotate; the second rotating shaft (204) is fixedly connected to a gear (205) that cooperates with the transmission assembly (3); The transmission assembly (3) comprises a first rotating disk (301) and a second rotating disk (302), the first rotating disk (301) and the second rotating disk (302) are both rotatably connected to a first rotating shaft (203), the first rotating disk (301) is connected to a toothed disk (303) that rotates together, the toothed disk (303) meshes with a gear (205), the first rotating disk (301) is fixedly connected to a pair of ratchet rims (3011) via a connecting rod (3012), and the tooth grooves on the two ratchet rims (3011) are in opposite directions; wherein, when the first rotating disk (301) rotates, it drives the second rotating disk (302) and the toothed disk (303) to rotate; when the second rotating disk (302) and the toothed disk (303) rotate, they do not drive the first rotating disk (301) to rotate; A pair of U-shaped guide frames (3021) are symmetrically fixedly connected to the surface of the second rotating disk (302), a slider (3022) is slidably connected inside the guide frame (3021), an elastic member (3026) is fixedly connected between the slider (3022) and one end of the guide frame (3021), a support rod (3023) is fixedly connected to the slider (3022), and ratchet pawls (3024) that mesh with two ratchet rims (3011) are respectively provided at the ends of the two support rods (3023); The slider (3022) is fixedly connected to an inclined block (3025), and a side surface of the inclined block (3025) is provided with an inclined surface. The toothed disc (303) is fixedly connected to a pair of rod bodies (3031) for driving the slider (3022) to slide. The rod bodies (3031) cooperate with the inclined surfaces of the inclined block (3025). When the toothed disc (303) rotates in a forward or reverse direction, it drives two different sliders (3022) to move respectively, so that the pawl (3024) is separated from the ratchet ring (3011).

2. The UAV for underwater topography measurement according to claim 1, characterized in that: The two brackets (4) are both connected to a lift frame (5) that can be lifted and lowered and is used to drive the first rotating disk (301) to rotate; one end of the lift frame (5) is fixedly connected to a cross bar (501); a horizontal sliding hole (502) is provided on the cross bar (501); and a sliding shaft (3013) that slidably cooperates with the sliding hole (502) is fixedly connected to the surface of the first rotating disk (301).

3. The UAV for underwater topography measurement according to claim 2, characterized in that: A motor frame (6) is mounted on the body (1), a first motor (601) is mounted on the motor frame (6), a driving gear (604) is connected to the first motor (601), the two first rotating shafts (203) are fixedly connected via a coupling (209), and a driven gear (208) meshing with the driving gear (604) is mounted on the coupling (209).

4. The UAV for underwater topography measurement according to claim 3, characterized in that: A second motor (603) is mounted on the motor frame (6), and an incomplete gear (602) is connected to the second motor (603) for controlling the lifting of the two lifting frames (5). A rack (503) meshing with the incomplete gear (602) is fixedly connected to one end of the lifting frame (5), and the incomplete gear (602) is arranged between the two racks (503).

5. The UAV for underwater topography measurement according to claim 4, characterized in that: The support (4) is fixedly connected to a guide frame (207) that is slidably connected to the lifting frame (5), and the fuselage (1) is fixedly connected to a guide rod (206) that is slidably connected to the lifting frame (5).

6. The UAV for underwater topography measurement according to claim 5, characterized in that: The bracket (4) is provided with an arc-shaped avoidance hole (401) that matches the second rotating shaft (204), and a friction sleeve (210) is provided at the connection between the second rotating shaft (204) and the side wing (2).

7. The UAV for underwater topography measurement according to claim 6, characterized in that: A pair of balancing frames (105) are symmetrically fixedly connected to both sides of the fuselage (1).

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