Double-form high-speed unmanned aerial vehicle capable of taking off and landing on water surface and flying in ground effect and control method

Abstract

The invention discloses a bimorphic high-speed unmanned aerial vehicle capable of taking off and landing on the water surface and flying in ground effect and a control method, and belongs to the technical field of unmanned aerial vehicles, the bimorphic high-speed unmanned aerial vehicle comprises a vehicle body and a control device, the vehicle body is provided with an adjustable turbine jet driving mechanism and telescopic folding wings, and the tail of the vehicle body is provided with an empennage and a tail turbine jet driving mechanism. Meanwhile, the invention discloses a control method based on the two-form aircraft capable of taking off and landing on the water surface and flying in the ground effect, and the two-form high-speed unmanned aerial vehicle capable of taking off and landing on the water surface and flying in the ground effect and the control method are adopted. By adjusting the inclination angle, the distance and the height of the two front turbojet engines, operation and conversion of various forms of water sailing, ground running, ground effect flight and height flight are achieved, the use scenes of the unmanned aerial vehicle are greatly enriched, and the requirement for high-speed flight is met by adopting the telescopic folding wings.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a dual-form high-speed unmanned aerial vehicle capable of taking off and landing on water surface and ground effect flight and a control method thereof. Background Art

[0002] UAVs, also known as unmanned aircraft, are aircraft that can fly without humans on board. With the advancement of technology and the reduction of costs, UAVs have been widely used in many fields, ranging from military reconnaissance to civilian entertainment. For example, aerial photography, agricultural monitoring, environmental monitoring and protection, and logistics distribution, etc. Existing UAVs are mainly divided into rotary-wing UAVs and fixed-wing UAVs. In the field of UAVs, the application of ground-effect vehicles is almost limited to the imitation of traditional ground-effect vehicles. Its own flight altitude envelope still remains in the ground effect area, that is, below 5m from the ground or water surface, and most of the power devices use traditional ducted fans or piston engines, which seriously restricts the flight speed and application scenarios of UAVs. For example, the patent with the announcement number CN112124489B discloses an unmanned ground-effect wing-based craft with folding wings, including a hull, a main wing, a vertical tail wing, a horizontal tail wing, a propulsion module, a control module and a wireless communication module. The main wing includes a first wing, a second wing, a third wing and a hydraulic telescopic rod. The first wing is fixedly mounted horizontally on the side of the hull, the inner side of the second wing is mounted on the outer side of the first wing through a rotating pair, the inner side of the third wing is mounted on the outer side of the second wing through a rotating pair, and a pointed side plate is provided on the outer side of the third wing. The hydraulic telescopic rod is horizontally fixed on the first wing, and the free telescopic end of the hydraulic telescopic rod is mounted on the outer side of the third wing through a hinge. The third wing and the second wing have the same length, so that the hydraulic telescopic rod can ensure free telescopic movement in the horizontal plane, and when the hydraulic telescopic rod is fully retracted, the pointed side plate of the third wing faces downward; through the folding wings and the main and auxiliary coordinated electric propulsion, the two navigation modes of multi-speed navigation in water and high-speed navigation in ground effect are taken into account, while the working energy consumption is greatly reduced. However, there are still the following problems: (1) Although water routes and ground effect flight have been achieved, they are all navigation in lower areas and their scope of use is severely limited. Due to the complex environment in the lower areas and the high-speed navigation, collision accidents are prone to occur.

[0003] (2) The three-fold wing arrangement reduces wing strength and restricts its movement on the ground.

[0004] (3) The aircraft still uses propellers as its propulsion device, which limits its flight speed. Summary of the invention

[0005] The purpose of the present invention is to provide a dual-form high-speed UAV capable of taking off and landing on water surface and ground effect flight and a control method to solve the above-mentioned technical problems.

[0006] To achieve the above-mentioned object, the present invention provides a dual-form high-speed UAV capable of taking off and landing on the water surface and ground effect flight, comprising a body and a control device arranged in the body, wherein the bottom of the body is a ship-shaped belly; The head of the machine body is provided with an adjustable turbojet drive mechanism; Retractable folding wings are arranged on both sides of the fuselage, and a tail fin and a tail turbojet drive mechanism are arranged at the tail of the fuselage; A positioning module and obstacle avoidance radar are installed on the top of the fuselage; The adjustable turbojet drive mechanism, telescopic folding wings, tail wing, positioning module and obstacle avoidance radar are all electrically connected to the control device.

[0007] Preferably, the adjustable turbojet drive mechanism includes a mounting frame, on which a synchronous angle adjustment component is provided, on which two front turbojet engines are symmetrically mounted, and the bottom of the mounting frame is arranged on the fuselage via a lifting component.

[0008] Preferably, the synchronous angle adjustment assembly includes an angle adjustment motor, which is connected to the synchronous shaft through a bevel gear set, and active drive gears are provided at both ends of the synchronous shaft, and the active drive gears are meshed with the driven drive gears on the ball screw, and the ball screw is installed on the mounting frame through a linear bearing seat, and a mounting plate is provided at one end of the ball screw, and the other end of the ball screw is connected to the synchronous spacing adjustment group; The synchronous spacing adjustment component includes a spacing adjustment motor, which is arranged on a mounting frame, and an output shaft of the spacing adjustment motor is provided with a synchronous driving gear, which meshes with two synchronous racks, and the synchronous rack is slidingly arranged on the mounting frame, and one end of the synchronous rack is connected to a connecting plate, and the connecting plate is connected to the other end of the ball screw through a bearing; The angle adjustment motor and the spacing adjustment motor are both electrically connected to the control device.

[0009] Preferably, the lifting assembly is an electric push rod or a worm gear lift or a scissors lift, and the lifting assembly is electrically connected to the control device.

[0010] Preferably, the telescopic folding wing includes a fixed wing, a telescopic skin cover is provided on the fixed wing, ailerons and flaps are provided at the trailing edge of the fixed wing, a fuel chamber is provided inside the fixed wing, the fixed wing is connected to the folding wing through a folding assembly, the folding wing is provided with a telescopic wing, the fixed wing is provided with a balancing buoy, and a mounting frame of the balancing buoy is provided below the wingtip of the fixed wing.

[0011] Preferably, a guide track is provided inside the folding wing, a limit slide groove is provided on the inner side wall of the folding wing, a sealing groove is provided inside the opening end of the folding wing, and a sealing member is provided in the sealing groove; A guide slide is provided on one side of the telescopic wing, the guide slide is provided on the guide track, limited blocks are provided on both sides of one end of the telescopic wing, and a sealing plate is provided at the wing tip of the telescopic wing; A telescopic drive assembly is arranged in the folding wing, and the telescopic drive assembly includes a telescopic rack, the telescopic rack is connected to the telescopic drive motor through a gear, the telescopic rack is connected to a linkage frame, and the linkage frame and the telescopic rack are both connected to the telescopic wing; The folding assembly includes a folding shaft, which is arranged on the fixed wing through a fixing plate, and is connected to a folding drive motor, which is connected to the folding wing; the folding drive motor is electrically connected to the control device and is installed on the fixing plate.

[0012] Preferably, a tightening assembly is provided on the guide rail, the linkage frame and the telescopic rack; the tightening assembly includes a mounting stud, a semicircular top plate is installed on the top of the mounting stud, and anti-wear balls are embedded in the semicircular top plate.

[0013] Preferably, the tail turbojet drive mechanism comprises a tail turbojet engine.

[0014] Preferably, a detachable protective floating plate is provided at the bottom of the ship-shaped belly, and receiving grooves are provided on both sides of the ship-shaped belly. A folding bracket is provided in the receiving groove, the folding bracket is connected to a roller, and the folding bracket is electrically connected to the control device.

[0015] Based on the above control method of a dual-mode high-speed UAV capable of taking off and landing on the water surface and ground effect flight, the specific steps are as follows: Step S1: setting the drone form according to actual needs, the drone form includes water navigation, ground driving, ground effect flight and high altitude flight; Step S2: During operation, the position of the aircraft and whether there are obstacles in the route of the set length are detected in real time through the positioning module and the obstacle avoidance radar; If there is an obstacle: When flying at high altitude, the flight path is replanned by attitude control through the control device; When sailing on water, driving on the ground, or flying in ground effect, the reaction time is calculated based on the distance to the obstacle and the speed of the aircraft. If the reaction time is greater than the circling time, the control device performs attitude control to circling. If the reaction time is less than or equal to the circling time, the aircraft immediately decelerates or lands and readjusts the heading. When it comes to changes in the UAV's appearance, adjustments shall be made when the UAV is on the ground or on the water and the speed is less than 30 kilometers per hour. No engine attitude adjustment, folding of folding wings, or extension of retractable wings shall be performed when the UAV is flying at high altitude, flying in ground effect, driving at high speed on the water, or taxiing on the ground.

[0016] When sailing on water and flying in ground effect, the lifting assembly drives the mounting frame to rise so that the mounting frame is in the upper limit position, the two front turbojets are in the shortest spacing and tilted state, and the tilt angles of the two front turbojets are the same, while the retractable folding wings are in the retracted and folded state and the tail turbojets are started, the control device locks the tail wing, locks the elevator surfaces of the tail wing, and maintains a 0 rudder effect state, at this time, the steering of the UAV when sailing on water is achieved by the thrust difference between the tail rudder and the front turbojets, the steering of the UAV during ground effect flight is controlled by the ailerons and the tail rudder, and the pitch and altitude control are controlled by the flaps, the front turbojets and the tail turbojets.

[0017] When ground effect flight is converted into altitude flight, the angle adjustment motor drives the synchronous shaft to rotate, and the synchronous shaft drives the ball screw to rotate through two active drive gears, so that the mounting plate drives the two front turbojets to rotate synchronously, and the two front turbojets are in a horizontal state; at the same time, the lifting assembly drives the mounting frame to descend, so that the mounting frame is in the lower limit position, the telescopic folding wings are in an extended and unfolded state, and the spacing between the two front turbojets is adjusted by the spacing adjustment motor, so that the two front turbojets are away from each other, and the control device releases the tail wing, so that the elevator surface of the tail wing is in an altitude flight control state. At this time, the flight maneuver of the UAV will be jointly controlled by the tail wing, flaps, ailerons, front turbojets and tail turbojets.

[0018] Therefore, the present invention adopts the above-mentioned dual-form high-speed UAV capable of water surface take-off and landing and ground effect flight and control method, which has the following beneficial effects: (1) By being provided with turbojet engines, a flight speed of at least 500 km / h can be achieved, wherein the tail turbojet engine can effectively compensate for the additional thrust required for high-altitude flight. An adjustable turbojet drive mechanism is provided, and by adjusting the inclination angle, spacing and height of the two front turbojet engines, various modes of operation and conversion such as water navigation, ground driving, ground effect flight and high-altitude flight can be achieved. A folding bracket is provided to facilitate the movement of the aircraft body on land.

[0019] (2) The use of retractable folding wings can change the lift of the entire aircraft by changing the area of ​​the wings, thereby effectively adapting to the flight mode switching between ground effect flight and high-altitude flight. In the case of ground effect flight, the wing is a lower monoplane, which increases flight maneuverability. In the high-altitude flight mode, the wing is an inverted seagull-shaped layout. Compared with traditional straight wings, the inverted seagull-shaped wing can adapt to turbojet engines for high-speed flight and can effectively utilize limited wing area to generate greater lift. The use of retractable wings can also effectively compress the folded projection area of ​​the folding wing on the fixed wing, thereby leaving more space for the fixed wing to carry fuel.

[0020] (3) By setting a synchronous angle adjustment component, the tilt angle of the front turbojet engine can be adjusted. During ground effect flight, the tilt angle of the front turbojet engine is tilted downward. At this time, the jet direction of the wake of the front turbojet engine mainly passes through the lower wing surface. At this time, the airflow passes through the intermediate layer formed by the wing surface and the ground or water surface at high speed, further increasing the ground effect and air cushion effect, and effectively improving the lift. While flying in ground effect, the front turbojet engine will be lifted in height. At this time, the tilting of the front turbojet engine means a change in the thrust direction, which can make the thrust direction of the front turbojet engine roughly pass through the center of mass of the fuselage, thereby reducing the pitch imbalance moment caused by the thrust center and the center of mass of the front turbojet engine.

[0021] (4) By setting up a synchronous spacing adjustment component, the spacing between the two front turbojets can be adjusted. When flying or driving near the ground, the air density in the area is relatively high, and the working state of the front turbojets is not at the maximum state, and the disturbance of adjacent front turbojets is relatively small. When flying at high altitude, the spacing between the two front turbojets can be increased to reduce the disturbance between the two front turbojets and increase the effective air intake volume of each front turbojets, thereby improving the efficiency and actual thrust of the front turbojets.

[0022] (5) By setting up a lifting assembly, the height of the two front turbojet engines can be adjusted. When flying in ground effect on the water surface, since the distance between the fuselage and the water surface is relatively close, the height of the front turbojet engine is raised to reduce the possibility of water entering the front turbojet engine during operation. When flying at high altitude, the tilt angle of the front turbojet engine is 0 degrees. At this time, lowering the height of the front turbojet engine can make the thrust direction coincide with the center of mass as much as possible, thereby reducing the pitch imbalance moment caused by the thrust center and the center of mass of the front turbojet engine.

[0023] (6) By locking the elevator of the tail wing during water navigation and ground effect flight, it is possible to effectively prevent the UAV from losing control of its pitch and crashing due to human error in operating the elevator or elevator failure. During ground effect flight, the UAV is fast and at a low altitude. Once the elevator is slightly deflected, the pitch angle will change significantly, causing the UAV to climb rapidly due to excessive pitch angle and then fall rapidly due to insufficient lift, or the UAV to dive directly downward due to excessive pitch angle and crash. When sailing on water, it is easy to cause excessive pitch swing, which may cause water to enter the front turbojet engine. This design fully ensures the safety of ground effect flight and water navigation.

[0024] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the wing change comparison structure of a dual-form high-speed UAV capable of water surface take-off and landing and ground effect flight according to the present invention; Figure 2 This is a schematic diagram of the structure of the synchronous angle adjustment component of the present invention; Figure 3 This is a schematic diagram of the internal structure of the folding wing of the present invention; Figure 4 It is a schematic diagram of the structure of the telescopic folding wing of the present invention before and after folding; Figure 5 This is a schematic diagram of the structure of the balancing buoy of the present invention; Figure 6 This is a schematic diagram of the structure of the tightening assembly of the present invention; Figure 7 It is a schematic diagram of the tail structure of the machine body of the present invention.

[0026] Reference numerals 1. Fuselage; 2. Boat-shaped belly; 21. Accommodation slot; 22. Removable protective floating plate; 3. Folding bracket; 31. Roller; 4. Adjustable turbojet drive mechanism; 41. Mounting frame; 42. Synchronous angle adjustment assembly; 421. Angle adjustment motor; 422. Bevel gear set; 423. Synchronous shaft; 424. Active drive gear; 425. Driven drive gear; 426. Ball screw; 427. Mounting plate; 43. Front turbojet engine; 44. Lifting assembly; 45. Synchronous spacing adjustment assembly; 451. Spacing adjustment motor; 452. Synchronous drive gear; 453. Synchronous rack; 454. Connecting plate; 5. Telescopic folding wing; 5 1. Fixed wing; 511. Telescopic skin cover; 512. Aileron; 513. Flap; 52. Folding wing; 521. Guide rail; 522. Limit slide; 523. Sealing groove; 53. Telescopic wing; 531. Limit block; 532. Sealing plate; 54. Folding assembly; 541. Folding shaft; 542. Folding drive motor; 543. Fixed plate; 55. Tightening assembly; 551. Mounting stud; 552. Semicircular top plate; 553. Anti-wear ball; 56. Balance float; 57. Telescopic drive assembly; 571. Telescopic rack; 572. Telescopic drive motor; 573. Linkage frame; 6. Tail turbojet engine; 7. Tail. DETAILED DESCRIPTION

[0027] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use. 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, and therefore cannot be understood as a limitation on the present invention. In the description of the present invention, it should also be noted that, unless otherwise clearly specified and limited, the terms "setting", "installation", and "connection" 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 an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0029] like Figure 1 As shown, a dual-form high-speed unmanned aerial vehicle capable of taking off and landing on the water surface and ground effect flight comprises a body 1 and a control device arranged in the body 1. The bottom of the body 1 is a boat-shaped belly 2, which is convenient for sailing on the water surface. A detachable protective floating plate 22 is arranged at the bottom of the boat-shaped belly 2. The detachable manner can be bolted or connected in a clamping manner, which is convenient for replacement. The surface of the detachable protective floating plate 22 is made of high-density polyethylene and filled with polyurethane foam inside to improve buoyancy. Receiving grooves 21 are arranged on both sides of the boat-shaped belly 2. A folding bracket 3 is arranged in the receiving groove 21. The folding bracket 3 is connected to a roller 31. The folding bracket 3 is electrically connected to the control device. When driving on the ground, the control device opens the folding bracket 3 so that the folding bracket 3 contacts the ground. At the same time, the boat-shaped belly 2 can also be protected and supported when the ground effect flight ends on the ground, and it is convenient for ground movement.

[0030] like Figure 2 As shown, the head of the fuselage 1 is provided with an adjustable turbojet drive mechanism 4. The adjustable turbojet drive mechanism 4 includes a mounting frame 41, on which a synchronous angle adjustment component 42 is provided, on which a front turbojet engine 43 is symmetrically mounted, and the bottom of the mounting frame 41 is arranged on the fuselage 1 through a lifting component 44.

[0031] The synchronous angle adjustment component 42 includes an angle adjustment motor 421, which is connected to a synchronous shaft 423 through a bevel gear set 422. Active drive gears 424 are provided at both ends of the synchronous shaft 423. The active drive gear 424 is meshed with a driven drive gear 425 on a ball screw 426. In order to realize the movement and rotation of the front turbojet engine 43, a ball screw 426 is used. The ball screw 426 is installed on the mounting frame 41 through a linear bearing seat. A mounting plate 427 is provided at one end of the ball screw 426. The mounting plate 427 is used to install the front turbojet engine 43. The angle adjustment motor 421 is electrically connected to the control device. The inclination angle of the front turbojet engine 43 is adjusted by controlling the forward and reverse rotation angles of the angle adjustment motor 421, that is, the rotation of the angle adjustment motor 421 causes the synchronous shaft 423 to rotate, so that the active drive gear 424 drives the driven drive gear 425 to rotate, thereby causing the ball screw 426 to rotate and drive the mounting frame 41 to rotate, thereby realizing the adjustment of the inclination angle of the front turbojet engine 43 on the mounting plate 427. During ground effect flight and surface navigation, the inclination angle of the front turbojet engine 43 is about 25°, and in other forms, the front turbojet engine 43 is in a horizontal state.

[0032] By setting a synchronous angle adjustment component 42, the tilt angle of the front turbojet engine 43 can be adjusted. During ground effect flight, the tilt angle of the front turbojet engine 43 is tilted downward. At this time, the jet direction of the wake of the front turbojet engine 43 mainly passes through the lower wing surface. At this time, the airflow passes through the middle layer formed by the wing surface and the ground or water surface at high speed, which further increases the ground effect and the air cushion effect, and effectively improves the lift. While flying in ground effect, the front turbojet engine 43 will be lifted in height. At this time, the tilting of the front turbojet engine 43 means a change in the thrust direction, which can make the thrust direction of the front turbojet engine 43 roughly pass through the center of mass of the body 1, thereby reducing the pitch imbalance moment caused by the thrust center and the center of mass of the front turbojet engine 43.

[0033] The other end of the ball screw 426 is connected to the synchronous spacing adjustment group. The synchronous spacing adjustment assembly 45 includes a spacing adjustment motor 451. The spacing adjustment motor 451 is arranged on the mounting frame 41. The output shaft of the spacing adjustment motor 451 is provided with a synchronous driving gear 452. The synchronous driving gear 452 is meshed with two synchronous racks 453. The synchronous rack 453 is slidably arranged on the mounting frame 41. One end of the synchronous rack 453 is connected to a connecting plate 454. The connecting plate 454 is connected to the other end of the ball screw 426 through a bearing. The spacing adjustment motor 451 is electrically connected to the control device. When adjusting the spacing between the two front turbojets 43, the spacing adjustment motor 451 is started to drive the synchronous rack 453 to slide, thereby driving the two connecting plates 454 to move away from and close to each other, thereby achieving the adjustment of the spacing between the two front turbojets 43.

[0034] By setting up a synchronous spacing adjustment component 45, the spacing between the two front turbojets 43 can be adjusted. When flying or driving near the ground, the air density in the area is relatively large, and the working state of the front turbojets 43 is not at the maximum state, and the disturbance of adjacent front turbojets 43 is relatively small. When flying at high altitudes, the distance between the two front turbojets 43 can be increased to reduce the disturbance between the two front turbojets 43 and increase the effective air intake of each front turbojet 43, thereby improving the efficiency and actual thrust of the front turbojets 43.

[0035] The lifting assembly 44 is an electric push rod or a worm gear lift or a scissor lift. The lifting assembly 44 is electrically connected to the control device. Different lifting assemblies 44 can be used according to the actual volume and requirements of the body 1. In this embodiment, the mounting frame 41 is lifted and lowered by an electric push rod. By setting the lifting assembly 44, the height of the two front turbojet engines 43 can be adjusted. When flying in ground effect on the water surface, since the distance between the body 1 and the water surface is relatively close, the height of the front turbojet engine 43 is raised to reduce the possibility of water ingress during the operation of the front turbojet engine 43. When flying at high altitude, the tilt angle of the front turbojet engine 43 is 0 degrees. At this time, lowering the height of the front turbojet engine 43 can make the thrust direction coincide with the center of mass as much as possible, thereby reducing the pitch unbalanced moment caused by the thrust center and the center of mass of the front turbojet engine 43.

[0036] like Figure 3 - Figure 6 As shown, telescopic folding wings 5 ​​are arranged on both sides of the fuselage 1, and the telescopic folding wings 5 ​​include fixed wings 51, and the fixed wings 51 are provided with telescopic skin cover plates 511, and the trailing edges of the fixed wings 51 are provided with ailerons 512 and flaps 513, and a fuel cavity is arranged inside the fixed wings 51 for holding fuel. The fixed wings 51 are connected to the folding wings 52 through a folding assembly 54, and the folding wings 52 are provided with telescopic wings 53, which releases more space for the fuel cavity. The fixed wings 51 are provided with balancing buoys 56, and the mounting frame of the balancing buoys 56 is arranged below the wing tips of the fixed wings 51, which saves space for the fixed wings 51, and has a certain rectifying effect on the airflow, which can effectively reduce the induced drag. A guide track 521 is arranged inside the folding wing 52, and the guide track 521 plays a supporting and guiding role. A limiting slide groove 522 is provided on the inner side wall of the folding wing 52 , and a sealing groove 523 is provided on the inner side of the open end of the folding wing 52 . A sealing member is provided in the sealing groove 523 , and the sealing member is a sealing strip made of rubber material or is provided as an airbag to ensure the sealing of the folding wing 52 .

[0037] A guide slot is provided on one side of the telescopic wing 53, and the guide slot is provided on the guide track 521. Limit blocks 531 are provided on both sides of one end of the telescopic wing 53, and the limit blocks 531 are provided in the limit slot 522 to prevent the telescopic wing 53 from sliding out. A sealing plate 532 is provided at the wing tip of the telescopic wing 53. A telescopic drive assembly 57 is provided in the folding wing 52, and the telescopic drive assembly 57 includes a telescopic rack 571, and the telescopic rack 571 is connected to the telescopic drive motor 572 through a gear. The telescopic rack 571 is connected to a linkage frame 573, and the linkage frame 573 and the telescopic rack 571 are both connected to the telescopic wing 53.

[0038] The folding assembly 54 includes a folding shaft 541, which is arranged on the fixed wing 51 through a fixing plate 543. The folding shaft 541 is connected to a folding drive motor 542, which is connected to the folding wing 52. The folding drive motor 542 is electrically connected to the control device and is installed on the fixing plate 543. When the folding wing 52 needs to be folded up, the control device opens the telescopic skin cover plate 511, and simultaneously starts the telescopic drive assembly 57 to retract the telescopic wing 53, and starts the folding drive motor 542 to allow the folding wing 52 to enter the receiving groove of the fixed wing 51 opposite to the telescopic skin cover plate 511.

[0039] The telescopic folding wing 5 is adopted to change the lift of the whole fuselage 1 by changing the area of ​​the wing, so as to effectively adapt to the flight mode switching between ground effect flight and high-altitude flight. In the case of ground effect flight, the telescopic folding wing 5 is a lower single wing, and the flight maneuverability is increased. In the high-altitude flight mode, the telescopic folding wing 5 is an inverted seagull-shaped layout. Compared with the traditional straight wing, the inverted seagull-shaped wing can be adapted to the turbojet engine for high-speed flight, and the limited wing area can be effectively used to generate greater lift. The telescopic wing 53 can also effectively compress the folding projection area of ​​the folding wing 52 on the fixed wing 51, so as to leave more space for the fixed wing 51 to carry fuel.

[0040] like Figure 7 As shown, the tail of the fuselage 1 is provided with a tail wing 7 and a tail turbojet drive mechanism, and the tail turbojet drive mechanism includes a tail turbojet engine 6. The edge of the fixed wing 51 is provided with an aileron 512 and a flap 513, and the aileron 512, the flap 513 and the tail wing 7 adopt the existing wing structure, and the specific structure is not limited here.

[0041] Both the front turbojet engine 43 and the rear turbojet engine 6 are turbojet engines capable of achieving a flight speed of at least 500 km / h, wherein the rear turbojet engine 6 can effectively compensate for the additional thrust required during high-altitude flight.

[0042] A positioning module and an obstacle avoidance radar are arranged on the top of the body 1 for positioning the body 1 and detecting obstacles.

[0043] Based on the above control method of a dual-mode high-speed UAV capable of taking off and landing on the water surface and ground effect flight, the specific steps are as follows: Step S1: setting the drone form according to actual needs, the drone forms include water navigation, ground driving, ground effect flight and high altitude flight. High altitude flight is generally a flight at a height of more than 5m.

[0044] Step S2: During operation, the position of the aircraft body 1 and whether there are obstacles in the route of the set length are detected in real time through the positioning module and the obstacle avoidance radar.

[0045] If there is an obstacle: When flying at high altitude, the flight path is replanned by attitude control through the control device; When sailing on water, driving on the ground, or flying in ground effect, the reaction time is calculated based on the distance to the obstacle and the speed of the aircraft 1. If the reaction time is greater than the circling time, the control device performs attitude control to circumvent it. If the reaction time is less than or equal to the circling time, the aircraft immediately decelerates or lands and readjusts the course.

[0046] When it comes to changes in the appearance of the UAV, adjustments are made when the UAV is on the ground or on the water and the speed is less than 30 kilometers per hour. When the UAV is flying at high altitude, flying in ground effect, traveling at high speed on the water, or taxiing on the ground, the engine attitude adjustment, the folding of the folding wings 52, and the extension and retraction of the retractable wings 53 are not performed.

[0047] During water navigation and ground effect flight, the lifting assembly 44 drives the mounting frame 41 to rise, so that the mounting frame 41 is in the upper limit position, the two front turbojets 43 are in the shortest spacing and tilted state, and the tilt angles of the two front turbojets 43 are the same, and the telescopic folding wing 5 is in the contracted folding state and the tail turbojets 6 are started, and the control device locks the empennage 7, so that the elevator surface of the empennage 7 is locked, and the 0 rudder effect state is maintained. At this time, the steering of the unmanned aerial vehicle during water navigation is realized by the rudder of the empennage 7 and the thrust difference of the front turbojets 43, and the steering of the unmanned aerial vehicle during ground effect flight is controlled by the aileron 512 and the rudder of the empennage 7, and the pitch and height control are controlled by the flaps 513, the front turbojets 43 and the tail turbojets 6.

[0048] When the ground effect flight is converted into high altitude flight, the synchronous shaft 423 is driven to rotate by the angle adjustment motor 421, and the synchronous shaft 423 drives the ball screw 426 to rotate through two active drive gears 424, so that the mounting plate 427 drives the two front turbojets 43 to rotate synchronously, and the two front turbojets 43 are in a horizontal state; at the same time, the lifting assembly 44 drives the mounting frame 41 to descend, so that the mounting frame 41 is in the lower limit position, the telescopic folding wing 5 is in an extended and unfolded state, and the spacing between the two front turbojets 43 is adjusted by the spacing adjustment motor 451, so that the two front turbojets 43 are away from each other, and the control device releases the tail 7. The tail 7 is to ensure the standard configuration tail, so that the elevator surface of the tail 7 is in a high altitude flight control state. At this time, the flight maneuver of the unmanned aerial vehicle will be controlled by the tail 7, the flap 513, the aileron 512, the front turbojets 43 and the tail turbojets 6 to maintain high altitude flight performance.

[0049] By locking the elevator of the tail wing 7 during water navigation and ground effect flight, it is possible to effectively prevent the unmanned aerial vehicle from losing control of its pitch and crashing due to human error in operating the elevator or elevator failure. During ground effect flight, the unmanned aerial vehicle has a high speed and a low altitude. Once the elevator is slightly deflected, the pitch angle will be greatly changed, which may cause the unmanned aerial vehicle to climb rapidly due to excessive pitch angle and then fall rapidly due to insufficient lift, or the unmanned aerial vehicle to dive directly downward due to excessive pitch angle and crash. When sailing on water, it is easy to cause excessive pitch swing, which may cause water to enter the front turbojet engine. This design fully ensures the safety of ground effect flight and water navigation.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A dual-mode high-speed UAV capable of taking off and landing on water and ground-effect flight, comprising a body and a control device disposed in the body, characterized in that: The bottom of the fuselage is a boat-shaped belly; The head of the machine body is provided with an adjustable turbojet drive mechanism; Retractable folding wings are arranged on both sides of the fuselage, and a tail fin and a tail turbojet drive mechanism are arranged at the tail of the fuselage; A positioning module and obstacle avoidance radar are installed on the top of the fuselage; The adjustable turbojet drive mechanism, telescopic folding wings, tail wing, positioning module and obstacle avoidance radar are all electrically connected to the control device.

2. A dual-mode high-speed UAV capable of water surface take-off and landing and ground effect flight according to claim 1, characterized in that: The adjustable turbojet drive mechanism comprises a mounting frame, on which a synchronous angle adjustment component is arranged, on which two front turbojet engines are symmetrically mounted, and the bottom of the mounting frame is arranged on the fuselage through a lifting component.

3. A dual-mode high-speed UAV capable of water surface take-off and landing and ground effect flight according to claim 2, characterized in that: The synchronous angle adjustment component includes an angle adjustment motor, which is connected to the synchronous shaft through a bevel gear set, and active drive gears are provided at both ends of the synchronous shaft, and the active drive gears are meshed with the driven drive gears on the ball screw, and the ball screw is installed on the mounting frame through a linear bearing seat, and a mounting plate is provided at one end of the ball screw, and the other end of the ball screw is connected to the synchronous spacing adjustment group; The synchronous spacing adjustment component includes a spacing adjustment motor, which is arranged on a mounting frame, and an output shaft of the spacing adjustment motor is provided with a synchronous driving gear, which meshes with two synchronous racks, and the synchronous rack is slidingly arranged on the mounting frame, and one end of the synchronous rack is connected to a connecting plate, and the connecting plate is connected to the other end of the ball screw through a bearing; The angle adjustment motor and the spacing adjustment motor are both electrically connected to the control device.

4. A dual-mode high-speed UAV capable of water surface take-off and landing and ground effect flight according to claim 3, characterized in that: The lifting component is an electric push rod or a worm gear lift or a scissor lift, and the lifting component is electrically connected to the control device.

5. A dual-mode high-speed UAV capable of water surface take-off and landing and ground effect flight according to claim 4, characterized in that: The telescopic folding wing includes a fixed wing, a telescopic skin cover is arranged on the fixed wing, ailerons and flaps are arranged at the trailing edge of the fixed wing, a fuel chamber is arranged inside the fixed wing, the fixed wing is connected to the folding wing through a folding assembly, the telescopic wing is arranged inside the folding wing, the fixed wing is provided with a balancing buoy, and a mounting frame of the balancing buoy is arranged below the wingtip of the fixed wing.

6. A dual-mode high-speed UAV capable of water surface take-off and landing and ground effect flight according to claim 5, characterized in that: A guide track is arranged inside the folding wing, a limited sliding groove is arranged on the inner side wall of the folding wing, a sealing groove is arranged inside the opening end of the folding wing, and a sealing member is arranged in the sealing groove; A guide slide is provided on one side of the telescopic wing, the guide slide is provided on the guide track, limited blocks are provided on both sides of one end of the telescopic wing, and a sealing plate is provided at the wing tip of the telescopic wing; A telescopic drive assembly is arranged in the folding wing, and the telescopic drive assembly includes a telescopic rack, the telescopic rack is connected to the telescopic drive motor through a gear, the telescopic rack is connected to a linkage frame, and the linkage frame and the telescopic rack are both connected to the telescopic wing; The folding assembly includes a folding shaft, which is arranged on the fixed wing through a fixing plate, and is connected to a folding drive motor, which is connected to the folding wing; the folding drive motor is electrically connected to the control device and is installed on the fixing plate.

7. A dual-mode high-speed UAV capable of water surface take-off and landing and ground effect flight according to claim 6, characterized in that: The guide rail, the linkage frame and the telescopic rack are all provided with a tightening assembly; the tightening assembly comprises a mounting stud, a semicircular top plate is mounted on the top of the mounting stud, and anti-wear balls are embedded inside the semicircular top plate.

8. A dual-mode high-speed UAV capable of water surface take-off and landing and ground effect flight according to claim 7, characterized in that: The tail turbojet drive mechanism includes a tail turbojet engine.

9. A dual-mode high-speed UAV capable of water surface take-off and landing and ground effect flight according to claim 8, characterized in that: A detachable protective floating plate is arranged at the bottom of the ship-shaped belly, and receiving grooves are arranged on both sides of the ship-shaped belly. A folding bracket is arranged in the receiving groove, the folding bracket is connected with a roller, and the folding bracket is electrically connected to the control device.

10. A control method for a dual-mode high-speed UAV capable of water surface take-off and landing and ground effect flight according to claim 9, characterized in that: The specific steps are as follows: Step S1: setting the drone form according to actual needs, the drone form includes water navigation, ground driving, ground effect flight and high altitude flight; Step S2: During operation, the position of the aircraft and whether there are obstacles in the route of the set length are detected in real time through the positioning module and the obstacle avoidance radar; If there is an obstacle: When flying at high altitude, the flight path is replanned by attitude control through the control device; When sailing on water, driving on the ground, or flying in ground effect, the reaction time is calculated based on the distance to the obstacle and the speed of the aircraft. If the reaction time is greater than the circling time, the control device performs attitude control to circling. If the reaction time is less than or equal to the circling time, the aircraft immediately decelerates or lands and readjusts the heading. When it comes to changes in the UAV's appearance, the adjustment is made when the UAV is on the ground or on the water surface and the speed is less than 30 kilometers per hour. When the UAV is flying at high altitude, flying in ground effect, driving on the water surface at high speed, or taxiing on the ground, the engine attitude adjustment, folding of folding wings, and extension and retraction of retractable wings are not performed; When sailing on water or flying in ground effect, the lifting assembly drives the mounting frame to rise, so that the mounting frame is at the upper limit position, the two front turbojet engines are in the shortest distance and tilted state, and the tilt angles of the two front turbojet engines are the same, and at the same time, the retractable folding wing is in the retracted folding state and the tail turbojet engine is started, and the control device locks the tail wing, so that the elevator surface of the tail wing is locked, and the zero rudder effect state is maintained; When ground effect flight is converted into altitude flight, the angle adjustment motor drives the synchronous shaft to rotate, and the synchronous shaft drives the ball screw to rotate through two active drive gears, so that the mounting plate drives the two front turbojets to rotate synchronously, and the two front turbojets are in a horizontal state; at the same time, the lifting assembly drives the mounting frame to descend, so that the mounting frame is in the lower limit position, the telescopic folding wings are in an extended and unfolded state, and the spacing between the two front turbojets is adjusted by the spacing adjustment motor, so that the two front turbojets are away from each other, and the control device releases the tail wing, so that the elevator surface of the tail wing is in an altitude flight control state.

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