Dual-mode high-speed unmanned aerial vehicle capable of taking off and landing on water surface and ground effect flight and control method

Abstract

The present invention discloses a dual-mode high-speed unmanned aerial vehicle capable of taking off and landing on water and ground effect flight, belonging to the technical field of unmanned aerial vehicles, including a fuselage and a control device. An adjustable turbojet drive mechanism and telescopic folding wings are arranged on the fuselage, and a tail wing and a tail turbojet drive mechanism are arranged at the tail of the fuselage. At the same time, a control method based on the above-mentioned dual-mode aircraft capable of taking off and landing on water and ground effect flight is disclosed. By adopting the above-mentioned dual-mode high-speed unmanned aerial vehicle capable of taking off and landing on water and ground effect flight and the control method, an adjustable turbojet drive mechanism is provided. By adjusting the tilt angle, spacing and height of the two front turbojet engines, various modes of operation and conversion such as water navigation, ground travel, ground effect flight and high-altitude flight are realized, greatly enriching the use scenarios of the unmanned aerial vehicle, and the telescopic folding wings are adopted to meet the requirements of high-speed flight.

Description

Technical Field

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

[0002] An unmanned aerial vehicle, also known as an unpiloted aerial vehicle, is an aircraft that can fly without a pilot. With the progress of technology and the reduction of costs, unmanned aerial vehicles have been widely used in many fields, covering everything from military reconnaissance to civilian entertainment. For example, aerial photography, agricultural monitoring, environmental monitoring and protection, and logistics distribution. Existing unmanned aerial vehicles are mainly divided into rotary-wing unmanned aerial vehicles and fixed-wing unmanned aerial vehicles. In the field of unmanned aerial vehicles, the application of ground effect vehicles almost remains at the imitation of traditional ground effect vehicles. Its own flight altitude envelope still remains in the ground effect area, that is, below 5 m from the ground or water surface, and most of the power devices still use traditional ducted fans or piston engines, which severely restricts the flight speed and application scenarios of unmanned aerial vehicles. For example, the patent with the publication number CN112124489B discloses an unmanned ground effect wing ship based on 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 horizontally and fixedly installed on the side of the hull. The inner side of the second wing is installed on the outer side of the first wing through a rotating pair. The inner side of the third wing is installed on the outer side of the second wing through a rotating pair. 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. The free telescopic end of the hydraulic telescopic rod is installed 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 telescoping in the horizontal plane. When the hydraulic telescopic rod is fully retracted, the pointed side plate of the third wing faces downward. By means of folding wings and main and auxiliary collaborative electric propulsion, while taking into account two navigation modes of multi-stage speed navigation in water and ground effect high-speed navigation, the working energy consumption is greatly reduced. However, there are still the following problems:

[0003] (1) Although water routes and ground effect flight are achieved, they are all low-altitude navigations, and the scope of use is severely limited. Due to the complex environment in the low-altitude area, collisions are likely to occur during high-speed navigation.

[0004] (2) The wings are arranged in a three-fold manner, which reduces the strength of the wings and limits the movement on the ground.

[0005] (3) This aircraft still uses a propeller as the power propulsion device, which limits the flight speed of the aircraft. Summary of the Invention

[0006] The purpose of the present invention is to provide a dual-mode high-speed unmanned aerial vehicle capable of taking off and landing on water and ground effect flight and a control method therefor, so as to solve the above technical problems.

[0007] To achieve the above object, the present invention provides a dual-mode high-speed unmanned aerial vehicle capable of taking off and landing on water and ground effect flight, including a fuselage and a control device arranged inside the fuselage. The bottom of the fuselage is a boat-shaped belly;

[0008] An adjustable turbojet drive mechanism is arranged at the head of the fuselage;

[0009] Retractable folding wings are arranged on both sides of the fuselage, and a tail wing and a tail turbojet drive mechanism are arranged at the tail of the fuselage;

[0010] A positioning module and an obstacle avoidance radar are arranged on the top of the fuselage;

[0011] The adjustable turbojet drive mechanism, the retractable folding wings, the tail wing, the positioning module and the obstacle avoidance radar are all electrically connected to the control device.

[0012] Preferably, the adjustable turbojet drive mechanism includes a mounting frame, a synchronous angle adjustment component is arranged on the mounting frame, two front turbojet engines are symmetrically mounted on the synchronous angle adjustment component, and the bottom of the mounting frame is arranged on the fuselage through a lifting component.

[0013] Preferably, the synchronous angle adjustment component includes an angle adjustment motor, the angle adjustment motor is connected to a synchronous shaft through a bevel gear set, active drive gears are arranged at both ends of the synchronous shaft, the active drive gears are meshed with driven drive gears on a ball screw, the ball screw is installed on the mounting frame through a linear bearing block, a mounting disc is arranged at one end of the ball screw, and the other end of the ball screw is connected to a synchronous spacing adjustment group;

[0014] The synchronous spacing adjustment component includes a spacing adjustment motor, the spacing adjustment motor is arranged on the mounting frame, a synchronous drive gear is arranged on the output shaft of the spacing adjustment motor, the synchronous drive gear meshes with two synchronous racks, the synchronous racks are slidably arranged on the mounting frame, 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;

[0015] Both the angle adjustment motor and the spacing adjustment motor are electrically connected to the control device.

[0016] Preferably, the lifting component is an electric push rod or a worm and worm gear lift or a scissor lift, and the lifting component is electrically connected to the control device.

[0017] Preferably, the retractable folding wings include fixed wings, a retractable skin cover plate is arranged on the fixed wings, ailerons and flaps are arranged at the trailing edge of the fixed wings, a fuel chamber is arranged inside the fixed wings, the fixed wings are connected to folding wings through a folding component, a telescopic wing is arranged inside the folding wings, balance floats are arranged on the fixed wings, and the mounting frame of the balance floats is arranged below the wing tip of the fixed wings.

[0018] Preferably, a guiding track is arranged inside the folding wing, a limiting sliding groove is formed in 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;

[0019] A guiding sliding groove is arranged on one side of the telescopic wing, the guiding sliding groove is arranged on the guiding track, limiting blocks are arranged on both sides of one end of the telescopic wing, and a sealing plate is arranged at the wing tip of the telescopic wing;

[0020] A telescopic driving assembly is arranged inside the folding wing. The telescopic driving assembly includes a telescopic rack, the telescopic rack is connected with a telescopic driving motor through a gear, the telescopic rack is connected with a linkage frame, and both the linkage frame and the telescopic rack are connected with the telescopic wing;

[0021] The folding assembly includes a folding shaft. The folding shaft is arranged on the fixed wing through a fixing plate, the folding shaft is connected with a folding driving motor, and the folding shaft is connected with the folding wing; the folding driving motor is electrically connected with the control device and is installed on the fixing plate.

[0022] Preferably, tightening assemblies are arranged on the guiding track, the linkage frame and the telescopic rack; the tightening assembly includes a mounting stud, a semi-circular top plate is mounted on the top of the mounting stud, and anti-wear rolling balls are embedded inside the semi-circular top plate.

[0023] Preferably, the tail turbojet driving mechanism includes a tail turbojet engine.

[0024] Preferably, a detachable protective floating plate is arranged at the bottom of the boat-shaped fuselage belly, receiving grooves are arranged on both sides of the boat-shaped fuselage belly, folding brackets are arranged in the receiving grooves, rollers are connected to the folding brackets, and the folding brackets are electrically connected with the control device.

[0025] Based on the above control method for a dual-mode high-speed unmanned aerial vehicle capable of taking off and landing on water and ground effect flight, the specific steps are as follows:

[0026] Step S1: Set the unmanned aerial vehicle form according to actual needs. The unmanned aerial vehicle forms include water navigation, ground travel, ground effect flight, and altitude flight;

[0027] Step S2: During operation, use the positioning module and obstacle avoidance radar to detect the position of the airframe in real time and whether there are obstacles in a set-length flight path;

[0028] If there are obstacles:

[0029] During altitude flight, perform attitude control through the control device to re-plan the flight path;

[0030] When navigating on water, traveling on the ground, and flying in ground effect, calculate the reaction time based on the distance to the obstacle and the aircraft speed. If the reaction time is greater than the bypass time, the control device performs attitude control to bypass. If the reaction time is less than or equal to the bypass time, immediately reduce the speed or land, and readjust the heading;

[0031] When it comes to changes in the UAV's shape, make adjustments when the UAV is on the ground or water and its speed is less than 30 kilometers per hour. Do not perform engine attitude adjustments, folding of folding wings, or telescoping of telescoping wings when flying at altitude, flying in ground effect, traveling at high speed on water, or during ground taxiing.

[0032] When navigating on water and flying in ground effect, the lifting component drives the mounting frame to rise, so that the mounting frame is in the upper limit position. The two front turbojet engines are in the state of the shortest distance and inclination, and the inclination angles of the two front turbojet engines are the same. At the same time, the telescopic folding wings are in the retracted and folded state, and the tail turbojet engine is started. The control device locks the tail wing, locks the elevator surface of the tail wing, and maintains a zero rudder effect state. At this time, the turning of the UAV when navigating on water is achieved by the tail rudder and the thrust difference of the front turbojet engines. The turning of the UAV when flying in ground effect is controlled by the ailerons and the tail rudder. The pitch and altitude control are controlled by the flaps, the front turbojet engines, and the tail turbojet engines.

[0033] When converting from flying in ground effect to flying at altitude, the angle adjustment motor drives the synchronous shaft to rotate. The synchronous shaft drives the ball screw to rotate through two active drive gears, so that the mounting plate drives the two front turbojet engines to rotate synchronously, and the two front turbojet engines are in a horizontal state. At the same time, the lifting component drives the mounting frame to descend, so that the mounting frame is in the lower limit position. The telescopic folding wings are in the extended and unfolded state, and the distance between the two front turbojet engines is adjusted by the distance adjustment motor, so that the two front turbojet engines move away from each other. The control device releases the tail wing, and the elevator surface of the tail wing is in the altitude flight control state. At this time, the flight maneuver of the UAV will be jointly controlled by the tail wing, flaps, ailerons, front turbojet engines, and tail turbojet engines.

[0034] Therefore, the present invention adopts the above-mentioned dual-mode high-speed UAV capable of taking off and landing on water and flying in ground effect and the control method, and has the following beneficial effects:

[0035] (1) By equipping with a turbojet engine, a flight speed of at least 500 km / h or more can be achieved. The rear turbojet engine can effectively compensate for the additional thrust required during high-altitude flight. At the same time, an adjustable turbojet drive mechanism is provided. By adjusting the tilt angle, spacing, and height of the two front turbojet engines, various modes of operation and conversion, such as water navigation, ground travel, ground effect flight, and high-altitude flight, can be achieved. Additionally, a folding bracket is set up to facilitate the movement of the aircraft on land.

[0036] (2) A telescopic folding wing is adopted. By changing the area of the wing, the lift of the entire aircraft can be changed, thus 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 in a low-wing configuration, increasing flight maneuverability. In the high-altitude flight mode, the wing is in an inverted gull-wing layout. Compared with traditional straight wings, the inverted gull-wing can be adapted to the turbojet engine for high-speed flight and can effectively utilize the limited wing area to generate greater lift. Using a telescopic wing can also effectively compress the folding projection area of the folding wing on the fixed wing, thus leaving more space for the fixed wing to carry fuel.

[0037] (3) By setting up 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 inclined downward. At this time, the jet flow direction of the wake of the front turbojet engine mainly passes through the lower wing surface of the wing. At this time, the air flow 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 cushion effect, and effectively improving the lift. While in ground effect flight, the front turbojet engine will lift 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 centroid of the aircraft body, thus reducing the pitching imbalance moment caused by the thrust center and the centroid of the front turbojet engine.

[0038] (4) By setting up a synchronous spacing adjustment component, the spacing between the two front turbojet engines can be adjusted. When flying or traveling near the ground, the air density in the area is relatively large, and the working state of the front turbojet engine is not at the maximum state. The disturbance between adjacent front turbojet engines is relatively small. When flying at high altitude, the spacing between the two front turbojet engines can be increased to reduce the disturbance between the two front turbojet engines, increase the effective air intake of each front turbojet engine, and thus improve the efficiency and actual thrust of the front turbojet engine.

[0039] (5) By setting up the lifting component, the height of the two front turbojet engines can be adjusted. When flying in ground effect over water, since the distance between the airframe and the water surface is relatively close, the height of the front turbojet engines is increased to reduce the possibility of water ingress during the operation of the front turbojet engines. When flying at high altitude, the tilting angle of the front turbojet engines is 0 degrees. At this time, lowering the height of the front turbojet engines can make the thrust direction coincide with the center of mass as much as possible, thereby reducing the pitching imbalance moment caused by the thrust center and the center of mass of the front turbojet engines.

[0040] (6) By locking the elevators of the tail wing during water navigation and ground effect flight, it can effectively prevent the UAV from pitching out of control and crashing due to human misoperation of the elevators or elevator failures. During ground effect flight, the UAV has a high speed and a low altitude. Once the elevator deflects slightly, the pitching angle will change significantly, resulting in the UAV climbing rapidly with an excessive elevation angle and then crashing quickly due to insufficient lift, or the UAV diving directly downward with an excessive depression angle and crashing. During water navigation, it is easy to cause the pitching swing amplitude to be too large, resulting in water ingress into the front turbojet engines. This design fully ensures the safety during ground effect flight and water navigation.

[0041] The technical solution of the present invention will be further described in detail below with reference to the drawings and embodiments. Brief Description of the Drawings

[0042] Figure 1 It is a schematic diagram of the wing change comparison structure of a dual - form high - speed UAV capable of taking off and landing on water and flying in ground effect according to the present invention;

[0043] Figure 2 It is a schematic diagram of the synchronous angle adjustment component structure according to the present invention;

[0044] Figure 3 It is a schematic diagram of the internal structure of the folding wing according to the present invention;

[0045] Figure 4 It is a schematic diagram of the comparison structure before and after the telescopic folding wing of the present invention is folded;

[0046] Figure 5 It is a schematic diagram of the balance float structure according to the present invention;

[0047] Figure 6 It is a schematic diagram of the top - tight component structure according to the present invention;

[0048] Figure 7 It is a schematic diagram of the tail structure of the airframe according to the present invention.

[0049] Reference Signs

[0050] 1. Body; 2. Boat-shaped belly; 21. Accommodation groove; 22. Removable protective floating board; 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; 51. Fixed wing; 511. Telescopic skin cover plate; 512. Aileron; 513. Flap; 52. Folding wing; 521. Guide track; 522. Limit chute; 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. Semi-circular top plate; 553. Anti-wear ball; 56. Balancing float; 57. Telescopic drive assembly; 571. Telescopic rack; 572. Telescopic drive motor; 573. Linkage frame; 6. Rear turbojet engine; 7. Tail fin. Detailed implementation mode

[0051] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use. It is 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 should not be construed as a limitation to the present invention. In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "installed", "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 directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside 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 situations.

[0052] The following will describe the implementation mode of the present invention in detail with reference to the drawings.

[0053] As Figure 1As shown in the figure, a dual-mode high-speed unmanned aerial vehicle capable of taking off and landing on water and ground effect flight includes a fuselage 1 and a control device arranged inside the fuselage 1. The bottom of the fuselage 1 is a boat-shaped belly 2, which is convenient for sailing on water. A detachable protective floating board 22 is arranged at the bottom of the boat-shaped belly 2. The detachable method can be bolt connection or can also be connected by a clamping method, which is convenient for replacement. The surface of the detachable protective floating board 22 is made of high-density polyethylene and filled with polyurethane foam inside to improve buoyancy. Accommodating grooves 21 are arranged on both sides of the boat-shaped belly 2, and folding brackets 3 are arranged inside the accommodating grooves 21. The folding brackets 3 are connected with rollers 31, and the folding brackets 3 are electrically connected with the control device. When driving on the ground, the control device opens the folding brackets 3, so that the folding brackets 3 contact the ground. At the same time, it can also provide protective support for the boat-shaped belly 2 when the ground effect flight ends on the ground and is convenient for ground movement.

[0054] As Figure 2 shown in the figure, an adjustable turbojet drive mechanism 4 is arranged at the head of the fuselage 1. The adjustable turbojet drive mechanism 4 includes a mounting frame 41, a synchronous angle adjustment component 42 is arranged on the mounting frame 41, and front turbojet engines 43 are symmetrically mounted on the synchronous angle adjustment component 42. The bottom of the mounting frame 41 is arranged on the fuselage 1 through a lifting component 44.

[0055] The synchronous angle adjustment component 42 includes an angle adjustment motor 421. The angle adjustment motor 421 is connected to a synchronous shaft 423 through a bevel gear set 422. Active drive gears 424 are arranged at both ends of the synchronous shaft 423. The active drive gears 424 are meshed with driven drive gears 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. One end of the ball screw 426 is provided with a mounting disc 427, and the mounting disc 427 is used to mount the front turbojet engine 43. The angle adjustment motor 421 is electrically connected to the control device. By controlling the forward and reverse rotation angles of the angle adjustment motor 421, the tilt angle of the front turbojet engine 43 is adjusted. That is, when the angle adjustment motor 421 rotates, the synchronous shaft 423 rotates, so that the active drive gear 424 drives the driven drive gear 425 to rotate, thereby causing the ball screw 426 to rotate and driving the mounting frame 41 to rotate, realizing the adjustment of the tilt angle of the front turbojet engine 43 on the mounting disc 427. When in ground effect flight and water surface navigation, the tilt angle of the front turbojet engine 43 is about 25°. In other modes, the front turbojet engine 43 is in a horizontal state.

[0056] By setting the synchronous angle adjustment component 42, the tilting angle of the front turbojet engine 43 can be adjusted. When flying in ground effect, the tilting angle of the front turbojet engine 43 is obliquely downward. At this time, the jet direction of the wake of the front turbojet engine 43 mainly passes through the lower wing surface of the wing. At this time, the air flow passes through the intermediate sandwich formed by the wing surface and the ground or water surface at high speed, further increasing the ground effect and cushion effect, effectively improving the lift. While flying in ground effect, the front turbojet engine 43 will lift 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 centroid of the airframe 1, thereby reducing the pitching imbalance moment generated by the thrust center and the centroid of the front turbojet engine 43.

[0057] The other end of the ball screw 426 is connected to the synchronous spacing adjustment group. The synchronous spacing adjustment component 45 includes a spacing adjustment motor 451. The spacing adjustment motor 451 is arranged on the mounting frame 41. A synchronous drive gear 452 is arranged on the output shaft of the spacing adjustment motor 451. The synchronous drive gear 452 meshes with two synchronous racks 453. The synchronous racks 453 are slidably arranged on the mounting frame 41. One end of the synchronous rack 453 is connected with 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 turbojet engines 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, so as to realize the adjustment of the spacing between the two front turbojet engines 43.

[0058] By setting the synchronous spacing adjustment component 45, the spacing between the two front turbojet engines 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 turbojet engine 43 is not in the maximum state, and the disturbance between adjacent front turbojet engines 43 is small. When flying at high altitude, the distance between the two front turbojet engines 43 can be increased to reduce the disturbance between the two front turbojet engines 43 and increase the effective air intake of each front turbojet engine 43, thereby improving the efficiency and actual thrust of the front turbojet engine 43.

[0059] The lifting assembly 44 is an electric push rod, a worm and worm gear lift, or a scissor lift. The lifting assembly 44 is electrically connected to the control device, and different lifting assemblies 44 can be adopted according to the actual volume and requirements of the airframe 1. In this embodiment, the mounting bracket 41 is lifted 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 airframe 1 and the water surface is relatively close, the height of the front turbojet engines 43 is increased to reduce the possibility of water ingress during the operation of the front turbojet engines 43. When flying at high altitude, the tilting angle of the front turbojet engines 43 is 0 degrees. At this time, lowering the height of the front turbojet engines 43 can make the thrust direction coincide with the center of mass as much as possible, thereby reducing the pitching unbalanced moment generated by the thrust center and the center of mass of the front turbojet engines 43.

[0060] As Figure 3 - Figure 6 As shown, telescopic folding wings 5 are provided on both sides of the airframe 1. The telescopic folding wings 5 include fixed wings 51. A telescopic skin cover plate 511 is provided on the fixed wings 51. Ailerons 512 and flaps 513 are provided at the trailing edge of the fixed wings 51. A fuel chamber is provided inside the fixed wings 51 for storing fuel. The fixed wings 51 are connected to folding wings 52 through folding assemblies 54. Telescopic wings 53 are provided inside the folding wings 52, releasing more space for the fuel chamber. The fixed wings 51 are provided with balance floats 56. The mounting brackets of the balance floats 56 are arranged below the wingtips of the fixed wings 51, saving space of the fixed wings 51 and having a certain flow rectifying effect on the airflow, which can effectively reduce the induced drag. Guide rails 521 are provided inside the folding wings 52, which play a role in supporting and guiding. Limit sliding grooves 522 are opened on the inner side walls of the folding wings 52. A sealing groove 523 is provided at the inner side of the open end of the folding wings 52. Sealing members are provided in the sealing groove 523. The sealing members are rubber sealing strips or are provided as airbags to ensure the sealing performance of the folding wings 52.

[0061] A guide sliding groove is provided on one side of the telescopic wing 53. The guide sliding groove is arranged on the guide rail 521. Limit blocks 531 are provided on both sides of one end of the telescopic wing 53. The limit blocks 531 are arranged in the limit sliding grooves 522 to prevent the telescopic wing 53 from slipping out. A sealing plate 532 is provided at the wingtip of the telescopic wing 53. A telescopic driving assembly 57 is provided inside the folding wing 52. The telescopic driving assembly 57 includes a telescopic rack 571. The telescopic rack 571 is connected to a telescopic driving motor 572 through a gear. The telescopic rack 571 is connected to a linkage frame 573. Both the linkage frame 573 and the telescopic rack 571 are connected to the telescopic wing 53.

[0062] The folding assembly 54 includes a folding shaft 541. The folding shaft 541 is arranged on the fixed wing 51 through a fixed plate 543. A folding drive motor 542 is connected to the folding shaft 541. The folding shaft 541 is connected to the folding wing 52. The folding drive motor 542 is electrically connected to the control device and installed on the fixed plate 543. When it is necessary to fold up the folding wing 52, the control device opens the telescopic skin cover plate 511, and at the same time starts the telescopic drive assembly 57 to retract the telescopic wing 53, and starts the folding drive motor 542 to make the folding wing 52 enter the accommodation groove of the fixed wing 51 opposite to the telescopic skin cover plate 511.

[0063] The telescopic folding wing 5 is adopted to change the lift of the entire airframe 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 in the form of a lower single wing, increasing flight maneuverability. In the high-altitude flight mode, the telescopic folding wing 5 is in an inverted gull-wing layout. Compared with the traditional straight wing, the inverted gull-wing can be adapted to a turbojet engine for high-speed flight and can effectively use the limited wing area 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.

[0064] As Figure 7 shown, a tail wing 7 and a tail turbojet drive mechanism are arranged at the tail of the airframe 1. The tail turbojet drive mechanism includes a tail turbojet engine 6. Ailerons 512 and flaps 513 are arranged at the edge of the fixed wing 51. The ailerons 512, the flaps 513 and the tail wing 7 adopt existing wing structures, and the specific structures are not limited here.

[0065] Both the front turbojet engine 43 and the tail turbojet engine 6 adopt turbojet engines, and can achieve a flight speed of at least more than 500 km / h. Among them, the tail turbojet engine 6 can effectively compensate for the additional thrust required during high-altitude flight.

[0066] A positioning module and an obstacle avoidance radar are arranged on the top of the airframe 1 for positioning the airframe 1 and detecting obstacles.

[0067] Based on the above control method of a dual-mode high-speed unmanned aerial vehicle capable of taking off and landing on water and ground effect flight, the specific steps are as follows:

[0068] Step S1: Set the unmanned aerial vehicle form according to actual needs. The unmanned aerial vehicle form includes water navigation, ground travel, ground effect flight and high-altitude flight. High-altitude flight is generally flight at an altitude of more than 5 m.

[0069] Step S2: During operation, the positioning module and the obstacle avoidance radar are used to detect the position of the aircraft body 1 and whether there are obstacles in the preset flight path.

[0070] If there are obstacles:

[0071] During high-altitude flight, attitude control is performed through the control device to re-plan the flight path;

[0072] During water navigation, ground travel, and ground effect flight, the reaction time is calculated based on the distance to the obstacle and the speed of the aircraft body 1. If the reaction time is greater than the bypass time, the control device performs attitude control to bypass. If the reaction time is less than or equal to the bypass time, the speed is immediately reduced or the aircraft lands, and the heading is readjusted.

[0073] When the shape of the UAV changes, adjustments are made when the UAV is on the ground or water and its speed is less than 30 km / h. Engine attitude adjustments, folding of the folding wing 52, and telescoping of the telescoping wing 53 are not performed during high-altitude flight, ground effect flight, high-speed water travel, or ground taxiing.

[0074] 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 turbojet engines 43 are in the state of the shortest distance and inclination, and the inclination angles of the two front turbojet engines 43 are the same. At the same time, the telescopic folding wing 5 is in the retracted and folded state and the tail turbojet engine 6 is started. The control device locks the tail wing 7, locks the elevating control surface of the tail wing 7, and maintains a zero rudder effect state. At this time, the turning of the UAV during water navigation is achieved by the rudder of the tail wing 7 and the thrust difference of the front turbojet engines 43. The turning of the UAV during ground effect flight is controlled by the aileron 512 and the rudder of the tail wing 7. The pitch and altitude control are controlled by the flap 513, the front turbojet engine 43, and the tail turbojet engine 6.

[0075] When converting from ground effect flight to altitude flight, the angle adjustment motor 421 drives the synchronous shaft 423 to rotate. 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 turbojet engines 43 to rotate synchronously, and the two front turbojet engines 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 the extended and deployed state, and the distance between the two front turbojet engines 43 is adjusted by the distance adjustment motor 451, so that the two front turbojet engines 43 move away from each other. The control device releases the tail fin 7, and the tail fin 7 is a standard configuration tail fin, so that the elevator surface of the tail fin 7 is in the altitude flight control state. At this time, the flight maneuver of the UAV will be jointly controlled by the tail fin 7, the flap 513, the aileron 512, the front turbojet engine 43 and the rear turbojet engine 6 to maintain the high-altitude flight performance.

[0076] Locking the elevator of the tail fin 7 through water navigation and ground effect flight can effectively prevent the UAV from pitching out of control and crashing due to human misoperation of the elevator or elevator failure. During ground effect flight, the UAV has a high speed and a low altitude. Once the elevator deflects slightly, the pitching angle will change greatly, resulting in the UAV climbing rapidly with an excessive elevation angle and then crashing quickly due to insufficient lift, or the UAV diving directly downward with an excessive depression angle. During water navigation, it is easy to cause the pitching swing amplitude to be too large, resulting in water ingress into the front turbojet engine. This design fully ensures the safety during ground effect flight and water navigation.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that they can still modify or equivalently replace the technical solutions of the present invention, and these modifications or equivalent replacements cannot make the modified technical solutions deviate from the spirit and scope of the technical solutions 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 fins, positioning module and obstacle avoidance radar are all electrically connected to the control device; The adjustable turbojet drive mechanism comprises a mounting frame, on which a synchronous angle adjustment assembly 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 assembly; 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; 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.

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 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.

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: 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.

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 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.

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 tail turbojet drive mechanism includes a tail turbojet engine.

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 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.

7. 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 6, 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.

Images