High-speed stable water-air amphibious unmanned aerial vehicle

Abstract

The invention provides a high-speed stable water-air amphibious unmanned aerial vehicle which comprises a rack, landing gears are symmetrically installed at the bottom end of the rack, and an adjusting mechanism used for adjusting buoyancy is installed on the surface of the rack; a plurality of power mechanisms are symmetrically mounted on the surface of the rack; a limiting mechanism used for fixing the adjusting mechanism and the power mechanism and a central controller used for controlling the adjusting mechanism and the power mechanism to operate are installed in the machine frame, and a sensing system used for positioning, obstacle avoiding and landing assisting is installed on the surface of the machine frame. The high-speed stable water-air amphibious unmanned aerial vehicle provided by the invention has the advantages that the high-speed stable water-air amphibious unmanned aerial vehicle can sail in water at a high speed, can realize high-stability water-air amphibious mode switching and can be compatible with land landing.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and in particular to a high-speed stable water-air amphibious unmanned aerial vehicle. Background Art

[0002] The rapid development of drone technology has greatly broadened its application scope in various fields. However, despite the significant progress made in drone technology, it still faces many challenges in amphibious applications in water and air. In recent years, the demand for tasks such as water search and rescue, nearshore monitoring and water surface inspection has become more and more prominent. Not only do drones need to have efficient air flight capabilities, but they are also expected to have the ability to travel stably and at high speed on the water surface. For example, in complex urban underground drainage tunnels, such environments usually have obstacles or structural partitions, making the water area not completely continuous. Drones need to have the ability to take off and land accurately and flexibly in narrow spaces to cope with the frequent switching of different media on the water and in the air. Most of the drones on the market can only fly in the air, and their ability to travel on the water surface is limited, which to a certain extent limits the application of drones in water environments.

[0003] The particularity of the water surface environment requires that UAVs not only be able to fly efficiently in the air, but also be able to travel quickly on the water surface and remain stable when taking off and landing on the water surface. However, existing water-to-air amphibious UAVs often have slow speeds when traveling on the water surface, and are easily affected by water surface fluctuations during takeoff and landing, and lack stability. In addition, when taking off from the water surface, the UAV needs to overcome the resistance of the water surface, which places higher requirements on the UAV's power system and design.

[0004] Therefore, it is necessary to provide a new high-speed stable water-air amphibious UAV to solve the above problems. Summary of the invention

[0005] The technical problem solved by the present invention is to provide a high-speed and stable water-to-air amphibious UAV which can navigate at high speed in water, realize high-stability water-to-air amphibious mode switching and is compatible with land landing.

[0006] In order to solve the above technical problems, the high-speed and stable water-air amphibious UAV provided by the present invention comprises: a frame, a landing gear is symmetrically installed at the bottom end of the frame, and an adjustment mechanism for adjusting buoyancy is installed on the surface of the frame; the adjustment mechanism comprises a bracket, the side wall of the frame is symmetrically rotated to connect the bracket, a float is installed at one end of the bracket, and the other end of the bracket is fixedly connected to the rotating shaft; the side wall of the rotating shaft is symmetrically fixedly connected to the first gear, and the first gears on the two side walls of the rotating shaft are meshed with each other; the first gear is meshed with the second gear, and a first motor for driving the second gear to rotate is installed inside the frame; the frame A plurality of power mechanisms are symmetrically installed on the surface of the frame, the power mechanism includes a fixed cylinder with an arc-shaped side wall, and a plurality of the fixed cylinders are symmetrically installed inside the frame; the interior of the fixed cylinder is rotatably connected to a fixed shaft, and a second motor for driving the fixed shaft to rotate is installed inside the frame; one end of the fixed shaft is fixedly connected to a duct, and a waterproof motor for driving the propeller to rotate inside the duct is installed inside the bottom end of the duct; a limiting mechanism for fixing the adjustment mechanism and the power mechanism is installed inside the frame, and a sensing system for positioning, obstacle avoidance and assisted landing is installed on the surface of the frame.

[0007] Preferably, the landing gear comprises a centering plate and a hydrofoil, a plurality of hydrofoils having an airfoil-shaped cross section are mounted at the bottom end of the frame, and the side walls of the hydrofoils are fixedly connected to the centering plate.

[0008] Preferably, a fixing sleeve is installed at the connection between the bracket and the frame, and at the connection between the fixed shaft and the fixed cylinder, a waterproof bearing is installed inside the fixing sleeve, the internal rotation of the waterproof bearing connects the bracket and the fixed shaft, and a sealing ring is installed at the connection between the waterproof bearing and the fixing sleeve.

[0009] Preferably, the diameter of the first gear is larger than that of the second gear, and two pieces of the second gear are staggered and distributed at both ends of the two rotating shafts.

[0010] Preferably, on the surface of the same fixed cylinder, the fixed shaft on one side of the fixed cylinder is connected to the second motor, and the side wall of the fixed shaft on the other side of the fixed cylinder is fixedly connected to the third gear.

[0011] Preferably, the limiting mechanism includes a support, the internal rotation of the frame is connected to a plurality of the supports, electromagnets and springs, the internal rotation of the support is connected to a rotating rod, and the side wall of the rotating rod adsorbs the electromagnet; a tooth plate is installed on the top of the rotating rod, and the spring is installed on the side wall of the tooth plate; a plurality of groups of saw teeth are installed on the surface of the tooth plate, and the saw teeth mesh with the first gear and the third gear.

[0012] Preferably, the perception system includes a binocular camera, a 3D laser radar, a downward-looking camera and a ranging sensor; the binocular camera is installed on one side of the frame, the 3D laser radar is installed in the center of the surface of the frame, and a 4G data transmission antenna, a GPS antenna and a receiver antenna are installed on the other side of the frame; a waterproof battery, a downward-looking camera and a ranging sensor are installed on the bottom surface of the frame, and a central controller and an autonomous positioning and obstacle avoidance system are installed inside the frame, and the central controller is electrically connected to the autonomous positioning and obstacle avoidance system, the binocular camera, the 3D laser radar, the 4G data transmission antenna, the GPS antenna, the receiver antenna, the waterproof battery, the downward-looking camera and the ranging sensor, respectively.

[0013] Compared with the related art, the high-speed stable water-air amphibious UAV provided by the present invention has the following beneficial effects: (1) Traditional amphibious UAVs add a water surface propulsion system to a multi-rotor UAV to achieve surface navigation, but this adds unnecessary load during the flight process. The present invention adopts a unified power mechanism, which is suitable for both water and air operations, thereby effectively avoiding load waste in flight mode and improving energy efficiency and endurance performance; (2) The present invention is equipped with an adjustable float. When the float is raised, the point where the buoyancy force is applied is higher than the center of gravity, thus achieving automatic self-centering. When the float is lowered, the fuselage is raised, so that the propeller is away from the water surface, which helps to achieve a fast and stable take-off on the water surface and enhances the ability to adapt to the water and air amphibious environment. (3) The side walls of the hydrofoils are equipped with curved stabilizing plates, which effectively improve the navigation stability of the device on the wavy water surface, enhance the directional control under complex water conditions, and ensure navigation safety; (4) When the propeller rotates, the propeller operates inside the duct tube. The airflow generated by the propeller operation flows inside the duct tube. By utilizing the duct effect, the airflow is concentrated and guided, eddy current loss is reduced, propulsion efficiency is significantly improved, and energy utilization is optimized. (5) When the device is flying in water, the hydrofoil moves in the water to generate lift, lift the frame to reduce the contact area with the water, reduce resistance, increase the cruising speed at a lower thrust, thereby enhancing the endurance, and is suitable for long-distance cruising missions; (6) The frame is composed of two carbon plates, with a large installation space between the two carbon plates. It has a strong bearing capacity and is suitable for installing a variety of equipment. It can meet the needs of multiple tasks such as monitoring, reconnaissance and rescue, and expand the application scenarios of the vehicle; (7) This device is equipped with laser radar, binocular camera and other equipment, and has local positioning capability. When in tunnels, underground and other scenes where GPS signals are unreliable, it can still achieve stable autonomous operation capabilities; the autonomous positioning and obstacle avoidance system uses the depth information provided by the 3D laser radar and the visual information provided by the binocular camera and the downward-looking camera to perform environmental perception, spatial positioning and obstacle detection, and can achieve high-precision autonomous navigation in complex environments. The data provided by the 3D laser radar can effectively reflect the distance and shape information of surrounding objects, while the downward-looking camera and binocular camera supplement the visual information, so that the autonomous positioning and obstacle avoidance system can maintain stable perception capabilities even in environments with changing light or less texture. The GPS antenna receives external information and locates the device. The data received by the 3D laser radar, downward-looking camera, binocular camera and GPS antenna are uploaded to the autonomous positioning and obstacle avoidance system. The autonomous positioning and obstacle avoidance system calculates the information to achieve multi-dimensional analysis of the data, including depth measurement, object recognition and motion prediction, so as to ensure that the device can adjust the path in real time to avoid collision when there are dynamic or static obstacles. The calculation of multiple sets of data can not only enhance the accuracy of the data, but also reduce the blind spots that may exist in a single sensor, thereby improving the reliability and anti-interference ability of the autonomous positioning and obstacle avoidance system, and enhancing its adaptability and task continuity in changeable water environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic structural diagram of a preferred embodiment of the high-speed, stable, water-air amphibious UAV provided by the present invention; Figure 2 for Figure 1 A top view of the rack structure shown; Figure 3 for Figure 1 A top view of the internal structure of the rack is shown; Figure 4 for Figure 1 The schematic diagram of the power mechanism structure shown; Figure 5 for Figure 4 A front view of the fixed cylinder structure shown; Figure 6 for Figure 3 The schematic diagram of the structure of the first gear and the second gear shown; Figure 7 This is the force analysis diagram of the device during normal water landing; Figure 8 This is a force analysis diagram of the top surface of the device when it enters the water; Fig. 9 This is the state diagram of the power mechanism of the device when resisting longitudinal disturbance; Fig.10 A schematic diagram of the circuit structure provided by the present invention; Fig.11 This is the landing logic block diagram of the device; Fig.12 This is the takeoff logic block diagram of the device; Fig.13 This is the fast and slow speed logic block diagram of this device.

[0015] Numbers in the figure: 1, frame, 2, landing gear, 21, stabilizer, 22, hydrofoil, 3, adjustment mechanism, 31, float, 32, bracket, 33, shaft, 34, first gear, 35, second gear, 36, first motor, 4, power mechanism, 41, duct, 42, fixed cylinder, 43, waterproof motor, 44, propeller, 45, fixed shaft, 46, second motor, 47, waterproof bearing, 48, sealing ring, 49, fixed sleeve , 410, the third gear, 5, perception system, 51, binocular camera, 52, 3D laser radar, 53, 4G data transmission antenna, 54, GPS antenna, 55, receiver antenna, 56, central controller, 57, waterproof battery, 58, downward camera, 59, ranging sensor, 510, autonomous positioning and obstacle avoidance system, 6, limit mechanism, 61, support, 62, rotating rod, 63, tooth plate, 64, spring, 65, electromagnet. DETAILED DESCRIPTION

[0016] The present invention will be further described below in conjunction with the accompanying drawings and implementation modes.

[0017] See also Figures 1 to 13 , Figure 1 A schematic structural diagram of a preferred embodiment of the high-speed, stable, water-air amphibious UAV provided by the present invention; Figure 2 for Figure 1 A top view of the rack structure shown; Figure 3 for Figure 1 A top view of the internal structure of the rack is shown; Figure 4 for Figure 1 The schematic diagram of the power mechanism structure shown; Figure 5 for Figure 4 A front view of the fixed cylinder structure shown; Figure 6 for Figure 3 The schematic diagram of the structure of the first gear and the second gear shown; Figure 7 This is the force analysis diagram of the device during normal water landing; Figure 8 This is a force analysis diagram of the top surface of the device when it enters the water; Fig. 9 This is the state diagram of the power mechanism of the device when resisting longitudinal disturbance; Fig.10 A schematic diagram of the circuit structure provided by the present invention; Fig.11 This is the landing logic block diagram of the device; Fig.12 This is the takeoff logic block diagram of the device; Fig.13This is the fast and slow speed logic block diagram of this device. The high-speed stable water-air amphibious UAV comprises: a frame 1, a landing gear 2 symmetrically installed at the bottom end of the frame 1 made of carbon plate, the landing gear 2 comprises a stabilizing plate 21 and a hydrofoil 22, a plurality of hydrofoils 22 with wing-shaped cross-sections are installed at the bottom end of the frame 1, and the side walls of the hydrofoils 22 are fixedly connected to the stabilizing plate 21; when the device is flying in the water, the stabilizing plate 21 with an arc-shaped side wall effectively improves the navigation stability of the device on the fluctuating water surface, enhances the direction control under complex water surface conditions, and ensures navigation safety; when the device is sailing in the water, the lifting force provided by the hydrofoil 22 can resist the gravity of the device itself, lift the device, and make the frame 1 leave the water surface. Since the faster the speed of the device, the greater the lift generated by the hydrofoil 22, by controlling the flight speed of the device, the lift generated by the hydrofoil 22 is equal to the gravity of the device; the hydrofoil 22 is kept immersed in the water to continuously provide lift, while the frame is separated from the water surface to reduce resistance. This working mode can enable the device to achieve a higher navigation speed.

[0018] A plurality of power mechanisms 4 are symmetrically installed on the surface of the frame 1, and the power mechanism 4 includes a fixed cylinder 42 with an arc-shaped side wall. The inner wall of the fixed cylinder 42 is arc-shaped in order to reduce the resistance generated by the water flow encountering the cylinder wall when sailing on the water surface; a plurality of the fixed cylinders 42 are symmetrically installed inside the frame 1; the internal rotation of the fixed cylinder 42 is connected to a fixed shaft 45, and a second motor 46 for driving the fixed shaft 45 to rotate is installed inside the frame 1; one end of the fixed shaft 45 is fixedly connected to the duct 41, and a waterproof motor 43 for driving the propeller 44 to rotate inside the duct 41 is installed inside the bottom end of the duct 41; during the flight of the device, the central controller 46 The waterproof motor 43 is operated to turn on, and the waterproof motor 43 drives the propeller 44 to rotate inside the duct 41, thereby generating thrust; the airflow generated by the rotation of the propeller in the duct 41 and the inner wall of the duct 41 generate a duct effect, and the duct effect is utilized to concentrate the airflow guidance, reduce eddy current loss, significantly improve propulsion efficiency, and optimize energy utilization; when it is necessary to change the angle of the duct 41 inside the fixed tube 42, the central controller 46 is operated to turn on the second motor 46, and the second motor 46 drives the fixed shaft 45 and the duct 41 to rotate, thereby changing the angle of the duct 41 inside the fixed tube 42 and changing the thrust direction.

[0019] The surface of the frame 1 is provided with an adjusting mechanism 3 for adjusting buoyancy; the adjusting mechanism 3 comprises a bracket 32, the side wall of the frame 1 is symmetrically rotated to connect the bracket 32, one end of the bracket 32 ​​is provided with a float 31, and the other end of the bracket 32 ​​is fixedly connected to a rotating shaft 33; the side wall of the rotating shaft 33 is symmetrically fixedly connected to a first gear 34, and the first gears 34 on the two side walls of the rotating shaft 33 are meshed with each other; the first gear 34 is meshed with a second gear 35, and a first motor 36 for driving the second gear 35 to rotate is installed inside the frame 1; during the flight of the device, The central controller 36 operates to turn on the first motor 36, the first motor 36 drives the second gear 35 to rotate, the second gear 35 drives the first gear 34, the rotating shaft 33, the bracket 32 ​​and the buoy 31 to rotate, and changes the position of the buoy 31 around the frame 1. When the device is sailing in the water, no matter where the buoy 31 is, when it contacts the water, it can increase the buoyancy and make the device float on the water surface; secondly, when the device enters the water, the position relationship between the center of gravity and the buoyancy point of the device can be adjusted, so that the device has the ability to self-right in the water. In addition, by changing the height relationship between the buoy 31 and the frame 1, the floating height of the device on the water surface can be adjusted, and the propeller 44 can be lifted out of the water surface, eliminating the complex control process of the device starting to rotate the propeller 44 from the water surface, simplifying the process of the device taking off from the water surface, and improving the stability of the device taking off.

[0020] The diameter of the first gear 34 is greater than that of the second gear 35, in order to facilitate the second gear 35 to drive the first gear 34 to rotate more labor-saving and reduce the load of the first motor 46; and the two second gears 35 are staggered and distributed at both ends of the two rotating shafts 33, in order to increase the symmetry of the distribution of the second gears 35 inside the frame 1, so that the frame 1 is in a balanced state as a whole, and the two second gears 35 push the rotating shaft 33 to rotate on both sides respectively, increase the uniformity of the force on the rotating shaft 33, and facilitate the rotating shaft 33 to drive the buoy 31 to rotate.

[0021] A fixing sleeve 49 is installed at the connection between the bracket 32 ​​and the frame 1, and at the connection between the fixed shaft 45 and the fixed tube 42. A waterproof bearing 47 is installed inside the fixing sleeve 49. The inside of the waterproof bearing 47 is rotatably connected to the bracket 32 ​​and the fixed shaft 45, and a sealing ring 48 is installed at the connection between the waterproof bearing 47 and the fixing sleeve 49; in order to make the sealing ring 48 increase the sealing between the waterproof bearing 47 and the fixing sleeve 49, the sealing of the waterproof bearing 47 prevents water from penetrating the waterproof bearing 47, prevents water from penetrating the fixing sleeve 49 and entering the interior of the frame 1, and avoids malfunctions caused by water entering the interior of the frame 1.

[0022] A limiting mechanism 6 for fixing the adjusting mechanism 3 and the power mechanism 4 is installed inside the frame 1. On the surface of the same fixed cylinder 42, the fixed shaft 45 on one side of the fixed cylinder 42 is connected to the second motor 46, and the side wall of the fixed shaft 45 on the other side of the fixed cylinder 42 is fixedly connected to the third gear 410. The limiting mechanism 6 includes a support 61, and the internal rotation of the frame 1 is connected to multiple supports 61, electromagnets 65 and springs 64. The internal rotation of the support 61 is connected to a rotating rod 62, and the side wall of the rotating rod 62 adsorbs the electromagnet 65; a tooth plate 63 is installed on the top of the rotating rod 62, and the side wall of the tooth plate 63 is installed with the spring 64; a plurality of groups of saw teeth are installed on the surface of the tooth plate 63, and the saw teeth mesh with the first gear 34 and the third gear 410; when it is necessary to change the angle of the duct 41 and the buoy 31, when the fixed shaft 45 or the rotating shaft 33 needs to rotate, the central controller 46 turns on the corresponding electromagnet 65, and the electromagnet 65 with a trapezoidal side wall section generates magnetism to adsorb the rotating rod 62 downward, The iron rotating rod 62 rotates downward to absorb the electromagnet 65, and the rotating rod 62 drives the tooth plate 63 to rotate downward to compress the spring 64, and the tooth plate 63 is separated from the third gear 410 or the first gear 34, so that the fixed shaft 45 or the rotating shaft 33 is freed from the restraint; when it is necessary to fix the fixed shaft 45 or the rotating shaft 33, the central controller 36 operates to close the corresponding electromagnet 65, and the electromagnet 65 loses its magnetism, and the spring 64 extends to push the tooth plate 63 and the rotating rod 62 to rotate, so that the tooth plate 63 engages with the third gear 410 or the first gear 34 to prevent the third gear 410 or the first gear 34 from rotating, thereby fixing the angle between the duct 41 and the float 31.

[0023] The surface of the frame 1 is installed with a sensing system 5 for positioning, obstacle avoidance and assisted landing; the sensing system 5 includes an autonomous positioning and obstacle avoidance system 510 and a 3D laser radar 52, a binocular camera 51 is installed on one side of the frame 1, the 3D laser radar 52 is installed in the center of the surface of the frame 1, and a 4G data transmission antenna 53, a GPS antenna 54 and a receiver antenna 55 are installed on the other side of the frame 1; a waterproof battery 57, a downward-looking camera 58 and a distance sensor 59 are installed on the bottom surface of the frame 1, and the waterproof battery 57 is used for the operation of the device. The frame 1 is provided with electric energy; a central controller 56 and an autonomous positioning and obstacle avoidance system 510 are installed inside the frame 1, and the central controller 56 is electrically connected to the autonomous positioning and obstacle avoidance system 510, the binocular camera 51, the 3D laser radar 52, the 4G data transmission antenna 53, the GPS antenna 54, the receiver antenna 55, the waterproof battery 57, the downward-looking camera 58 and the ranging sensor 59 respectively; the function of the unmanned vehicle autonomous positioning and obstacle avoidance system 510 is realized by the fusion algorithm of the 3D laser radar 52, the binocular camera 51 and the downward-looking camera 58. During the flight of the device, the autonomous positioning and obstacle avoidance system 510 performs environmental perception, spatial positioning and obstacle detection through the depth information provided by the 3D laser radar 52 and the visual information provided by the binocular camera 51 and the downward-looking camera 58, and can achieve high-precision autonomous navigation in complex environments. The data provided by the 3D laser radar can effectively reflect the distance and shape information of surrounding objects, while the binocular camera 51 and the downward-looking camera 58 supplement the visual information, so that the autonomous positioning and obstacle avoidance system 510 can maintain stable perception capabilities even in environments with changing light or less texture; the GPS antenna 54 receives external information and The device performs positioning, and the data received by the 3D laser radar, the downward-looking camera 58 and the GPS antenna 54 are uploaded to the autonomous positioning and obstacle avoidance system 510. The autonomous positioning and obstacle avoidance system 510 calculates the above information to achieve multi-dimensional analysis of the data, including depth measurement, object recognition and motion prediction, etc., so as to ensure that the device can adjust the path in real time to avoid collision when there are dynamic or static obstacles. The calculation of multiple sets of data can not only enhance the accuracy of the data, but also reduce the blind spots that may exist in a single sensor, thereby improving the reliability and anti-interference ability of the autonomous positioning and obstacle avoidance system 510. The 4G data transmission antenna 53 transmits the data inside the central controller 56 back, overcoming the transmission limitations of traditional wireless signals in long distances or in shielded environments, and significantly improving the control range and communication stability of the unmanned vehicle; the receiver antenna 55 receives control instructions issued by the remote control platform, and the central controller 56 is electrically connected to the first motor 36, the second motor 46, the waterproof motor 43 and the electromagnet 65 respectively. The remote control platform sends instructions to control the operation of the adjustment mechanism 3, the power mechanism 4 and the limiting mechanism 6 by manipulating the central controller 56, thereby controlling the flight state of the device, so that the device can realize the function of the water-air amphibious mode.

[0024] The working principle of the high-speed and stable water-air amphibious UAV provided by the present invention is as follows: when the device lands from the air, the distance sensor 59 operates to determine the distance between the landing medium of the device, the data provided by the 3D laser radar effectively reflects the distance and shape information of the surrounding objects, and the downward-looking camera 58 supplements the visual information. The autonomous positioning and obstacle avoidance system 510 calculates the visual information, determines the landing medium, and receives the information transmitted by the distance sensor 59, the 3D laser radar 52 and the binocular camera 51 for calculation and control, and determines whether the medium is water or ground. When the autonomous positioning and obstacle avoidance system 510 determines that it is landing on the water surface, the autonomous positioning and obstacle avoidance system 510 uploads the information to the central controller 56, and the central controller 56 operates to turn on the first motor 36, and the first motor 36 drives the rotating shaft 33, the bracket 32 ​​and the buoy 31 to rotate upward (as shown in the attached Figure 7 As shown in the figure, the angle between the buoy 31 and the frame 1 is 30° to 60°. When the angle of the buoy 31 is appropriate, the central controller 56 turns off the electromagnet 65 corresponding to the first gear 34, so that the tooth plate 63 engages with the first gear 34 to fix the angle of the buoy 31. When the device enters the water, the resultant force F of the buoyancy is f The force point is higher than the resultant force point of the gravity mg in the coordinate system of the device. No matter at what angle the device enters the water, or even if it enters the water with the top side facing downward due to external interference (such as the attached Figure 8 As shown in the figure, the torque generated by buoyancy and gravity can pull the device back to a normal posture in the water; when the autonomous positioning and obstacle avoidance system 510 determines that it is landing on the ground, the buoy 31 remains in the state at that time, and the buoy 31 is located on both sides of the frame 1 and is flush with it (as shown in the figure). Figure 3 As shown), now you can land normally (the landing logic diagram of this device is shown in the attached Fig.11 as shown).

[0025] When the device takes off from the ground, the central controller operates to turn on the waterproof motor 43, and the waterproof motor 43 drives the propeller 44 to rotate inside the duct 41 to generate thrust, thereby driving the frame 1 to move upward, which is no different from the take-off of a traditional drone; when the device takes off from the water surface, the waterproof motor 43 and the propeller 44 switch back and forth between different working conditions in water and air, which will cause instability. In order to avoid take-off failure, the central controller 46 operates to turn on the first motor 36, so that the buoy 31 rotates downward. The buoy 31 is located below the frame 1. The buoyancy of the buoy 31 is used to lift the frame 1 to make the power mechanism 4 out of the water surface, so that the propeller 44 can rotate in the single medium air, increasing the take-off success rate of the device (the take-off logic diagram of the device is shown in the attached figure). Fig.12 as shown).

[0026] When the device is sailing in the water, the wider stabilizing plate 21 provides the device with lateral anti-disturbance performance, allowing it to sail stably on the fluctuating water surface to a certain extent. Fig. 9 As shown), the central controller 46 operates to open the electromagnet 65 corresponding to the third gear 410, and the electromagnet 65 generates suction to make the rotating rod 62 rotate downward and adsorb on the surface of the electromagnet 65, and the tooth plate 63 separates from the third gear 410 to free the duct tube 41 from restraint, and the central controller 46 operates to drive the fixed shaft 45 and the duct tube 41 to rotate, and change the angle of the duct tube 41 inside the fixed tube 42. When the angle of the duct tube 41 is suitable, the central controller 46 operates to close the electromagnet 65 corresponding to the third gear 410, so that the tooth plate 63 engages with the third gear 410 to fix the angle of the duct tube 41; thereby, the thrust angle of the duct tube 41 on the lower side is adjusted downward to offset the disturbance and prevent the device from overturning.

[0027] When the device is in the slow sailing mode in the water, the central controller 46 operates to turn on the first motor 36, so that the buoyancy tube 31 rotates to the top of the frame 1 (such as the attached Figure 7 As shown in the figure, at this time, the frame 1 will be completely immersed in the water, so the fixed tube 42 is also completely immersed in the water, and the central controller 46 operates to turn on the second motor 46, so that the duct tube 41 tilts forward, and the propeller 44 rotates inside the duct tube 41 to provide stable thrust for the device to operate in the water. Since the frame 1 is completely in the water, the resistance is relatively large, and since the waterproof motor 46 is in the water medium, in order to prevent overload, the rotation speed is relatively slow, and the thrust obtained is relatively small. In this state, the speed of the device is in a slow mode, which is suitable for fixed water surface operations in a small range. When the device is in the high-speed mode in the water, the central controller 46 drives the buoy 31 to rotate downward, and the buoy 31 rotates and is located below the frame 1. Under the impetus of the buoyancy of the buoy 31, the frame 1 is lifted off the water surface, and then the second motor 46 is turned on to make the duct tube 41 tilt forward inside the fixed tube 42. At this time, the volume of the device in the water is relatively small, and the resistance is relatively small. The waterproof motor 43 is in the air medium and can rotate at full speed. The thrust obtained by the device is relatively large and can move forward at a higher speed. As the flight speed of the device on the water surface gradually increases, the movement of the hydrofoil 22 gradually generates lift. A speed sensor is installed inside the frame 1, and the speed sensor uploads data to the lift calculation module inside the central controller 46. The lift calculation module determines the size of the lift through calculation. When the lift calculation module determines that the lift provided by the hydrofoil 22 can offset the self-gravity of the device, the central controller 46 operates to raise the buoy 31, and the volume of the device in the water is further reduced, the resistance is further reduced, and the speed can be further increased. In this state, the speed of the device is in fast mode, which is suitable for long-distance surface cruising (the fast and slow speed logic block diagram of the flight of the device is shown in the attached figure Fig.13 as shown).

[0028] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent mechanism or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A high-speed stable water-air amphibious UAV, characterized in that: include: A frame (1), a landing gear (2) is symmetrically mounted on the bottom end of the frame (1), and an adjusting mechanism (3) for adjusting buoyancy is mounted on the surface of the frame (1); the adjusting mechanism (3) comprises a bracket (32), a side wall of the frame (1) is symmetrically rotatably connected to the bracket (32), one end of the bracket (32) is mounted with a buoy (31), and the other end of the bracket (32) is fixedly connected to a rotating shaft (33); a side wall of the rotating shaft (33) is symmetrically fixedly connected to a first gear (34), and the first gears (34) on the two side walls of the rotating shaft (33) are meshed with each other; the first gear (34) is meshed with a second gear (35), and a first motor (36) for driving the second gear (35) to rotate is mounted inside the frame (1); A plurality of power mechanisms (4) are symmetrically mounted on the surface of the frame (1), the power mechanism (4) comprising a fixed cylinder (42) having an arc-shaped side wall, and a plurality of the fixed cylinders (42) are symmetrically mounted inside the frame (1); the fixed cylinder (42) is rotatably connected to a fixed shaft (45) inside, and a second motor (46) for driving the fixed shaft (45) to rotate is mounted inside the frame (1); one end of the fixed shaft (45) is fixedly connected to a duct tube (41), and a waterproof motor (43) for driving a propeller (44) to rotate inside the duct tube (41) is mounted inside the bottom end of the duct tube (41); A limiting mechanism (6) for fixing the adjustment mechanism (3) and the power mechanism (4) is installed inside the frame (1), and a sensing system (5) for positioning, obstacle avoidance and auxiliary landing is installed on the surface of the frame (1).

2. The high-speed stable water-air amphibious UAV according to claim 1 is characterized in that: The landing gear (2) comprises a stabilizing plate (21) and a hydrofoil (22); a plurality of hydrofoils (22) having a wing-shaped cross section are mounted at the bottom end of the frame (1); and the side walls of the hydrofoils (22) are fixedly connected to the stabilizing plate (21).

3. The high-speed stable water-air amphibious UAV according to claim 1 is characterized in that: A fixing sleeve (49) is installed at the connection between the bracket (32) and the frame (1) and at the connection between the fixing shaft (45) and the fixing cylinder (42). A waterproof bearing (47) is installed inside the fixing sleeve (49). The bracket (32) and the fixing shaft (45) are rotatably connected inside the waterproof bearing (47). A sealing ring (48) is installed at the connection between the waterproof bearing (47) and the fixing sleeve (49).

4. The high-speed stable water-air amphibious UAV according to claim 1, characterized in that: The diameter of the first gear (34) is larger than the diameter of the second gear (35), and the two second gears (35) are staggered and distributed at both ends of the two rotating shafts (33).

5. The high-speed stable water-air amphibious UAV according to claim 1, characterized in that: On the surface of the same fixed cylinder (42), the fixed shaft (45) on one side of the fixed cylinder (42) is connected to the second motor (46), and the side wall of the fixed shaft (45) on the other side of the fixed cylinder (42) is fixedly connected to the third gear (410).

6. The high-speed stable water-air amphibious UAV according to claim 5, characterized in that: The limiting mechanism (6) comprises a support (61); the frame (1) is internally rotatably connected to a plurality of the supports (61), an electromagnet (65) and a spring (64); the support (61) is internally rotatably connected to a rotating rod (62); the side wall of the rotating rod (62) adsorbs the electromagnet (65); a tooth plate (63) is installed at the top end of the rotating rod (62); the spring (64) is installed on the side wall of the tooth plate (63); and a plurality of groups of saw teeth are installed on the surface of the tooth plate (63); the saw teeth mesh with the first gear (34) and the third gear (410).

7. The high-speed stable water-air amphibious UAV according to claim 6, characterized in that: The perception system (5) comprises a binocular camera (51), a 3D laser radar (52), a downward-looking camera (58) and a distance-measuring sensor (59); the binocular camera (51) is installed on one side of the frame (1); the 3D laser radar (52) is installed at the center of the surface of the frame (1); and a 4G data transmission antenna (53), a GPS antenna (54) and a receiver antenna (55) are installed on the other side of the frame (1); a waterproof battery (57), a downward-looking camera (58) and a distance-measuring sensor (59) are installed on the bottom surface of the frame (1). The frame (1) is provided with a central controller (56) and an autonomous positioning and obstacle avoidance system (510), and the central controller (56) is electrically connected to the autonomous positioning and obstacle avoidance system (510), the binocular camera (51), the 3D laser radar (52), the 4G data transmission antenna (53), the GPS antenna (54), the receiver antenna (55), the waterproof battery (57), the downward-looking camera (58) and the distance measuring sensor (59).

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