Unmanned monitoring aircraft

Abstract

The invention discloses an unmanned monitoring aircraft, and relates to the field of aircrafts. The unmanned monitoring vehicle has a water surface navigation state and a flight state. According to the unmanned monitoring aircraft, the takeoff mechanism and the hull mechanism jointly form the sea-air integrated monitoring aircraft, the unmanned monitoring aircraft can switch a water surface navigation state or a flight state according to a work task so as to meet actual monitoring requirements, and the unmanned monitoring aircraft has the advantages of being low in energy consumption, long in cruise monitoring time and wide in view field; in the water surface navigation state, the buoyancy mechanisms are distributed on the two sides of the cabin body and keep a certain distance from the cabin body, the initial transverse stability height of the sea-air integrated unmanned monitoring aircraft can be increased through the arrangement, the wind resistance of the aircraft is remarkably enhanced, and the navigation stability is improved. The unmanned monitoring aircraft provided by the invention has good wind resistance and wave resistance, and is high in monitoring capability in a cruising stage.

Description

Technical Field

[0001] The present invention relates to the field of aircraft, and in particular to an unmanned monitoring aircraft. Background Art

[0002] The detection field of drones is wide, but the energy consumption is high and the endurance time is short. The advantages of unmanned ships are low energy consumption and long residence time, but the disadvantage is a narrow detection field of view. In the related technology, the two can be combined to form a coordinated networking system, which can well balance the advantages of low energy consumption, wide field of view, and long cruise monitoring time. In the combination method provided in the related technology, the unmanned ship is actually difficult to overcome external factors such as wind and waves during the navigation stage with the drone, which will affect the navigation movement. The overall navigation stability after the combination is poor, which reduces the cruise monitoring capability. Summary of the invention

[0003] In order to solve the technical problems raised by the above background technology, the present invention provides an unmanned monitoring aircraft, which has a surface navigation state and a flight state; the unmanned monitoring aircraft comprises:

[0004] The take-off mechanism includes a flight drive assembly, and in the flight state, the flight drive assembly drives the unmanned monitoring aircraft to perform flight operations;

[0005] The hull mechanism comprises a cabin and a navigation drive assembly, wherein the cabin and the take-off mechanism are fixedly connected, and the navigation drive assembly is installed on the cabin; in the surface navigation state, the navigation drive assembly drives the unmanned monitoring vehicle to operate on the surface;

[0006] A buoyancy mechanism, comprising at least two buoyancy members, any of which is arranged to extend parallel to the extension length direction of the hull mechanism, the buoyancy member is fixedly connected to the take-off mechanism, and the buoyancy member is spaced apart from the cabin;

[0007] and a power system, which is loaded in the cabin, the power system being electrically connected to the flight drive assembly, and the power system being electrically connected to the navigation drive assembly;

[0008] Wherein, the buoyancy mechanism and the cabin are configured to be able to change the position of the center of buoyancy to enhance the initial lateral stability height and navigation stability of the aircraft.

[0009] As a preferred technical solution, an assembly cavity is configured in the cabin, and the take-off mechanism also includes a base and a take-off frame. The base and the take-off frame are rotatably configured, the base is installed at the upper end of the assembly cavity, and the flight drive assembly is installed on the take-off frame.

[0010] As a preferred technical solution, the base includes a first plate body, a second plate body, a combined bracket, a rotating bracket and a positioning shaft; the first plate body and the second plate body are arranged at intervals, the combined bracket is fixedly arranged between the first plate body and the second plate body, the positioning shaft is arranged at the connection between the rotating bracket and the combined bracket, the rotating bracket and the combined bracket are rotatably configured through the positioning shaft, and an arc-shaped limiting slide is provided on the end surface of the rotating bracket facing the positioning shaft, and the arc-shaped limiting slide and the positioning shaft are slidably configured.

[0011] As a preferred technical solution, the take-off frame includes a connecting column, a connecting frame and a connecting rod, one end of the connecting column is fixedly connected to the rotating bracket, one end of the connecting column is fixedly connected to the connecting frame, the flight drive assembly is installed on the upper end of the connecting frame, and there are multiple flight drive assemblies. The connecting column and the connecting frame are configured in multiple corresponding to the flight drive assemblies, and the connecting rod is connected between two adjacent connecting frames to connect and fix all the connecting frames.

[0012] As a preferred technical solution, the cabin has a V-shaped bow structure; and / or

[0013] The upper outer edge of the cabin body is provided with a plurality of clearance openings, and the connecting posts are correspondingly mounted on the clearance openings; and / or

[0014] The flight drive assembly includes a first drive member, a transmission rod and a propeller. The first drive member is installed on the connecting frame, the transmission rod is connected to the driving end of the first drive member, and the propeller and the transmission rod are fixedly connected.

[0015] As a preferred technical solution, the buoyancy mechanism also includes a connecting sleeve, an adjusting column and a limiting sleeve. The connecting sleeve is fixedly sleeved on the buoyancy member, the adjusting column and the connecting sleeve are fixedly connected, and the limiting sleeve and the adjusting column are embedded and fixedly arranged. In the limiting sleeve and the adjusting column, one of them is provided with a plurality of linearly arranged embedding protrusions, and the other of them is provided with a plurality of linearly arranged embedding grooves.

[0016] As a preferred technical solution, the take-off mechanism also includes two support frames, the two support frames are symmetrically arranged on both sides of the cabin, the support frames and the buoyancy members are arranged at intervals, any of the support frames includes a connecting rod and a support rod, one end of the connecting rod is fixedly connected to the support rod, and the other end of the connecting rod passes through the cabin to be fixed to the base at the upper end of the cabin assembly cavity; the support rod is extended parallel to the extension length direction of the hull mechanism; the cabin is provided with a through hole suitable for the connection rod to pass through.

[0017] As a preferred technical solution, the unmanned monitoring vehicle also includes a connecting member, one end of which is fixedly connected to the base, and the other end of which is fixedly connected to the cabin; a channel is provided in the connecting member, and the connecting rod can pass through the channel to be fixedly connected to the base; a first assembly hole is provided on the end face of the connecting member close to the base, and a fixing hole is provided on the base, and the first assembly hole and the fixing hole are arranged correspondingly; a first assembly hole is provided on the end face of the connecting member close to the cabin, and a connecting hole is provided on the cabin, and the first assembly hole and the connecting hole are arranged correspondingly.

[0018] As a preferred technical solution, the navigation drive assembly includes a second drive member, a drive rod, a drive paddle, a tail frame, a tail rudder, a third drive member and a transmission shaft, the second drive member and the third drive member are installed in the cabin, the drive rod is connected to the drive end of the second drive member, the drive paddle and the drive rod are fixedly connected, the tail frame is fixed on the cabin, the tail rudder and the tail frame are rotatably arranged, one end of the transmission shaft is connected to the drive end of the third drive member, and the other end of the transmission shaft is connected to the tail rudder, and the third drive member is suitable for driving the transmission shaft to displace so as to drive the tail rudder to deflect relative to the tail frame.

[0019] As a preferred technical solution, the unmanned monitoring vehicle further includes a monitoring component, the monitoring component includes a camera and a radar component, and the camera and the radar component are respectively installed above the cabin; and / or

[0020] The unmanned monitoring vehicle also includes a remote control system, which includes a GPS module, and the GPS module is installed above the cabin.

[0021] The technical solution provided by the present invention has the following advantages:

[0022] The unmanned monitoring aircraft provided by the present invention has a surface navigation state and a flight state; the unmanned monitoring aircraft comprises a take-off mechanism, a hull mechanism, a buoyancy mechanism and a power system, the take-off mechanism comprises a flight drive assembly, in the flight state, the flight drive assembly drives the unmanned monitoring aircraft to fly; the hull mechanism comprises a cabin and a navigation drive assembly, the cabin and the take-off mechanism are fixedly connected, and the navigation drive assembly is installed on the cabin; in the surface navigation state, the navigation drive assembly drives the unmanned monitoring aircraft to navigate on the water surface; the buoyancy mechanism comprises at least two buoyancy members, any one of the buoyancy members is extended and arranged parallel to the extension length direction of the hull mechanism, the buoyancy member and the take-off mechanism are fixedly connected, and the buoyancy member and the cabin are spaced apart; the power system is loaded in the cabin, the power system and the flight drive assembly are electrically connected, and the power system and the navigation drive assembly are electrically connected; wherein the buoyancy mechanism can change the buoyancy center position of the cabin to improve the initial lateral stability height and navigation stability of the aircraft.

[0023] The unmanned monitoring vehicle with this structure has a cabin and a take-off mechanism of a hull mechanism fixedly connected, and the take-off mechanism and the hull mechanism together constitute an integrated sea-air monitoring vehicle. The power system provides electrical energy to the flight drive component and the navigation drive component, so that the unmanned monitoring vehicle can switch between the surface navigation state and the flight state according to the work task to meet the actual monitoring needs, and it can take into account the advantages of low energy consumption, long cruise monitoring time and wide field of view; the buoyancy mechanism provides buoyancy for the unmanned monitoring vehicle, so that the hull mechanism combined with the buoyancy mechanism can effectively load and support the take-off mechanism, and when in the surface navigation state, the buoyancy center position of the vehicle is changed to enhance the initial lateral stability height and navigation stability of the integrated sea-air unmanned monitoring vehicle. The take-off mechanism, the hull mechanism and the buoyancy mechanism can be brought into a relatively balanced state, so that the unmanned monitoring vehicle has good longitudinal stability and lateral stability. The buoyancy member is extended parallel to the extended length direction of the hull mechanism, and the buoyancy member and the cabin are spaced apart, which is beneficial to the initial lateral stability height of the unmanned monitoring vehicle. The unmanned monitoring vehicle provided by the present invention has good wind and wave resistance, and has a strong monitoring capability during the cruising stage. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic diagram of the structure of the unmanned monitoring aircraft provided by the present invention;

[0026] Figure 2 A schematic diagram of the structure of a base in an unmanned monitoring aircraft provided by the present invention;

[0027] Figure 3 A schematic diagram of the connection between the base and the connecting member in the unmanned monitoring vehicle provided by the present invention;

[0028] Figure 4 A schematic diagram of the connection between the take-off frame and the flight drive assembly in the unmanned monitoring aircraft provided by the present invention;

[0029] Figure 5 A schematic diagram of the partial structure of the unmanned monitoring aircraft provided by the present invention;

[0030] Figure 6 A schematic diagram of the structure of the hull mechanism in the unmanned monitoring vehicle provided by the present invention;

[0031] Figure 7 A schematic diagram of the structure of the bottom of the hull mechanism of the unmanned monitoring vehicle provided by the present invention;

[0032] Figure 8 A partial schematic diagram of a take-off mechanism and a buoyancy mechanism in an unmanned surveillance vehicle provided by the present invention;

[0033] Fig. 9 A schematic diagram of the structure of the buoyancy mechanism in the unmanned monitoring vehicle provided by the present invention;

[0034] Fig.10 A schematic diagram of the structure of the connecting components in the unmanned monitoring vehicle provided by the present invention;

[0035] Fig.11 A schematic diagram of the coordinates of a cabin in an unmanned monitoring vehicle provided by the present invention;

[0036] Fig.12 A schematic diagram of coordinates of an unmanned monitoring vehicle provided by the present invention;

[0037] Fig.13 A schematic diagram of the force acting on the tilt state of an unmanned monitoring vehicle with and without a buoyancy mechanism provided by the present invention;

[0038] Description of reference numerals:

[0039] 1-take-off mechanism; 11-base; 111-first plate; 112-second plate; 113-combined bracket; 114-rotating bracket; 115-positioning shaft; 116-fixing hole; 12-take-off frame; 121-connecting column; 122-connecting frame; 123-connecting rod; 13-flight drive assembly; 131-first drive member; 132-transmission rod; 133-propeller; 14-support frame; 141-connecting rod; 142-support rod;

[0040] 2-hull mechanism; 21-cabin; 211-giving port; 212-connecting hole; 213-through hole; 22-navigation drive assembly; 221-second drive member; 222-drive rod; 223-drive paddle; 224-tail frame; 225-tail rudder; 226-third drive member; 227-transmission shaft;

[0041] 3-buoyancy mechanism; 31-buoyancy member; 32-connecting sleeve; 33-adjusting column; 34-limiting sleeve;

[0042] 4- Power system;

[0043] 51- camera component; 52- radar component; 53- GPS module;

[0044] 6-connecting member; 61-channel; 62-first assembly hole; 63-second assembly hole. DETAILED DESCRIPTION

[0045] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0047] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0049] Example

[0050] This embodiment provides an unmanned monitoring aircraft. Figures 1 to 9The unmanned monitoring aircraft has a surface navigation state and a flight state; the unmanned monitoring aircraft includes a take-off mechanism 1, a hull mechanism 2, a buoyancy mechanism 3 and a power system 4, the take-off mechanism 1 includes a flight drive component 13, in the flight state, the flight drive component 13 drives the unmanned monitoring aircraft to fly; the hull mechanism 2 includes a cabin 21 and a navigation drive component 22, the cabin 21 and the take-off mechanism 1 are fixedly connected, and the navigation drive component 22 is installed on the cabin 21; in the surface navigation state, the navigation drive component 22 drives the unmanned monitoring aircraft to navigate on the water surface; the buoyancy mechanism 3 includes a take-off mechanism 1, a buoyancy mechanism 3 and a power system 4, the take-off mechanism 1 includes a flight drive component 13, in the flight state, the flight drive component 13 drives the unmanned monitoring aircraft to fly; the hull mechanism 2 includes a cabin 21 and a navigation drive component 22, the cabin 21 and the take-off mechanism 1 are fixedly connected, and the navigation drive component 22 is installed on the cabin 21; in the surface navigation state, the navigation drive component 22 drives the unmanned monitoring aircraft to navigate on the water surface; The mechanism 3 includes at least two buoyancy members 31, any of which is extended parallel to the extension length direction of the hull mechanism 2, the buoyancy member 31 is fixedly connected to the take-off mechanism 1, and the buoyancy member 31 and the cabin 21 are spaced apart; the power system 4 is loaded in the cabin 21, the power system 4 is electrically connected to the flight drive component 13, and the power system 4 is electrically connected to the navigation drive component 22; wherein, the buoyancy mechanism 3 and the cabin 21 are configured to be able to change the center of buoyancy position of the unmanned monitoring vehicle, so as to enhance the initial lateral stability height and navigation stability of the unmanned monitoring vehicle.

[0051] In the unmanned monitoring vehicle provided by the present invention, the cabin 21 of the hull mechanism 2 and the take-off mechanism 1 are fixedly connected, and the take-off mechanism 1 and the hull mechanism 2 together constitute an integrated sea and air monitoring vehicle. The power system 4 provides electrical energy to the flight drive component 13 and the navigation drive component 22, so that the unmanned monitoring vehicle can switch between the surface navigation state and the flight state according to the work task to meet the actual monitoring needs, and it can take into account the advantages of low energy consumption, long cruising monitoring time and wide field of view.

[0052] The unmanned monitoring vehicle provided by the present invention provides buoyancy for the unmanned monitoring vehicle through the buoyancy mechanism 3, so that the hull mechanism 2 combined with the buoyancy mechanism 3 can effectively load and support the take-off mechanism 1, and when sailing on the water surface, the buoyancy center position of the vehicle is changed to achieve a relatively balanced state of the take-off mechanism 1, the hull mechanism 2 and the buoyancy mechanism 3, so that the unmanned monitoring vehicle has good longitudinal stability and lateral stability. The buoyancy member 31 is extended and arranged parallel to the extended length direction of the hull mechanism 2, and the buoyancy member 31 and the cabin 21 are arranged at intervals, which is beneficial to the initial lateral stability height and longitudinal stability height of the unmanned monitoring vehicle; the unmanned monitoring vehicle provided by the present invention has good wind and wave resistance, and has a strong monitoring capability in the cruising stage.

[0053] In this embodiment, see Figures 1 to 6The cabin 21 is provided with an assembly cavity, and the take-off mechanism 1 further includes a base 11 and a take-off frame 12. The base 11 and the take-off frame 12 are rotatably arranged, the base 11 is installed at the upper end of the assembly cavity, and the flight drive assembly 13 is installed on the take-off frame 12. The base 11 serves as a fixed foundation for connecting the cabin 21, and the take-off frame 12 serves as an installation foundation for the flight drive assembly 13; the base 11 and the take-off frame 12 are rotatably arranged, so that the flight drive assembly 13 can float with the take-off frame 12, which is conducive to overcoming the effects of wind and wave fluctuations in the state of sailing on the water surface, and improving the flexible buffering capacity of the structure.

[0054] In a specific embodiment, see Figure 2 and Figure 3 The base 11 includes a first plate 111, a second plate 112, a combined bracket 113, a rotating bracket 114 and a positioning shaft 115; the first plate 111 and the second plate 112 are arranged at intervals, the combined bracket 113 is fixedly arranged between the first plate 111 and the second plate 112, a positioning shaft 115 is arranged at the connection between the rotating bracket 114 and the combined bracket 113, the rotating bracket 114 and the combined bracket 113 are arranged to rotate through the positioning shaft 115, and an arc-shaped limiting slide is arranged on the end surface of the rotating bracket 114 facing the positioning shaft 115, and the arc-shaped limiting slide and the positioning shaft 115 are arranged to slide. Specifically, two arc-shaped limiting slides can be arranged, and the two ends of the positioning shaft 115 are specifically limited by the two arc-shaped limiting slides; the positioning shaft 115 can be extended in the horizontal direction, and this arrangement can enable the flight drive assembly 13 to float up and down with the take-off frame 12.

[0055] In a specific implementation, four combined brackets 113 are provided; the four combined brackets 113 are fixed between the first plate body 111 and the second plate body 112 , and four rotating brackets 114 are also provided. The rotating brackets 114 are correspondingly rotatably connected to the combined brackets 113 via the positioning shaft 115 .

[0056] In a specific embodiment, see Figures 1 to 5The take-off frame 12 includes a connecting column 121, a connecting frame 122 and a connecting rod 123. One end of the connecting column 121 is fixedly connected to the rotating bracket 114, and one end of the connecting column 121 is fixedly connected to the connecting frame 122. The flight drive assembly 13 is installed on the upper end of the connecting frame 122. There are multiple flight drive assemblies 13. The connecting columns 121 and the connecting frame 122 are configured with multiple flight drive assemblies 13. The connecting rod 123 is connected between two adjacent connecting frames 122 to connect and fix all the connecting frames 122. Specifically, there are four flight drive assemblies 13, and there are also four connecting columns 121, connecting frames 122 and connecting rods 123. The four connecting frames 122 are connected by four connecting rods 123, so that the flight drive assembly 13 on the connecting frame 122 is relatively fixed as a whole, which is conducive to strengthening the synchronization and stability of the flight status of the unmanned monitoring aircraft.

[0057] In this embodiment, the assembly cavity in the cabin 21 has good cargo space and can be loaded with various parts. It has flexible maneuverability when sailing on the water surface. The streamlined hull effectively reduces resistance during navigation. It can not only adapt to the operating functions of the aircraft in various scenarios, but also reduce the power consumption of the aircraft and improve endurance.

[0058] As a preferred embodiment, see Figure 6 and Figure 7 The hull 21 has a V-shaped bow structure. Specifically, the deep V-shaped ship shape makes the resistance of the hull 21 during navigation smaller and smaller, and the resistance of the hull 21 during navigation is reduced by increasing the transverse inclined angle of the ship, increasing the transverse inclined angle, and reducing the impact of the sea waves on the bottom of the hull 21, and having good stability and control performance during driving.

[0059] In some embodiments, see Figure 6 A plurality of clearance openings 211 are provided at the outer edge of the upper end of the cabin 21, and the connecting posts 121 are correspondingly mounted on the clearance openings 211. The vertical height dimension is reduced by accommodating and assembling the connecting posts 121 through the clearance openings 211, thereby improving the compactness of the structure and facilitating the miniaturization design of the structure.

[0060] In a specific embodiment, see Figure 4The flight drive assembly 13 includes a first drive member 131, a transmission rod 132 and a propeller 133. The first drive member 131 is installed on the connecting frame 122. The transmission rod 132 is connected to the driving end of the first drive member 131. The propeller 133 and the transmission rod 132 are fixedly connected. The transmission rod 132 is driven by the first drive member 131 to drive the propeller 133 to rotate. The first drive member 131 has the ability to rotate clockwise and counterclockwise. The flight drive assembly 13 is provided with four groups. By controlling the rotation direction of the first drive members 131 in the four groups of flight drive assemblies 13, the motion trajectory of the flight state of the unmanned monitoring aircraft can be adjusted. The first drive member 131 can be set as a motor member.

[0061] As a preferred embodiment, when the unmanned monitoring vehicle is in a state of sailing on the water, the distance from the propeller 133 blade to the water surface is set to Hw, and the propeller 133 blade diameter is set to R, and the two satisfy the relationship: 1.1R≤Hw≤1.3R; further, preferably, Hw=1.2R. This setting is conducive to suppressing the near-water surface effect and avoiding the loss of blade lift, which is conducive to reducing energy consumption in the initial stage of the flight state. When the propeller 133 rotates, it will produce a near-water surface effect when flying near the water surface, and the blades will generate downward thrust. The airflow impacts the water surface, causing the water surface to sag violently and deform, and even generate a large amount of water splashes, which makes the rotor force situation complicated and leads to the loss of blade lift.

[0062] As a preferred embodiment, see Figures 5 to 9 The buoyancy mechanism 3 further comprises a connecting sleeve 32, an adjusting column 33 and a limiting sleeve 34. The connecting sleeve 32 is fixedly sleeved on the buoyancy member 31. The adjusting column 33 and the connecting sleeve 32 are fixedly connected. The limiting sleeve 34 and the adjusting column 33 are fixedly arranged in a chimeric arrangement. In the limiting sleeve 34 and the adjusting column 33, one of the limiting sleeve 34 and the adjusting column 33 is provided with a plurality of chimeric protrusions arranged in a straight line, and the other of the limiting sleeve 34 and the adjusting column 33 is provided with a plurality of chimeric grooves arranged in a straight line. Through the combination of the chimeric protrusions and the chimeric grooves, the limiting sleeve 34 and the adjusting column 33 are connected and fixed relative to each other; specifically, the buoyancy member 31 is assembled at the oblique lower part of the cabin 21 through the connecting sleeve 32, the adjusting column 33 and the limiting sleeve 34. The height of the buoyancy member 31 can be actively adjusted through the limiting sleeve 34 and the adjusting column 33 to increase or decrease the draft area of ​​the buoyancy mechanism. This configuration can adjust the buoyancy center and the center of gravity of the unmanned monitoring vehicle according to the actual structure, and improve the initial lateral stability height and navigation stability of the sea-air integrated unmanned monitoring vehicle.

[0063] In a specific embodiment, two buoyancy members 31 are provided, and four connecting columns 121 are provided. One buoyancy member 31 is connected to two connecting sleeves 32, which are arranged in front and back at intervals, and the connecting sleeves 32 are fixed correspondingly through the limiting sleeves 34 and the adjusting columns 33, and are fixed on the connecting column 121 through the limiting sleeves 34.

[0064] In this embodiment, the take-off mechanism 1 further includes two support frames 14, which are symmetrically arranged at intervals on both sides of the cabin 21, and the support frames 14 and the buoyancy member 31 are arranged at intervals. Any support frame 14 includes a connecting rod 141 and a supporting rod 142, one end of the connecting rod 141 is fixedly connected to the supporting rod 142, and the other end of the connecting rod 141 passes through the cabin 21 to be fixed to the base 11 at the upper end of the assembly cavity of the cabin 21; the supporting rod 142 is extended parallel to the extension length direction of the hull mechanism 2; and the cabin 21 is provided with a through hole 213 suitable for the connecting rod 141 to pass through. Specifically, the support frame 14 can be used to support the overall unmanned monitoring aircraft. During the flight phase, when landing is required, the supporting rod 142 of the support frame 14 contacts the ground side or the water side, and the connecting rod 141 passes through the through hole 213 of the cabin 21 to be fixedly connected to the base 11, and the two support frames 14 can jointly support the flight and fall of the aircraft.

[0065] As a preferred embodiment, see Figure 3 , Figure 6 and Fig.10 The unmanned monitoring vehicle also includes a connecting member 6, one end of which is fixedly connected to the base 11, and the other end of the connecting member 6 is fixedly connected to the cabin 21; a channel 61 is provided in the connecting member 6, and the connecting rod 141 can penetrate the channel 61 to be fixedly connected to the base 11; a first assembly hole 62 is provided on the end surface of the connecting member 6 close to the base 11, and a fixing hole 116 is provided on the base 11, and the first assembly hole 62 and the fixing hole 116 are correspondingly arranged; a second assembly hole 63 is provided on the end surface of the connecting member 6 close to the cabin 21, and a connecting hole 212 is provided on the cabin 21, and the second assembly hole 63 and the connecting hole 212 are correspondingly arranged. The first assembly hole 62 and the fixing hole 116 can be connected correspondingly by fasteners to fix the connecting member 6 and the base 11, and the second assembly hole 63 and the connecting hole 212 can be connected correspondingly by fasteners to fix the connecting member 6 and the cabin body 21, thereby fixing the base 11 and the cabin body 21 together, and fixing the take-off mechanism 1 and the hull mechanism 2 together to form an integrated structure.

[0066] In a specific embodiment, see Fig.10 The connecting member 6 is set as a special-shaped member, and the channel 61 is set as a special-shaped path. The channel 61 has a straight path and an arc path. The straight path is set close to the base 11, and the arc path is set close to the cabin 21. The connecting rod 141 is correspondingly arranged in the straight path and the arc path. When the support frame 14 contacts the ground side or the water side, the contact force can be decomposed through the arc path, one part is transmitted to the cabin 21, and the other part is transmitted to the take-off mechanism 1. The energy can be absorbed by the movement of the combined bracket 113 and the rotating bracket 114 in the base 11. This arrangement can improve the stability when landing in the flight state.

[0067] In other embodiments, the hull and the base 11 may be fixed by snap fastening, magnetic fixation, or the like.

[0068] In a specific embodiment, see Figure 6 and Figure 7 The navigation drive assembly 22 includes a second drive member 221, a drive rod 222, a drive paddle 223, a tail frame 224, a tail rudder 225, a third drive member 226 and a transmission shaft 227. The second drive member 221 and the third drive member 226 are installed in the assembly cavity. The drive rod 222 is connected to the drive end of the second drive member 221. The drive paddle 223 and the drive rod 222 are fixedly connected. The tail frame 224 is fixed on the cabin 21. The tail rudder 225 and the tail frame 224 are rotatably arranged. One end of the transmission shaft 227 is connected to the drive end of the third drive member 226, and the other end of the transmission shaft 227 is connected to the tail rudder 225. The third drive member 226 is suitable for driving the transmission shaft 227 to move, so as to drive the tail rudder 225 to deflect relative to the tail frame 224. Specifically, the second driving member 221, the driving rod 222, and the driving paddle 223 can be used together to drive the forward displacement of the hull mechanism 2, and the tail frame 224, the tail rudder 225, the third driving member 226, and the transmission shaft 227 can be used together to drive the deflection displacement of the hull mechanism 2. The second driving member 221 can be set as a motor member, and the third driving member 226 can be set as a steering gear member.

[0069] In this embodiment, the power system 4 is specifically composed of a lithium battery, an electric regulator, and an ammeter. The power for the aircraft to sail in the air and in the water is supplied by the lithium battery to the power distribution board, and then the voltage distribution board transmits power to the electric regulator to make the rotor of the propeller 133 rotate at high speed to generate lift. The ammeter prevents the lithium battery from supplying too high a voltage to the control board with a low voltage; the marine power is transmitted from the lithium battery to the second drive member 221, and the second drive member 221 drives the drive rod 222 and the drive paddle 223 to generate water surface power.

[0070] Unmanned surveillance vehicles also include surveillance components, see Figure 5 The monitoring component includes a camera 51 and a radar 52, which are respectively installed above the cabin 21. The camera 51 is configured as a high-definition camera, which uses the high-definition camera to capture and identify objects; the radar 52 is configured as a laser radar, which uses the laser radar and SLAM (simultaneous localization and mapping) algorithm to achieve accurate positioning and map construction.

[0071] In this embodiment, the unmanned surveillance vehicle also includes a remote control system, which is specifically composed of a remote controller, a receiver and a GPS module 53, see Figure 5, the GPS module 53 is installed above the cabin 21; the receiver is connected to the electric regulator, the electric regulator is connected to the flight drive component 13 and the navigation drive component 22, and the control command is issued through the remote control. The receiver receives the command from the remote control and controls the working parameters of the flight drive component 13 and the navigation drive component 22 through the electric regulator to realize the function of changing the surface navigation state and flight state movement position of the unmanned monitoring vehicle.

[0072] The unmanned monitoring aircraft provided by the present invention works as follows:

[0073] When the working mode is switched to the flight state, taking four flight drive components 13 as an example, four first drive members 131 are correspondingly configured; two diagonal first drive members 131 rotate clockwise, and the other two diagonal first drive members 131 rotate counterclockwise. When hovering, the four first drive members 131 drive the blades to rotate at the same speed; when moving forward, the speed of the two first drive members 131 at the front end is reduced according to the remote control joystick value received by the receiver, and the two first drive members 131 at the rear end increase at the same proportional speed; when moving backward, the speed of the two first drive members 131 at the rear end is reduced, and the speed of the two first drive members 131 at the front end is increased; when moving to the left, the speed of the two diagonal first drive members 131 is reduced, and the speed of the other two diagonal first drive members 131 is increased; when moving to the right, the speed of the two diagonal first drive members 131 is reduced, and the speed of the other two diagonal first drive members 131 is increased; when the Yaw axis rotates clockwise, the speed of the two diagonal first drive members 131 is reduced, and the speed of the other two diagonal first drive members 131 is increased; the Yaw axis rotates counterclockwise in the opposite direction. In the above description, the two diagonal first drive members 131 are Figure 1 The first driving member 131 driving the lower right rotor and the first driving member 131 driving the upper left rotor are shown, and the other two diagonal first driving members 131 are Figure 1 The first driving member 131 driving the lower left rotor and the first driving member 131 driving the upper right rotor are shown; the two first driving members 131 at the front end are Figure 1 The first driving member 131 driving the lower right rotor and the first driving member 131 driving the lower left rotor are shown; the two first driving members 131 at the rear end are Figure 1 The first driving member 131 driving the upper right rotor and the first driving member 131 driving the upper left rotor are shown.

[0074] When the working mode is switched to the surface navigation state, the control panel located inside the hull receives the output signal from the flight control to control the second drive member 221 and the third drive member 226. The drive rod 222 is made of rigid metal material, and the drive paddle 223 is connected to the end of the drive rod 222. The drive rod 222 is nested by two metal through-columns and connected by bearings. When the control panel receives a signal, the second drive member 221 rotates to realize the forward or backward function. When the third drive member 226 receives an electrical signal and rotates, it pulls the transmission shaft 227, and the transmission shaft 227 drives the tail rudder 225 to rotate to achieve deflection and steering.

[0075] The unmanned monitoring aircraft provided by the present invention can integrate unmanned aerial vehicles and unmanned ships well, and can meet the unmanned monitoring needs of sea-air integrated use occasions. It also solves the shortcomings of short residence time of unmanned aircraft and narrow monitoring field of surface aircraft. The aircraft provided by the present invention can switch the working state of the surface or the air according to the work task, realize long-term monitoring of marine targets, and has the advantages of low energy consumption, long cruising monitoring time, and wide field of view.

[0076] The unmanned monitoring vehicle provided by the present invention is designed to make the center of gravity and the center of buoyancy of the vehicle on a plumb line to achieve a balanced state and have good longitudinal stability and lateral stability; the specific calculation and analysis steps are as follows:

[0077] The hull structure 2 can be firstly analyzed by the SolidWorks software. When the maximum draft of the cabin 21 is 80 mm, the displacement volume is Volume of cabin 21 material The cabin 21 is made of polylactide.

[0078] The hull 21 provides the buoyancy equation:

[0079] F = Δ-W;

[0080]

[0081]

[0082] Wherein, Δ is the displacement of the hull 21 at the maximum draft of the empty ship;

[0083] ρ 1 The density of water is 1000 kg / m 3 ;

[0084] ρ 2 The density of polylactide is 1240kg / m 3 ;

[0085] W is the deadweight of the cabin 21;

[0086] F The buoyancy provided by the hull 21;

[0087] According to calculation, the displacement of the empty hull 21 at the maximum draft is 2.36 kg, and the weight of the hull 21 is 0.347 kg, so the buoyancy that the hull 21 can provide is 2 kg.

[0088] After measuring the weight of the take-off mechanism 1, the weight of the take-off mechanism 1 is 2.5 kg, which is greater than the buoyancy of 2 kg provided by the cabin 21. In this embodiment, the buoyancy member 31 provides additional buoyancy to meet the weighing capacity of the aircraft. According to the above buoyancy equation, the weight of the buoyancy mechanism is 0.3 kg, and the buoyancy provided by the buoyancy mechanism is 1.9 kg.

[0089] In order to prevent the unmanned monitoring vehicle from capsizing during operation, the center of gravity needs to be calculated so that the center of gravity is close to the bottom of the hull. This can be implemented through the multi-object center of gravity calculation theory. The vehicle contains multiple structures, and the center of gravity coordinates of each structure in the vehicle body coordinate system. Suppose the center of gravity coordinates of the integrated sea-air monitoring vehicle are G(X g ,Y g ,Z g ), the barycenter coordinate estimation formula is as follows:

[0090]

[0091] The intersection of the three mutually perpendicular coordinate planes of the cabin 21 base plane, the mid-station plane and the midline plane is taken as the origin of the centroid coordinates. Fig.11 and Fig.12 , with the intersection of the three coordinate planes as the coordinate axis. The intersection of the base plane and the midline plane is the x-axis; the intersection of the base plane and the mid-station plane is the y-axis, pointing to the starboard side; the intersection of the midline plane and the mid-station plane is the z-axis, pointing upward. Where M is the total mass of the spacecraft.

[0092] The center of gravity coordinates G (-148.61mm, 0, 152.94mm) of the spacecraft are obtained through measurement and calculation, and the center of gravity coordinates G (-60.28mm, 0, 109.81mm) of the spacecraft without the buoyancy mechanism are obtained.

[0093] Refer to the coordinate axis of the center of gravity calculation as the coordinate axis of the center of buoyancy calculation, and divide the spacecraft into three parts: the hull and two buoyancy mechanisms. Suppose the buoyancy volume of each part is V i (i=1,2,3,…,n), the center of buoyancy is the centroid of the buoyant volume. Let the coordinates of the center of buoyancy of the spacecraft be B(X b ,Y b ,Z b ), the buoyancy center coordinates are estimated as follows:

[0094]

[0095] Among them, V is the total buoyant volume of the three parts.

[0096] Through calculation, it is found that the buoyancy center coordinates of the sea-air integrated unmanned vehicle without a buoyancy mechanism are B (-55.08mm, 0, 50.39mm) and the buoyancy center coordinates with a buoyancy mechanism are B (-84.91mm, -1.153mm, 9.18mm). The lower the center of buoyancy, the more wind-resistant the vehicle is, and the less wind force is applied to the vehicle.

[0097] The stability of a spacecraft refers to the ability of the spacecraft to return to its original equilibrium position when the external force disappears after the spacecraft deviates from its equilibrium position and tilts. The left and right tilts are considered lateral stability. Fig.13 As shown in the figure, after the spacecraft tilts at a small angle θ under the action of external force, the floating waterline WL changes to W 1 L 1 , the displacement remains unchanged, so the inclined waterline W 1 L 1 The center of buoyancy position changes based on the shape change of the displacement volume, and the center of buoyancy coordinate B becomes B 1 Since the directions of gravity and buoyancy are not in the same straight line, buoyancy and gravity combine to form a couple to help the spacecraft return to its original floating state, which is called the restoring torque and is expressed in M. h express:

[0098]

[0099] In the formula, is the transverse metacentric height, Δ 1 is the total displacement.

[0100] The original point B that generated the buoyancy moved to B 1 Point, line of action B 1 M is perpendicular to WL, and the buoyancy line BM when floating is compared to point M. Curve BB 1 It can be approximated by a small arc, M is the arc BB 1 The center of the circle, arc BB 1 The radius is BM = B 1 M. Point M is called the transverse metacenter, and BM is called the transverse metacenter radius. The transverse metacenter height can be calculated from this. The transverse metacentric height of the vehicle without buoyancy mechanism is 655.72mm. The transverse metacentric height of the buoyancy mechanism is 6.6 times that of the vessel without the buoyancy mechanism, thereby greatly improving the transverse stability. In other words, the extended buoyancy members are distributed on both sides of the cabin 21 and keep a certain distance from the cabin 21; this arrangement can improve the initial transverse stability height of the sea-air integrated unmanned monitoring vehicle, significantly enhance the wind resistance of the vehicle, and improve the navigation stability.

[0101] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. An unmanned monitoring aircraft, characterized in that: The unmanned monitoring aircraft has a surface navigation state and a flight state; the unmanned monitoring aircraft includes: A take-off mechanism (1) comprises a flight drive assembly (13), wherein in the flight state, the flight drive assembly (13) drives the unmanned monitoring aircraft to perform flight operations; The hull structure (2) comprises a cabin (21) and a navigation drive assembly (22), wherein the cabin (21) and the take-off mechanism (1) are fixedly connected, and the navigation drive assembly (22) is installed on the cabin (21); in the surface navigation state, the navigation drive assembly (22) drives the unmanned monitoring vehicle to operate on the surface; The buoyancy mechanism (3) comprises at least two buoyancy members (31), any of the buoyancy members (31) being arranged to extend parallel to the extension length direction of the hull mechanism (2), the buoyancy member (31) being fixedly connected to the take-off mechanism (1), and the buoyancy member (31) being spaced apart from the cabin (21); and a power system (4) loaded in the cabin (21), the power system (4) being electrically connected to the flight drive assembly (13), and the power system (4) being electrically connected to the navigation drive assembly (22); The buoyancy mechanism (3) and the cabin (21) are configured to change the center of buoyancy of the unmanned monitoring vehicle so as to improve the initial lateral stability height and navigation stability of the vehicle.

2. The unmanned surveillance vehicle according to claim 1, characterized in that: An assembly cavity is arranged in the cabin (21), and the take-off mechanism (1) further comprises a base (11) and a take-off frame (12), wherein the base (11) and the take-off frame (12) are rotatably arranged, the base (11) is mounted at the upper end of the assembly cavity, and the flight drive assembly (13) is mounted on the take-off frame (12).

3. The unmanned monitoring vehicle according to claim 2, characterized in that: The base (11) comprises a first plate body (111), a second plate body (112), a combined bracket (113), a rotating bracket (114) and a positioning shaft (115); the first plate body (111) and the second plate body (112) are arranged at intervals, the combined bracket (113) is fixedly arranged between the first plate body (111) and the second plate body (112), the positioning shaft (115) is arranged at the connection between the rotating bracket (114) and the combined bracket (113), the rotating bracket (114) and the combined bracket (113) are rotatably arranged through the positioning shaft (115), and an arc-shaped limiting slide is arranged on the end surface of the rotating bracket (114) facing the positioning shaft (115), and the arc-shaped limiting slide and the positioning shaft (115) are slidably arranged.

4. The unmanned surveillance vehicle according to claim 3, characterized in that: The take-off frame (12) comprises a connecting column (121), a connecting frame (122) and a connecting rod (123); one end of the connecting column (121) is fixedly connected to the rotating bracket (114); one end of the connecting column (121) is fixedly connected to the connecting frame (122); the flight drive assembly (13) is installed on the upper end of the connecting frame (122); a plurality of the flight drive assemblies (13) are provided; a plurality of the connecting columns (121) and the connecting frame (122) are configured corresponding to the flight drive assemblies (13); and the connecting rod (123) is connected between two adjacent connecting frames (122) to connect and fix all the connecting frames (122).

5. The unmanned monitoring vehicle according to claim 4, characterized in that: The cabin (21) has a V-shaped bow structure; and / or A plurality of clearance openings (211) are provided at the outer edge of the upper end of the cabin body (21), and the connecting columns (121) are correspondingly mounted on the clearance openings (211); and / or The flight drive assembly (13) comprises a first drive member (131), a transmission rod (132) and a propeller (133); the first drive member (131) is mounted on the connecting frame (122); the transmission rod (132) is connected to the driving end of the first drive member (131); and the propeller (133) and the transmission rod (132) are fixedly connected.

6. The unmanned surveillance vehicle according to claim 4, characterized in that: The buoyancy mechanism (3) further comprises a connecting sleeve (32), an adjusting column (33) and a limiting sleeve (34); the connecting sleeve (32) is fixedly sleeved on the buoyancy member (31); the adjusting column (33) and the connecting sleeve (32) are fixedly connected; the limiting sleeve (34) and the adjusting column (33) are embedded and fixedly arranged; one of the limiting sleeve (34) and the adjusting column (33) is provided with a plurality of linearly arranged embedding protrusions, and the other is provided with a plurality of linearly arranged embedding grooves.

7. The unmanned surveillance vehicle according to claim 2, characterized in that: The take-off mechanism (1) further comprises two support frames (14), the two support frames (14) are symmetrically arranged at intervals on both sides of the cabin (21), the support frames (14) and the buoyancy member (31) are arranged at intervals, any of the support frames (14) comprises a connecting rod (141) and a supporting rod (142), one end of the connecting rod (141) is fixedly connected to the supporting rod (142), and the other end of the connecting rod (141) passes through the cabin (21) to be fixed to the base (11) at the upper end of the cabin (21) assembly cavity; the supporting rod (142) is extended parallel to the extension length direction of the hull mechanism (2); and the cabin (21) is provided with a through hole (213) suitable for the connecting rod (141) to pass through.

8. The unmanned surveillance vehicle according to claim 7, characterized in that: The unmanned monitoring vehicle further comprises a connecting member (6), one end of which is fixedly connected to the base (11), and the other end of which is fixedly connected to the cabin (21); a channel (61) is provided in the connecting member (6), and the connecting rod (141) can penetrate the channel (61) to be fixedly connected to the base (11); a first assembly hole (62) is provided on the end surface of the connecting member (6) close to the base (11), a fixing hole (116) is provided on the base (11), and the first assembly hole (62) and the fixing hole (116) are arranged correspondingly; a second assembly hole (63) is provided on the end surface of the connecting member (6) close to the cabin (21), and a connecting hole (212) is provided on the cabin (21), and the second assembly hole (63) and the connecting hole (212) are arranged correspondingly.

9. The unmanned monitoring vehicle according to any one of claims 1 to 8, characterized in that: The navigation drive assembly (22) comprises a second drive member (221), a drive rod (222), a drive paddle (223), a tail frame (224), a tail rudder (225), a third drive member (226) and a transmission shaft (227), wherein the second drive member (221) and the third drive member (226) are installed in the cabin (21), the drive rod (222) is connected to the drive end of the second drive member (221), the drive paddle (223) and the drive rod (22 2) are fixedly connected, the tail frame (224) is fixed on the cabin (21), the tail rudder (225) and the tail frame (224) are rotatably arranged, one end of the transmission shaft (227) is connected to the driving end of the third driving member (226), and the other end of the transmission shaft (227) is connected to the tail rudder (225), and the third driving member (226) is suitable for driving the transmission shaft (227) to move, so as to drive the tail rudder (225) to deflect relative to the tail frame (224).

10. The unmanned monitoring vehicle according to any one of claims 1 to 8, characterized in that: The unmanned monitoring vehicle further comprises a monitoring component, wherein the monitoring component comprises a camera (51) and a radar component (52), wherein the camera (51) and the radar component (52) are respectively installed above the cabin (21); and / or The unmanned monitoring vehicle also includes a remote control system, which includes a GPS module (53). The GPS module (53) is installed above the cabin (21).

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