Modularized water rescue unmanned aerial vehicle

Abstract

The invention belongs to the technical field of unmanned aerial vehicle rescue, and discloses a modular water rescue unmanned aerial vehicle which comprises a rotor module, a buoyancy module, a motion control module, a power supply module and an unmanned aerial vehicle body rack. The rotor modules achieve output of lifting force and horizontal thrust in the air through the motion control module, and the buoyancy module provides water surface buoyancy and supports the lifesaving function through air bag design. The unmanned aerial vehicle main body rack adopts modular design, different functional modules can be rapidly combined, and the multi-scene rescue requirement is met. By integrating the water surface stability performance of the buoyancy module and the flight capacity of the rotor wing module, the unmanned aerial vehicle can achieve floating rescue, autonomous search and other tasks, and has great application potential in polling, rescue, exploration and other scenes.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicle rescue, and in particular relates to a modularized water rescue unmanned aerial vehicle. Background Art

[0002] In recent years, with the rapid development of robotics and drone technology, the application of drones in the field of water rescue has received widespread attention. Traditional water rescue equipment, such as manually driven boats or remote-controlled rescue boats, can complete basic tasks, but are often limited in response speed, flexibility and operating range in complex waters. In addition, manual rescue faces high safety risks, especially in extreme weather or dangerous waters, where the life safety of rescuers is difficult to be effectively guaranteed.

[0003] Existing water rescue drone technologies are mostly focused on delivering life-saving equipment, ropes or emergency supplies. These designs have improved rescue efficiency to a certain extent, but their functional limitations and adaptability to complex environments are still problematic. For example, in the case of strong winds and waves, the delivery accuracy of rescue equipment may be affected, and the drone's endurance and load capacity also limit its mission scope.

[0004] How to carry out modular design for water rescue drones is a major challenge in this field. Summary of the invention

[0005] The purpose of the present invention is to provide a modular water rescue drone to solve the above-mentioned technical problems.

[0006] In order to solve the above technical problems, the specific technical solution of a modular water rescue drone of the present invention is as follows: A modular water rescue UAV comprises a rotor module, a buoyancy module, a motion control module, a power supply module and a main frame, wherein the rotor modules are symmetrically mounted at the four corners of the main frame to provide lift and thrust in the air; the buoyancy module is mounted around the main frame to provide buoyancy support on the water surface and can undertake emergency life-saving tasks; the motion control module is located at the head of the main frame to achieve attitude control and autonomous positioning of the UAV through a six-axis gyroscope and an obstacle avoidance sensor; the power supply module is located at the tail of the main frame to provide stable power support for the motion control module and the rotor module.

[0007] Furthermore, the main frame adopts a modular design, including an inner frame, an outer frame, a motor frame, an inner frame fixing plate and an outer frame fixing plate. The motor frame is symmetrically installed on the four corners of the outer frame and is fixedly connected by the outer frame fixing plate; the inner frame is fixed to the inner side of the outer frame and is fixedly connected by the inner frame fixing plate; the main frame has two layers, which are fixedly connected by aluminum columns.

[0008] Furthermore, the main frame is made of 4mm carbon fiber material and is designed as a hollow frame.

[0009] Furthermore, the motion control module is installed between the inner frame and the head of the outer frame, and includes a flight control module, a flight control support frame and a shock absorbing bracket. The flight control support frame is fixedly installed between the inner frame and the outer frame, the shock absorbing bracket is fixedly installed on the flight control support frame, the flight control module is fixedly installed on the shock absorbing bracket, and the shock absorbing bracket is used to reduce the impact of vibration on the flight control module.

[0010] Furthermore, the flight control module is equipped with a six-axis gyroscope, which obtains the attitude angle, three-axis acceleration and its change trend data of the drone in real time through data collection and solution. Through the cascade PID control method, the flight control module can dynamically adjust the thrust of the rotor module to achieve multi-mode switching among hovering on the water surface, flying in the air and taking off and landing on the water surface.

[0011] Furthermore, the rotor module is installed on the motor frame, including a propeller, a brushless motor and a protective cover. The brushless motor is installed on the motor frame and is directly powered by the power supply module to provide stable power output. The propeller is fixedly mounted on the output shaft of the brushless motor. The propeller is powered by the brushless motor. The protective cover is installed outside the motor frame to prevent the rotor from being damaged by the external environment and protect the surrounding environment from interference from the rotor. The rotor module can achieve precise thrust adjustment through dynamic control of the flight control module.

[0012] Furthermore, the power supply module is installed between the tail of the inner frame and the outer frame, and includes a power supply support frame and a lithium battery. The power supply support frame is fixedly installed between the inner frame and the outer frame, and the lithium battery is fixedly installed on the power supply support frame to supply power to the motion control module and the rotor module.

[0013] Furthermore, the buoyancy module is installed around the outer frame of the main frame, and includes a high-strength waterproof airbag, an airbag fixing frame and an airbag cover. The airbag fixing frame is fixed by the edge of the outer frame, the high-strength waterproof airbag is fixed on the airbag fixing frame, and the airbag cover covers the high-strength waterproof airbag for protecting the high-strength waterproof airbag.

[0014] A modular water rescue drone of the present invention has the following advantages: the drone provided by the present invention combines the high maneuverability of a quadcopter in the air and the stability of a buoyancy module in the water, and accurately adjusts the rotor thrust and posture through a motion control module to achieve floating, hovering and flexible movement in the air, so that the drone can efficiently perform a variety of tasks in a complex water environment; both the buoyancy module and the rotor module adopt a modular design, which is convenient for disassembly and maintenance, and significantly improves the adaptability and service life of the equipment in different rescue scenarios. The present invention has shown great application potential in tasks such as water rescue, inspection and material delivery, and can efficiently and reliably complete a variety of tasks in complex environments, with broad market prospects and practical application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of the structure of a modular water rescue drone in an embodiment of the present invention; Figure 2 is a schematic structural view of a main frame of a modular component in an embodiment of the present invention; Figure 3 is a schematic diagram of the structure of a control module of a modular component in an embodiment of the present invention; Figure 4 is a schematic structural diagram of a rotor module of a modular assembly in an embodiment of the present invention; Figure 5 is a schematic structural diagram of a buoyancy module of a modular assembly in an embodiment of the present invention; Explanation of the accompanying drawings: 1. Buoyancy module; 11. Airbag cover; 2. Protective cover; 3. Rotor module; 31. Propeller; 4. Motor frame; 5. Outer frame; 6. Inner frame; 7. Flight control support frame; 8. Shock absorber bracket; 9. Motion control module; 91. Flight control module; 10. Outer frame fixing small plate; 11. Inner frame fixing small plate; 12. Power supply support frame; 13. Power supply module; 131. Lithium battery; 14. Aluminum column; 15. Brushless motor; 16. Airbag fixing frame. DETAILED DESCRIPTION

[0016] In order to better understand the purpose, structure and function of the present invention, a modular water rescue drone of the present invention is further described in detail below with reference to the accompanying drawings.

[0017] like Figures 1 to 5As shown, a modular water rescue UAV of an embodiment of the present invention includes a rotor module 3, a buoyancy module 1, a motion control module 9, a power supply module 13 and a main frame. The rotor module 3 is symmetrically installed at the four corners of the main frame to provide lift and thrust in the air; the buoyancy module 1 is installed around the main frame to provide buoyancy support on the water surface and can undertake emergency life-saving tasks; the motion control module 9 is located at the head of the main frame, and the attitude control and autonomous positioning of the UAV are realized through a six-axis gyroscope and an obstacle avoidance sensor; the power supply module 13 is located at the tail of the main frame to provide stable power support for the motion control module 9 and the rotor module 3.

[0018] like Figure 2 As shown, the main frame adopts a modular design, including an inner frame 6, an outer frame 5, a motor frame 4, an inner frame fixing plate 11 and an outer frame fixing plate 10. The motor frame 4 is symmetrically mounted on the four corners of the outer frame 5 and fixedly connected by the outer frame fixing plate 10. The inner frame 6 is fixed to the inner side of the outer frame 5 and fixedly connected by the inner frame fixing plate 11. The components are connected by bolts and nuts. The main frame has two layers, which are fixedly connected by aluminum columns 14. The design of the main frame fully considers the demand for lightweight block. It is processed with 4mm carbon fiber material and designed as a hollow frame, which effectively improves the strength and stability of the equipment. At the same time, it is convenient for the rapid disassembly and assembly of each functional module. Users can replace functional modules according to task requirements, such as carrying night vision cameras, life detectors or material delivery devices, so as to meet the requirements of different rescue scenarios. Improved mobility and endurance performance.

[0019] like Figure 3 As shown, the motion control module 9 is installed between the inner frame 6 and the head of the outer frame 5, including a flight control module 91, a flight control support frame 7 and a shock-absorbing support frame 8. The flight control support frame 7 is fixedly installed between the inner frame 6 and the outer frame 5, the shock-absorbing support frame 8 is fixedly installed on the flight control support frame 7, and the flight control module 91 is fixedly installed on the shock-absorbing support frame 8. The flight control module 91 is equipped with a six-axis gyroscope. Through data acquisition and solution, the attitude angle, three-axis acceleration and its change trend data of the drone can be obtained in real time. The shock-absorbing support frame 8 is used to reduce the impact of vibration on the flight control module 91, thereby ensuring the operating stability of the equipment in a complex environment. Through the cascade PID control method, the flight control module 91 can dynamically adjust the thrust of the rotor module 3 to achieve multi-mode switching of hovering on the water surface, flying in the air, and taking off and landing on the water surface.

[0020] like Figure 4As shown, the rotor module 3 is mounted on the motor frame 4, including a propeller 31, a brushless motor 15 and a protective cover 2. The brushless motor 15 is mounted on the motor frame 4 and is directly powered by the power supply module 13 to provide stable power output. The propeller 31 is fixedly mounted on the output shaft of the brushless motor 15, and the propeller 31 is powered by the brushless motor 15. The protective cover 2 is mounted outside the motor frame 4 to prevent the rotor from being damaged by the external environment and to protect the surrounding environment from interference from the rotor. The rotor module 3 can achieve precise thrust adjustment through the dynamic control of the flight control module 91 to meet complex mission requirements.

[0021] The power supply module 13 is installed between the inner frame 6 and the tail of the outer frame 5, and includes a power supply support frame 12 and a lithium battery 131. The power supply support frame 12 is fixedly installed between the inner frame 6 and the outer frame 5, and the lithium battery 131 is fixedly installed on the power supply support frame 12 to supply power to the motion control module 9 and the rotor module 3.

[0022] like Figure 5 As shown, the buoyancy module 1 is installed around the outer frame 5 of the main frame, and includes a high-strength waterproof airbag, an airbag fixing frame 16 and an airbag cover 11. The airbag fixing frame 16 is fixed by the edge of the outer frame 5, the high-strength waterproof airbag is fixed on the airbag fixing frame 16, and the airbag cover 11 covers the high-strength waterproof airbag to protect the high-strength waterproof airbag from damage in a complex environment. The buoyancy module 1 provides stable buoyancy support for the drone on the water surface, and can also carry a certain weight to complete the rescue mission.

[0023] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A modular water rescue drone, comprising a rotor module (3), a buoyancy module (1), a motion control module (9), a power supply module (13) and a main frame, characterized in that: The rotor modules (3) are symmetrically mounted at the four corners of the main frame, and are used to provide lift and thrust in the air; the buoyancy module (1) is mounted around the main frame, and is used to provide buoyancy support on the water surface, and can undertake emergency life-saving tasks; the motion control module (9) is located at the head of the main frame, and realizes the attitude control and autonomous positioning of the UAV through a six-axis gyroscope and an obstacle avoidance sensor; the power supply module (13) is located at the rear of the main frame, and provides stable power support for the motion control module (9) and the rotor module (3).

2. The modular water rescue drone according to claim 1, characterized in that: The main frame adopts a modular design, comprising an inner frame (6), an outer frame (5), a motor frame (4), an inner frame fixing small plate (11) and an outer frame fixing small plate (10); the motor frame (4) is symmetrically mounted on the four corners of the outer frame (5) and is fixedly connected via the outer frame fixing small plate (10); the inner frame (6) is fixed to the inner side of the outer frame (5) and is fixedly connected via the inner frame fixing small plate (11); the main frame has an upper and lower layer, and the upper and lower layers are fixedly connected via an aluminum column (14).

3. The modular water rescue drone according to claim 1, characterized in that: The main frame is made of 4mm carbon fiber material and is designed as a hollow frame.

4. The modular water rescue drone according to claim 2, characterized in that: The motion control module (9) is mounted between the inner frame (6) and the head of the outer frame (5), and comprises a flight control module (91), a flight control support frame (7) and a shock absorbing support frame (8); the flight control support frame (7) is fixedly mounted between the inner frame (6) and the outer frame (5); the shock absorbing support frame (8) is fixedly mounted on the flight control support frame (7); the flight control module (91) is fixedly mounted on the shock absorbing support frame (8); and the shock absorbing support frame (8) is used to reduce the influence of vibration on the flight control module (91).

5. The modular water rescue drone according to claim 4, characterized in that: The flight control module (91) is equipped with a six-axis gyroscope, and through data collection and calculation, the attitude angle, three-axis acceleration and change trend data of the UAV are obtained in real time. Through a cascade PID control method, the flight control module (91) can dynamically adjust the thrust of the rotor module (3) to achieve multi-mode switching between hovering on the water surface, flying in the air and taking off and landing on the water surface.

6. The modular water rescue drone according to claim 1, characterized in that: The rotor module (3) is mounted on a motor frame (4), and comprises a propeller (31), a brushless motor (15) and a protective cover (2); the brushless motor (15) is mounted on the motor frame (4), and is directly powered by a power supply module (13) to provide stable power output; the propeller (31) is fixedly mounted on an output shaft of the brushless motor (15); the propeller (31) is powered by the brushless motor (15); the protective cover (2) is mounted outside the motor frame (4) to prevent the rotor from being damaged by the external environment and to protect the surrounding environment from interference by the rotor; the rotor module (3) can achieve precise thrust adjustment through dynamic control of a flight control module (91).

7. The modular water rescue drone according to claim 2, characterized in that: The power supply module (13) is installed between the inner frame (6) and the tail of the outer frame (5), and comprises a power supply support frame (12) and a lithium battery (131); the power supply support frame (12) is fixedly installed between the inner frame (6) and the outer frame (5); the lithium battery (131) is fixedly installed on the power supply support frame (12) to supply power to the motion control module (9) and the rotor module (3).

8. The modular water rescue drone according to claim 1, characterized in that: The buoyancy module (1) is installed around the outer frame (5) of the main frame, and comprises a high-strength waterproof airbag, an airbag fixing frame (16) and an airbag cover (11); the airbag fixing frame (16) is fixed by the edge of the outer frame (5); the high-strength waterproof airbag is fixed on the airbag fixing frame (16); and the airbag cover (11) covers the high-strength waterproof airbag to protect the high-strength waterproof airbag.

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