Shipborne unmanned aerial vehicle and water-land-air combined transportation method thereof

Abstract

The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a shipborne unmanned aerial vehicle and a water-land-air combined transportation method thereof. The shipborne unmanned aerial vehicle comprises a shipborne endurance device, the shipborne endurance device comprises a hollow hull, a solar cell panel is fixedly connected to the upper portion of the hollow hull, a storage battery is fixedly connected to the upper portion of the hollow hull, and a sleeve is fixedly connected to the upper portion of the hollow hull; the outer ring face of the sleeve is sleeved with a loading cabin, the upper portion of the hollow ship body is fixedly connected with a full electric controller, and the loading cabin can be centered and clamped through relative movement of the two sets of centering clamping plates. The gravity center of the loading cabin and the gravity center of the loading unmanned aerial vehicle are kept consistent, so that airflow vortex interference borne by the loading unmanned aerial vehicle when the loading cabin is carried by the loading unmanned aerial vehicle to fly can be reduced, and then the flying stability of the loading unmanned aerial vehicle can be improved; and through limitation of the limiting rods, the situation that the goods in the carrying cabin body are damaged due to the fact that the carrying cabin body slides off can be prevented, and then the integrity of the goods in the carrying cabin body in the transportation process can be improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicles, and in particular to a ship-borne unmanned aerial vehicle and a water, land and air combined transport method thereof. Background Art

[0002] Shipborne drones are unmanned aerial vehicles that use various types of ships as carriers and are controlled by radio remote control equipment or their own program control devices. They can perform various tasks in the marine environment, such as monitoring ships, assisting in search and rescue, and environmental testing. They have the advantages of improved response speed, increased surveillance range, high cost-effectiveness, strong data collection and analysis capabilities, and flexibility and portability.

[0003] In the prior art, the drone takes off from a ship-borne platform and flies to the destination according to a preset route or operating instructions. During the flight, it monitors the flight status and surrounding environment in real time through the onboard sensors, cameras and other equipment. After arriving, it releases the cargo in the mounting device to the designated location, then returns according to the instructions and lands smoothly on the ship-borne platform, completing the entire transportation mission.

[0004] There are still some problems in the actual application of the above scheme. Although the existing ship-borne drones can complete the transportation task, when the drones perform low-altitude operations in the city, the airflow around high-rise buildings in the urban environment is relatively complex, and various airflow vortices and turbulence will be formed. When the drone flies near these buildings, the cargo compartment will be affected by the lateral force, which will cause the cargo compartment to shift, and the shift of the cargo compartment will cause the overall center of gravity of the drone to change. When the cargo compartment is shifted to one side due to the lateral force, the drone will tilt, which will affect the stability of the drone during flight. Secondly, the airflow vortex will interfere with the flight stability of the drone, causing the drone to bump or change its attitude. When this interference is strong enough, it will affect the clamping stability between the cargo compartment and the drone, thereby causing the cargo compartment to slip. During the sliding process of the cargo compartment, the cargo will be squeezed by the cargo compartment or other cargo, resulting in changes in shape, such as deformation and distortion.

[0005] To this end, the present invention provides a ship-borne unmanned aerial vehicle and a water, land and air combined transport method thereof. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve the technical problem is as follows: a ship-borne UAV described in the present invention includes a ship-borne endurance device, the ship-borne endurance device includes a hollow hull, a solar panel is fixedly connected to the top of the hollow hull, a battery is fixedly connected to the top of the hollow hull, a sleeve is fixedly connected to the top of the hollow hull, a cargo cabin is sleeved on the outer annular surface of the sleeve, a fully-powered controller is fixedly connected to the top of the hollow hull, a cargo-carrying UAV is arranged above the fully-powered controller, and a centering clamping mechanism is arranged at the bottom of the cargo-carrying UAV;

[0008] The centering clamping mechanism includes a fixed base plate fixed to the bottom of the cargo-carrying UAV, and two groups of centering clamping plates are relatively slidably arranged under the fixed base plate. The cargo cabin can be clamped through the relative movement of the two groups of centering clamping plates, thereby reducing the airflow vortex interference to the cargo-carrying UAV when it flies with the cargo cabin.

[0009] Preferably, the solar panels, batteries, cargo compartment and fully powered controller are on the same horizontal plane and arranged in sequence, the solar panels, batteries and fully powered controller are connected via lines, the upper part of the fully powered controller is plugged into the bottom of both wings of the cargo carrying UAV, and the arrangement of the solar panels and batteries can increase the battery life of the entire device.

[0010] Preferably, a first electric cylinder is fixedly connected to the lower portion of the fixed base plate near the side, a first telescopic rod is slidably connected inside the first electric cylinder, a fixed block is fixedly connected to one end of the first telescopic rod, and a sliding plate is fixedly connected inside the fixed block.

[0011] Preferably, the movement of the first telescopic rod can provide power support for the movement of subsequent devices.

[0012] Preferably, the bottom of the fixed base plate is fixedly connected to a guide block, the guide block is slidably connected to a sliding block, the sliding plate is fixedly connected to the bottom of the sliding block, the bottom of the sliding plate is fixedly connected to a centering clamping plate, the bottom of the sliding plate is rotatably connected to a first pulling rod, the other end of the first pulling rod is rotatably connected to a rotating long plate through a pin shaft, a rotating rod is provided in the middle of the rotating long plate, the rotating long plate is rotatably connected to the inside of the rotating long plate, and the bottom of one side of the rotating long plate is rotatably connected to a second pulling rod through a pin shaft.

[0013] Preferably, the setting of the guide block can provide limiting and support for the movement of the sliding plate, thereby improving the stability of the sliding plate movement, and the rotation of the rotating long plate can drive the second pulling rod and the first pulling rod to contract and expand, thereby driving the two sets of centering clamping plates to move synchronously, so that the cargo cabin can be clamped in the middle part below the cargo-carrying drone, reducing the airflow vortex interference to the cargo-carrying drone when flying with the cargo cabin.

[0014] Preferably, a rotation limiting mechanism for limiting is arranged on the side of the centering clamping mechanism, and the rotation limiting mechanism includes a second electric cylinder, a second telescopic rod is slidably connected inside the second electric cylinder, one end of the second telescopic rod is rotatably connected to a downward pressing rotating column, a sliding ball is fixedly connected to the outer ring surface of the downward pressing rotating column, a fixed cylinder column is fixedly connected to the side of the centering clamping plate, a guide groove is provided inside the fixed cylinder column, a steering plate is fixedly connected to the bottom of the downward pressing rotating column, and a limiting rod is fixedly connected to the upper part of the steering plate.

[0015] Preferably, the guide groove body is composed of a vertical groove and an arc groove, and the angle between the two groove bodies is greater than ninety degrees. The cooperation between the arc groove of the guide groove body and the sliding ball can drive the steering plate to rotate one hundred and eighty degrees, so that the top of the steering plate can fit with the bottom of the cargo compartment, and then can provide support for the cargo compartment when the cargo-carrying UAV is flying. The setting of the limit rod can limit the cargo compartment, thereby preventing the cargo compartment from sliding.

[0016] A water, land and air combined transport method for a ship-borne drone, specifically comprising:

[0017] Preliminary preparation: transport the cargo hold to the cargo loading location, load the cargo to be transported into the cargo hold, and dock the hollow hull in the river at the cargo loading location;

[0018] Ship transportation stage: transport the cargo-filled cargo cabin to the top of the hollow hull and insert the cargo cabin into the casing. At this time, start the cargo drone and drive the hollow hull along the predetermined route through the cargo drone.

[0019] Drone transportation stage: when the hollow hull reaches the river channel nearest to the unloading point, the cargo-carrying drone will detach from the hollow hull. When the bottom of the cargo-carrying drone is close to the cargo compartment, the first electric cylinder will be started. At this time, the first electric cylinder will drive the first telescopic rod to move in the direction of the first electric cylinder, and at the same time drive the sliding plate to move synchronously. When the sliding plate moves, the rotating long plate will be pushed by the first pulling rod to rotate around the rotating long plate. At this time, the second pulling rod will also move synchronously, and then it can drive another set of centering clamping plates connected to one side of the second pulling rod to move, so that the cargo compartment can be center-clamped.

[0020] The drone transportation stage is specifically as follows: when the bottom of the cargo-carrying drone is close to the cargo cabin, the first electric cylinder is started, and at this time the first telescopic rod sliding inside the first electric cylinder will drive the sliding plate to move linearly along the guide of the guide block, and while moving, the first pulling rod will press against the rotating long plate to rotate around the rotating rod in the middle thereof, and when the rotating rod rotates, it will move with the second pulling rod on the other side thereof, and while moving, it will drive another set of sliding plates to move synchronously, and when the two sets of sliding plates move linearly synchronously toward the middle of the fixed bottom plate, it will drive the two sets of centering clamping plates to move linearly synchronously, thereby clamping and limiting the cargo cabin.

[0021] The beneficial effects of the present invention are as follows:

[0022] 1. The present invention starts the first electric cylinder to drive the sliding plate to move. Since the bottom of the sliding block and the top of the sliding plate are fixed, and the sliding block slides on the outer annular surface of the guide block, the sliding plate will be restricted by the guide block to move in a straight line while moving, and will push the first pulling rod to move synchronously while moving. Since the first pulling rod and the rotating long plate are rotated by the pin shaft, the rotating long plate will be synchronously driven to rotate around the rotating rod in the middle thereof while the first pulling rod moves. At the same time, since the other side of the rotating long plate also has a second pulling rod rotatably connected by the pin shaft, when the rotating long plate rotates When the two sets of sliding plates move relative to each other, the two sets of centering clamping plates will be driven to move synchronously, thereby clamping the cargo hold. The relative movement of the two sets of centering clamping plates can clamp the cargo hold, so that the center of gravity of the cargo hold and the drone are kept consistent, thereby reducing the airflow vortex interference on the drone when carrying the cargo hold, thereby improving the stability of the flight of the drone.

[0023] 2. The present invention uses the linear motion of the downward pressing rotating column. Since the arc groove of the fixed cylinder is opened half a circle around the inner ring surface of the fixed cylinder, the steering plate fixed at the bottom of the downward pressing rotating column will drive the limit rod to rotate 180 degrees when the sliding ball slides to the other side of the arc groove of the guide groove body. At this time, the upper part of the steering plate will be completely in contact with the bottom of the cargo compartment, and the limit rod will be in contact with the side of the lower part of the cargo compartment. The steering plate can provide corresponding support for the cargo compartment during the flight of the cargo-carrying UAV. At the same time, since the upper part of the steering plate is relatively rough, the friction between the cargo compartment and the steering plate can be increased. At the same time, the limitation of the limit rod can prevent the cargo compartment from sliding off and causing damage to the cargo inside the cargo compartment, thereby improving the integrity of the cargo inside the cargo compartment during transportation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below in conjunction with the accompanying drawings.

[0025] Figure 1 It is a schematic diagram of the overall structure of a preferred embodiment of the present invention;

[0026] Figure 2 It is a schematic diagram of the position structure of the sleeve and the cargo compartment shown in the present invention;

[0027] Figure 3 It is a schematic diagram of the position structure of the shipborne endurance device and the centering clamping mechanism shown in the present invention;

[0028] Figure 4 It is a schematic diagram of the three-dimensional structure of the centering clamping mechanism shown in the present invention;

[0029] Figure 5 The present invention shows Figure 4 The enlarged structural diagram at A in the middle;

[0030] Figure 6 It is a schematic diagram of the position structure of the centering clamping mechanism and the rotation limiting mechanism shown in the present invention;

[0031] Figure 7 It is a schematic diagram of the three-dimensional structure of the rotation limiting mechanism shown in the present invention;

[0032] Figure 8 It is a schematic diagram of the internal structure of the fixed column shown in the present invention.

[0033] In the figure: 1. Shipboard endurance device; 101. Hollow hull; 102. Solar panel; 103. Battery; 104. Casing; 105. Cargo compartment; 106. Full power controller;

[0034] 2. Cargo drones;

[0035] 3. Centering clamping mechanism; 301. Fixed bottom plate; 302. First electric cylinder; 303. First telescopic rod; 304. Fixed block; 305. Sliding plate; 306. Centering clamping plate; 307. Guide block; 308. Sliding block; 309. First pulling rod; 310. Rotating long plate; 311. Rotating rod; 312. Second pulling rod;

[0036] 4. Rotation limiting mechanism; 401. second electric cylinder; 402. second telescopic rod; 403. downward pressing rotation column; 404. sliding ball; 405. fixed cylinder; 406. guide groove body; 407. steering plate; 408. limiting rod. DETAILED DESCRIPTION

[0037] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0038] Embodiment 1

[0039] like Figures 1 to 8 As shown, one embodiment of the present invention is:

[0040] A shipborne drone, comprising a shipborne endurance device 1, wherein the shipborne endurance device 1 comprises a hollow hull 101, a solar panel 102 is fixedly connected to the top of the hollow hull 101, a battery 103 is fixedly connected to the top of the hollow hull 101, a sleeve 104 is fixedly connected to the top of the hollow hull 101, a cargo cabin 105 is sleeved on the outer annular surface of the sleeve 104, a fully-powered controller 106 is fixedly connected to the top of the hollow hull 101, a cargo-carrying drone 2 is arranged above the fully-powered controller 106, and a centering clamping mechanism 3 is arranged at the bottom of the cargo-carrying drone 2;

[0041] The centering clamping mechanism 3 includes a fixed base plate 301 fixed to the bottom of the cargo-carrying drone 2, and two groups of centering clamping plates 306 are relatively slidably arranged below the fixed base plate 301. The cargo cabin 105 can be clamped through the relative movement of the two groups of centering clamping plates 306, thereby reducing the airflow vortex interference to the cargo-carrying drone 2 when carrying the cargo cabin 105 during flight, thereby improving the stability of the flight of the cargo-carrying drone 2.

[0042] Specifically, when a drone performs low-altitude operations in a city, the airflow around tall buildings in the city is complex, which will form various airflow vortices and turbulence. When the drone flies near these buildings, the cargo compartment will be affected by the lateral force, which will cause the cargo compartment to shift. The shift of the cargo compartment will cause the overall center of gravity of the drone to change. When the cargo compartment is shifted to one side by the lateral force, the drone will tilt, which will affect the stability of the drone when carrying cargo.

[0043] Therefore, the present invention solves this problem by setting a certain structure, and the cargo cabin 105 filled with cargo is put on the sleeve 104, and the cargo-carrying UAV 2 is started. When the cargo-carrying UAV 2 is started, it will drive the hollow hull 101 to sail along the predetermined route in the river, and convert light energy into electrical energy through the solar panel 102 during the navigation, and store the converted electrical energy in the battery 103 through the line. When the cargo-carrying UAV 2 needs to be recharged, the full-power controller 106 will transmit the electrical energy in the battery 103 to the cargo-carrying UAV 2 through the line. When the predetermined route is reached, the cargo-carrying UAV 2 is started. At this time, the cargo-carrying UAV 2 will carry the cargo cabin 105 for low-altitude navigation. However, when the UAV performs low-altitude operations in the city, the airflow around high-rise buildings in the urban environment is relatively complex, which will form various air When the drone flies near these buildings, the cargo compartment will be affected by the lateral force, which will cause the cargo compartment to shift. The shift of the cargo compartment will cause the overall center of gravity of the drone to change. When the cargo compartment is shifted to one side due to the lateral force, the drone will tilt, which will affect the stability of the drone during flight. At this time, the centering clamping mechanism 3 is started. When the centering clamping mechanism 3 is started, the two sets of centering clamping plates 306 sliding under the fixed bottom plate 301 will synchronously move in a straight line toward the middle of the fixed bottom plate 301, so that the cargo compartment 105 can be center-clamped, so that the center of gravity of the cargo compartment 105 and the cargo-carrying drone 2 are consistent, thereby reducing the airflow vortex interference on the cargo-carrying drone 2 when carrying the cargo compartment 105, thereby improving the stability of the flight of the cargo-carrying drone 2.

[0044] like Figure 4 As shown, in this embodiment, the lower part of the fixed base plate 301 is fixedly connected to a first electric cylinder 302 near the side, the first electric cylinder 302 is slidably connected to a first telescopic rod 303, one end of the first telescopic rod 303 is fixedly connected to a fixed block 304, and the fixed block 304 is fixedly connected to a sliding plate 305.

[0045] Specifically, when the hollow hull 101 sails to the river channel closest to the unloading point, the cargo-carrying drone 2 is started. When the bottom of the cargo-carrying drone 2 is close to the cargo cabin 105, the first electric cylinder 302 is started. At this time, the first electric cylinder 302 will pull the first telescopic rod 303 sliding inside it to move in a straight line, and at the same time, it will pull the sliding plate 305 through the fixed block 304 to move synchronously. The pulling of the first telescopic rod 303 can provide corresponding power support for the operation of subsequent equipment.

[0046] like Figure 4 and Figure 5As shown, in this embodiment, the fixed base plate 301 is fixedly connected to a guide block 307 at the bottom, and a sliding block 308 is slidably connected inside the guide block 307. The sliding plate 305 is fixedly connected to the bottom of the sliding block 308, and a centering clamping plate 306 is fixedly connected to the bottom of the sliding plate 305. The bottom of the sliding plate 305 is rotatably connected to a first pulling rod 309, and the other end of the first pulling rod 309 is rotatably connected to a rotating long plate 310 through a pin shaft. A rotating rod 311 is provided in the middle of the rotating long plate 310, and the rotating long plate 310 is rotatably connected to the inside of the rotating long plate 310. The bottom of one side of the rotating long plate 310 is rotatably connected to a second pulling rod 312 through a pin shaft.

[0047] Specifically, when the sliding plate 305 moves, since the bottom of the sliding block 308 and the top of the sliding plate 305 are fixed, and the sliding block 308 slides on the outer annular surface of the guide block 307, the sliding plate 305 will be restricted by the guide block 307 to move in a straight line while moving, and will push the first pulling rod 309 to move synchronously while moving. Since the first pulling rod 309 and the rotating long plate 310 are rotated by a pin shaft, the rotating long plate 310 will be synchronously driven to rotate around the rotating rod 311 in the middle thereof while the first pulling rod 309 moves. At the same time, since the other side of the rotating long plate 310 is also rotatably connected to the second pulling rod 312 by the pin shaft, the second pulling rod 312 will be synchronously pulled to move when the rotating long plate 310 rotates, and the other set of sliding plates 305 will be pulled to move in a straight line while moving.

[0048] Since the bottom of the two groups of sliding plates 305 are fixed with centering clamping plates 306, when the two groups of sliding plates 305 perform relative linear motion, the two groups of centering clamping plates 306 will be driven to move synchronously, thereby achieving the clamping effect on the cargo compartment 105. The relative movement of the two groups of centering clamping plates 306 can center-clamp the cargo compartment 105, so that the center of gravity of the cargo compartment 105 and the cargo-carrying drone 2 are kept consistent, thereby reducing the airflow vortex interference to the cargo-carrying drone 2 when carrying the cargo compartment 105, thereby improving the stability of the flight of the cargo-carrying drone 2.

[0049] like Figure 7 and Figure 8As shown, a rotation limiting mechanism 4 for limiting is arranged on the side of the centering clamping mechanism 3 described in this embodiment, and the rotation limiting mechanism 4 includes a second electric cylinder 401, and a second telescopic rod 402 is slidably connected inside the second electric cylinder 401, and a downward pressing rotating column 403 is rotatably connected at one end of the second telescopic rod 402, and a sliding ball 404 is fixedly connected to the outer ring surface of the downward pressing rotating column 403, and a fixed column 405 is fixedly connected to the side of the centering clamping plate 306, and a guide groove body 406 is opened inside the fixed column 405, and a steering plate 407 is fixedly connected to the bottom of the downward pressing rotating column 403, and a limiting rod 408 is fixedly connected to the upper part of the steering plate 407.

[0050] Specifically, when the centering clamping mechanism 3 completes its work, the second electric cylinder 401 is started. At this time, the second electric cylinder 401 will push the second telescopic rod 402 inside it to perform linear motion, and at the same time drive the downward pressing rotating column 403 to perform synchronous motion. At this time, the sliding ball 404 fixed on the outer ring surface of the downward pressing rotating column 403 is in the vertical groove of the guide groove body 406, so at this time, the downward pressing rotating column 403 will drive the steering plate 407 and the limit rod 408 to perform linear motion. When the sliding ball 404 slides along the guide of the guide groove body 406 to the junction of the vertical groove and the arc groove, the upper part of the steering plate 407 fixed at the bottom of the downward pressing rotating column 403 will be slightly higher than the bottom of the cargo compartment 105, and the second electric cylinder 401 will continue to push the second telescopic rod 402 to perform linear motion. At this time, the sliding ball 404 will slide into the arc groove of the guide groove body 406 and slide along the arc groove;

[0051] Since the arc groove of the fixed cylinder 405 is opened half a circle around the inner ring surface of the fixed cylinder 405, the steering plate 407 fixed at the bottom of the downward pressing rotating column 403 will drive the limiting rod 408 to rotate 180 degrees when the sliding ball 404 slides to the other side of the arc groove of the guide groove body 406. At this time, the upper part of the steering plate 407 will be completely in contact with the bottom of the cargo compartment 105, and the limiting rod 408 will be in contact with the side of the lower part of the cargo compartment 105. The steering plate 407 can provide corresponding support for the cargo compartment 105 during the flight of the cargo-carrying drone 2. At the same time, since the upper part of the steering plate 407 is relatively rough, the friction between the cargo compartment 105 and the steering plate 407 can be increased. At the same time, the limitation of the limiting rod 408 can prevent the cargo compartment 105 from slipping and causing damage to the cargo inside the cargo compartment 105, thereby improving the integrity of the cargo inside the cargo compartment 105 during transportation.

[0052] Embodiment 2

[0053] like Figures 1 to 8As shown, compared with Example 1, another embodiment of the present invention is: a water, land and air combined transportation method of a ship-borne drone, the specific steps include:

[0054] Preliminary preparation: transport the cargo compartment 105 to the cargo loading location, load the cargo to be transported into the cargo compartment 105, and dock the hollow hull 101 in the river at the cargo loading location;

[0055] Ship transportation stage: transport the cargo-filled cargo hold 105 to the top of the hollow hull 101, and insert the cargo hold 105 into the sleeve 104, then start the cargo-carrying drone 2, and drive the hollow hull 101 along the predetermined route through the cargo-carrying drone 2;

[0056] UAV transportation stage: when the hollow hull 101 reaches the river channel closest to the unloading point, the cargo-carrying UAV 2 will leave the hollow hull 101, and when the bottom of the cargo-carrying UAV 2 is close to the cargo compartment 105, the first electric cylinder 302 is started. At this time, the first electric cylinder 302 will drive the first telescopic rod 303 to move in the direction of the first electric cylinder 302, and at the same time drive the sliding plate 305 to move synchronously. When the sliding plate 305 moves, the rotating long plate 310 will be pushed to rotate around the rotating long plate 310 through the first pulling rod 309. At this time, the second pulling rod 312 will also move synchronously, and then it can drive another set of centering clamping plates 306 connected to one side of the second pulling rod 312 to move, so that the cargo compartment 105 can be center-clamped.

[0057] Specifically, the drone transportation stage is as follows: when the bottom of the cargo-carrying drone 2 is close to the cargo compartment 105, the first electric cylinder 302 is started, and the first telescopic rod 303 sliding inside the first electric cylinder 302 will drive the sliding plate 305 to move linearly along the guide of the guide block 307, and while moving, the first pulling rod 309 will press against the rotating long plate 310 to rotate around the rotating rod 311 in the middle thereof, and when the rotating rod 311 rotates, it will drive the second pulling rod 312 on the other side to move, and while moving, it will drive another set of sliding plates 305 to move synchronously, and when the two sets of sliding plates 305 move linearly synchronously toward the middle of the fixed bottom plate 301, it will drive the two sets of centering clamping plates 306 to move linearly synchronously, thereby clamping and limiting the cargo compartment 105.

[0058] Working principle: when the hollow hull 101 sails to the river channel closest to the unloading point, the cargo-carrying drone 2 is started. When the bottom of the cargo-carrying drone 2 is close to the cargo cabin 105, the first electric cylinder 302 is started. At this time, the first electric cylinder 302 will pull the first telescopic rod 303 sliding inside it to move in a straight line, and at the same time, it will pull the sliding plate 305 through the fixed block 304 to move synchronously. The pulling of the first telescopic rod 303 can provide corresponding power support for the operation of subsequent equipment.

[0059] When the sliding plate 305 moves, since the bottom of the sliding block 308 and the top of the sliding plate 305 are fixed, and the sliding block 308 slides on the outer annular surface of the guide block 307, the sliding plate 305 will be restricted by the guide block 307 to move in a straight line while moving, and will push the first pulling rod 309 to move synchronously while moving. Since the first pulling rod 309 and the rotating long plate 310 are rotated by a pin shaft, the rotating long plate 310 will be driven to rotate around the rotating rod 311 in the middle thereof while the first pulling rod 309 moves. At the same time, since the other side of the rotating long plate 310 is also connected to the second pulling rod 312 by a pin shaft, the second pulling rod 312 will be pulled synchronously to move when the rotating long plate 310 rotates, and will pull another set of sliding plates 305 to move in a straight line while moving.

[0060] Since the bottom of the two groups of sliding plates 305 are fixed with centering clamping plates 306, when the two groups of sliding plates 305 perform relative linear motion, the two groups of centering clamping plates 306 will be driven to move synchronously, thereby achieving the clamping effect on the cargo compartment 105. The relative movement of the two groups of centering clamping plates 306 can center-clamp the cargo compartment 105, so that the center of gravity of the cargo compartment 105 and the cargo-carrying drone 2 are kept consistent, thereby reducing the airflow vortex interference to the cargo-carrying drone 2 when carrying the cargo compartment 105, thereby improving the stability of the flight of the cargo-carrying drone 2.

[0061] When the centering clamping mechanism 3 completes its work, the second electric cylinder 401 is started. At this time, the second electric cylinder 401 will push the second telescopic rod 402 inside it to perform linear motion, and at the same time drive the downward pressing rotating column 403 to perform synchronous motion. At this time, the sliding ball 404 fixed on the outer ring surface of the downward pressing rotating column 403 is in the vertical groove of the guide groove body 406, so at this time, the downward pressing rotating column 403 will drive the steering plate 407 and the limit rod 408 to perform linear motion. When the sliding ball 404 slides along the guide of the guide groove body 406 to the junction of the vertical groove and the arc groove, the upper part of the steering plate 407 fixed at the bottom of the downward pressing rotating column 403 will be slightly higher than the bottom of the cargo compartment 105, and the second electric cylinder 401 will continue to push the second telescopic rod 402 to perform linear motion. At this time, the sliding ball 404 will slide into the arc groove of the guide groove body 406 and slide along the arc groove;

[0062] Since the arc groove of the fixed cylinder 405 is opened half a circle around the inner ring surface of the fixed cylinder 405, the steering plate 407 fixed at the bottom of the downward pressing rotating column 403 will drive the limiting rod 408 to rotate 180 degrees when the sliding ball 404 slides to the other side of the arc groove of the guide groove body 406. At this time, the upper part of the steering plate 407 will be completely in contact with the bottom of the cargo compartment 105, and the limiting rod 408 will be in contact with the side of the lower part of the cargo compartment 105. The steering plate 407 can provide corresponding support for the cargo compartment 105 during the flight of the cargo-carrying drone 2. At the same time, since the upper part of the steering plate 407 is relatively rough, the friction between the cargo compartment 105 and the steering plate 407 can be increased. At the same time, the limitation of the limiting rod 408 can prevent the cargo compartment 105 from slipping and causing damage to the cargo inside the cargo compartment 105, thereby improving the integrity of the cargo inside the cargo compartment 105 during transportation.

[0063] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A shipborne drone, comprising a shipborne endurance device (1), the shipborne endurance device (1) comprising a hollow hull (101), a solar panel (102) being fixedly connected to the top of the hollow hull (101), a battery (103) being fixedly connected to the top of the hollow hull (101), a sleeve (104) being fixedly connected to the top of the hollow hull (101), a cargo compartment (105) being sleeved on the outer annular surface of the sleeve (104), a fully electric controller (106) being fixedly connected to the top of the hollow hull (101), a cargo-carrying drone (2) being arranged above the fully electric controller (106), characterized in that: The bottom of the cargo-carrying drone (2) is provided with a centering clamping mechanism (3); The centering clamping mechanism (3) comprises a fixed bottom plate (301) fixed to the bottom of the cargo-carrying drone (2), and two sets of centering clamping plates (306) are relatively slidably arranged below the fixed bottom plate (301). The cargo cabin (105) can be center-clamped through the relative movement of the two sets of centering clamping plates (306), so that the center of gravity of the cargo cabin (105) and the cargo-carrying drone (2) are kept consistent, thereby reducing the airflow vortex interference to which the cargo-carrying drone (2) is subjected when carrying the cargo cabin (105) in flight.

2. A shipborne UAV according to claim 1, characterized in that: The solar panel (102), storage battery (103), cargo cabin (105) and fully-powered controller (106) are located on the same horizontal plane and are arranged in sequence. The solar panel (102), storage battery (103) and fully-powered controller (106) are connected via a line. The upper part of the fully-powered controller (106) is plugged into the bottom of two wings of the cargo-carrying drone (2). The arrangement of the solar panel (102) and storage battery (103) can increase the flight time of the entire device.

3. A shipborne UAV according to claim 1, characterized in that: A first electric cylinder (302) is fixedly connected to the lower part of the fixed base plate (301) near the side surface, a first telescopic rod (303) is slidably connected inside the first electric cylinder (302), a fixed block (304) is fixedly connected to one end of the first telescopic rod (303), and a sliding plate (305) is fixedly connected inside the fixed block (304).

4. A shipborne UAV according to claim 3, characterized in that: The movement of the first telescopic rod (303) can provide power support for the movement of subsequent devices.

5. The shipborne UAV according to claim 3, characterized in that: The bottom of the fixed base plate (301) is fixedly connected to a guide block (307), the inside of the guide block (307) is slidably connected to a sliding block (308), the sliding plate (305) is fixedly connected to the bottom of the sliding block (308), the bottom of the sliding plate (305) is fixedly connected to a centering clamping plate (306), the bottom of the sliding plate (305) is rotatably connected to a first pulling rod (309), the other end of the first pulling rod (309) is rotatably connected to a rotating long plate (310) via a pin shaft, a rotating rod (311) is provided in the middle of the rotating long plate (310), the rotating long plate (310) is rotatably connected to the inside of the rotating long plate (310), and the bottom of one side of the rotating long plate (310) is rotatably connected to a second pulling rod (312) via a pin shaft.

6. A shipborne UAV according to claim 5, characterized in that: The setting of the guide block (307) can provide a limit and support for the movement of the sliding plate (305), thereby improving the stability of the movement of the sliding plate (305); the rotation of the rotating long plate (310) can drive the second pulling rod (312) and the first pulling rod (309) to contract and expand, thereby driving the two sets of centering clamping plates (306) to move synchronously, thereby enabling the cargo compartment (105) to be clamped in the middle below the cargo-carrying drone (2), thereby reducing the airflow vortex interference to the cargo-carrying drone (2) when carrying the cargo compartment (105) during flight.

7. The shipborne UAV according to claim 5, characterized in that: A rotation limiting mechanism (4) for limiting is arranged on the side of the centering clamping mechanism (3), and the rotation limiting mechanism (4) comprises a second electric cylinder (401), a second telescopic rod (402) is slidably connected inside the second electric cylinder (401), one end of the second telescopic rod (402) is rotatably connected to a downward pressing rotating column (403), a sliding ball (404) is fixedly connected to the outer ring surface of the downward pressing rotating column (403), a fixed cylinder column (405) is fixedly connected to the side of the centering clamping plate (306), a guide groove (406) is provided inside the fixed cylinder column (405), a steering plate (407) is fixedly connected to the bottom of the downward pressing rotating column (403), and a limiting rod (408) is fixedly connected to the upper part of the steering plate (407).

8. A shipborne UAV according to claim 7, characterized in that: The guide groove body (406) is composed of a vertical groove and an arc groove, and the angle between the two groove bodies is greater than ninety degrees. The cooperation between the arc groove of the guide groove body (406) and the sliding ball (404) can drive the steering plate (407) to rotate one hundred and eighty degrees, so that the top of the steering plate (407) can fit with the bottom of the cargo cabin (105), thereby providing support for the cargo cabin (105) when the cargo-carrying drone (2) flies. The setting of the limit rod (408) can limit the cargo cabin (105), thereby preventing the cargo cabin (105) from sliding.

9. A method for combined water, land and air transport of a ship-borne UAV, using the ship-borne UAV according to claim 1, characterized in that: Specifically: Preliminary preparation: transport the cargo compartment (105) to the cargo loading location, load the cargo to be transported into the cargo compartment (105), and dock the hollow hull (101) in the river channel at the cargo loading location; Ship transportation stage: transport the cargo-filled cargo hold (105) to the top of the hollow hull (101), and insert the cargo hold (105) into the casing (104), then start the cargo-carrying drone (2), and drive the hollow hull (101) along the predetermined route through the cargo-carrying drone (2); UAV transportation stage: when the hollow hull (101) reaches the river channel closest to the unloading point, the cargo-carrying UAV (2) will leave the hollow hull (101). When the bottom of the cargo-carrying UAV (2) is close to the cargo compartment (105), the first electric cylinder (302) is started. At this time, the first electric cylinder (302) will drive the first telescopic rod (303) to move in the direction of the first electric cylinder (302), and at the same time drive the sliding plate (305) to move synchronously. When the sliding plate (305) moves, it will push the rotating long plate (310) to rotate around the rotating long plate (310) through the first pulling rod (309). At this time, the second pulling rod (312) will also move synchronously, thereby being able to drive another set of centering clamping plates (306) connected to one side of the second pulling rod (312) to move, so that the cargo compartment (105) can be center-clamped.

10. The method for combined water, land and air transport of a ship-borne UAV according to claim 9, characterized in that: The drone transport stage is specifically as follows: when the bottom of the cargo-carrying drone (2) is close to the cargo compartment (105), the first electric cylinder (302) is started, and at this time, the first telescopic rod (303) sliding inside the first electric cylinder (302) drives the sliding plate (305) to move linearly along the guide of the guide block (307), and while moving, the first pulling rod (309) presses against the rotating long plate (310) to rotate around the rotating rod (311) in the middle thereof, and when the rotating rod (311) rotates, it drives the second pulling rod (312) on the other side thereof to move, and while moving, it drives another set of sliding plates (305) to move synchronously, and when the two sets of sliding plates (305) synchronously move linearly toward the middle of the fixed bottom plate (301), it drives the two sets of centering clamping plates (306) to move linearly synchronously, so that the cargo compartment (105) can be clamped and limited.

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