Unmanned aerial vehicle driving module with switchable water propeller and air propeller, unmanned aerial vehicle and switching method

Abstract

The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle driving module capable of switching a water propeller and an air propeller, an unmanned aerial vehicle and a switching method.The driving module capable of switching the water propeller and the air propeller comprises the water propeller, the air propeller, a motor, a motor mounting base, a first one-way bearing and a second one-way bearing, and the motor is provided with double output shafts and is mounted on the motor mounting base; inner and outer rings of the first one-way bearing are fixedly connected with an output shaft on one side of the motor and the empty paddle respectively, inner and outer rings of the second one-way bearing are fixedly connected with an output shaft on the other side of the motor and the water paddle respectively, and the water paddle is fixedly connected with the walking wheel; speed reducers with different reduction ratios can be arranged for empty propellers or water propellers according to needs. According to the scheme, the motors are controlled to rotate forwards or backwards to drive the empty propellers or the water propellers / the walking wheels to rotate, air flight, underwater sneaking, land movement and cross-domain movement switching are achieved in cooperation with the variable structure design of the unmanned aerial vehicle, and the integration and control complexity of the triphibian unmanned aerial vehicle is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles, and more specifically, to a water-to-air propeller switchable unmanned aerial vehicle drive module, an unmanned aerial vehicle, and a switching method. Background Art

[0002] Traditional robotic operations usually have only a limited mission space. For example, drones focus on aerial missions, underwater robots focus on underwater missions, and ground robots are used for ground missions in complex terrain. Each type of robot has a specially designed drive system to optimize its performance in a specific environment. However, in recent years, single-environment designs have become very limited in the face of increasingly complex missions. For example, disaster rescue missions usually require robots to traverse obstacles on land, fly over barriers in the air, and perform rescue operations in the water.

[0003] In order to realize the multi-scenario application of UAV, existing multi-purpose UAV usually needs to design a special drive system for each environment, such as an existing water-air conversion device and method based on a coaxial water-air dual-power UAV, the device includes a UAV body, an arm, a water propeller, a water motor, an underwater propeller, an underwater motor and a water depth sensor, wherein: a plurality of arms are arranged on the UAV body, and a water power unit and an underwater power unit are symmetrically installed at the end of each arm; the water power unit includes a water motor and a water propeller; the underwater power unit includes an underwater motor and an underwater propeller; the water power unit is installed on the upper side of the arm, and the underwater power unit is installed on the lower side of the arm. This scheme adopts two sets of water-air power systems to independently realize the underwater and water movements of the UAV, and realizes a smooth water-air transition through the water-air overlap zone control, thereby improving the flexibility and stability of the UAV. However, the UAV in this scheme designs a special drive system for each environment, so that the UAV relies on multiple motors and complex mechanical structures to realize driving and switching in different environments, which will increase the load of the UAV and reduce the working efficiency of the UAV. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiency in the prior art that a special drive system is designed for each environment of the UAV, which will increase the load of the UAV. A UAV drive module, a UAV and a switching method with switchable water-air propellers are provided. The solution of the present invention uses one power source to drive the UAV to switch between different environments, which can simplify the structure of the UAV and reduce the load of the UAV.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0006] Provided is a water-to-air propeller switchable unmanned aerial vehicle drive module, comprising a water propeller, an air propeller, a motor, a motor mounting seat, a first one-way bearing and a second one-way bearing, wherein the motor is a double-shaft motor, the motor is mounted on the motor mounting seat, the inner rings of the first one-way bearing and the second one-way bearing are respectively fixedly connected to the two output shafts at both ends of the motor, the outer ring of the first one-way bearing is fixedly connected to the connecting shaft of the air propeller through the first bearing fixing seat; the second one-way shaft is connected to the water propeller to drive the water propeller to move. The air propeller is a rotor, and the water propeller is a propeller.

[0007] When the UAV driving module of the present invention is working, the motor moves forward, and the two output shafts at both ends of the motor drive the inner ring of the first one-way bearing and the inner ring of the second one-way bearing to rotate respectively. At this time, the inner ring of the second one-way bearing can rotate in the outer ring of the second one-way bearing, that is, the outer ring of the second one-way bearing does not rotate at this time; and the inner ring of the first one-way bearing drives the outer ring of the first one-way bearing to rotate, that is, the outer ring of the first one-way bearing rotates synchronously with the output shaft of the motor. The outer ring of the first one-way bearing rotates and drives the first bearing fixing seat to rotate, and the first bearing fixing seat rotates and drives the empty propeller connected to the first bearing seat to rotate, and the empty propeller rotation can provide power for the UAV to move in the air. When the motor in the UAV driving module moves in the reverse direction, the inner ring of the first one-way bearing can rotate in the outer ring of the first one-way bearing, that is, the outer ring of the first one-way bearing does not rotate at this time; and the inner ring of the second one-way bearing drives the outer ring of the second one-way bearing to rotate, that is, the outer ring of the second one-way bearing rotates synchronously with the output shaft of the motor, and the outer ring of the second one-way bearing rotates and drives the water propeller connected to it to rotate, and the water propeller rotation provides power for the UAV to move in the water.

[0008] The UAV driving module of the present invention is provided with a dual-output motor and two one-way bearings, so that the motor can drive the empty propeller and the water propeller to move respectively when rotating forward or reverse, thereby completing the switching of the water propeller and the empty propeller of the UAV driving module. The UAV driving module is only provided with one motor as a power source, which can reduce the load of the UAV and improve the working efficiency of the UAV.

[0009] Furthermore, it also includes a deceleration unit that can reduce the rotation speed of the water propeller, the connection end of the deceleration unit is fixedly connected to the second one-way bearing, and the deceleration end of the deceleration unit is fixedly connected to the water propeller. The deceleration unit is a planetary deceleration unit, which includes a housing, a rotating bearing, an upper bearing seat, a lower bearing seat, a planetary gear set and a planet carrier. The lower bearing seat is fixedly connected to the motor mounting seat, the inner ring of the rotating bearing is fixedly connected to the lower bearing seat, the outer ring of the rotating bearing is fixedly connected to the upper bearing seat, and the upper bearing seat is provided with an internal gear that can mesh with the planetary gear in the planetary gear set. The first one-way bearing passes through the lower bearing seat and meshes with the sun gear in the planetary gear set. The planetary gear set is fixed in the housing through the planet carrier, and the housing is fixedly connected to the upper bearing seat through a flange, and the water propeller is fixedly connected to the housing. Since the resistance of water to the water propeller is greater than the resistance of air to the air propeller, the motor directly driving the water propeller cannot achieve a good movement effect. In order to adapt to the resistance of water to the water propeller, the speed reduction unit can reduce the rotation speed of the water propeller and increase the torque of the water propeller, so that the water propeller can drive the drone to move in the water. When the speed reduction unit is working, the second unidirectional shaft rotates to drive the sun gear in the planetary gear set to rotate, which drives the planetary gear set to rotate. The rotation of the planetary gear set drives the upper bearing seat to rotate on the lower bearing seat, and the rotation of the upper bearing seat directly drives the water propeller to rotate. The reduction ratio of the planetary speed reduction unit is 1:13.

[0010] Furthermore, it also includes a walking wheel, which is connected to the deceleration end of the deceleration unit. Since the resistance of the walking wheel when the UAV is walking on the ground is also greater than the resistance of the empty propeller rotating in the air, the walking wheel and the water propeller are connected to the UAV drive module through the same deceleration unit, which can reduce the rotation speed of the walking wheel and increase the torque of the walking wheel.

[0011] Furthermore, it also includes a waterproof shell, which is installed on the shell away from the motor. After the waterproof shell is additionally arranged on the shell, the parts in the speed reduction part can be further prevented from being corroded by water.

[0012] The present invention also provides a water-air propeller switchable drone, comprising a frame, a tripod, an arm, a driving unit, a driving module and an electric control compartment module, wherein the electric control compartment module is installed on the frame, one end of the arm is fixedly connected to the driving module, and the other end is rotatably connected to the frame, the driving unit can drive the arm to rotate on the frame, and the driving module is the above-mentioned water-air propeller switchable drone driving module, the tripod is fixedly connected to the frame, and the electric control compartment module is connected to the driving unit and the driving module. There are four tripods on the drone, and the four tripods are arranged in an array at the bottom of the drone frame; there are also four arms on the drone, and the arms of the four drones are arranged in an array on the drone frame, and each drone arm is connected to a driving module and a driving unit. The drone can drive the arm to rotate on the frame through the driving unit to change the direction of the driving module. When the rotating arm of the drone rotates under the drive of the driving unit until the walking wheel can contact the ground with the tripod instead of the tripod, the drone can walk on the ground through the walking wheel.

[0013] When the drone of the present invention is flying in the air, the motor in the drone driving module rotates forward to drive the outer ring of the first one-way bearing to rotate, thereby driving the air propeller of the drone to rotate. When the drone moves in the water, the motor in the drone driving module rotates reversely to drive the outer ring of the second one-way bearing to rotate, thereby driving the water propeller of the drone to rotate. When the direction of movement needs to be changed, the angle and driving force of the machine arm and the driving module are changed by the driving unit on the frame, thereby changing the direction of movement of the drone in the water. When the drone moves on land, the motor in the drone driving module rotates reversely to drive the outer ring of the second one-way bearing to rotate, thereby driving the running wheels of the drone to rotate. When the direction of movement needs to be changed, the angle of the driving module is changed by the driving unit, thereby changing the direction of movement of the drone on land.

[0014] The drone of the present invention is provided with the above-mentioned drone driving module so that the drone can complete amphibious movements while having a simpler structure, a smaller load and higher working efficiency.

[0015] Further, the driving unit includes a first steering gear, a second steering gear and a steering gear fixing frame, the machine arm includes a support tube and a coupling, the first steering gear is fixedly connected to the frame, the second steering gear is installed on the steering gear fixing frame, the driving end of the first steering gear is fixedly connected to the steering gear fixing frame, the driving end of the second steering gear is fixedly connected to the coupling, and the coupling and the motor mounting seat are respectively installed at both ends of the support tube. The first steering gear controls the angle between the machine arm and the frame, and the second steering gear controls the angle of the drive module.

[0016] Furthermore, the electric control cabin module includes a sealed cabin shell fixedly connected to the frame and a perception control component installed on the sealed cabin shell, and the perception control component can control the attitude and mode of the drone and its switching, as well as obtain external environment information and receive remote control signals. Specifically, the perception control component includes a depth camera, an RC receiver, a weak current waterproof switch, a data transmission module, a flight control board, an onboard computer, a WiFi antenna module, a GPS module, a transfer terminal, a steering gear voltage regulator module, a water depth sensor, a battery, an electric adjustment module and a MOS switch module installed in the sealed cabin shell. Among them, the MOS module is connected to the battery, the flight control board, the electric adjustment module, the onboard computer, and the steering gear voltage regulator module, and the power switch of the MOS module is controlled by the weak current waterproof switch. The flight control board is connected to the water depth sensor, the RC receiver, the data transmission module, the bus transfer terminal board, and the GPS module. The flight control board acts as a bottom-level controller to perform attitude control and mode switching control of the amphibious drone, and receives instructions from the onboard computer. The flight control board is connected to the ESC module and the outside of the drone through the adapter terminal to provide PWM control signals for the drone. At the same time, the servo is connected to the servo voltage regulator module to provide a stable 5V power supply for the servo. The onboard computer and the flight control board are connected through the serial port to issue planning control instructions and read the feedback data of the water depth sensor and GPS module; the onboard computer is connected to the depth camera to obtain the depth image perception data; the onboard computer is connected to the WiFi antenna module to obtain the remote control signal. Among them, the WiFi antenna module, RC receiver and GPS module are waterproofed and pass through the top of the sealed cabin shell to receive stable signals. The ESC module and the MOS module generate a lot of heat during operation, so they are connected to the metal material part of the fuselage through a heat conductive sheet for heat dissipation.

[0017] The present invention also provides a method for switching a water-air-propeller switchable UAV, wherein the UAV is the above-mentioned water-air-propeller switchable UAV.

[0018] When the drone moves from the air to the water, the drone reduces the speed of the motor in the air until the water paddle of the drone extends into the water, and then the motor of the drone reverses to drive the water paddle to move;

[0019] When the drone moves from the air to the land, the drone reduces the speed of the motor in the air until the tripod of the drone contacts the ground, and then the driving unit changes the angle of the machine arm to make the walking wheel contact the ground, at which time the motor of the drone reverses to drive the walking wheel to move;

[0020] When the drone moves toward land in the water, the drone passes close to the shore, and the driving unit changes the angle of the machine arm to make the running wheel contact the ground. Then the motor of the drone continues to reverse and drives the running wheel to land and move on the ground.

[0021] The drone switching method in this scheme enables the drone to successfully complete amphibious switching between water, land and air.

[0022] Preferably, when the drone moves from the water surface to the land, it can also first move to the air and then move from the air to the ground. This switching method is suitable for scenes where the height difference between the water surface and the land is large and the walking wheels cannot cross from the water surface to the ground.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] The present invention provides a switchable UAV driving module with water and air propellers. The dual-output motor and two one-way bearings are arranged so that the motor can respectively drive the air propeller and the water propeller to move when rotating forward or reverse, thereby completing the switching of the water propeller and the air propeller of the UAV driving module. The UAV driving module only has one motor as a power source, which can reduce the load of the UAV and improve the working efficiency of the UAV.

[0025] The water-air propeller switchable UAV of the present invention can complete amphibious movements, and the structure of the UAV is simpler, the load is smaller, and the work efficiency is higher.

[0026] The switching method of a water-air propeller switchable drone of the present invention enables the drone to smoothly complete amphibious switching between water, land and air. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 The schematic diagram is a structural diagram of a UAV drive module with switchable water-air propellers;

[0028] Figure 2 This is an exploded view of a drone drive module with switchable water-air propellers;

[0029] Figure 3 The schematic diagram of the structure of a UAV with switchable water-air propellers is shown;

[0030] Figure 4 The schematic diagram of the structure of the arm of a UAV with switchable water-air propellers;

[0031] Figure 5 The schematic diagram of the structure of the frame and the sensing control components of a UAV with switchable water-air propellers;

[0032] Figure 6 A schematic diagram of a motion state of a UAV with switchable water-air propellers;

[0033] Figure 7 A schematic diagram of another motion state of a drone with switchable water-air propellers;

[0034] Figure 8 The third motion state diagram of a UAV with switchable water-air propellers;

[0035] Fig. 9 The fourth motion state diagram of a UAV with switchable water-air propellers.

[0036] In the attached figure: 1, water propeller; 2, empty propeller; 3, motor; 4, motor mounting seat; 5, first one-way bearing; 6, second one-way bearing; 7, first bearing fixing seat; 8, housing; 9, rotating bearing; 10, upper bearing seat; 11, lower bearing seat; 12, planetary gear set; 13, planetary carrier; 14, running wheel; 15, waterproof housing; 16, frame; 17, tripod; 18, machine arm; 19, first steering gear; 20, second steering gear; 21, rudder Aircraft fixing frame; 181, support tube; 182, coupling; 22, sealed cabin; 23, depth camera; 24, RC receiver; 25, weak current waterproof switch; 26, data transmission module; 27, flight control board; 28, onboard computer; 29, WiFi antenna module; 30, GPS module; 31, adapter terminal; 32, servo voltage regulator module; 33, water depth sensor; 34, battery; 35, electric control module; 36, MOS switch module. DETAILED DESCRIPTION

[0037] The present invention is further described below in conjunction with specific implementation methods. The accompanying drawings are only used for exemplary descriptions and are only schematic diagrams, not actual drawings, and cannot be understood as limiting this patent; in order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the accompanying drawings may be omitted.

[0038] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0039] Embodiment 1

[0040] This embodiment is an embodiment of a UAV drive module with switchable water-air propellers. Figure 1 and Figure 2As shown, it includes a water propeller 1, an empty propeller 2, a motor 3, a motor mounting seat 4, a first one-way bearing 5, a first bearing fixing seat 7 and a second one-way bearing 6. The motor 3 is a double-shaft motor 3. The inner rings of the first one-way bearing 5 and the second one-way bearing 6 are respectively fixedly connected to the two output shafts at both ends of the motor 3. The outer ring of the first one-way bearing 5 is fixedly connected to the connecting shaft of the empty propeller 2 through the first bearing fixing seat 7. The second one-way bearing 6 is connected to the water propeller 1 to drive the water propeller 1 to move. The empty propeller 2 is a rotor, and the water propeller 1 is a propeller.

[0041] Specifically, it also includes a speed reduction unit that can reduce the rotation speed of the water propeller 1. The connection end of the speed reduction unit is fixedly connected to the second one-way bearing 6, and the speed reduction end of the speed reduction unit is fixedly connected to the water propeller 1. The speed reduction unit is a planetary speed reduction unit, which includes a housing 8, a rotating bearing 9, an upper bearing seat 10, a lower bearing seat 11, a planetary gear set 12 and a planet carrier 13. The lower bearing seat 11 is fixedly connected to the motor mounting seat 4, the inner ring of the rotating bearing 9 is fixedly connected to the lower bearing seat 11, the outer ring of the rotating bearing 9 is fixedly connected to the upper bearing seat 10, and the upper bearing seat 10 is provided with an internal gear that can mesh with the planetary gear in the planetary gear set 12. The first one-way bearing 5 passes through the lower bearing seat 11 and meshes with the sun gear in the planetary gear set 12. The planetary gear set 12 is fixed in the housing 8 through the planet carrier 13. The housing 8 is fixedly connected to the upper bearing seat 10 through a flange, and the water propeller 1 is fixedly connected to the housing 8.

[0042] Specifically, it also includes a running wheel 14 and a waterproof shell 15, and the running wheel 14 is connected to the speed reduction end of the speed reduction part. The waterproof shell 15 is installed on the shell 8 at one end away from the motor 3.

[0043] The working principle or working process of this embodiment is as follows: when the UAV driving module is working, the motor 3 moves forward, and the two output shafts at both ends of the motor 3 respectively drive the inner ring of the first one-way bearing 5 and the inner ring of the second one-way bearing 6 to rotate. At this time, the inner ring of the second one-way bearing 6 can rotate inside the outer ring of the second one-way bearing 6, that is, the outer ring of the second one-way bearing 6 does not rotate at this time; and the inner ring of the first one-way bearing 5 drives the outer ring of the first one-way bearing 5 to rotate, that is, the outer ring of the first one-way bearing 5 rotates synchronously with the output shaft of the motor 3. The outer ring of the first one-way bearing 5 rotates to drive the first bearing fixing seat 7

[0044] Rotate, the first bearing fixing seat 7 rotates to drive the empty propeller 2 connected to the first bearing seat 7 to rotate, and the rotation of the empty propeller 2 can provide power for the UAV to move in the air. When the motor 3 in the UAV driving module moves in the opposite direction, the inner ring of the first one-way bearing 5 can rotate inside the outer ring of the first one-way bearing 5, that is, the outer ring of the first one-way bearing 5 does not rotate at this time; and the inner ring of the second one-way bearing 6 drives the outer ring of the second one-way bearing 6 to rotate, that is, the outer ring of the second one-way bearing 6 rotates synchronously with the output shaft of the motor 3, and the outer ring of the second one-way bearing 6 rotates to drive the sun gear in the planetary gear set 12 to rotate, and the planetary gear set 12 rotates to drive the upper bearing seat 10 to rotate on the lower bearing seat 11, and the upper bearing seat 10 rotates to drive the outer shell 8 to rotate, and the outer shell 8 rotates to drive the water paddle 1 and the walking wheel 14 to rotate.

[0045] The beneficial effects of this embodiment are as follows:

[0046] The UAV driving module of this embodiment is equipped with a dual-output motor 3 and two one-way bearings, so that the motor 3 can drive the empty propeller 2 and the water propeller 1 to move respectively when rotating forward or reverse, thereby completing the switching of the water propeller 1 and the empty propeller 2 of the UAV driving module. The UAV driving module only has one motor 3 as a power source, which can reduce the load of the UAV and improve the working efficiency of the UAV.

[0047] The provision of the deceleration unit can reduce the rotation speed of the water paddle 1, increase the torque of the water paddle 1, and facilitate the water paddle 1 to drive the drone to move in the water. After the running wheels 14 are provided, the drone can move on the ground. After the outer shell 8 is additionally provided with a waterproof shell 15, the parts in the deceleration unit can be further prevented from being corroded by water.

[0048] Embodiment 2

[0049] This embodiment is an embodiment of a drone with switchable water-air propellers. Figure 3-Figure 5As shown, it includes a frame 16, a tripod 17, an arm 18, a drive unit, a drive module and an electric control compartment module. The electric control compartment module is installed on the frame 16. One end of the arm 18 is fixedly connected to the drive module, and the other end is rotatably connected to the frame 16. The drive unit can drive the arm 18 to rotate on the frame 16. The drive module is a water-air propeller switchable drone drive module described in Example 1. The tripod 17 is fixedly connected to the frame 16, and the electric control compartment module is connected to the drive unit and the drive module. There are four tripods 17 on the drone, and the four tripods 17 are arranged in an array at the bottom of the drone frame 16; there are also four arms 18 on the drone, and the arms 18 of the four drones are arranged in an array on the drone frame 16. Each drone arm 18 is connected to a drive module and a drive unit. The UAV can drive the arm 18 to rotate on the frame 16 through the driving unit to change the direction of the driving module. When the rotating arm 18 of the UAV is driven by the driving unit to rotate until the walking wheel 14 can contact the ground instead of the tripod 17, the UAV can walk on the ground through the walking wheel 14.

[0050] Specifically, the driving unit includes a first steering gear 19, a second steering gear 20 and a steering gear fixing frame 21, the arm 18 includes a support tube 181 and a coupling 182, the first steering gear 19 is fixedly connected to the frame 16, the second steering gear 20 is installed on the steering gear fixing frame 21, the driving end of the first steering gear 19 is fixedly connected to the steering gear fixing frame 21, the driving end of the second steering gear 20 is fixedly connected to the coupling 182, and the coupling 182 and the motor mounting seat 4 are respectively installed at both ends of the support tube 181.

[0051] Specifically, the electric control cabin module includes a sealed cabin shell 22 fixedly connected to the frame 16 and a perception control component installed in the sealed cabin shell 22. The perception control component can control the attitude and mode of the drone and its switching, as well as obtain external environment information and receive remote control signals. The perception control component includes a depth camera 23, an RC receiver 24, a weak current waterproof switch 25, a data transmission module 26, a flight control board 27, an onboard computer 28, a WiFi antenna module 29, a GPS module 30, a bus adapter terminal 31 board, a steering gear voltage regulator module 32, a water depth sensor 33, a battery 34, an electric adjustment module 35 and a MOS switch module 36. Among them, the MOS module is connected to the battery 34, the flight control board 27, the electric adjustment module 35, the onboard computer 28, and the steering gear voltage regulator module 32, and the power switch of the MOS module is controlled by the weak current waterproof switch 25. The flight control board 27 is connected to the water depth sensor 33, the RC receiver 24, the data transmission module 26, the bus adapter terminal 31 board, and the GPS module 30. The flight control board 27 acts as the bottom controller to control the attitude and mode switching of the amphibious UAV, and receives instructions from the onboard computer 28. The flight control board 27 is connected to the electric adjustment module 35 and the outside of the UAV through the adapter terminal 31 to provide PWM control signals for the UAV, and the servo is connected to the servo voltage regulator module 32 to provide a stable 5V power supply for the servo. The onboard computer 28 and the flight control board 27 are connected through the serial port to issue planning control instructions and read the feedback data of the water depth sensor 33 and the GPS module 30; the onboard computer 28 is connected to the depth camera 23 to obtain depth image perception data; the onboard computer 28 is connected to the WiFi antenna module 29 to obtain remote control signals. The WiFi antenna module 29, the RC receiver 24 and the GPS module 30 are waterproofed and pass through the top of the sealed cabin shell 22 to receive stable signals. The electric adjustment module 35 and the MOS module generate a lot of heat during operation, so they are connected to the metal material part of the fuselage through a heat conductive sheet for heat dissipation.

[0052] The working principle or working process of this embodiment is as follows:

[0053] When the drone is flying in the air, the motor 3 in the drone driving module rotates forward to drive the outer ring of the first one-way bearing 5 to rotate, thereby driving the drone's air propeller 2 to rotate. When the drone moves in the water, the motor 3 in the drone driving module rotates in reverse to drive the outer ring of the second one-way bearing 6 to rotate, thereby driving the drone's water propeller 1 to rotate. When the direction of movement needs to be changed, the angle and driving force of the arm 18 and the driving module are changed by the driving unit on the frame 16, thereby changing the direction of movement of the drone in the water. When the drone needs to move on land, the motor 3 in the drone driving module rotates in reverse to drive the outer ring of the second one-way bearing 6 to rotate, thereby driving the drone's running wheel 14 to rotate, and the angle of the arm 18 is changed by the driving unit on the frame 16, so that the running wheel 14 contacts the ground. When the direction of movement needs to be changed, the angle of the driving module is changed by the driving unit, thereby changing the direction of movement of the drone on land.

[0054] The beneficial effects of this embodiment are as follows:

[0055] The drone of this embodiment can perform amphibious motion, and the structure of the drone is simpler, the load is smaller, and the working efficiency is higher. The first steering gear 19 controls the angle between the arm 18 and the frame 16, and the second steering gear 20 controls the angle of the drive module.

[0056] Embodiment 3

[0057] This embodiment is an embodiment of a method for switching a water-air propeller 2 switchable UAV. The UAV in this embodiment is the UAV described in Embodiment 2.

[0058] Specifically, the process of the drone switching between air and water is as follows:

[0059] In the initial state, if Figure 6 As shown, the drone takes off in flight mode, and the four air propellers 2 on the drone generate upward thrust driven by the motor 3, so that the drone leaves the ground, and the lifting and lateral movement of the drone are controlled by adjusting the rotation speed of the air propellers 2. When the drone approaches the water surface, it begins to prepare to switch from the air mode to the water mode. First, the drone prepares to land and float on the water surface. After the drone lands on the water surface, the drone stops the forward rotation of the motor 3 and switches to the underwater mode. The motor 3 will start to rotate in the opposite direction and drive the water propeller 1 to rotate through the planetary reduction unit, so that the water propeller 1 generates effective thrust, thereby pushing the drone forward in the water. At the same time, the perception control component will make real-time adjustments according to the underwater fluid resistance to ensure the stable movement and precise navigation of the drone underwater.

[0060] In the water mode, Figure 7As shown, the drone controls the first steering gear 19 to rotate the arm 18 180 degrees so that the thrust vector direction is completely downward, and performs underwater diving. When the drone is hovering on the water surface by buoyancy, the first steering gear 19 rotates the arm 18 90 degrees so that the water propeller 1 is perpendicular to the water surface, so that the drone can be quickly propelled on the water surface. At this time, the drone can both float stably and glide on the water surface.

[0061] When the drone needs to switch from the water mode to the air mode, the drone pushes itself upwards towards the water surface by the rotation of the water propeller 1. When the water depth sensor 33 detects that it is close to the water surface, the second steering gear 20 drives the arm 18 to rotate a certain angle, so that the water propeller 1 and the air propeller 2 on the driving module are adjusted back to the horizontal state. Figure 6 As shown, it is prepared for the upcoming air mode. In the air mode, the propeller rotates in the forward direction without a reduction ratio, and the motor 3 directly drives the air propeller 2 to rotate in the forward direction, providing the necessary lift for the drone to rise from the water surface.

[0062] Specifically, the drone's land-air switching process is as follows:

[0063] The drone lowers its flight altitude by reducing the rotation speed of the air propeller 2. The thrust is gradually reduced to ensure a smooth landing. After the drone touches the ground smoothly, the drone stands on the ground with the tripod 17. Figure 6 At this time, the second steering gear 20 controls the arm 18 to rotate 90 degrees, so that the running wheel 14 is perpendicular to the ground, ensuring that the running wheel 14 of the UAV in the land mode can stably contact the ground, and can also ensure that the friction between the side of the running wheel 14 and the ground is reduced when switching modes. After completing the attitude adjustment, the first steering gear 19 controls the arm 18 to rotate 90 degrees toward the ground, and the UAV switches to the land mode, as shown in FIG. Figure 8 As shown, the UAV can smoothly perform tasks in various ground environments by controlling the rotation of the running wheels 14, such as completing exploration, transportation and other ground operations.

[0064] When the drone switches from the land mode to the air mode, the first servo 19 and the second servo 20 rotate 90 degrees in the opposite direction to adjust the running wheel 14 to the off-ground state. The forward rotation of the motor 3 drives the empty propeller 2 to rotate, and the rotation of the empty propeller 2 generates enough lift to lift the drone from the ground. In this process, the drone needs to adjust the speed and angle of the empty propeller 2 in order to take off smoothly and avoid any possible bumps or instability. After the drone successfully takes off, it maintains a stable flight by adjusting the speed and attitude of the empty propeller 2, and adjusts the direction and altitude according to the mission requirements.

[0065] Specifically, the switching process of the drone between water and land is as follows:

[0066] When the drone is sailing in the water, it must first approach the shore and prepare to switch from mode to mode. In the process of approaching the shore, the drone gradually adjusts the water propeller 1 to adapt to the transition from water to land. After approaching the shore, the drone begins to prepare to land by adjusting the posture of the arm 18, such as Fig. 9 Until the first steering gear 19 rotates the arm 18 90 degrees, the drone is propped up by the arm 18, so that the drone is lifted off the water surface, and the running wheels 14 are perpendicular to the ground, ready to enter the land mode, as shown. Figure 8 As shown. The rotation of the arm 18 stabilizes the center of gravity of the drone, ensuring that the drone can be smoothly transferred from water to land. Once the drone is completely lifted off the water and the arm 18 is adjusted to the correct posture, the drone moves on the shore through the steering wheel steering system in the ground mode to achieve a smooth transition to land.

[0067] The drone moves in land mode using a steering wheel steering system. When the drone is ready to switch from mode to mode, it drives along a predetermined route to a position close to the water's edge. After reaching the water's edge, the drone gradually enters the water. When entering the water, the drone needs to adjust its attitude to adapt to different media. After the drone is completely in the water, the arm 18 rotates 90 degrees in the opposite direction to the water mode. This adjustment converts the drone's attitude from the land mode to the water mode attitude suitable for the underwater environment. The drone generates the required thrust by controlling the angle and rotation speed of the water propeller 1 to adapt to the underwater environment and the surface environment.

[0068] Specifically, when the height difference between the water surface and the land is large, and the drone needs to switch from the water mode to the land mode in order to stably hover on the water surface, it can first switch to the air mode, and then switch from the air mode to the land mode after flying in the air above the land. Similarly, when the height difference between the land and the water surface is large, and the drone needs to switch from the land mode to the water mode, it can first switch from the land mode to the air mode, and then switch from the air mode to the water mode after flying in the air above the water surface.

[0069] The beneficial effects of this embodiment are as follows:

[0070] The UAV amphibious switching method of this embodiment enables the UAV to successfully complete amphibious switching between water, land and air.

[0071] In the specific contents of the above-mentioned specific implementation methods, the various technical features can be combined in any non-contradictory manner. In order to make the description concise, not all possible combinations of the above-mentioned technical features are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0072] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. 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 embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A UAV drive module with switchable water-air propeller, characterized in that: The invention comprises a water propeller (1), an empty propeller (2), a motor (3), a motor mounting seat (4), a first one-way bearing (5) and a second one-way bearing (6), wherein the motor (3) is a double-output shaft motor (3), the motor (3) is mounted on the motor mounting seat (4), the inner rings of the first one-way bearing (5) and the second one-way bearing (6) are respectively fixedly connected to two output shafts at two ends of the motor (3), the outer ring of the first one-way bearing (5) is fixedly connected to the connecting shaft of the empty propeller (2) through a first bearing fixing seat (7); the second one-way shaft is connected to the water propeller (1) to drive the water propeller (1) to move.

2. The water-air propeller switchable UAV drive module according to claim 1 is characterized in that: It also includes a speed reducing unit capable of reducing the rotation speed of the water propeller (1), wherein the connecting end of the speed reducing unit is fixedly connected to the second one-way bearing (6), and the speed reducing end of the speed reducing unit is fixedly connected to the water propeller (1).

3. The water-air propeller switchable UAV drive module according to claim 2 is characterized in that: The deceleration unit is a planetary deceleration unit, comprising a housing (8), a rotary bearing (9), an upper bearing seat (10), a lower bearing seat (11), a planetary gear set (12) and a planet carrier (13); the lower bearing seat (11) is fixedly connected to the motor mounting seat (4); the inner ring of the rotary bearing (9) is fixedly connected to the lower bearing seat (11); the outer ring of the rotary bearing (9) is fixedly connected to the upper bearing seat (10); an internal gear that can mesh with the planetary gear in the planetary gear set (12) is provided on the upper bearing seat (10); the outer ring of the first one-way bearing (5) passes through the lower bearing seat (11) and meshes with the sun gear in the planetary gear set (12); the planetary gear set (12) is fixed in the housing (8) through the planet carrier (13); the housing (8) is fixedly connected to the upper bearing seat (10) through a flange; and the water propeller (1) is fixedly connected to the housing (8).

4. The water-air propeller switchable UAV drive module according to claim 2 is characterized in that: It also includes a running wheel (14), wherein the running wheel (14) is connected to the speed reduction end of the speed reduction part.

5. The water-air propeller switchable UAV drive module according to claim 3 is characterized in that: It also comprises a waterproof housing (15), wherein the waterproof housing (15) is mounted on an end of the housing (8) away from the motor (3).

6. A drone with switchable water and air propellers, characterized in that: The invention comprises a frame (16), a tripod (17), an arm (18), a driving unit, a driving module and an electric control compartment module, wherein the electric control compartment module is installed on the frame (16), one end of the arm (18) is fixedly connected to the driving module, and the other end is rotatably connected to the frame (16), the driving unit can drive the arm (18) to rotate on the frame (16), the driving module is a water-air propeller switchable unmanned aerial vehicle driving module as described in any one of claims 1 to 5, the tripod (17) is fixedly connected to the frame (16), and the electric control compartment module is connected to the driving unit and the driving module.

7. The UAV with switchable water-air propeller according to claim 6, characterized in that: The driving unit comprises a first steering gear (19), a second steering gear (20) and a steering gear fixing frame (21); the machine arm (18) comprises a support tube (181) and a coupling (182); the first steering gear (19) is fixedly connected to the machine frame (16); the second steering gear (20) is mounted on the steering gear fixing frame (21); the driving end of the first steering gear (19) is fixedly connected to the steering gear fixing frame (21); the driving end of the second steering gear (20) is fixedly connected to the coupling (182); the coupling (182) and the motor mounting seat (4) are respectively mounted on two ends of the support tube (181).

8. The UAV with switchable water and air propeller according to claim 7, characterized in that: The electric control cabin module comprises a sealed cabin shell (22) fixedly connected to the frame (16) and a sensing control component installed on the sealed cabin shell (22), wherein the sensing control component can control the attitude and mode of the drone and their switching, as well as obtain external environment information and receive remote control signals.

9. A method for switching a water-to-air propeller switchable UAV, characterized in that: The drone is a drone with switchable water-air propellers as claimed in claim 8, When the drone moves from the air to the water, the drone reduces the rotation speed of the motor (3) in the air until the water paddle (1) of the drone extends into the water, and then the motor (3) of the drone reverses to drive the water paddle (1) to move; When the drone moves from the air to the land, the drone reduces the rotation speed of the motor (3) in the air until the tripod (17) of the drone contacts the ground, and then the driving unit changes the angle of the machine arm (18) to make the running wheel (14) contact the ground, at which time the motor (3) of the drone reverses to drive the running wheel (14) to move; When the drone moves from water to land, the drone passes close to the shore, and the driving unit changes the angle of the machine arm (18) so that the running wheel (14) contacts the ground. Then the motor (3) of the drone continues to reverse and drives the running wheel (14) to move on the ground after landing.

10. The method for switching a water-air-propeller switchable UAV according to claim 9, characterized in that: When the UAV moves from the water surface to the land, it first moves to the air and then moves from the air to the ground.

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