A water-air propeller switchable unmanned aerial vehicle driving module, unmanned aerial vehicle and switching method

Abstract

The present application relates to the technical field of unmanned aerial vehicle, more particularly to a water-air propeller switchable unmanned aerial vehicle driving module, unmanned aerial vehicle and switching method, the water-air propeller switchable driving module comprises water propeller, air propeller, motor, motor mounting seat, first one-way bearing and second one-way bearing, the motor is provided with double output shafts and is installed on the motor mounting seat, the inner and outer rings of the first one-way bearing are fixedly connected with the one side output shaft of the motor and the air propeller respectively, the inner and outer rings of the second one-way bearing are fixedly connected with the other side output shaft of the motor and the water propeller respectively, and the water propeller is fixedly connected with the running wheel; a speed reducer with different speed reduction ratios can be arranged for the air propeller or the water propeller according to needs.The scheme can drive the air propeller or water propeller / running wheel to rotate by controlling the forward rotation or reverse rotation of the motor, realizes the switching of aerial flight, underwater diving, land movement and cross-domain movement by cooperating with the variable structure design of the unmanned aerial vehicle, and reduces the integration and control complexity of the triphibian unmanned aerial vehicle.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, and more particularly to an unmanned aerial vehicle driving module with switchable water and air propellers, an unmanned aerial vehicle, and a switching method. BACKGROUND

[0002] Traditional robots are usually limited to a specific task space, for example, unmanned aerial vehicles are designed for aerial tasks, underwater robots are designed for underwater tasks, and ground robots are designed for complex terrain tasks. Each type of robot has a specially designed driving system to optimize its performance in a specific environment. However, in recent years, the design of a single environment has become very limited in the face of increasingly complex tasks, for example, disaster rescue tasks usually require robots to traverse obstacles on land, fly over barriers in the air, and perform rescue operations in water.

[0003] To achieve multi-scene application of unmanned aerial vehicles, existing multi-environment unmanned aerial vehicles usually need to design a special driving system for each environment. For example, an existing water-air conversion device and method based on a coaxial water-air dual-power unmanned aerial vehicle includes an unmanned aerial vehicle body, an arm, a water propeller, a water motor, an underwater propeller, an underwater motor, and a water depth sensor. The unmanned aerial vehicle body is provided with a plurality of arms, 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, and 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 uses two sets of power systems to independently realize underwater and water movement of the unmanned aerial vehicle, and realizes smooth water-air transition through the water-air overlap area, thereby improving the flexibility and stability of the unmanned aerial vehicle. However, the unmanned aerial vehicle in this scheme is designed with a special driving system for each environment, which makes the unmanned aerial vehicle rely on multiple motors and complex mechanical structures to realize driving and switching in different environments, thereby increasing the load of the unmanned aerial vehicle and reducing the working efficiency of the unmanned aerial vehicle. SUMMARY

[0004] The present application aims to overcome the problem of additional load on the unmanned aerial vehicle when a special driving system is designed for each environment in the prior art, and provides an unmanned aerial vehicle driving module with switchable water and air propellers, an unmanned aerial vehicle, and a switching method. The present application uses one power source to drive the unmanned aerial vehicle to switch between different environments, which can simplify the structure of the unmanned aerial vehicle and reduce the load of the unmanned aerial vehicle.

[0005] To solve the above technical problems, the technical solution adopted by the present application is as follows:

[0006] The application provides a water-aerial propeller switchable unmanned aerial vehicle driving module, which comprises a water propeller, an aerial propeller, a motor, a motor mounting seat, a first one-way bearing and a second one-way bearing, the motor is a double-output 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 fixedly connected with two output shafts at two ends of the motor respectively, the outer ring of the first one-way bearing is fixedly connected with a connecting shaft of the aerial propeller through a first bearing fixing seat, and the second one-way bearing is connected with the water propeller to drive the water propeller to move. The aerial propeller is a rotor, and the water propeller is a screw propeller.

[0007] When the unmanned aerial vehicle driving module works, the motor moves forward, the inner rings of the first one-way bearing and the second one-way bearing are driven to rotate by two output shafts at two ends of the motor 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 drives the first bearing fixing seat to rotate, the first bearing fixing seat drives the aerial propeller connected with the first bearing seat to rotate, and the aerial propeller rotation can provide power for the unmanned aerial vehicle to move in the air. When the motor in the unmanned aerial vehicle driving module moves reversely, at this time, 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 drives the water propeller connected with the second one-way bearing to rotate, and the water propeller rotation provides power for the unmanned aerial vehicle to move in water.

[0008] The unmanned aerial vehicle driving module provided by the application can drive the aerial propeller and the water propeller to move respectively when the motor rotates forward or reversely, the switching of the aerial propeller and the water propeller of the unmanned aerial vehicle driving module is completed, only one motor is arranged as a power source in the unmanned aerial vehicle driving module, the load of the unmanned aerial vehicle can be reduced, and the working efficiency of the unmanned aerial vehicle is improved.

[0009] Further, a speed reduction part is further included, a connecting end of the speed reduction part is fixedly connected with the second one-way bearing, and a speed reduction end of the speed reduction part is fixedly connected with the water propeller. The speed reduction part is a planetary speed reduction part, which includes an outer shell, 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 with the motor mounting seat, an inner ring of the rotating bearing is fixedly connected with the lower bearing seat, and an outer ring of the rotating bearing is fixedly connected with the upper bearing seat. The upper bearing seat is provided with an internal gear which can be engaged with the planetary gears in the planetary gear set. The first one-way bearing is engaged with a sun gear in the planetary gear set through the lower bearing seat. The planetary gear set is fixed in the outer shell through the planet carrier. The outer shell is fixedly connected with the upper bearing seat through a flange. The water propeller is fixedly connected with the outer shell. 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 good movement effect. In order to adapt to the resistance of water to the water propeller, the speed reduction part is arranged to reduce the rotation speed of the water propeller, increase the torque of the water propeller, and facilitate the water propeller to drive the unmanned aerial vehicle to move in water. When the speed reduction part works, the second one-way bearing rotates to drive the sun gear in the planetary gear set to rotate, the planetary gear set rotates to drive the upper bearing seat to rotate on the lower bearing seat, and the upper bearing seat directly drives the water propeller to rotate. The speed reduction ratio of the planetary speed reduction part is 1:13.

[0010] Further, a walking wheel is further included, which is connected with the speed reduction end of the speed reduction part. Since the resistance received by the walking wheel when the unmanned aerial vehicle walks on the ground is also greater than the resistance of the air propeller rotating in the air, the walking wheel and the water propeller are connected with the unmanned aerial vehicle driving module through the same speed reduction part, which can reduce the rotation speed of the walking wheel and improve the torque of the walking wheel.

[0011] Further, a waterproof shell is further included, which is mounted on the outer shell away from the motor. After the waterproof shell is additionally arranged on the outer shell, the parts in the speed reduction part can be further prevented from being rusted by water.

[0012] The application further provides a water-air propeller switchable unmanned aerial vehicle, which comprises a frame, a foot support, an arm, a driving part, a driving module and an electric control bin module, the electric control bin module is installed on the frame, one end of the arm is fixedly connected with the driving module, the other end is rotationally connected with the frame, the driving part can drive the arm to rotate on the frame, the driving module is the water-air propeller switchable unmanned aerial vehicle driving module, the foot support is fixedly connected with the frame, and the electric control bin module is connected with the driving part and the driving module. The foot support on the unmanned aerial vehicle has four foot supports which are arranged in an array at the bottom of the frame of the unmanned aerial vehicle; the arm on the unmanned aerial vehicle also has four arms which are arranged in an array on the frame of the unmanned aerial vehicle, and each arm of the unmanned aerial vehicle is connected with a driving module and a driving part. The unmanned aerial vehicle can drive the arm to rotate on the frame through the driving part, and the direction of the driving module can be changed; when the arm of the unmanned aerial vehicle is rotated to the position where the walking wheels can be in contact with the ground by the driving of the driving part, the unmanned aerial vehicle can walk on the ground through the walking wheels.

[0013] When the unmanned aerial vehicle flies in the air, the motor in the unmanned aerial vehicle driving module rotates in the forward direction to drive the outer ring of the first one-way bearing to rotate, thereby driving the air propeller of the unmanned aerial vehicle to rotate. When the unmanned aerial vehicle moves in water, the motor in the unmanned aerial vehicle driving module rotates in the reverse direction to drive the outer ring of the second one-way bearing to rotate, thereby driving the water propeller of the unmanned aerial vehicle to rotate; when it is necessary to change the moving direction, the angle and driving force of the arm and the driving module are changed through the driving part on the frame, thereby changing the moving direction of the unmanned aerial vehicle in water. When the unmanned aerial vehicle moves on land, the motor in the unmanned aerial vehicle driving module rotates in the reverse direction to drive the outer ring of the second one-way bearing to rotate, thereby driving the walking wheels of the unmanned aerial vehicle to rotate; when it is necessary to change the moving direction, the angle of the driving module is changed through the driving part, thereby changing the moving direction of the unmanned aerial vehicle on land.

[0014] The unmanned aerial vehicle of the application can complete triphibian movement, and has simpler structure, smaller load and higher working efficiency due to the arrangement of the unmanned aerial vehicle driving module.

[0015] Further, the driving part comprises a first steering gear, a second steering gear and a steering gear fixing frame, the arm comprises a support pipe and a shaft coupling, the first steering gear is fixedly connected with 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 with the steering gear fixing frame, the driving end of the second steering gear is fixedly connected with the shaft coupling, and the shaft coupling and the motor mounting seat are respectively installed at two ends of the support pipe. The first steering gear controls the included angle between the arm and the frame, and the second steering gear controls the angle of the driving module.

[0016] Further, the electric control cabin module comprises a sealed cabin shell fixedly connected with the frame and a sensing control assembly installed on the sealed cabin shell, which can control the attitude and mode of the unmanned aerial vehicle and switching thereof, and obtain external environment information and receive remote control signals. Specifically, the sensing control assembly comprises a depth camera, an RC receiver, a weak current waterproof switch, a data transmission module, a flight control board, an on-board computer, a WiFi antenna module, a GPS module, a switching terminal, a servo stabilizing module, a water depth sensor, a battery, an electronic speed controller module and a MOS switch module, which are installed in the sealed cabin shell. The MOS module is connected with the battery, the flight control board, the electronic speed controller module, the on-board computer and the servo stabilizing module, and the power switch of the MOS module is controlled to be off through the weak current waterproof switch. The flight control board is connected with the water depth sensor, the RC receiver, the data transmission module, the bus switching terminal plate and the GPS module, and the flight control board serves as a bottom controller to control the attitude and mode switching of the tri-copter unmanned aerial vehicle and receive instructions issued by the on-board computer. The flight control board provides PWM control signals for the unmanned aerial vehicle by being connected with the electronic speed controller module and the outside of the unmanned aerial vehicle through the switching terminal, and the servo is connected with the servo stabilizing module to obtain stable 5V power supply. The on-board computer is connected with the flight control board through a serial port to issue planning control instructions and read feedback data of the water depth sensor and the GPS module; the on-board computer is connected with the depth camera to obtain depth image sensing data; and the on-board computer is connected with the WiFi antenna module to obtain remote control signals. The WiFi antenna module, the RC receiver and the GPS module are penetrated out of the top of the sealed cabin shell after waterproof treatment, and are used to receive stable signals. The electronic speed controller module and the MOS module generate a large amount of heat during work, and are connected with the metal part of the machine body through heat dissipation fins for heat dissipation.

[0017] The application further provides a switching method of the water-air-propeller switchable unmanned aerial vehicle.

[0018] When the unmanned aerial vehicle moves from air to water, the motor speed of the unmanned aerial vehicle is reduced in air until the water propeller of the unmanned aerial vehicle is immersed in water, and then the motor of the unmanned aerial vehicle is reversed to drive the water propeller to move.

[0019] When the unmanned aerial vehicle moves from air to land, the motor speed of the unmanned aerial vehicle is reduced in air until the foot stand of the unmanned aerial vehicle is in contact with the ground, and then the driving part changes the angle of the arm to make the walking wheel in contact with the ground, at this time, the motor of the unmanned aerial vehicle is reversed to drive the walking wheel to move on the ground.

[0020] When the unmanned aerial vehicle moves from water to land, the unmanned aerial vehicle approaches the shore, the angle of the arm is changed by the driving part to make the walking wheel in contact with the ground, and then the motor of the unmanned aerial vehicle continues to be reversed to drive the walking wheel to move on the ground after landing.

[0021] The unmanned aerial vehicle switching method in the scheme enables the unmanned aerial vehicle to successfully complete the triphibian switching of water, land and air.

[0022] Preferably, the unmanned aerial vehicle can first move towards the air when moving from the water surface to the land, and then move from the air to the ground.

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

[0024] The water-air paddle switchable unmanned aerial vehicle driving module comprises a double-output motor and two one-way bearings, so that the motor can drive the air paddle and the water paddle to move respectively when the motor rotates forward or reversely, the switching of the water paddle and the air paddle of the unmanned aerial vehicle driving module is completed, only one motor is arranged as a power source in the unmanned aerial vehicle driving module, the load of the unmanned aerial vehicle can be reduced, and the working efficiency of the unmanned aerial vehicle is improved.

[0025] The water-air paddle switchable unmanned aerial vehicle can complete triphibian movement, has a simpler structure, smaller load and higher working efficiency.

[0026] The switching method of the water-air paddle switchable unmanned aerial vehicle enables the unmanned aerial vehicle to successfully complete the triphibian switching of water, land and air. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a structural schematic view of a water-air paddle switchable unmanned aerial vehicle driving module;

[0028] Figure 2 It is an exploded view of a water-air paddle switchable unmanned aerial vehicle driving module;

[0029] Figure 3 It is a structural schematic view of a water-air paddle switchable unmanned aerial vehicle;

[0030] Figure 4 It is a structural schematic view of a water-air paddle switchable unmanned aerial vehicle arm;

[0031] Figure 5 It is a structural schematic view of a water-air paddle switchable unmanned aerial vehicle frame and sensing control assembly;

[0032] Figure 6 It is a schematic view of a water-air paddle switchable unmanned aerial vehicle in a movement state;

[0033] Figure 7 It is another schematic view of a water-air paddle switchable unmanned aerial vehicle in a movement state;

[0034] Figure 8 It is a third schematic view of a water-air paddle switchable unmanned aerial vehicle in a movement state;

[0035] Figure 9 Fig. 4 is a schematic view of a fourth motion state of a water-air propeller switchable unmanned aerial vehicle.

[0036] In the drawings: 1, water propeller; 2, air propeller; 3, motor; 4, motor mounting seat; 5, first one-way bearing; 6, second one-way bearing; 7, first bearing fixing seat; 8, outer shell; 9, rotary bearing; 10, upper bearing seat; 11, lower bearing seat; 12, planetary gear set; 13, planetary carrier; 14, walking wheel; 15, waterproof outer shell; 16, frame; 17, foot stand; 18, arm; 19, first steering engine; 20, second steering engine; 21, steering engine fixing frame; 181, support pipe; 182, shaft coupling; 22, sealed cabin shell; 23, depth camera; 24, RC receiver; 25, weak current waterproof switch; 26, data transmission module; 27, flight control board; 28, on-board computer; 29, WiFi antenna module; 30, GPS module; 31, adapter terminal; 32, steering engine voltage stabilizing module; 33, water depth sensor; 34, battery; 35, electronic speed controller module; 36, MOS switch module. DETAILED DESCRIPTION

[0037] The application will be further described below in conjunction with specific embodiments. The drawings are only used for exemplary description, and the representation is only a schematic view, not a physical view, and should not be understood as a limitation on the patent. In order to better illustrate the embodiments of the application, some components of the drawings may be omitted, enlarged or reduced, and do not represent the actual size of the product. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0038] The same or similar reference numerals in the drawings of the embodiments of the application correspond to the same or similar components; in the description of the application, it should be understood that the orientation or position relationship indicated by the terms "upper", "lower", "left", "right" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore the terms describing the position relationship in the drawings are only used for exemplary description, and should not be understood as a limitation on the patent, and for those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0039] Embodiment one

[0040] The embodiment of the application is an embodiment of a water-air propeller switchable unmanned aerial vehicle driving module, as shown in Figure 1 and Figure 2As shown, including water paddle 1, empty paddle 2, motor 3, motor mounting seat 4, first one-way bearing 5, first bearing fixing seat 7 and second one-way bearing 6, motor 3 is double output shaft motor 3, the inner ring of first one-way bearing 5 and second one-way bearing 6 is fixedly connected with the two output shafts at both ends of motor 3 respectively, the outer ring of first one-way bearing 5 is fixedly connected with the connecting shaft of empty paddle 2 through first bearing fixing seat 7; second one-way bearing 6 is connected with water paddle 1 to drive water paddle 1 to move. Empty paddle 2 is a rotor, and water paddle 1 is a screw propeller.

[0041] Specifically, it also includes a speed reducer that can reduce the speed of water paddle 1, the connecting end of the speed reducer is fixedly connected with the second one-way bearing 6, and the speed reducing end of the speed reducer is fixedly connected with the water paddle 1. The speed reducer is a planetary reducer, 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 with the motor mounting seat 4, the inner ring of the rotating bearing 9 is fixedly connected with the lower bearing seat 11, and the outer ring of the rotating bearing 9 is fixedly connected with the upper bearing seat 10. The upper bearing seat 10 is provided with an internal gear that can engage with the planetary gears in the planetary gear set 12. The first one-way bearing 5 passes through the lower bearing seat 11 and engages 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 with the upper bearing seat 10 through a flange. The water paddle 1 is fixedly connected with the housing 8.

[0042] Specifically, it also includes a walking wheel 14 and a waterproof housing 15, and the walking wheel 14 is connected with the speed reducing end of the speed reducer. The waterproof housing 15 is installed on the end of the housing 8 away from the motor 3.

[0043] The working principle or working process of the embodiment is as follows: when the unmanned aerial vehicle driving module is working, the motor 3 moves forward, the two output shafts at both ends of the motor 3 drive the inner rings of the first one-way bearing 5 and the second one-way bearing 6 to rotate respectively. At this time, the inner ring of the second one-way bearing 6 can rotate in 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. 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 rotation of the outer ring of the first one-way bearing 5 drives the first bearing fixing seat 7

[0044] When the first bearing fixed seat 7 rotates, the first bearing fixed seat 7 drives the air propeller 2 connected with the first bearing fixed seat 7 to rotate, and the rotation of the air propeller 2 can provide power for the movement of the unmanned aerial vehicle in the air. When the motor 3 in the unmanned aerial vehicle driving module moves reversely, the inner ring of the first one-way bearing 5 can rotate in 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; 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, the rotation of the outer ring of the second one-way bearing 6 drives the sun gear of the planetary gear set 12 to rotate, the rotation of the planetary gear set 12 drives the upper bearing seat 10 to rotate on the lower bearing seat 11, the rotation of the upper bearing seat 10 drives the outer shell 8 to rotate, and the rotation of the outer shell 8 drives the water propeller 1 and the walking wheel 14 to rotate.

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

[0046] The unmanned aerial vehicle driving module of the embodiment can drive the air propeller 2 and the water propeller 1 to move respectively when the motor 3 rotates forward or reversely, so as to complete the switching of the water propeller 1 and the air propeller 2 of the unmanned aerial vehicle driving module. The unmanned aerial vehicle driving module only needs to be provided with one motor 3 as a power source, so as to reduce the load of the unmanned aerial vehicle and improve the working efficiency of the unmanned aerial vehicle.

[0047] The setting of the speed reduction part can reduce the rotation speed of the water propeller 1 and increase the torque of the water propeller 1, so as to facilitate the movement of the unmanned aerial vehicle in water driven by the water propeller 1. After the walking wheel 14 is set, the unmanned aerial vehicle can move on the ground. After the waterproof shell 15 is additionally set on the outer shell 8, the parts in the speed reduction part can be further prevented from being rusted by water.

[0048] Embodiment two

[0049] The embodiment is an embodiment of a water-air propeller switchable unmanned aerial vehicle, as shown in Figures 3-5As shown, it comprises a rack 16, a foot stand 17, an arm 18, a driving part, a driving module and an electric control warehouse module, the electric control warehouse module is installed on the rack 16, one end of the arm 18 is fixedly connected with the driving module, the other end is rotatably connected with the rack 16, the driving part can drive the arm 18 to rotate on the rack 16, the driving module is the unmanned aerial vehicle driving module with switchable water-air propeller as described in embodiment one, the foot stand 17 is fixedly connected with the rack 16, the electric control warehouse module is connected with the driving part and the driving module. The four foot stands 17 on the unmanned aerial vehicle are arranged in an array at the bottom of the rack 16 of the unmanned aerial vehicle; the four arms 18 of the unmanned aerial vehicle are arranged in an array on the rack 16 of the unmanned aerial vehicle, and each arm 18 of the unmanned aerial vehicle is connected with a driving module and a driving part. The unmanned aerial vehicle can drive the arm 18 to rotate on the rack 16 through the driving part, change the direction of the driving module, and when the rotating arm 18 of the unmanned aerial vehicle is rotated to the driving part under the driving of the driving part, the walking wheel 14 can be in contact with the ground instead of the foot stand 17, the unmanned aerial vehicle can walk on the ground through the walking wheel 14.

[0050] Specifically, the driving part comprises a first steering wheel 19, a second steering wheel 20 and a steering wheel fixing frame 21, the arm 18 comprises a support pipe 181 and a shaft coupling 182, the first steering wheel 19 is fixedly connected with the rack 16, the second steering wheel 20 is installed on the steering wheel fixing frame 21, the driving end of the first steering wheel 19 is fixedly connected with the steering wheel fixing frame 21, the driving end of the second steering wheel 20 is fixedly connected with the shaft coupling 182, and the shaft coupling 182 and the motor mounting seat 4 are respectively installed at two ends of the support pipe 181.

[0051] Specifically, the electric control cabin module includes a sealed cabin shell 22 fixedly connected with the frame 16 and a perception control assembly installed on the sealed cabin shell 22, the perception control assembly can control the attitude and mode of the unmanned aerial vehicle and switching thereof, and obtain external environment information and receive remote control signals. The perception control assembly 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 on-board computer 28, a WiFi antenna module 29, a GPS module 30, a bus adapter terminal 31, a servo stabilizing module 32, a water depth sensor 33, a battery 34, an electronic speed controller module 35 and a MOS switch module 36 installed in the sealed cabin shell 22. Among them, the MOS module is connected with the battery 34, the flight control board 27, the electronic speed controller module 35, the on-board computer 28 and the servo stabilizing module 32, and the power switch of the MOS module is controlled to be off through the weak current waterproof switch 25. The flight control board 27 is connected with the water depth sensor 33, the RC receiver 24, the data transmission module 26, the bus adapter terminal 31 and the GPS module 30, the flight control board 27 serves as a bottom controller to control the attitude of the tri-copter unmanned aerial vehicle, control the mode switching, and receive the instructions issued by the on-board computer 28. The flight control board 27 is connected with the electronic speed controller module 35 and the unmanned aerial vehicle outside through the adapter terminal 31 to provide PWM control signals for the unmanned aerial vehicle, and the servo is connected with the servo stabilizing module 32 to obtain stable 5V power supply. The on-board computer 28 is connected with the flight control board 27 through a serial port to issue planning control instructions and read the feedback data of the water depth sensor 33 and the GPS module 30; the on-board computer 28 is connected with the depth camera 23 to obtain depth image perception data; the on-board computer 28 is connected with the WiFi antenna module 29 to obtain remote control signals. Among them, the WiFi antenna module 29, the RC receiver 24 and the GPS module 30 are penetrated out through the top of the sealed cabin shell 22 after waterproof process, used for receiving stable signals, and the electronic speed controller module 35 and the MOS module are connected with the metal part of the machine body through the heat dissipation sheet for heat dissipation due to large heat during work.

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

[0053] When the unmanned aerial vehicle flies in the air, the motor 3 in the unmanned aerial vehicle driving module rotates in the forward direction to drive the outer ring of the first one-way bearing 5 to rotate, and then drives the air propeller 2 of the unmanned aerial vehicle to rotate. When the unmanned aerial vehicle moves in the water, the motor 3 in the unmanned aerial vehicle driving module rotates in the reverse direction to drive the outer ring of the second one-way bearing 6 to rotate, and then drives the water propeller 1 of the unmanned aerial vehicle to rotate. When it is necessary to change the moving direction, the angle and driving force of the driving module are changed through the driving part on the frame 16, so as to change the moving direction of the unmanned aerial vehicle in the water. When the unmanned aerial vehicle needs to move on land, the motor 3 in the unmanned aerial vehicle driving module rotates in the reverse direction to drive the outer ring of the second one-way bearing 6 to rotate, and then drives the walking wheel 14 of the unmanned aerial vehicle to rotate, and the angle of the walking wheel 14 is changed through the driving part on the frame 16, so that the walking wheel 14 is in contact with the ground. When it is necessary to change the moving direction, the angle of the driving module is changed through the driving part, so as to change the moving direction of the unmanned aerial vehicle on land.

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

[0055] The unmanned aerial vehicle of the embodiment can complete triphibian movement, and the structure of the unmanned aerial vehicle is simpler, the load is smaller, and the working efficiency is higher. The first steering gear 19 controls the included angle between the arm 18 and the frame 16, and the second steering gear 20 controls the angle of the driving module.

[0056] Embodiment three

[0057] The embodiment is an embodiment of a switching method of a water-air propeller 2 switchable unmanned aerial vehicle, and the unmanned aerial vehicle in the embodiment is the unmanned aerial vehicle described in embodiment two.

[0058] Specifically, the process of air-water switching of the unmanned aerial vehicle is as follows:

[0059] In the initial state, as shown in Figure 6 , the unmanned aerial vehicle takes off in the flight mode, and the four air propellers 2 on the unmanned aerial vehicle generate upward thrust under the driving of the motor 3, so that the unmanned aerial vehicle leaves the ground, and the ascending and lateral movement of the unmanned aerial vehicle is controlled by adjusting the rotating speed of the air propeller 2. When the unmanned aerial vehicle approaches the water surface, it starts to switch from the air mode to the water mode. First, the unmanned aerial vehicle is prepared to land and hover on the water surface. After the unmanned aerial vehicle lands on the water surface, the motor 3 stops rotating in the forward direction, and switches to the underwater mode. The motor 3 will start to rotate in the reverse direction, and drive the water propeller 1 to rotate through the planetary reduction part, so that the water propeller 1 generates effective thrust, thereby pushing the unmanned aerial vehicle to move forward in the water. At the same time, the sensing control assembly will adjust in real time according to the fluid resistance under the water, so as to ensure the stable movement and precise navigation of the unmanned aerial vehicle in the water.

[0060] In the water mode, as shown in Figure 7As shown, the unmanned aerial vehicle rotates the arm 18 by 180 degrees through the control of the first rudder 19 to make the thrust vector direction completely downward, and performs underwater deep diving. When the unmanned aerial vehicle hovers on the water surface by buoyancy, the first rudder 19 rotates the arm 18 by 90 degrees to make the water propeller 1 perpendicular to the water surface, so that the unmanned aerial vehicle can quickly propel on the water surface. At this time, the unmanned aerial vehicle can not only be stable floating, but also slide on the water surface.

[0061] When the unmanned aerial vehicle needs to switch from the water mode to the air mode, the unmanned aerial vehicle pushes itself upward near the water surface through the rotation of the water propeller 1 underwater. When the water surface is detected through the water depth sensor 33, the second rudder 20 drives the arm 18 to rotate by 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, as shown in Figure 6 The air propeller in the air mode is directly driven to rotate by the positive rotation of the motor 3, which provides the necessary lift for the unmanned aerial vehicle to rise from the water surface.

[0062] Specifically, the switching process of the unmanned aerial vehicle between land and air is as follows:

[0063] The unmanned aerial vehicle reduces the flight height by reducing the rotation speed of the air propeller 2. The thrust is gradually reduced to ensure smooth landing. After the unmanned aerial vehicle stably contacts the ground, the unmanned aerial vehicle stands on the ground through the foot support 17, as shown in Figure 6 At this time, the second rudder 20 controls the arm 18 to rotate by 90 degrees, so that the walking wheel 14 is perpendicular to the ground, ensuring that the walking wheel 14 of the unmanned aerial vehicle in the land mode can stably contact the ground, and also ensuring that the friction between the side of the walking wheel 14 and the ground is reduced during the switching mode. After completing the posture adjustment, the first rudder 19 controls the arm 18 to rotate by 90 degrees towards the ground, at which time the unmanned aerial vehicle switches to the land mode, as shown in Figure 8 The unmanned aerial vehicle can smoothly perform tasks in various ground environments by controlling the rotation of the walking wheel 14, such as exploration, transportation and other ground operations.

[0064] When the unmanned aerial vehicle switches from the land mode to the air mode, the first rudder 19 and the second rudder 20 are reversely rotated by 90 degrees to adjust the walking wheel 14 to the off-ground state. The motor 3 rotates in the positive direction to drive the air propeller 2 to rotate, and the air propeller 2 generates sufficient lift to make the unmanned aerial vehicle rise from the ground. During this process, the unmanned aerial vehicle needs to adjust the rotation speed and angle of the air propeller 2 in order to smoothly take off and avoid any possible bumps or instability. After the unmanned aerial vehicle successfully takes off, the rotation speed and posture of the air propeller 2 are adjusted to maintain stable flight, and the direction and height are adjusted according to the task requirements.

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

[0066] When the UAV is sailing in water, it first approaches the shore to prepare for the mode switching. During the approach to the shore, the UAV gradually adjusts the water propeller 1 to adapt to the transition from water to land. After the UAV approaches the shore, it starts to prepare for landing by adjusting the attitude of the arm 18, as shown in Figure 9 Figure 6. Until the first steering gear 19 rotates the arm 18 by 90 degrees, the UAV is lifted from the water surface by the arm 18, and the walking wheels 14 are perpendicular to the ground, as shown in Figure 8 Figure 7, to prepare for the land mode. The rotation of the arm 18 stabilizes the center of gravity of the UAV, ensuring a smooth transition from water to land. Once the UAV is completely lifted from the water surface and the arm 18 is adjusted to the correct attitude, the UAV moves on the shore by the steering wheel steering system in the ground mode, achieving a smooth transition to land.

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

[0068] Specifically, when the height difference between the water surface and the land is large, and the UAV needs to be switched from the water mode to the land mode stably suspended in the water, it can be switched to the air mode first, and then switched from the air mode to the land mode after flying over the land. Similarly, when the height difference between the land and the water surface is large, and the UAV needs to be switched from the land mode to the water mode, it can be switched from the land mode to the air mode first, and then switched from the air mode to the water mode after flying over the water surface.

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

[0070] The UAV tri-modal switching method of the embodiment enables the UAV to smoothly complete the tri-modal switching of water, land and air.

[0071] In the specific contents of the above specific embodiments, any technically feasible combination of technical features can be made. In order to make the description concise, not all possible combinations of the above technical features are described, but as long as the combination of technical features does not exist, it should be considered as the scope of the description.

[0072] Obviously, the above embodiments of the present application are merely exemplary but not intended to limit the embodiments of the present application. Based on the above description, any other variations or changes can be made by those skilled in the art without departing from the spirit and principles of the present application. It is not necessary to list all the embodiments here. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application should be included in the protection scope of the claims of the present application.

Claims

1. A drone drive module with switchable water and air propellers, characterized in that, The device includes a water propeller (1), an empty propeller (2), a motor (3), a motor mounting base (4), a first one-way bearing (5), and a second one-way bearing (6). The motor (3) is a dual-output shaft motor (3), which is mounted on the motor mounting base (4). The inner rings of the first one-way bearing (5) and the second one-way bearing (6) are fixedly connected to the two output shafts at both ends of the motor (3), respectively. 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 bearing (6) is connected to the water propeller (1) to drive the water propeller (1) to move. It also includes a speed reduction section that can reduce the rotational speed of the water paddle (1), the connecting end of the speed reduction section is fixedly connected to the second one-way bearing (6), and the speed reduction end of the speed reduction section is fixedly connected to the water paddle (1); The reduction section is a planetary reduction section, which includes a rotary bearing (9), an upper bearing housing (10), a lower bearing housing (11), and a planetary gear set (12). The lower bearing housing (11) is fixedly connected to the motor mounting base (4). The inner ring of the rotary bearing (9) is fixedly connected to the lower bearing housing (11), and the outer ring of the rotary bearing (9) is fixedly connected to the upper bearing housing (10). The upper bearing housing (10) is provided with an internal gear that can mesh with the planetary gears in the planetary gear set (12). The outer ring of the first one-way bearing (5) passes through the lower bearing housing (11) and meshes with the sun gear in the planetary gear set (12).

2. The water-to-air propeller switchable UAV drive module according to claim 1, characterized in that, The planetary reduction gear also includes a housing (8) and a planet carrier (13). The planetary gear set (12) is fixed inside the housing (8) by the planet carrier (13). The housing (8) is fixedly connected to the upper bearing seat (10) by a flange. The water propeller (1) is fixedly connected to the housing (8).

3. A water-to-air propeller switchable UAV drive module according to claim 2, characterized in that, It also includes a walking wheel (14), which is connected to the deceleration end of the deceleration unit.

4. A water-to-air propeller switchable UAV drive module according to claim 3, characterized in that, It also includes a waterproof housing (15) which is mounted on the housing (8) at one end away from the motor (3).

5. A water-paddle-propeller switchable unmanned aerial vehicle (UAV), characterized in that, The device includes a frame (16), a landing gear (17), an arm (18), a drive unit, a drive module, and an electronic control module. The electronic control module is mounted 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 UAV drive module as described in claim 4. The landing gear (17) is fixedly connected to the frame (16). The electronic control module is connected to the drive unit and the drive module.

6. A water-paddle-rotor switchable UAV according to claim 5, characterized in that, The drive unit includes a first servo motor (19), a second servo motor (20), and a servo motor mounting bracket (21). The arm (18) includes a support tube (181) and a coupling (182). The first servo motor (19) is fixedly connected to the frame (16). The second servo motor (20) is mounted on the servo motor mounting bracket (21). The drive end of the first servo motor (19) is fixedly connected to the servo motor mounting bracket (21). The drive end of the second servo motor (20) is fixedly connected to the coupling (182). The coupling (182) and the motor mounting base (4) are respectively mounted on both ends of the support tube (181).

7. A water-paddle-rotor switchable UAV according to claim 6, characterized in that, The electronic control module includes a sealed cabin shell (22) fixedly connected to the frame (16) and a sensing and control component installed on the sealed cabin shell (22). The sensing and control component can control the attitude and mode of the UAV and their switching, as well as acquire external environmental information and receive remote control signals.

8. A switching method for a water-paddle-powered unmanned aerial vehicle (UAV), characterized in that, The drone is the water-paddle-air switchable drone as described in claim 7. When the drone moves from the air into the water, the drone reduces the speed of the motor (3) in the air until the drone's propeller (1) extends into the water, and then the drone's motor (3) reverses to drive the propeller (1) to move. When the UAV moves from the air to the land, the UAV reduces the speed of the motor (3) in the air until the landing gear (17) of the UAV contacts the ground. Then the drive unit changes the angle of the arm (18) so that the walking wheel (14) contacts the ground. At this time, the motor (3) of the UAV reverses and drives the walking wheel (14) to move. When the UAV moves from water to land, after it approaches the shore, the UAV changes the angle of its arm (18) through the drive unit so that the walking wheel (14) contacts the ground. Then the motor (3) of the UAV continues to reverse and drive the walking wheel (14) to land and move on the ground.

9. A switching method for a water-paddle-powered switchable UAV according to claim 8, characterized in that, When the drone moves from water to land, it first moves into the air and then from the air to the ground.

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