Variable-structure water-land-air multi-dwelling unmanned aerial vehicle

Abstract

The invention relates to the technical field of robots, discloses a variable-structure water-land-air multi-habitat unmanned aerial vehicle, and solves the problems that an existing unmanned aerial vehicle is insufficient in multi-environment adaptability and poor in complex environment trafficability. The unmanned aerial vehicle comprises four core modules, namely a control box, a power arm, a pull rod group and a floating bracket, wherein the control box realizes multidirectional rotation through a rotating shaft group and integrates flight control and an air supply system to provide control and pneumatic support for each module; the power arm adopts a three-axis joint structure to drive a propeller and a wheel system, so that switching between an air flight mode and a land advancing mode is realized; the pull rod group is connected with the power arm through a universal joint, supports multi-rotor configuration and dynamically adjusts the distance between the arms to adjust the height to adapt to a narrow space; the floating support adopts a composite air bag design, buoyancy is adjusted through inflation and deflation of a TPU film air bag, and a stable floating platform is formed in cooperation with a bottom connecting plate. Through modular collaborative design, the unmanned aerial vehicle has three operation modes of air flight, land running and water surface movement, the attitude and power layout of the vehicle body can be automatically adjusted during mode conversion, the adaptability to the complex environment is effectively improved, and the unmanned aerial vehicle is particularly suitable for scenes such as land and water junction area detection, narrow space rescue and multi-terrain logistics transportation.

Description

Technical Field

[0001] The embodiments of the present application relate to the technical field of robots, and more specifically, to a variable-configuration amphibious and aerial unmanned aerial vehicle (UAV). Background Art

[0002] In recent years, significant progress has been made in UAV technology. With the continuous maturity of technology and the reduction of costs, UAVs have played an important role in many fields such as aerial photography, agriculture, environmental monitoring, and rescue. The rapid development of this technology provides a solid technical foundation for the research and development of amphibious and aerial UAVs. Amphibious and aerial UAVs are the application of unmanned technology in multiple environments on land, water, and in the air. Unmanned technology enables UAVs to fly and operate autonomously in complex environments through high-precision sensors, advanced algorithms, and intelligent control systems. The integration of this technology allows amphibious and aerial UAVs to perform tasks such as detection, search, and rescue in the ocean, on land, and in the air, with high flexibility and versatility.

[0003] With the progress of technology, the construction of an amphibious and aerial unmanned system has gradually become possible. This system integrates and supervises various unmanned equipment such as UAVs, unmanned vehicles, and unmanned boats, as well as their supporting infrastructure, to form a new type of logistics transportation system. The construction of this system requires breaking through common unmanned intelligent technologies to achieve the collaborative operation and efficient operation of various unmanned equipment on land, water, and in the air. As an important part of this system, the research and development and application of amphibious and aerial UAVs are of great significance. Summary of the Invention

[0004] The present invention provides a variable-configuration amphibious and aerial UAV, aiming to solve the problems of insufficient adaptability of existing UAVs in multiple environments and poor passability in complex environments. Existing UAVs can usually only operate in a single environment, such as being limited to flying in the air or traveling on land, and it is difficult to adapt to complex environments such as the vicinity of water areas. In addition, in the face of narrow spaces, the fixed attitude and size of existing UAVs limit their passability. Therefore, it is of great practical significance to develop a UAV that can adapt to multiple environments on land, water, and in the air and has the ability to adjust its configuration.

[0005] To solve the above problems, the present invention provides a variable-configuration amphibious and aerial UAV, which includes a control box, power arms, a pull rod group, and a floating bracket. The control box includes a rotating shaft group, an electronic control module, a gas supply module, and an outer peripheral plate. The rotating shaft group includes a cylindrical rotating shaft and a large-torque double-axis servo. The large-torque double-axis servo is coaxially connected to a cylindrical rotating shaft on each of its two outer sides. The electronic control module includes a flight control module, a power supply module, and an information transmission module, which are used to achieve precise control and information transmission of the UAV. The gas supply module includes an air pump and a buffer pad. The air pump is responsible for pumping air in or out, and the buffer pad reduces the vibration caused by the operation of the air pump, thereby providing stable pneumatic support for the floating bracket.

[0006] The power arm includes a first joint, a second joint, a third joint, a power servo, a brushless motor, a propeller and a wheel system. The three joints sequentially achieve rotation around the x, y and z axes, enabling the power arm to have high flexibility and adjustability. The first joint is connected to the control box. The second joint includes a joint body and a support member. The joint body is connected to the first joint, and the support member is connected to the tie rod group. The third joint is connected to the second joint, the power servo is connected to the third joint, and the propeller is connected to the brushless motor. The wheel system includes a frame and multiple bearing groups. The frame is connected to the second joint. The bearing group includes a bearing, a cylindrical gasket and a central shaft. The multiple bearing groups are evenly distributed on the frame, providing stable support and power transmission for the UAV when traveling on land.

[0007] The tie rod group includes a left tie rod, a right tie rod, an intermediate member, a middle rod, a universal joint group and an electric push rod. The left tie rod is connected to the right tie rod, and the two are jointly connected to the intermediate member, with universal joint groups connected to the outside of each. The other end of the intermediate member is connected to the middle rod. The universal joint group includes a first universal joint and a second universal joint. The first universal joint is connected to the left tie rod or the right tie rod, and the second universal joint is connected to the power arm. The power arms are distributed on both sides of the control box, and multiple power arms can be arranged, such as four or eight, to form a 4-rotor or 8-rotor system. Correspondingly, the tie rod groups are distributed on both sides of the control box, and multiple tie rod groups can be arranged, a total of two or eight. This structural design enables the tie rod group to flexibly adjust the position and attitude of the power arm, thereby adapting to different working environments and task requirements.

[0008] The floating bracket includes a solid airbag, a soft airbag, a bottom connecting plate and a pipeline. The solid airbag is located on both sides of the bottom of the control box and is hollow inside, playing a role in connection and providing buoyancy. The soft airbag consists of an air nozzle and several single-layer airbags, and the whole has a telescopic function. When inflated and extended, it provides buoyancy and support functions, and when deflated and shortened, it clings to the solid airbag. The single-layer airbag is composed of two layers of TPU films, with the outer ring connected and sealed to accommodate air inside. The bottom connecting plate connects all the soft airbags from the bottom, playing a role in limiting and fixing. The pipeline includes several hoses and three-way joints, sending the air from the air supply module into the soft airbag or pumping the air out of the soft airbag. This design enables the UAV to float on water and can adjust the buoyancy according to needs, thereby adapting to different water operation scenarios.

[0009] Through the above structural design, the variable-configuration water-land-air drone of the present invention has various operation capabilities such as flight, land travel, and water floating. In each mode, the drone can flexibly adjust its own attitude and change the distance between the power arms, so as to adapt to different environmental and task requirements. For example, in a narrow space, the drone can adjust its attitude and reduce the distance between the power arms to easily pass through smaller gaps. When operating on water, the buoyancy provided by the floating support can ensure the stable floating of the drone, and at the same time, the telescopic function of the soft airbag can adjust the buoyancy according to needs. In addition, when the drone travels on land, the wheel system can provide stable support and power transmission, enabling the drone to drive smoothly on complex terrains. Therefore, the variable-configuration water-land-air drone of the present invention has wide applicability and high flexibility, can meet the operation requirements in a variety of complex environments, and has important application value and broad application prospects. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0011] Figure 1 are schematic diagrams of three forms of the present invention;

[0012] Figure 2 is a schematic diagram of the overall structure of a water-land-air drone;

[0013] Figure 3 is a schematic diagram of the structure of the control box;

[0014] Figure 4 is a schematic diagram of the structure of the power arm;

[0015] Figure 5 is a schematic diagram of the structure of the tie rod group;

[0016] Figure 6 is a schematic diagram of the structure of the floating support.

[0017] Description of the reference numerals:

[0018] 01, flight mode; 02, land travel mode; 03, water mode.

[0019] 1, control box; 11, rotating shaft group; 111, cylindrical rotating shaft; 112, large-torque double-axis servo; 12, electronic control module; 13, air supply module; 131, air pump; 132, buffer pad; 14, peripheral plate.

[0020] 2. Power arm; 21. First joint; 22. Second joint; 23. Third joint; 24. Power servo; 25. Brushless motor; 26. Propeller; 27. Wheel system; 271. Frame; 272. Bearing set; 2721. Central axis; 2722. Cylindrical gasket; 2723. Bearing.

[0021] 3. Tie rod group; 31. Left connecting rod; 32. Right connecting rod; 33. Intermediate piece; 34. Middle rod; 35. Universal joint group; 351. Universal joint one; 352. Universal joint two; 36. Electric push rod.

[0022] 4. Floating support; 41. Solid airbag; 42. Soft airbag; 421. Air nozzle; 422. Single-layer airbag; 43. Bottom connecting plate; 44. Pipeline. Detailed implementation mode

[0023] The embodiment of the present application provides a variable structure amphibious and aerial multi - functional unmanned aerial vehicle, belonging to the technical field of robots. It includes: a control box, a power arm, a tie rod group and a floating support;

[0024] The control box includes a rotating shaft group, an electronic control module, a gas supply module and a peripheral plate;

[0025] The rotating shaft group includes a cylindrical rotating shaft and a large - torque double - axis servo. The large - torque double - axis servo is coaxially connected with a cylindrical rotating shaft on each of the outer two sides;

[0026] The electronic control module includes a flight control module, a power supply module, an information transmission module, etc.;

[0027] The gas supply module includes an air pump and a buffer pad. The air pump is responsible for pumping air in or out, and the buffer pad reduces the vibration caused by the operation of the air pump.

[0028] The power arm includes a first joint, a second joint, a third joint, a power servo, a brushless motor, a propeller and a wheel system. The three joints sequentially realize rotation around the x, y, and z axes;

[0029] The first joint is connected to the control box;

[0030] The second joint includes a joint body and a support member. The joint body is connected to the first joint, and the support member is connected to the tie rod group;

[0031] The third joint is connected to the second joint; the power servo is connected to the third joint;

[0032] The propeller is connected to the brushless motor;

[0033] The wheel system includes a frame and a plurality of bearing groups; the frame is connected to the second joint; each bearing group consists of a bearing, a cylindrical gasket, and a central shaft. There is a cylindrical gasket on each side of the bearing, and the three are jointly sleeved on the central shaft; the plurality of bearing groups are evenly distributed on the frame;

[0034] The tie rod group includes a left tie rod, a right tie rod, an intermediate member, a middle rod, a universal joint group, and an electric push rod;

[0035] The left tie rod is connected to the right tie rod, and the two are jointly connected to the intermediate member, and universal joint groups are connected to the outer sides of the two;

[0036] The other end of the intermediate member is connected to the middle rod;

[0037] The universal joint group includes a first universal joint and a second universal joint; the first universal joint is connected to the left tie rod or the right tie rod; the second universal joint is connected to the power arm. Among them, the power arms are distributed on both sides of the control box, and multiple power arms can be arranged, such as four or eight, to form a 4-rotor or 8-rotor system; the corresponding tie rod groups are distributed on both sides of the control box, and multiple tie rod groups can be arranged, a total of two or eight.

[0038] The floating water bracket includes a solid airbag, a soft airbag, a bottom connecting plate, and pipelines;

[0039] The solid airbag is located on both sides of the bottom of the control box, is hollow inside, and plays a role in connection and providing buoyancy;

[0040] The soft airbag consists of an air nozzle and several single-layer airbags, and the whole has a telescopic function. When inflated and extended, it provides buoyancy and the function of a support frame. When exhausted and shortened, it clings to the solid airbag; each single-layer airbag consists of two layers of TPU films, and the outer ring is connected and sealed to accommodate air inside. The telescoping of the single-layer airbag brings about the telescoping of the soft airbag;

[0041] The bottom connecting plate connects all the soft airbags from the bottom and plays a role in limiting and fixing; the pipelines include several hoses and tees, and send the air from the air supply module into the soft airbag or extract the air from the soft airbag.

[0042] Through a variable-configuration land-air UAV provided by an embodiment of the present application, the UAV can be made to have the capabilities of flying and traveling on land. In each mode, it can adjust its own posture and change the distance between the power arms, enabling the UAV to pass through smaller gaps.

[0043] It should be noted that the various embodiments in this specification are described in a progressive manner. Each embodiment focuses on the differences from other embodiments. For the same or similar parts among the various embodiments, reference can be made to each other.

[0044] It should also be noted that in this text, the orientation or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientation or positional relationships shown in the drawings. This is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present application. In addition, relative terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations, nor can they be construed as indicating or implying relative importance. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or terminal device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or terminal device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the existence of additional identical elements in the process, method, article or terminal device comprising the element.

[0045] The technical solutions provided by the present application have been introduced in detail above. Specific examples are used in this text to elaborate on the principles and implementation manners of the present application. The description of the above embodiments is only for helping to understand the present application, and the content of this specification should not be construed as a limitation to the present application. At the same time, for those of ordinary skill in the art, based on the present application, there will be various forms of changes in the specific implementation manners and application scopes. It is not necessary and impossible to enumerate all the implementation manners here, and the obvious changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A multi-functional drone capable of adapting to different configurations, characterized in that: include: A control box, including a shaft assembly, an electric control module, an air supply module and peripheral panels; A power arm, including a first joint, a second joint, a third joint, a power steering gear, a brushless motor, a propeller and a wheel system; A tie rod assembly, including a left connecting rod, a right connecting rod, an intermediate piece, a middle rod, a universal joint assembly and an electric push rod; The floating support comprises a solid air bag, a soft air bag, a bottom connecting plate and a pipeline.

2. The configurable amphibious and airborne UAV according to claim 1, characterized in that: The shaft group of the control box includes a cylindrical shaft and a large-torque dual-axis servo, wherein the large-torque dual-axis servo is coaxially connected to a cylindrical shaft on both sides outward; the electronic control module includes a flight control module, a power supply module and an information transmission module; the air supply module includes an air pump and a buffer pad, wherein the air pump is used to pump in or out air, and the buffer pad is used to reduce the vibration caused by the operation of the air pump.

3. The configurable amphibious and airborne UAV according to claim 1, characterized in that: The three joints of the power arm can realize rotation around the x, y and z axes in sequence; the first joint is connected to the control box; the second joint includes a joint body and a support, the joint body is connected to the first joint, and the support is connected to the pull rod group; the third joint is connected to the second joint; the power servo is connected to the third joint; the propeller is connected to the brushless motor; the wheel system includes a frame and multiple bearing groups, the frame is connected to the second joint, the bearing group includes a bearing, a cylindrical pad and a central axis, there is a cylindrical pad on each side of the bearing, the three are together mounted on the central axis, and multiple bearing groups are evenly distributed on the frame.

4. The configurable amphibious and airborne UAV according to claim 1, characterized in that: The left connecting rod of the pull rod group is connected to the right connecting rod, and the two are then connected to the middle piece together, and the outer sides of the two are connected to the universal joint group; the other end of the middle piece is connected to the center rod; the universal joint group includes universal joint 1 and universal joint 2, the universal joint 1 is connected to the left connecting rod or the right connecting rod, and the universal joint 2 is connected to the power arm; the power arm is distributed on both sides of the control box, and multiple arms can be arranged, such as four or eight arms, to form a 4-rotor or 8-rotor system; the corresponding pull rod groups are distributed on both sides of the control box, and multiple arms can be arranged, a total of two or eight arms.

5. The configurable amphibious and airborne UAV according to claim 1 and claim 4, characterized in that: The universal joint 1 of the universal joint group is connected to the left connecting rod or the right connecting rod, and the universal joint 2 is connected to the power arm, so that the connection between the pull rod group and the power arm is more flexible and can rotate freely in multiple directions, thereby realizing the overall attitude adjustment of the drone.

6. The configurable amphibious and airborne UAV according to claim 1, characterized in that: The solid airbags of the floating bracket are located on both sides of the bottom of the control box, and are hollow inside for connection and providing buoyancy; the soft airbag is composed of an air nozzle and a plurality of single-layer airbags, and has a telescopic function as a whole. When inflated and extended, it provides buoyancy and a support frame, and when exhausted and shortened, it is close to the solid airbag; the single-layer airbag is composed of two layers of TPU film, the outer ring is connected and sealed, and the inside can accommodate air; the bottom connecting plate connects all the soft airbags from the bottom for limiting and fixing; the pipeline includes a plurality of hoses and tees, which are used to send air from the air supply module into the soft airbag or to extract air from the soft airbag.

7. The configurable amphibious and airborne UAV according to claim 1, characterized in that: The drone has the ability to fly and move on land. In each mode, it can adjust its posture and change the distance between the power arms so that the drone can pass through smaller gaps.

8. The configurable amphibious and airborne UAV according to claim 2, characterized in that: The flight control module of the electronic control module is used to control the flight attitude of the UAV, the power supply module is used to provide power to each component, and the information transmission module is used to realize remote communication.

9. The configurable amphibious and airborne UAV according to claim 3, characterized in that: The power steering gear is used to drive the rotation of the third joint to achieve precise posture adjustment of the power arm.

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