Multi-mode tilting lateral vector propulsion device suitable for amphibious transportation
By designing a multimodal tiltable lateral vector propulsion device suitable for amphibious transport, combining lateral vectors and multirotor propulsion modes, the problem of slow transportation of drones in amphibious environments is solved, and fast and accurate material transportation and low-cost recovery are achieved.
Patent Information
- Application Number
- CN202510689527.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-05-27
- Publication Date
- 2025-08-08
AI Technical Summary
Existing drones cannot achieve amphibious transport, and traditional multi-rotor drones are transported slowly and cannot effectively transport materials in an amphibious environment.
Design a multimodal tiltable lateral vector propulsion device suitable for amphibious transport. Combining lateral vector propulsion and multirotor propulsion modes, modal switching in different environments is achieved through altitude sensors, densimeters and vision cameras, and the propeller is used to perform rapid maneuvering and precise control in the air and water.
It realizes rapid and accurate material transportation in an amphibious environment, reduces recycling costs, has the ability to advance in water and maneuver quickly in the air, and has the ability to return in multi-rotor modes automatically.
Smart Images
Figure CN120440345A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of aircraft technology, and in particular to a multi-modal tiltable lateral vector propulsion device suitable for amphibious transportation Background Art
[0002] At present, as the country vigorously advocates the low-altitude economy, many companies and research institutes are trying to use drones for logistics transportation. For example, Meituan’s food delivery drones have realized point-to-point logistics transportation, but they cannot realize amphibious transportation. Another example is parachute airdrop of supplies. Although it has achieved the goal of dropping supplies from the air to the target point, the airdrop device cannot be effectively recovered autonomously. The present invention has a lateral vector propulsion mode. This propulsion method can move forward in the water and maneuver quickly in the air. During the landing phase in the air, the lateral vector propulsion makes full use of the propeller thrust to control the horizontal position, realizing fast and accurate material transportation. At the same time, it can use the multi-rotor mode to automatically return, which greatly reduces the recovery cost. Summary of the Invention
[0003] The present invention addresses the shortcomings of existing technologies by proposing a multi-modal, tiltable, lateral vector propulsion device suitable for amphibious transport. This device effectively addresses the shortcomings of conventional multi-rotor drones, which suffer from slow transport speeds and inability to transport in amphibious environments. The device features lateral vector propulsion modes, a multi-rotor propulsion mode, underwater diving, and aerial descent modes, enabling switching between different propulsion modes in different environments. This allows for a variety of material transport modes, adapting to amphibious transport requirements.
[0004] The object of the present invention is achieved through the following technical solution: a multi-modal tiltable lateral vector propulsion device suitable for amphibious transportation, the device comprising:
[0005] The logistics box is equipped with a height sensor for detecting the height from the target, a density meter for sensing whether it is in the air or in the water, a visual camera, and a remote control device;
[0006] Retractable rack, slidingly connected to the four sides of the logistics box;
[0007] The tiltable propulsion device comprises a propeller and a rotating shaft. The propeller is mounted on a retractable frame via the rotating shaft. The rotating shaft enables the propeller to be rotated in any direction.
[0008] Furthermore, there are two propellers on each rotating shaft, which are arranged in parallel, have equal pitches, and rotate in opposite directions, forming a coaxial twin rotor, so that the torque on each rotating shaft is balanced.
[0009] Furthermore, the altitude sensor determines whether the height from the target meets the altitude threshold. If not, the tiltable propulsion device does not work and is in a free-fall state. If it meets, the tiltable propulsion device starts working, maintaining its own posture by accelerating the falling process through the propeller in a vertical state and adjusting its position with the corresponding target through the propeller in a horizontal state.
[0010] Furthermore, the altitude sensor monitors whether the altitude reaches the safe altitude for landing. If so, the lateral vector propulsion is terminated, and the multi-rotor mode provides stable landing performance and air suspension capability.
[0011] Furthermore, when the logistics box approaches the water surface, the density meter senses the switching of the transport medium and performs mode switching. The user end has an imaging device to obtain images captured by the visual camera in real time.
[0012] Furthermore, a locking device is designed on the rotating shaft for locking the rotation angle of the rotating shaft. When the propeller thrust direction is in the horizontal direction, lateral vector propulsion in the air or water is achieved, and when the propeller thrust direction is in the vertical direction, ascent or descent in the air or water is achieved.
[0013] Furthermore, the logistics box is equipped with an independent power supply device to transport the materials to the target point and then return.
[0014] Furthermore, the device also has a cargo box whose size can be adjusted according to the cargo. The cargo box has a power interface and is assembled together with a logistics box equipped with a modular power supply device.
[0015] Furthermore, the device also has GPS positioning, which can sense its own position information in real time through GPS, and correct its flight path in real time through path planning and path tracking.
[0016] Furthermore, a propeller can be additionally installed on the inner side of the top or bottom of the logistics box to provide power for ascent and descent.
[0017] Furthermore, the logistics box is equipped with an emergency parachute for safe landing after the tiltable propulsion device fails.
[0018] Beneficial effects of the present invention:
[0019] The present invention has a lateral vector propulsion mode, which can advance in water and perform rapid maneuvers in the air. During the landing phase, the lateral vector propulsion fully utilizes the thrust of the propeller to control the horizontal position, achieving fast and accurate material transportation. At the same time, it can use the multi-rotor mode to automatically return to the base, greatly reducing the recovery cost. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0021] Figure 1 This is an axonometric view of the tiltable propulsion device in lateral vector propulsion mode.
[0022] Figure 2 This is a front view of the tiltable propulsion device in the lateral vector propulsion mode.
[0023] Figure 3 This is an axonometric view of the tiltable propulsion unit in multi-rotor propulsion mode.
[0024] Figure 4 An axonometric view of the tilting propulsion unit in accelerated descent mode.
[0025] Figure 5 Schematic diagram of the retractable frame of the propulsion device in the retracted state.
[0026] Figure 6 This is an axonometric view of the coaxial twin-rotor tiltable propulsion device in the lateral vector propulsion mode.
[0027] Figure 7 This is a front view of the coaxial twin-rotor tiltable propulsion device in the lateral vector propulsion mode.
[0028] Figure 8 This is a top view of the coaxial twin-rotor tiltable propulsion device in multi-rotor propulsion mode.
[0029] Figure 9 This is an axonometric view of the coaxial twin-rotor tiltable propulsion device in multi-rotor propulsion mode.
[0030] Figure 10 This is a front view of the coaxial twin-rotor tiltable propulsion device in the multi-rotor propulsion mode.
[0031] Figure 11 This is a top view of the coaxial twin-rotor tiltable propulsion device in multi-rotor propulsion mode.
[0032] Figure 12 This is an axonometric view of the coaxial twin-rotor tiltable propulsion device in accelerated descent mode.
[0033] Figure 13 This is a schematic diagram of the retractable frame of the coaxial twin-rotor tilting propulsion device in a retracted state.
[0034] Figure 14Axonometric view of the side-vector propulsion mode of a coaxial twin-rotor tilt propulsion system equipped with an upper propeller.
[0035] Figure 15 Axonometric view of the accelerated descent mode of a coaxial twin-rotor tilt propulsion system equipped with an upper propeller.
[0036] Figure 16 Axonometric view of the multirotor mode with the addition of an upper propeller to the coaxial twin-rotor tilt propulsion system.
[0037] Figure 17 Schematic diagram of the retractable frame in the retracted state for installing the upper propeller of the coaxial twin-rotor tilt propulsion unit.
[0038] Figure 18 Axonometric view of the side-vector propulsion mode of a coaxial twin-rotor tilt propulsion system equipped with an internal bottom propeller.
[0039] Figure 19 Axonometric view of the multirotor mode with the addition of an internal bottom propeller to the coaxial twin-rotor tilt propulsion system.
[0040] Figure 20 Axonometric view of the accelerated descent mode of a coaxial twin-rotor tilt propulsion system equipped with an internal bottom propeller.
[0041] Figure 21 Schematic diagram of the retractable frame with built-in bottom propeller for the coaxial twin-rotor tilt propulsion unit in the retracted state.
[0042] Figure 22 Close-up of the built-in bottom propeller added to the coaxial twin-rotor tilt-rotor propulsion system.
[0043] In the picture: 1. Retractable rack; 2. Logistics box; 3. Propeller; 4. Rotation axis. DETAILED DESCRIPTION
[0044] In order to more clearly illustrate the present invention, the present invention is further described below in conjunction with preferred embodiments and accompanying drawings. Similar components in the accompanying drawings are represented by the same reference numerals. It should be understood by those skilled in the art that the following detailed description is illustrative rather than restrictive and should not be used to limit the scope of protection of the present invention.
[0045] like Figure 1-Figure 2As shown, the present invention provides a multi-modal tiltable lateral vector propulsion device suitable for amphibious transport, including a power supply, a retractable frame 1, an optional logistics box 2 equipped with an independent power supply device, an emergency parachute, a tiltable propulsion device, a cargo frame, a microprocessor and a sensor. A propeller 3 is installed at the end of the retractable frame 1 on the side, and the propeller 3 is installed on the retractable frame 1 through a rotating shaft 4; based on the retractable frame 1 that is slidably connected to the four sides of the logistics box 2, the vector propulsion device is transformed from an initial folded state to a lateral vector working state; as shown Figure 3-Figure 5 As shown, the propeller 3 can rotate around the rotation axis 4, and the rotation axis 4 can realize the arbitrary angle transformation of the propeller 3. The rotation axis angle is fixed by the locking device on the rotation axis, so that the angle of each propeller 3 is fixed, realizing the switching propulsion mode, as shown in FIG. Figure 3 As shown, when the thrust direction of the propeller 3 is in the horizontal direction, lateral vector propulsion in the air or water is achieved, as shown in FIG. Figure 4 As shown, when the propeller 3's thrust direction is in the vertical direction, it can achieve ascent or descent in the air or water, and can be applied to multi-modal motion modes. Specifically, its propulsion modes include lateral vector propulsion mode (in water / in air), multi-rotor propulsion mode, air accelerated descent mode, and underwater diving mode, realizing the precise and rapid transportation of materials in an amphibious environment.
[0046] The power supply, located inside the chassis, maintains rotor operation and mode switching. A power distributor distributes electrical energy from the power supply to various components of the drone, including the microprocessor, sensors, servos, and power unit. The power unit includes a drive motor, electronic speed controllers, and propellers, providing the necessary thrust and energy to support the drone's takeoff, flight, and mission execution.
[0047] like Figures 14-22 As shown, in the present invention, an additional propeller 3 can be installed on the top or bottom inner side of the logistics box 2, that is, an upper propeller and a built-in bottom propeller, to provide additional ascending and descending power. The upper propeller and the built-in bottom propeller cannot change angles. Figures 18-22 As shown, when a propeller 3 is installed on the inner side of the bottom of the logistics box 2, a hollow hole is opened on the side wall of the logistics box 2 corresponding to the propeller 3 installed on the inner side of the bottom to facilitate airflow.
[0048] The retractable frame of the present invention can be in a retracted state, such as Figure 5 、 Figure 13 、 Figure 17 and Figure 21 As shown, space can be saved to facilitate storage or transportation of more devices provided by the present invention in a limited space.
[0049] The tiltable propulsion device specifically includes a propeller 3, a power device, an angular velocity sensor and a tilting mechanism; the tiltable propulsion device is respectively installed at the end of the frame and is located at the same height as the center of mass of the tiltable propulsion device;
[0050] like Figure 6-Figure 13 As shown, the tiltable propulsion device is a plurality of groups, which are fixedly mounted on the outer end of the frame through the rotating shaft 4 and can rotate around the rotating shaft 4. One propeller 3 can be installed on each rotating shaft 4, or two propellers 3 can be installed to form a coaxial twin rotor, which are arranged in parallel, have equal pitches, equal speeds, and opposite rotation directions, forming a coaxial twin rotor so that the torque on each rotating shaft 4 is balanced.
[0051] The tiltable propulsion device has the ability to transport in an amphibious environment. When the propulsion mode is switched from air to water, the propeller 3 will tilt to a mode that is downward relative to the water surface or has a vertical downward component relative to the water surface. In this way, the propeller 3 is used as an underwater propulsion device to achieve amphibious multi-modal propulsion; the logistics box 2 is equipped with an altitude sensor, a density meter, a visual camera and a remote control device; based on the altitude sensor, it is determined whether the height from the target meets the altitude threshold. If not, the tiltable propulsion device does not work and is in a free fall state; if it meets the altitude threshold, the tiltable propulsion device starts to work, maintains its own posture, and accelerates the falling process by keeping the propeller 3 in a vertical state (such as Figure 12 、 Figure 15 and Figure 20 ) and the propeller 3 are in a horizontal state to adjust their relative position with the corresponding target; the altitude is monitored by the altitude sensor to see whether it has reached the safe altitude for landing. If so, the lateral vector propulsion is terminated, and the multi-rotor mode provides stable landing performance and air suspension capability to achieve precise landing; when the logistics box 2 approaches the water surface, the density meter senses the switching of the transport medium, and the remote control device switches the mode of the device. The remote control device has an imaging device to obtain images captured by the visual camera in real time.
[0052] The device provided by the present invention has the same control strategy as the multi-rotor in the propulsion mode of the multi-rotor. This propulsion mode has stable landing performance and air suspension capability, and is suitable for use in the stage of approaching the target point and the stage of precise landing.
[0053] The lateral vector propulsion in the multi-modal propulsion device can enable the intended transported items to quickly approach the target point from the moment they are thrown from the air. Ordinary aerial throwing drones are in a state of power device shutdown when they are just thrown. After descending to a certain height, the rotors are turned on to approach and land at the target point. Since the multi-rotor aircraft has a slow forward speed, part of the pulling force provided by its propeller 3 must be used to balance gravity to maintain altitude. However, during the airdrop process, it is not necessary to maintain the altitude. Therefore, the power unit of an ordinary drone thrown from a high altitude is generally in a parked state when the altitude is high. This causes the ordinary throwing drone to be thrown at a distance close to the target point because it does not have the ability to control its own position at a high altitude. The present invention can adopt a lateral vector propulsion mode at a high altitude. At a high altitude, the propeller 3 is tilted to the horizontal direction of the pulling force, and the entire pulling force of the propeller 3 is used to change its own horizontal position. It is suitable for transportation tasks with a long distance between the throwing point and the target point, and when it is inconvenient for the aircraft to transport the goods to a position close to the drop target point.
[0054] The tiltable propulsion device can be converted into different flight modes at different stages. Taking the process of being thrown from the air and falling on land or sea as an example, in the initial stage, for rapid guidance, the tiltable propulsion device is in the lateral vector propulsion mode. The lateral vector control enables the lateral pull of the multi-rotor aircraft to quickly and accurately control the horizontal position during lateral propulsion.
[0055] When the aircraft reaches a certain altitude, the vector propulsion system switches to multi-rotor mode, enabling safe and precise landing. It also has a mode that accelerates descent during descent, with propeller 3 switching to a downward thrust mode. This helps the cargo quickly approach the ground and achieve a quick landing.
[0056] The tiltable propulsion device can be converted into different flight modes at different stages. For example, when being thrown from the air into the water and then diving into the water to transport materials, this process can be broken down into three stages: a rapid descent in the air, a safe and precise landing near the water surface, and a diving to the target point in the water. In particular, during the diving to the target point in the water, the rotor will tilt to a mode in which the axis of rotation is parallel to the water surface. In this way, the propeller 3 is used as an underwater propulsion device to achieve amphibious multi-modal propulsion. The device has the ability to dive in the water while also having the ability to advance in the water. It can advance in the water through lateral vector propulsion. When moving forward, the propeller 3 located along the direction of movement accelerates to propel the materials forward. When moving to the left, the propeller 3 located to the right of the direction of movement increases its horsepower to propel the materials to the left.
[0057] In addition, an emergency parachute ensures a safe landing in the event of an unexpected propulsion failure. Unlike conventional parachute-based airdrops, the tilting propulsion system also has an independent power source, allowing it to deliver supplies to the target location and return to the base, eliminating the need for specialized personnel to organize and collect them.
[0058] At the same time, when the current altitude descent rate sensed by the altitude sensor is found through calculation and prediction by the processor to be difficult to support it to reach the target point within the remaining descent time, the propulsion device will switch to the multi-rotor propulsion mode to increase the current altitude;
[0059] The tiltable propulsion device is equipped with GPS positioning, which can sense its own position information in real time through GPS, and correct its flight path in real time through path planning and path tracking, so as to finally land safely;
[0060] The cargo frame carried by the device provided by the present invention can adjust its size according to the size of the cargo to achieve the effect of tightening the materials; an additional power interface is reserved on the cargo frame, which allows it to be assembled with the logistics box 2 equipped with a modular power supply device to achieve long-lasting and high-efficiency logistics transportation.
[0061] The above embodiments are used to illustrate the present invention rather than to limit the present invention. Any modifications and changes made to the present invention within the spirit of the present invention and the protection scope of the claims shall fall within the protection scope of the present invention.
Claims
1. A multi-modal tiltable lateral vector propulsion device suitable for amphibious transport, characterized in that: The device includes: The logistics box is equipped with a height sensor for detecting the height from the target, a density meter for sensing whether it is in the air or in the water, a visual camera, and a remote control device; Retractable rack, slidingly connected to the four sides of the logistics box; The tiltable propulsion device comprises a propeller and a rotating shaft. The propeller is mounted on a retractable frame via the rotating shaft. The rotating shaft enables the propeller to be rotated in any direction.
2. A multi-modal tiltable lateral vector propulsion device suitable for amphibious transport according to claim 1, characterized in that: There are two propellers on each rotating shaft, which are arranged in parallel, with equal pitch and opposite rotation directions, forming a coaxial twin rotor so that the torque on each rotating shaft is balanced.
3. The multi-modal tiltable lateral vector propulsion device suitable for amphibious transport according to claim 1, characterized in that: Based on the altitude sensor, it is determined whether the height from the target meets the altitude threshold. If not, the tiltable propulsion device will not work and will be in a free fall state. If it meets the threshold, the tiltable propulsion device will start working, maintaining its own posture by accelerating the falling process through the propeller in a vertical state and adjusting its position with the corresponding target through the propeller in a horizontal state.
4. The multi-modal tiltable lateral vector propulsion device suitable for amphibious transport according to claim 1, characterized in that: The altitude sensor monitors whether the altitude has reached the safe landing altitude. If so, the lateral vector propulsion is terminated, and the multi-rotor mode provides stable landing performance and air suspension capability.
5. The multi-modal tiltable lateral vector propulsion device suitable for amphibious transport according to claim 1, characterized in that: When the logistics box approaches the water surface, the density meter senses the switching of the transport medium and performs mode switching. The user end has an imaging device to obtain images captured by the visual camera in real time.
6. The multi-modal tiltable lateral vector propulsion device suitable for amphibious transport according to claim 1, characterized in that: A locking device is designed on the rotating shaft for locking the rotation angle of the rotating shaft. When the propeller thrust direction is in the horizontal direction, lateral vector propulsion in the air or water is achieved. When the propeller thrust direction is in the vertical direction, ascent or descent in the air or water is achieved.
7. The multi-modal tiltable lateral vector propulsion device suitable for amphibious transport according to claim 1, characterized in that: The logistics box is equipped with an independent power supply device, which can transport the materials to the target point and then return.
8. The multi-modal tiltable lateral vector propulsion device suitable for amphibious transport according to claim 7, characterized in that: The device also has a cargo box that can adjust its size according to the cargo. The cargo box has a power interface and is assembled with a logistics box equipped with a modular power supply device.
9. The multi-modal tiltable lateral vector propulsion device suitable for amphibious transport according to claim 1, characterized in that: The device also has GPS positioning, which can sense its own location information in real time through GPS, and correct its flight path in real time through path planning and path tracking.
10. The multi-mode tiltable lateral vector propulsion device suitable for amphibious transport according to claim 1, characterized in that: A propeller can be additionally installed on the top or bottom inner side of the logistics box to provide power for rising and falling.
11. The multi-modal tiltable lateral vector propulsion device suitable for amphibious transport according to claim 1, characterized in that: The logistics box is equipped with an emergency parachute for safe landing after the tiltable propulsion device fails.