Four-axis multi-rotor cross-medium water-air dual-purpose unmanned aerial vehicle

Abstract

The invention belongs to the technical field of water-air dual-purpose unmanned aerial vehicles, and particularly relates to a four-axis multi-rotor cross-medium water-air dual-purpose unmanned aerial vehicle which comprises a rack, a sealed battery cabin is fixedly installed at the bottom of the rack, a sealed electronic cabin is fixedly installed at the top of the rack, and a camera and an illuminating lamp are fixedly installed on one side of the sealed electronic cabin. Stabilizing frames are symmetrically and fixedly installed at the top of the rack and located on one side of the sealed electronic cabin, rotating rods are rotatably installed in the stabilizing frames, one ends of the rotating rods are sleeved with installing frames, first brushless motors are fixedly installed at the tops of the installing frames, and first paddles are fixedly installed at the output ends of the first brushless motors; one end of the antenna can be kept above the water surface all the time, so that signals of the antenna are prevented from being blocked by water, the unmanned aerial vehicle can fly in the sky, can sail on the water surface and can dive to work, and the technical problem that the unmanned aerial vehicle and an underwater robot need to work in a matched mode is solved.

Description

Technical Field

[0001] The present invention belongs to the technical field of dual-purpose water and air drones, and in particular relates to a four-axis multi-rotor cross-medium dual-purpose water and air drone. Background Art

[0002] Drones can be called the "invisible vanguard" in the field of reconnaissance. They are small in size and can move silently in complex environments. They have built-in high-precision cameras, thermal imagers and other reconnaissance equipment, and can conduct all-round and no-blind-angle monitoring of target areas at high altitudes or hidden corners.

[0003] In the military, drones can penetrate deep into enemy positions to scout troop deployments and weaponry, providing critical intelligence for combat decision-making. In the civilian security sector, when emergencies or disasters occur, drones quickly take off, transcending terrain limitations to quickly assess the situation on the scene, helping rescuers develop rescue plans and respond to crises promptly. With their efficient, flexible, and covert reconnaissance capabilities, they have become a vital force in ensuring security.

[0004] Existing drones can only conduct aerial surveys and are unable to address surface and underwater inspections. Underwater robots (UAVs / ROVs) can only conduct underwater surveys and cannot fly. For certain scenarios, such as bridge structure and pile foundations, offshore wind power and pile foundations, underwater penetration testing of reservoirs and dams, and deep-sea cage aquaculture inspections, drones need to be combined with underwater robots to address existing problems. In specialized areas, such as near-shore military reconnaissance and landing operations, traditional drones are bulky in the air, easily revealing their targets, while underwater robots cannot reach shore for reconnaissance. In light of this, we propose a quadcopter multi-rotor, cross-medium, dual-use aerial and water drone. Summary of the Invention

[0005] The purpose of the present invention is to provide a four-axis multi-rotor cross-medium water-air dual-purpose drone to solve the problems raised in the above background technology.

[0006] In view of this, the present invention provides a four-axis multi-rotor cross-medium water-air dual-purpose UAV, comprising:

[0007] A frame, a sealed battery compartment fixedly mounted on the bottom of the frame, a sealed electronics compartment fixedly mounted on the top of the frame, a camera and a lighting fixture fixedly mounted on one side of the sealed electronics compartment, a stabilizing frame symmetrically fixedly mounted on the top of the frame and located on one side of the sealed electronics compartment, a rotating rod rotatably mounted in the stabilizing frame, one end of the rotating rod being sleeved with a mounting frame, a brushless motor 1 fixedly mounted on the top of the mounting frame, and a propeller 1 fixedly mounted on the output end of the brushless motor 1;

[0008] A driving assembly, located on the frame and used to drive the two rotating rods to rotate;

[0009] A circular box is fixedly mounted on the frame and located on the other side of the sealed electronic compartment. A winding groove is provided in the circular box, and a winding roller is rotatably mounted in the winding groove. A limit plate is fixedly mounted on the top of the circular box, and a suspension ball is provided in the limit plate. An antenna is wound around the winding roller, and the top end of the antenna passes through the limit plate and the suspension ball and extends to the outside world.

[0010] A power assembly is located on the frame and is used to drive the winding roller to rotate.

[0011] In this technical solution, when underwater detection is required, personnel can first move the entire device above the water surface, and then drive the two rotating rods to rotate through the driving assembly. The rotation of the rotating rod will drive the mounting frame to rotate, and the rotation of the mounting frame will drive the brushless motor to rotate. The rotation of the brushless motor will drive the propeller blade to rotate until the two propeller blades rotate 180 degrees. At this time, the rotation of the two propeller blades can drive the frame to move underwater. When the frame enters the water, the power assembly will drive the winding roller to rotate. The rotation of the winding roller can drive the antenna to pay out the line. At the same time, under the action of the buoyancy of the suspension ball, the suspension ball will drive one end of the antenna to always float on the water surface, ensuring that one end of the antenna can always remain above the water surface, thereby preventing the antenna signal from being blocked by water.

[0012] Personnel can control the movement of the entire device underwater by adjusting the rotation angle of the two blades, and the lighting can illuminate the underwater to ensure that the image taken by the camera is clearer. The image taken by the camera can be transmitted to the shore through the antenna to ensure that personnel can clearly see the underwater situation. When the entire device needs to be moved out from underwater, the two blades can be reset to the angle during flight first, and then the power component can be used to drive the winding roller to reel in the line until the suspension ball enters the limit plate. At this time, the limit plate can limit the suspension ball to prevent the suspension ball from shaking, thereby ensuring the stability of the entire device during flight. Through the above device, the drone can not only fly in the sky, but also sail on the water surface, and also dive to perform operations, which meets the technical problems that drones and underwater robots need to cooperate in operations.

[0013] In the above technical solution, further, the driving component includes:

[0014] Two tilting servos are symmetrically fixed on the top of the frame and located between the two stabilizing frames. A turntable is fixedly installed on the output end of the two tilting servos, and a limit rod is fixedly installed on one side of the two turntables. One end of the two limit rods extends into the two rotating rods respectively, and a limit hole is provided on the two rotating rods and above the two limit rods.

[0015] In this technical solution, when underwater inspection is required, personnel can first move the entire device above the water surface, and then start the two tilting servos. The output shaft of the tilting servos will drive the turntable to rotate, the rotation of the turntable will drive the limit rod to rotate, the rotation of the limit rod will drive the rotating rod to rotate, the rotation of the rotating rod will drive the mounting frame to rotate, the rotation of the mounting frame will drive the brushless motor to rotate, the rotation of the brushless motor will drive the blade to rotate, until the two blades rotate 180°, at which time the rotation of the two blades can drive the frame to move underwater.

[0016] In the above technical solution, further, one end of the limit rod is plugged into and fitted with the rotating rod.

[0017] In this technical solution, it is ensured that one end of the limiting rod can be inserted into the rotating rod.

[0018] In the above technical solution, further, the power assembly includes:

[0019] The forward and reverse steering gear is fixedly mounted on the top of the frame and located on one side of the circular box. The output end of the forward and reverse steering gear passes through one side of the circular box and is coaxially connected to the winding roller.

[0020] In this technical solution, the forward and reverse servos are started, and the output shafts of the forward and reverse servos will drive the winding roller to rotate. The rotation of the winding roller can drive the antenna to pay out the line. At the same time, under the action of the buoyancy of the suspension ball, the suspension ball will drive one end of the antenna to always float on the water surface, ensuring that one end of the antenna can always remain above the water surface, thereby preventing the antenna signal from being blocked by water.

[0021] In the above technical solution, further, the output shaft of the forward and reverse rotating servo is rotationally connected to the circular box.

[0022] In this technical solution, it is ensured that the output shaft of the forward and reverse steering gear can rotate normally in the circular box.

[0023] In the above technical solution, further comprising:

[0024] Two support rods, the tops of the two support rods are fixedly mounted with a brushless motor 2, the output ends of the two brushless motors 2 are fixedly mounted with a blade 2, the top of the sealed electronic cabin and at the four corners are provided with a circular hole 1, the top of the sealed battery cabin and at the four corners are provided with a circular hole 2, the bottom of the mounting frame is provided with two mounting holes 1, the top of the stabilizing frame is symmetrically provided with mounting holes 2, the other side of the circular box is provided with a through slot, and a number of connecting slots are provided on the frame and between the sealed battery cabin and the sealed electronic cabin.

[0025] In the present technical solution, when in use, personnel can start two brushless motors 1 and two brushless motors 2, and the output shafts of the two brushless motors 1 will respectively drive the two blades 1 to rotate, and the output shafts of the two brushless motors 2 will respectively drive the two blades 2 to rotate. The rotation of the two blades 2 and the two blades 1 can make the frame fly, and the sealed electronic cabin is fixed to the frame through four round holes 1 and four screws, and the sealed battery cabin is fixed to the frame through four round holes 2 and four screws, the mounting frame is fixed to the rotating rod through two mounting holes 1 and two screws, and the stabilizing frame is fixed to the frame through two mounting holes 2 and two screws, ensuring that personnel can easily disassemble and repair the entire device, and several connecting slots are used to connect the lines between the sealed battery cabin and the sealed electronic cabin to ensure that the sealed battery cabin and the sealed electronic cabin can be used normally.

[0026] In the above technical solution, further, the support rods are in an inclined structure, and the frame and the two support rods are an integrally formed structure.

[0027] In this technical solution, the structural stability of the support rods and the frame is ensured.

[0028] In the above technical solution, further, the antenna is fixedly connected to the suspension ball.

[0029] In this technical solution, it is ensured that the movement of the suspension ball can drive the movement of the antenna.

[0030] In the above technical solution, further, the peripheral side of the suspension ball abuts against the inner wall of the limiting plate.

[0031] In this technical solution, it is ensured that the limit plate can limit the suspension ball, ensuring that the suspension ball does not shake, avoiding instability during flight.

[0032] In the above technical solution, further, the other end of the antenna is fixedly connected to the winding roller.

[0033] In this technical solution, the antenna can be reeled in by ensuring that the reel-up roller rotates.

[0034] The beneficial effects of the present invention are:

[0035] 1. This quad-rotor cross-medium water-air dual-purpose drone, through the provided drive assembly, with the cooperation of the drive assembly, rotating rod, mounting frame, brushless motor 1, propeller 1, power assembly, winding roller and antenna, ensures that one end of the antenna can always remain above the water surface, thereby preventing the antenna signal from being blocked by water.

[0036] 2. The four-axis multi-rotor cross-medium water-air dual-purpose UAV, through the above-mentioned device, enables the UAV not only to fly in the sky, but also to sail on the water surface and dive for operations, meeting the technical problems required for the coordinated operation of UAVs and underwater robots, and the core circuit board and battery are installed in a sealed box to ensure that the relevant core components can work normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is one of the overall structural diagrams of the present invention;

[0038] Figure 2 This is the second schematic diagram of the overall structure of the present invention;

[0039] Figure 3 This is a schematic diagram of the structure of the explosion of the sealed battery compartment in the present invention;

[0040] Figure 4 This is a schematic diagram of the structure of the transfer rod explosion in the present invention;

[0041] Figure 5 This is a schematic diagram of the regional structure of the mounting frame of the present invention;

[0042] Figure 6 Schematic diagram of the internal detailed structure of the circular box in the present invention;

[0043] Figure 7 Schematic diagram of the regional structure of the circular box in the present invention;

[0044] Figure 8 Schematic diagram of the regional structure of the sealed electronic cabin in the present invention.

[0045] The marks in the figure are:

[0046] 1. Frame; 2. Sealed battery compartment; 3. Sealed electronics compartment; 4. Camera; 5. Light; 6. Stabilizer; 7. Turntable; 8. Mounting bracket; 9. Brushless motor (1); 10. Propeller (1); 11. Tilt servo; 12. Turntable; 13. Limiting hole; 14. Mounting hole (1); 15. Support rod; 16. Brushless motor (2); 17. Propeller (2); 18. Round box; 19. Winding slot; 20. Through slot; 21. Winding roller; 22. Antenna; 23. Forward and reverse servo; 24. Limiting plate; 25. Suspension ball; 26. Round hole (1); 27. Round hole (2); 28. Mounting hole (2); 29. Limiting rod; 30. Connecting slot. DETAILED DESCRIPTION

[0047] The following will be combined with the accompanying drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0048] In the description of this application, it should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to this application. For ease of description, the dimensions of the various parts shown in the drawings are not drawn according to the actual proportional relationship. Technologies, methods and equipment known to ordinary technicians in the relevant fields may not be discussed in detail, but where appropriate, the technologies, methods and equipment should be considered as part of the authorization specification. In all examples shown and discussed here, any specific values should be interpreted as merely exemplary and not as limitations. Therefore, other examples of the exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following figures, so once an item is defined in one figure, it does not need to be further discussed in subsequent figures.

[0049] It should be noted that the terms "first," "second," etc. in the specification and claims of this application are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the data used in this way are interchangeable where appropriate, so that the embodiments of this application can be implemented in an order other than those illustrated or described herein, and that the objects distinguished by "first," "second," etc. are generally of the same type, and do not limit the number of objects. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects connected before and after are in an "or" relationship.

[0050] It should be noted that, in the description of this application, the directions or positional relationships indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, vertical, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description. Unless otherwise specified, these directional terms do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of this application; the directional terms "inside and outside" refer to the inside and outside relative to the outline of each component itself.

[0051] It should be noted that, in the present application, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the statement "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0052] Example 1:

[0053] See also Figure 1 - Figure 8 As shown, this embodiment provides a four-axis multi-rotor cross-medium water-air dual-purpose drone, including:

[0054] Frame 1, a sealed battery compartment 2 is fixedly mounted on the bottom of the frame 1, a sealed electronic compartment 3 is fixedly mounted on the top of the frame 1, a camera 4 and a lighting lamp 5 are fixedly mounted on one side of the sealed electronic compartment 3, a stabilizing frame 6 is symmetrically fixedly mounted on the top of the frame 1 and located on one side of the sealed electronic compartment 3, a rotating rod 7 is rotatably mounted in the stabilizing frame 6, one end of the rotating rod 7 is sleeved with a mounting frame 8, a brushless motor 9 is fixedly mounted on the top of the mounting frame 8, and a propeller 10 is fixedly mounted on the output end of the brushless motor 9;

[0055] A driving assembly is located on the frame 1 and is used to drive the two rotating rods 7 to rotate;

[0056] A circular box 18 is fixedly mounted on the frame 1 and is located on the other side of the sealed electronic compartment 3. A winding slot 19 is provided in the circular box 18, and a winding roller 21 is rotatably mounted in the winding slot 19. A limit plate 24 is fixedly mounted on the top of the circular box 18, and a suspension ball 25 is provided in the limit plate 24. An antenna 22 is wound around the winding roller 21, and the top end of the antenna 22 passes through the limit plate 24 and the suspension ball 25 and extends to the outside world.

[0057] The power assembly is located on the frame 1 and is used to drive the winding roller 21 to rotate.

[0058] Among them, when underwater detection is required, personnel can first move the entire device above the water surface, and then drive the two rotating rods 7 to rotate through the driving assembly. The rotation of the rotating rod 7 will drive the mounting frame 8 to rotate, and the rotation of the mounting frame 8 will drive the brushless motor 9 to rotate. The rotation of the brushless motor 9 will drive the blade 10 to rotate until the two blades 10 rotate 180°. At this time, the rotation of the two blades 10 can drive the frame 1 to move underwater. When the frame 1 enters the water, the power assembly will drive the winding roller 21 to rotate. The rotation of the winding roller 21 can drive the antenna 22 to pay out the line. At the same time, under the action of the buoyancy of the suspension ball 25, the suspension ball 25 will drive one end of the antenna 22 to always float on the water surface, ensuring that one end of the antenna 22 can always remain above the water surface, thereby preventing the signal of the antenna 22 from being blocked by water;

[0059] Personnel can control the movement of the entire device underwater by adjusting the rotation angle of the two blades 10, and the lighting 5 can illuminate the underwater to ensure that the image taken by the camera 4 is clearer, and the image taken by the camera 4 can be transmitted to the shore through the antenna 22 to ensure that personnel can clearly see the underwater situation. When the entire device needs to be moved out from underwater, the two blades 10 can be reset to the angle during flight first, and then the power component drives the winding roller 21 to reel in the line until the suspension ball 25 enters the limit plate 24. At this time, the limit plate 24 can limit the suspension ball 25 to prevent the suspension ball 25 from shaking, thereby ensuring the stability of the entire device during flight. Through the above device, the drone can not only fly in the sky, but also sail on the water surface, and also dive to perform operations, meeting the technical problems that drones and underwater robots need to cooperate in operations.

[0060] Example 2:

[0061] This embodiment provides a four-axis multi-rotor cross-medium water-air dual-purpose UAV. In addition to the technical solutions of the above embodiments, it also has the following technical features. The drive component includes:

[0062] Two tilting servos 11 are symmetrically fixedly mounted on the top of the frame 1 and located between the two stabilizing frames 6. A turntable 12 is fixedly mounted on the output end of the two tilting servos 11. A limit rod 29 is fixedly mounted on one side of the two turntables 12. One end of the two limit rods 29 extends into the two rotating rods 7 respectively. Limiting holes 13 are provided on the two rotating rods 7 and above the two limit rods 29 respectively.

[0063] Among them, when underwater inspection is required, personnel can first move the entire device above the water surface, and then start the two tilting servos 11. The output shaft of the tilting servo 11 will drive the turntable 12 to rotate, and the rotation of the turntable 12 will drive the limit rod 29 to rotate. The rotation of the limit rod 29 will drive the rotating rod 7 to rotate, and the rotation of the rotating rod 7 will drive the mounting bracket 8 to rotate. The rotation of the mounting bracket 8 will drive the brushless motor 9 to rotate, and the rotation of the brushless motor 9 will drive the blade 10 to rotate until the two blades 10 rotate 180°. At this time, the rotation of the two blades 10 can drive the frame 1 to move underwater.

[0064] Example 3:

[0065] This embodiment provides a four-axis multi-rotor cross-medium water and air dual-purpose UAV, which, in addition to the technical solutions of the above embodiments, also has the following technical features: one end of the limit rod 29 is plugged into and matched with the rotating rod 7.

[0066] Here, it is ensured that one end of the limiting rod 29 can be inserted into the rotating rod 7 .

[0067] Example 4:

[0068] This embodiment provides a four-axis multi-rotor cross-medium water-air dual-purpose UAV. In addition to the technical solutions of the above embodiments, it also has the following technical features. The power assembly includes:

[0069] The forward and reverse steering gear 23 is fixedly mounted on the top of the frame 1 and is located on one side of the circular box 18 . The output end of the forward and reverse steering gear 23 passes through one side of the circular box 18 and is coaxially connected to the winding roller 21 .

[0070] Among them, the forward and reverse servo 23 is started, and the output shaft of the forward and reverse servo 23 will drive the winding roller 21 to rotate. The rotation of the winding roller 21 can drive the antenna 22 to pay out the line. At the same time, under the action of the buoyancy of the suspension ball 25, the suspension ball 25 will drive one end of the antenna 22 to always float on the water surface, ensuring that one end of the antenna 22 can always remain above the water surface, thereby preventing the signal of the antenna 22 from being blocked by water.

[0071] Example 5:

[0072] This embodiment provides a four-axis multi-rotor cross-medium water-air dual-purpose UAV, which, in addition to the technical solutions of the above embodiments, also has the following technical features: the output shaft of the forward and reverse servo 23 is rotationally connected to the circular box 18.

[0073] Here, it is ensured that the output shaft of the forward and reverse steering gear 23 can rotate normally in the circular box 18 .

[0074] Example 6:

[0075] This embodiment provides a four-axis multi-rotor cross-medium dual-purpose water and air drone. In addition to the technical solutions of the above embodiments, it also has the following technical features, including:

[0076] Two support rods 15, the tops of the two support rods 15 are fixedly mounted with brushless motors 2 16, the output ends of the two brushless motors 2 16 are fixedly mounted with blades 2 17, the top of the sealed electronic cabin 3 and at the four corners thereof are provided with circular holes 1 26, the top of the sealed battery cabin 2 and at the four corners thereof are provided with circular holes 27, the bottom of the mounting frame 8 is provided with two mounting holes 14, the top of the stabilizing frame 6 is symmetrically provided with mounting holes 28, a through slot 20 is provided on the other side of the circular box 18, and a number of connecting slots 30 are provided on the frame 1 and between the sealed battery cabin 2 and the sealed electronic cabin 3.

[0077] Among them, when in use, personnel can start two brushless motors 19 and two brushless motors 216, and the output shafts of the two brushless motors 19 will respectively drive the two blades 10 to rotate, and the output shafts of the two brushless motors 216 will respectively drive the two blades 217 to rotate. The rotation of the two blades 217 and the two blades 10 can make the frame 1 fly, the sealed electronic cabin 3 is fixed to the frame 1 through four round holes 126 and four screws, and the sealed battery cabin 2 is fixed to the frame 1 through four round holes 27 and four screws, the mounting frame 8 is fixed to the rotating rod 7 through two mounting holes 14 and two screws, and the stabilizing frame 6 is fixed to the frame 1 through two mounting holes 28 and two screws, ensuring that personnel can easily disassemble and repair the entire device, and several connecting grooves 30 are used to connect the lines between the sealed battery cabin 2 and the sealed electronic cabin 3 to ensure that the sealed battery cabin 2 and the sealed electronic cabin 3 can be used normally.

[0078] Example 7:

[0079] This embodiment provides a four-axis multi-rotor cross-medium water and air dual-purpose UAV, which, in addition to the technical solutions of the above embodiments, also has the following technical features: the support rod 15 is an inclined structure, and the frame 1 and the two support rods 15 are an integrally formed structure.

[0080] In this case, the structural stability of the support rod 15 and the frame 1 is ensured.

[0081] Example 8:

[0082] This embodiment provides a four-axis multi-rotor cross-medium water-air dual-purpose drone, which, in addition to the technical solutions of the above embodiments, also has the following technical features: the antenna 22 is fixedly connected to the suspension ball 25.

[0083] Here, it is ensured that the movement of the suspension ball 25 can drive the antenna 22 to move.

[0084] Example 9:

[0085] This embodiment provides a four-axis multi-rotor cross-medium water-air dual-purpose drone, which, in addition to the technical solutions of the above-mentioned embodiments, also has the following technical features: the circumference of the suspension ball 25 is against the inner wall of the limit plate 24.

[0086] Among them, it is ensured that the limiting plate 24 can limit the suspension ball 25 to ensure that the suspension ball 25 does not shake, avoiding instability during flight.

[0087] Example 10:

[0088] This embodiment provides a four-axis multi-rotor cross-medium water and air dual-purpose drone. In addition to the technical solutions of the above embodiments, it also has the following technical features: the other end of the antenna 22 is fixedly connected to the winding roller 21.

[0089] The antenna 22 can be reeled by ensuring that the reel roller 21 rotates.

[0090] Working Principle: When in use, personnel can start the two brushless motors 19 and the two brushless motors 216. The output shafts of the two brushless motors 19 will respectively drive the two blades 10 to rotate, and the output shafts of the two brushless motors 216 will respectively drive the two blades 217 to rotate. The rotation of the two blades 217 and the two blades 10 can make the frame 1 fly;

[0091] When underwater inspection is required, personnel can first move the entire device above the water surface, and then start the two tilting servos 11. The output shaft of the tilting servos 11 will drive the turntable 12 to rotate, and the rotation of the turntable 12 will drive the limit rod 29 to rotate. The rotation of the limit rod 29 will drive the rotating rod 7 to rotate, and the rotation of the rotating rod 7 will drive the mounting bracket 8 to rotate. The rotation of the mounting bracket 8 will drive the brushless motor 9 to rotate, and the rotation of the brushless motor 9 will drive the blade 10 to rotate until the two blades 10 rotate. 180°, at this time, the two blades 10 rotate to drive the frame 1 to move underwater. When the frame 1 enters the water, the forward and reverse servo 23 will be started. The output shaft of the forward and reverse servo 23 will drive the winding roller 21 to rotate. The rotation of the winding roller 21 can drive the antenna 22 to pay out the line. At the same time, under the action of the buoyancy of the suspension ball 25, the suspension ball 25 will drive one end of the antenna 22 to always float on the water surface, ensuring that one end of the antenna 22 can always remain above the water surface, thereby preventing the signal of the antenna 22 from being blocked by water;

[0092] The personnel can control the movement of the whole device underwater by adjusting the rotation angle of the two blades 10, and the lighting lamp 5 can illuminate the underwater to ensure that the image taken by the camera 4 is clearer, and the image taken by the camera 4 can be transmitted to the shore through the antenna 22 to ensure that the personnel can clearly see the underwater situation. When the whole device needs to be moved out of the water, the two blades 10 can be reset to the angle during flight, and then the forward and reverse servo 23 can be started. The output shaft of the forward and reverse servo 23 will drive the winding roller 21 to reel in the line until the suspension ball 25 enters the limit plate 24. At this time, the limit plate 24 can limit the suspension ball 25 to prevent the suspension ball 25 from shaking, thereby ensuring the stability of the whole device during flight. Through the above device, the drone can not only fly in the sky, but also sail on the water surface, and also dive to perform operations, which meets the technical problem of the cooperation between drones and underwater robots.

[0093] When the rotating rod 7 and the propeller blade 10 are damaged, the personnel can unscrew the screws in the two mounting holes 14 on the mounting bracket 8, thereby removing the mounting bracket 8 from the rotating rod 7 and replacing it. The screws in the upper limit hole 13 on the rotating rod 7 can also be unscrewed to remove the rotating rod 7 from the limit rod 29 and replace it, ensuring that when the rotating rod 7 and the propeller blade 10 are damaged, the personnel can easily disassemble and replace the rotating rod 7 and the propeller blade 10.

[0094] The embodiments of the present application are described above in conjunction with the accompanying drawings. Unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms without departing from the purpose of this application and the scope of protection of the claims, all of which are within the protection of this application.

Claims

1. A four-axis multi-rotor dual-purpose drone for cross-medium water and air, characterized by: include: A frame (1), wherein a sealed battery compartment (2) is fixedly mounted on the bottom of the frame (1), a sealed electronic compartment (3) is fixedly mounted on the top of the frame (1), a camera (4) and a lighting lamp (5) are fixedly mounted on one side of the sealed electronic compartment (3), a stabilizing frame (6) is symmetrically fixedly mounted on the top of the frame (1) and located on one side of the sealed electronic compartment (3), a rotating rod (7) is rotatably mounted in the stabilizing frame (6), one end of the rotating rod (7) is sleeved with a mounting frame (8), a brushless motor (9) is fixedly mounted on the top of the mounting frame (8), and a blade (10) is fixedly mounted on the output end of the brushless motor (9); A driving assembly, the driving assembly being located on the frame (1) and being used to drive the two rotating rods (7) to rotate; A circular box (18) is fixedly mounted on the frame (1) and is located on the other side of the sealed electronic cabin (3); a winding groove (19) is provided in the circular box (18); a winding roller (21) is rotatably mounted in the winding groove (19); a limit plate (24) is fixedly mounted on the top of the circular box (18); a suspension ball (25) is provided in the limit plate (24); an antenna (22) is wound around the winding roller (21); and the top end of the antenna (22) passes through the limit plate (24) and the suspension ball (25) and extends to the outside; A power assembly is located on the frame (1) and is used to drive the winding roller (21) to rotate.

2. The quad-axis multi-rotor cross-medium water-air dual-purpose UAV according to claim 1, characterized in that: The drive assembly includes: Two tilting servos (11), the two tilting servos (11) are symmetrically fixedly mounted on the top of the frame (1) and located between the two stabilizing frames (6), the output ends of the two tilting servos (11) are fixedly mounted with a turntable (12), one side of the two turntables (12) is fixedly mounted with a limit rod (29), one end of the two limit rods (29) respectively extends into the two rotating rods (7), and a limit hole (13) is provided on the two rotating rods (7) and respectively located above the two limit rods (29).

3. The quad-axis multi-rotor cross-medium water-air dual-purpose UAV according to claim 2, characterized in that: One end of the limiting rod (29) is plug-fitted to the rotating rod (7).

4. The quad-rotor cross-medium water-air dual-purpose UAV according to claim 1, characterized in that: The power assembly includes: A forward and reverse steering gear (23) is fixedly mounted on the top of the frame (1) and located on one side of the circular box (18); an output end of the forward and reverse steering gear (23) passes through one side of the circular box (18) and is coaxially connected to the winding roller (21).

5. The quad-axis multi-rotor cross-medium water-air dual-purpose UAV according to claim 4, characterized in that: The output shaft of the forward and reverse steering gear (23) is rotationally connected to the circular box (18).

6. The quad-axis multi-rotor cross-medium water-air dual-purpose UAV according to claim 1, characterized in that: Also includes: Two support rods (15), the tops of the two support rods (15) are fixedly mounted with a second brushless motor (16), the output ends of the two brushless motors (16) are fixedly mounted with a second blade (17), the top of the sealed electronic cabin (3) and at the positions of its four corners are provided with a first circular hole (26), the top of the sealed battery cabin (2) and at the positions of its four corners are provided with a second circular hole (27), the bottom of the mounting frame (8) is provided with two first mounting holes (14), the top of the stabilizing frame (6) is symmetrically provided with a second mounting hole (28), the other side of the circular box (18) is provided with a through slot (20), and a plurality of connecting slots (30) are provided on the frame (1) and between the sealed battery cabin (2) and the sealed electronic cabin (3).

7. The quad-axis multi-rotor cross-medium water-air dual-purpose UAV according to claim 6, characterized in that: The support rods (15) are in an inclined structure, and the frame (1) and the two support rods (15) are an integrally formed structure.

8. The quad-axis multi-rotor cross-medium water-air dual-purpose UAV according to claim 1, characterized in that: The antenna (22) is fixedly connected to the suspension ball (25).

9. The quad-axis multi-rotor cross-medium water-air dual-purpose UAV according to claim 1, characterized in that: The peripheral side of the suspension ball (25) abuts against the inner wall of the limiting plate (24).

10. The quad-axis multi-rotor cross-medium water-air dual-purpose UAV according to claim 1, characterized in that: The other end of the antenna (22) is fixedly connected to the winding roller (21).

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