Amphibious unmanned aerial vehicle and ROV integrated mechanical system

Abstract

The invention discloses an amphibious unmanned aerial vehicle and ROV integrated mechanical system, and belongs to the technical field of underwater robot launching. The flight system is installed at the upper end of the connecting frame and used for flying of the whole system, the undercarriage is installed at the lower end of the connecting frame and used for landing on the water surface, and the throwing and recycling system is installed in the middle of the connecting frame and used for achieving automatic throwing and recycling of the ROV. The unmanned aerial vehicle is used as a remote rapid delivery and control relay platform of the ROV, and compared with laying and recovery on a ship or on the ground, the unmanned aerial vehicle can work in a larger area under the condition that umbilical cables are the same in length, and can work in an area farther away from an operator within the same time. The buoy is integrated on the undercarriage of the unmanned aerial vehicle, so that the unmanned aerial vehicle has the water surface take-off and landing capacity, meanwhile, the hydrodynamic brushless motor and the propeller are integrated, the maneuverability of the system on the water surface is ensured, and the unmanned aerial vehicle can be corrected in time when the position of the unmanned aerial vehicle is influenced by water flow, or the flight system does not need to be started during short-distance transfer.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater robot deployment, and in particular relates to an amphibious unmanned aerial vehicle (UAV) and ROV integrated mechanical system. Background Art

[0002] ROVs are widely used in underwater operations, playing a vital role in military, agricultural, and industrial applications. Their real-time control allows them to perform more precise and complex tasks than AUVs. However, due to their wired communication, their operational range is completely limited by the umbilical cable.

[0003] Currently, ROV deployment and recovery mainly rely on two platforms: ships and ground. Their response speed and flexibility of use are greatly limited, and they cannot be deployed quickly over long distances. Summary of the Invention

[0004] In order to solve the problems existing in the above-mentioned background technology, the present invention proposes an integrated mechanical system of an amphibious UAV and ROV. By using the UAV as a platform for deploying, recovering and communicating with the ROV, the response speed is greatly improved, the time required for deploying and recovering the ROV is shortened, and the use of umbilical cables is reduced in large-scale operations.

[0005] The technical solution adopted by the present invention is: An integrated mechanical system for an amphibious unmanned aerial vehicle (UAV) and a revolving vehicle (ROV) comprises a flight system, a connecting frame, a launch and recovery system, a landing gear, and an ROV. The flight system is mounted on the upper end of the connecting frame and is used for flight of the entire system. The landing gear is mounted on the lower end of the connecting frame and is used for landing on water. The launch and recovery system is mounted in the middle of the connecting frame to achieve automatic launch and recovery of the ROV.

[0006] Compared with the prior art, the present invention has the following beneficial effects: The present invention uses a drone as a remote and rapid delivery and control relay platform for the ROV. Compared with deployment and recovery on a ship or on the ground, it can operate in a larger area with the same umbilical cable length and can operate in an area farther away from the operator within the same time.

[0007] The present invention simplifies the ROV deployment and recovery operations by means of a series of automatically controlled mechanical structures, including guide rails, hydraulic rods, a winch controlled by a worm gear reduction motor, and an auxiliary winding device controlled by a stepper motor, thereby avoiding the need for human intervention and improving the degree of automation in the ROV deployment and recovery process.

[0008] The present invention integrates buoys into the landing gear of the UAV, enabling the UAV to take off and land on the water surface. It also integrates a water-dynamic brushless motor and propeller, ensuring the system's maneuverability on the water surface. This allows it to make immediate corrections when water currents affect the position of the UAV, or to avoid starting the flight system for short-distance transfers. In addition, it also integrates an underwater acoustic receiver for ultra-short baseline positioning, which can confirm the current position of the ROV in real time.

[0009] The present invention installs a waterproof cabin in the central part of the drone for storing circuit boards to prevent the circuit boards from being wetted by splashing water and causing short circuits. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic structural diagram of the present invention; Figure 2 It is the front view of the present invention; Figure 3 It is a top view of the present invention; Figure 4 It is a structural diagram of the delivery and recovery system of the present invention; Figure 5 This is a schematic diagram of the delivery and recovery device of the present invention with the hydraulic rod extended, the electronic lock closed, and the guide rails horizontal; Figure 6 This is a schematic diagram of the launching and recovery device of the present invention with the hydraulic rod retracted and the guide rail tilted downward; Figure 7 is a bottom view of the landing gear of the present invention; Figure 8 It is a schematic structural diagram of the flight system of the present invention; Figure 9 It is a schematic diagram of the ROV structure of the present invention; Among them: 1. Flight system; 101. Waterproof cabin; 102. Lift propeller arm; 103. Lift brushless motor; 104. Lift propeller; 2. Connecting frame; 3. Launch and recovery system; 301. Winch; 302. Worm DC reduction motor; 303. Conductive slip ring; 304. Electronic lock; 305. Fixing plate; 306. Guide rail; 307. Auxiliary winding device; 308. Stepper motor; 309. Hydraulic rod; 310. Base plate; 311. Connecting pipe 2; 312. Double tube buckle; 4. Landing gear; 401. Float; 402. Hydrodynamic brushless motor; 403. Hydrodynamic propeller; 404. Sonar receiver; 5. ROV; 501. Front cabin; 502. Rear cabin; 503. Vertical propeller; 504. Horizontal propeller; 505. Sharp corner. DETAILED DESCRIPTION

[0011] In order to better understand the purpose, structure and function of the present invention, the present invention is further described in detail below with reference to the accompanying drawings.

[0012] This system uses an amphibious drone carrying communications and positioning equipment to enable rapid, remote deployment of underwater robots and serve as a control relay platform. The main component of this system is a quadcopter drone, which enables rapid maneuverability of the entire system. Its landing gear is equipped with buoys, allowing it to take off and land on both the water and the ground. The buoys are equipped with propellers, enabling surface navigation. An ROV deployment and recovery device is installed in the center of the system, enabling fully automatic deployment and recovery of the ROV. The system integrates the Beidou Satellite Navigation System (BDS) and the Ultra-Short Baseline Positioning System (USBL), integrating both wired and wireless communications to enable remote, real-time control of underwater robots. By combining drones with ROVs, this invention achieves greater flexibility than using other platforms as ROV mother systems, enabling faster response times in emergency situations.

[0013] like Figures 1 to 3 The figure shows an integrated amphibious UAV and ROV mechanical system, including a flight system 1, a connecting frame 2, a launch and recovery system 3, landing gear 4, and an ROV 5. The flight system 1 is mounted on the upper end of the connecting frame 2 for full system flight, the landing gear 4 is mounted on the lower end of the connecting frame 2 for landing on water surfaces, and the launch and recovery system 3 is mounted in the middle of the connecting frame 2 to enable automatic launch and recovery of the ROV 5. The launch and recovery system 3 serves as the hub between the flight system 1 and the ROV 5, integrating the UAV and ROV into one.

[0014] like Figures 4 to 6 As shown, the launch and recovery system 3 includes a base plate 310, a guide rail assembly and an umbilical cable retraction assembly; the base plate 310 is detachably connected to the connecting frame 2, and the guide rail assembly and the umbilical cable retraction assembly are both installed on the base plate 310. The guide rail assembly serves as the parking cabin of the ROV5 and cooperates with the umbilical cable retraction assembly to complete the launch and recovery of the ROV5.

[0015] The guide rail assembly includes an electronic lock 304, a hydraulic rod 309, a rotating plate, a fixed plate 305, and two guide rails 306; the two guide rails 306 are relatively arranged below the base plate 310, and the ROV5 is placed between the two guide rails 306. One end of the two guide rails 306 is connected to the lower end of the rotating plate, and the other end is connected to the lower end of the fixed plate 305. The upper end of the rotating plate is rotatably connected to the base plate 310, and a hydraulic rod 309 is installed between the rotating plate and the base plate 310. The upper end of the fixed plate 305 is connected to the base plate 310 through the electronic lock 304.

[0016] The lower ends of the rotating plate and the fixed plate 305 are both provided with inclined slots, so that the guide rail 306 can be plugged into the rotating plate and the fixed plate 305, and a V-shaped cavity is formed between the two guide rails 306 to match the ROV5.

[0017] The umbilical cable retraction and deployment assembly includes a capstan 301, a worm DC reduction motor 302, an auxiliary winding device 307, and an umbilical cable; the umbilical cable is connected between the capstan 301 and the ROV5, and the capstan 301 is rotatably mounted on the upper surface of the base plate 310 through a capstan seat. The capstan 301 is driven by the worm DC reduction motor 302, and the auxiliary winding device 307 is mounted on the base plate 310 to assist the capstan 301 in retracting and deploying the umbilical cable.

[0018] The worm DC reduction motor 302 is connected to one end of the winch 301 to provide torque; the conductive slip ring 303 is connected to the other end of the winch 301 to connect the circuit between the umbilical cable and the waterproof cabin 101.

[0019] The auxiliary winding device 307 includes a stepper motor 308, a linear slide, and multiple roller groups; the linear slide adopts a ball screw, and the linear slide is arranged on one side of the capstan 301 along the axial direction of the capstan 301. The linear slide is driven by the stepper motor 308, and the multiple roller groups are arranged in sequence on the base plate 310 and the rotating plate between the capstan 301 and the ROV5 along the path of the umbilical cable.

[0020] The auxiliary winding device 307 utilizes a linear slide consisting of a stepper motor 308 and a ball screw, with rollers constraining the umbilical cable's range of motion. The rotational speed of the stepper motor 308 is linearly proportional to the speed of the capstan 301, ensuring the umbilical cable is wound around the capstan 301 in a regular pattern, preventing tangled cables. After the umbilical cable exits the auxiliary winding device 307, three pairs of rollers constrain its position and redirect its tension, ultimately connecting it to the ROV5.

[0021] The bottom of the base plate 310 of the delivery and recovery system 3 is connected to an aluminum alloy clip using screws, and the clip clamps the connecting tube 311 made of carbon fiber. The connecting tube 311 is arranged along the length direction of the guide rail 306. The connecting tube 311 and the connecting frame 2 are carbon fiber tubes of the same diameter. The two are connected by a double-tube clip 312. The combined connection between the connecting tube 311 and the double-tube clip 312 with the help of screws not only ensures the firmness of the connection, but also has a certain degree of detachability, which is convenient for the overall maintenance and protection of the delivery and recovery system 3.

[0022] The launch and recovery system 3 uses guide rails 306 to launch and recover the ROV5. The tilt angle of the guide rails 306 is controlled by hydraulic rods 309. When in flight, the hydraulic rods 309 extend to make the guide rails 306 horizontal, and an electronic lock 304 connects the fixed plate 305 and the base plate 310 to prevent the guide rails from rotating unexpectedly. When the system lands on the water surface, the electronic lock 304 is released, the hydraulic rods 309 retract, the guide rails 306 tilt downward, the winch 301 releases the umbilical cable, and the ROV5 enters the water by gravity. After the underwater work is completed, the ROV5 is stuck on the restraining ramp, the winch 301 retracts the umbilical cable, and the ROV5 is pulled back. At the same time, the hydraulic rods 309 extend to return the guide rails 306 to a horizontal state. The electronic lock 304 then closes, fixing the guide rails 306 in a horizontal state.

[0023] like Figure 9 As shown, to ensure the stability of the ROV5 while reducing motor usage, the ROV5 uses two horizontal propellers 504 and a vertical propeller 503 for depth control. The axis of the vertical propeller 503 coincides with the center of gravity of the ROV5. To achieve this effect, the ROV5 adopts a two-cabin configuration. The umbilical cable is connected to the front cabin 501, which controls the image transmission and relays to the rear cabin 502, which controls the motor and hydroacoustic positioning beacon. The bottom of the ROV5 has a sharp corner 505 to help it catch the restraining ramp and snap into the guide rail 306 when the umbilical cable is recovered, allowing it to be recovered along the guide rail 306. The inclination angle of the ROV5 bilge matches the guide rail 306, limiting its linear motion along the guide rail 306.

[0024] like Figure 7 As shown, the landing gear 4 is integrated with a buoy 401 for landing on the water surface, an acoustic receiver 404 for receiving signals emitted by an acoustic positioning beacon to achieve positioning, a brushless hydrodynamic motor 402 for the system to move on the water surface, and a hydraulic propeller 403 installed on the brushless hydrodynamic motor.

[0025] like Figure 8 As shown, the flight system 1 includes a waterproof cabin 101, multiple lift propeller arms 102, multiple lift brushless motors 103 and multiple lift propellers 104; the waterproof cabin 101 is surrounded by multiple lift propeller arms 102, and a lift brushless motor 103 is installed on the outer end of each lift propeller arm 102, and a lift propeller 104 is installed on the output shaft of each lift brushless motor 103.

[0026] The waterproof cabin 101 and the lift propeller arm 102, the lift propeller arm 102 and the lift brushless motor 103, and the waterproof cabin 101 and the connecting frame 2 are all connected using aluminum alloy brackets specially designed for quadcopters to ensure the overall structural strength while taking into account weight and corrosion resistance.

[0027] The overall workflow of this system is as follows: The host computer sends a signal, and the amphibious drone and ROV integrated mechanical system parked on the ground starts the flight system 1. The lift brushless motor 103 drives the lift propeller 104 to rotate to generate lift, lifting the entire system off the ground and flying towards the target area under the subsequent control of the host computer. After arriving, the host computer control system descends, and the system lands on the water surface with the help of the buoy 401.

[0028] After landing, the flight system 1 is shut down, and the brushless water-dynamic motor 402 is powered on to drive the water-dynamic propeller 403 to rotate and generate thrust to offset the displacement caused by the water flow or to move a short distance on the water surface.

[0029] When launching ROV5, the electronic lock 304 is first unlocked, then the hydraulic rod 309 is retracted, the guide rail 306 changes from a horizontal state to an inclined state, and the worm DC reduction motor 302 drives the winch 301 to rotate, releasing the umbilical cable. The ROV5 slides down the guide rail 306 by gravity and enters the water.

[0030] When recovering ROV5, the sharp corner 505 at the bottom of ROV5 is stuck into the guide rail 306 along the constraint slope, and is restricted to linear movement on the guide rail 306. At the same time, the worm DC reduction motor 302 drives the winch 301 to rotate, and the umbilical cable is evenly wound around the winch 301 with the help of the auxiliary winding device 307. The contracted umbilical cable pulls the ROV5 upward along the guide rail 306. After leaving the water surface, the hydraulic rod 309 extends, causing the guide rail 306 to return to a horizontal state, and the electronic lock is closed.

[0031] After finishing the work, the host computer controls the flight system 1 again to drive the system to take off and return to the operator's position.

[0032] It will be understood that the present invention is described by way of some embodiments, and it will be appreciated by those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are intended to be protected by the present invention.

Claims

1. An integrated amphibious UAV and ROV mechanical system, characterized by: The invention comprises a flight system (1), a connecting frame (2), a delivery and recovery system (3), a landing gear (4) and an ROV (5); the flight system (1) is installed at the upper end of the connecting frame (2) for the flight of the entire system, the landing gear (4) is installed at the lower end of the connecting frame (2) for landing on the water surface, and the delivery and recovery system (3) is installed in the middle of the connecting frame (2) to realize the automatic delivery and recovery of the ROV (5).

2. The integrated amphibious UAV and ROV mechanical system according to claim 1, characterized in that: The launch and recovery system (3) comprises a base plate (310), a guide rail assembly and an umbilical cable retracting assembly; the base plate (310) is detachably connected to the connecting frame (2), and the guide rail assembly and the umbilical cable retracting assembly are both mounted on the base plate (310). The guide rail assembly serves as a parking cabin for the ROV (5) and cooperates with the umbilical cable retracting assembly to complete the launch and recovery of the ROV (5).

3. The integrated amphibious UAV and ROV mechanical system according to claim 2, characterized in that: The guide rail assembly comprises an electronic lock (304), a hydraulic rod (309), a rotating plate, a fixed plate (305), and two guide rails (306); the two guide rails (306) are relatively arranged below the base plate (310); the ROV (5) is placed between the two guide rails (306); one end of the two guide rails (306) is connected to the lower end of the rotating plate, and the other end is connected to the lower end of the fixed plate (305); the upper end of the rotating plate is rotatably connected to the base plate (310), and a hydraulic rod (309) is installed between the rotating plate and the base plate (310); the upper end of the fixed plate (305) is connected to the base plate (310) via the electronic lock (304).

4. The integrated amphibious UAV and ROV mechanical system according to claim 3, characterized in that: The lower ends of the rotating plate and the fixed plate (305) are both provided with inclined slots, so that the guide rail (306) can be plugged into the rotating plate and the fixed plate (305), and a V-shaped cavity is formed between the two guide rails (306) to match the ROV (5).

5. The integrated amphibious UAV and ROV mechanical system according to claim 3, characterized in that: The umbilical cable retraction and deployment assembly comprises a capstan (301), a worm DC reduction motor (302), an auxiliary winding device (307), and an umbilical cable; the umbilical cable is connected between the capstan (301) and the ROV (5); the capstan (301) is rotatably mounted on the upper surface of a base plate (310) via a capstan seat; the capstan (301) is driven by the worm DC reduction motor (302); the auxiliary winding device (307) is mounted on the base plate (310) and is used to assist the capstan (301) in retracting and deploying the umbilical cable.

6. The integrated amphibious UAV and ROV mechanical system according to claim 5, characterized in that: The auxiliary winding device (307) includes a stepper motor (308), a linear slide, and a plurality of roller groups; the linear slide is arranged on one side of the capstan (301) along the axial direction of the capstan (301), and the linear slide is driven by the stepper motor (308); the plurality of roller groups are sequentially arranged on a base plate (310) and a rotating plate between the capstan (301) and the ROV (5) along the path of the umbilical cable.

7. The integrated amphibious UAV and ROV mechanical system according to claim 2, characterized in that: The bottom of the base plate (310) of the delivery and recovery system (3) is connected to a buckle by screws, and the buckle clamps the connecting pipe (311). The connecting pipe (311) is arranged along the length direction of the guide rail (306). The connecting pipe (311) and the connecting frame (2) are connected by a double-tube buckle (312).

8. The integrated amphibious UAV and ROV mechanical system according to claim 1, characterized in that: The ROV (5) adopts two horizontal propellers (504) and a vertical propeller (503) for controlling the depth. The axis of the vertical propeller (503) coincides with the center of gravity of the ROV (5). The ROV (5) adopts a two-cabin configuration. The umbilical cable is connected to the front cabin (501). The front cabin (501) controls the image transmission and is a relay for the rear cabin (502). The rear cabin (502) controls the motor and the underwater acoustic positioning beacon. The bottom of the ROV (5) has a sharp corner (505) to help it get stuck in the constraint slope and get stuck in the guide rail (306) when the umbilical cable is recovered, and then recovered along the guide rail (306).

9. The integrated amphibious UAV and ROV mechanical system according to claim 1, characterized in that: The landing gear (4) is integrated with a buoy (401) for landing on the water surface, a hydroacoustic receiver (404) for receiving signals emitted by a hydroacoustic positioning beacon to achieve positioning, a hydrodynamic brushless motor (402) for the system to move on the water surface, and a hydrodynamic propeller (403) mounted on the hydrodynamic brushless motor.

10. The integrated amphibious UAV and ROV mechanical system according to claim 1, characterized in that: The flight system (1) comprises a waterproof cabin (101), a plurality of lift propeller arms (102), a plurality of lift brushless motors (103) and a plurality of lift propellers (104); the waterproof cabin (101) is surrounded by a plurality of lift propeller arms (102), a lift brushless motor (103) is mounted on the outer end of each lift propeller arm (102), and a lift propeller (104) is mounted on the output shaft of each lift brushless motor (103).

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