A flexible resident reconnaissance unmanned aerial vehicle

Abstract

The present application relates to the technical field of unmanned aerial vehicle, specifically to a flexible residence reconnaissance unmanned aerial vehicle, which comprises a main body, a reconnaissance camera is arranged on the side of the main body, two groups of foldable landing gears are arranged on the main body, each of the foldable landing gears comprises two parallel fixed support pipes and a horizontally arranged support frame, and the upper end of the fixed support pipe is hinged to the main body; when flying, the aerodynamic swing mechanism drives the fixed support pipe to abut against the main body, the telescopic arm is retracted into the fixed support pipe, the air resistance is reduced, the flight efficiency is improved, meanwhile, the exposed structure is prevented from colliding with obstacles, and the equipment safety is ensured; when residing, the fixed support pipe is automatically expanded, the telescopic arm is synchronously extended, the support span is expanded, the landing stability on the ground or water surface is improved, the problems of complicated operation and poor adaptability of the existing unmanned aerial vehicle support are solved, the automatic folding and telescoping integration of the landing gear is realized, and the flight and residence scenes can be adapted without manual intervention.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicles, in particular to a flexible residence investigation unmanned aerial vehicle. BACKGROUND

[0002] Investigation unmanned aerial vehicles have been widely used in hydrological monitoring, environmental investigation, emergency search and rescue and other scenes, and some tasks need to consider air cruising and water surface fixed-point investigation at the same time.

[0003] However, the bottom support legs of most unmanned aerial vehicles in the prior art are fixedly designed, which generates large air resistance during flight, reducing flight efficiency; at the same time, the fixed support is easy to knock with aerial obstacles, causing equipment damage, and a small number of foldable support unmanned aerial vehicles need manual intervention for folding and unfolding, which cannot automatically adapt to flight and residence scenes, and the operation is complicated; at the same time, for water surface investigation needs, the floating structure of special water unmanned aerial vehicles is fixedly designed, which has large resistance and poor flexibility during air flight, cannot consider efficient air investigation, and the ordinary unmanned aerial vehicles need to complete water surface investigation through continuous low-altitude flight, consume a large amount of energy, and the endurance is limited, and long-time flight easily causes equipment overheating, affecting task continuity, and cannot realize water surface stable residence, but only rely on continuous flight, which seriously wastes energy, therefore, the present application provides a flexible residence investigation unmanned aerial vehicle, which can realize flexible switching of efficient air flight and stable water surface residence, reduce energy consumption and ensure flight safety. SUMMARY

[0004] In view of the problems in the prior art, the present application provides a flexible residence investigation unmanned aerial vehicle, which can realize flexible switching of efficient air flight and stable water surface residence, reduce energy consumption and ensure flight safety.

[0005] The technical solution adopted by the present application to solve the technical problem is a flexible residence investigation unmanned aerial vehicle, which comprises a body main body, the body main body is provided with an investigation camera on the side, two groups of foldable landing gears are arranged on the body main body, each foldable landing gear comprises two parallel fixed support pipes and a horizontally arranged support frame, the upper end of the fixed support pipe is hingedly connected with the body main body, a telescopic arm is threadedly connected in the fixed support pipe, the lower end of the telescopic arm is rotatably connected with the support frame, a pneumatic swing mechanism is connected between the fixed support pipe and the body main body, a transmission member is connected between the telescopic arm and the body main body, and the support frame is provided with a floating structure communicated with the pneumatic swing mechanism.

[0006] Specifically, the transmission member comprises a support plate arranged on the upper inner side of the fixed support pipe, a support shaft is rotatably connected to the support plate, a gear is coaxially connected to the upper end of the support shaft, a sliding positioning groove is arranged in the telescopic arm, a positioning sliding rod is slidably connected to the sliding positioning groove, the upper end of the positioning sliding rod is connected to the support shaft, a slot corresponding to the gear is arranged on the fixed support pipe, and an arc-shaped gear rack is fixedly connected to the outer side of the fuselage body and is in meshing transmission with the gear.

[0007] Specifically, the pneumatic swing mechanism comprises a micro air pump arranged in the inner part of the fuselage body, a support ring is fixedly connected between the two groups of fixed support pipes, a rotating ring is rotatably connected to the support ring, an automatic retracting type air cylinder is fixedly connected to the rotating ring, the air cylinder is in communication with the micro air pump, and the output end of the air cylinder is hingedly connected to the side surface of the fuselage body.

[0008] Specifically, the telescopic arm is fixedly connected with a blocking ring at the lower part, a floating type sealing ring is arranged below the blocking ring and is slidably connected with the telescopic arm, and a sleeve is fixedly connected to the upper end of the floating type sealing ring.

[0009] A gap for air intake is formed between the sliding positioning groove and the positioning sliding rod, the air cylinder is in communication with the middle part of the fixed support pipe through a pressure relief valve and a pipeline, the outer side of the sleeve is communicated with an air outlet hole, the lower end of the sliding positioning groove is communicated with a through hole corresponding to the sleeve, the outer side of the fuselage body is provided with a spraying structure for cleaning the detection camera, and the air outlet hole is communicated with the spraying structure.

[0010] Specifically, the spraying structure comprises a spray gun fixedly connected to the side surface of the fuselage body, a liquid storage tank for storing cleaning liquid is arranged in the fuselage body, and the liquid inlet channel of the spray gun is communicated with the liquid storage tank through a pipeline; the air outlet hole is communicated with the air inlet channel of the spray gun through a pipeline.

[0011] Specifically, the floating structure comprises mounting grooves arranged at the two ends of the support frame, elastic inflatable floating bags are connected in the mounting grooves, a communication channel is arranged in the support frame, one end of the communication channel is communicated with the inner part of the sliding positioning groove, and the other end of the communication channel is communicated with the inner part of the elastic inflatable floating bag.

[0012] Specifically, the outer side of the sleeve is fixedly connected with a plurality of groups of circumferentially distributed floating plates.

[0013] Specifically, an anti-skid pad is embedded in the middle part of the support frame.

[0014] The beneficial effects of the present application are as follows:

[0015] (1) The invention discloses a flexible residence detection unmanned aerial vehicle, when flying, the aerodynamic swing mechanism drives the fixed support pipe to adhere to the body main body, the telescopic arm is retracted into the fixed support pipe, the air resistance is reduced, the flight efficiency is improved, at the same time, the exposed structure is avoided to knock with the obstacle, the equipment safety is guaranteed; when residence, the fixed support pipe is automatically expanded, the telescopic arm is synchronously extended, the support span is expanded, the ground or water surface landing stability is improved, the problems of the existing unmanned aerial vehicle support operation cumbersome and poor adaptability are solved, the landing gear automatic folding and telescopic integration are realized, manual intervention is not needed, and the flight and residence scene can be adapted.

[0016] (2) The invention discloses a flexible residence detection unmanned aerial vehicle, when water surface residence, the floating type sealing ring is automatically switched to the elastic inflatable float bag, the symmetric buoyancy support is formed by rapid inflation, so that the unmanned aerial vehicle can realize long time fixed point detection without continuous low altitude flight, the energy consumption is significantly reduced, and equipment overheating is avoided; when taking off, the float bag is automatically retracted, the flight resistance is reduced, the problems of poor flexibility of the special water unmanned aerial vehicle and limited water surface detection endurance of the ordinary unmanned aerial vehicle are solved, and air flight and water surface stable residence are considered.

[0017] (3) The invention discloses a flexible residence detection unmanned aerial vehicle, which is automatically cleaned by the cleaning liquid during the water surface landing stage and the water surface taking off, so as to remove dust, water vapor, stains and other impurities, ensure the detection picture definition, do not need an additional power source or manual control, and guarantee the continuity and accuracy of the detection task. BRIEF DESCRIPTION OF DRAWINGS

[0018] The invention is further illustrated below in combination with the drawings and examples.

[0019] Figure 1 It is an isometric view of the invention;

[0020] Figure 2 It is a side view of the invention;

[0021] Figure 3 It is a structure schematic diagram of the elastic inflatable float bag after inflation of the invention;

[0022] Figure 4 It is a structure schematic diagram of the telescopic arm when retracted into the fixed support pipe of the invention;

[0023] Figure 5 It is a connection structure schematic diagram of the fixed support pipe of the invention;

[0024] Figure 6 It is an A area enlarged view of Figure 5 ;

[0025] Figure 7 It is a B area enlarged view of Figure 5 ;

[0026] Figure 8 A cross-sectional structure schematic diagram of the floating sealing ring and the sleeve of the present application;

[0027] Figure 9 A C area of Figure 8 enlarged view;

[0028] Figure 10 A cross-sectional structure schematic diagram of the support frame of the present application;

[0029] In the figure: 1, the main body of the machine; 2, the investigation camera; 3, the fixed support pipe; 4, the support frame; 5, the telescopic arm; 6, the support plate; 7, the support shaft; 8, the gear; 9, the sliding positioning groove; 10, the positioning slide rod; 11, the slotted; 12, the arc-shaped rack; 13, the support ring; 14, the rotating ring; 15, the air cylinder; 16, the blocking ring; 17, the floating sealing ring; 18, the sleeve; 19, the gap; 20, the air outlet; 21, the through hole; 22, the spray gun; 23, the mounting groove; 24, the elastic inflatable float bag; 25, the communication channel; 26, the floating plate; 27, the non-slip mat. DETAILED DESCRIPTION

[0030] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the present application is further described below in combination with specific embodiments.

[0031] In order to realize the flexible switching of efficient flight in the air and stable residence on the water surface, reduce energy consumption, and ensure flight safety, as an embodiment of the present application, as shown in Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 indicated, the investigation unmanned aerial vehicle capable of flexible residence of the present application comprises a main body 1, the main body 1 is provided with an investigation camera 2 on the side, two groups of foldable landing gears are arranged on the main body 1, each foldable landing gear comprises two parallel arranged fixed support pipes 3 and a horizontally arranged support frame 4, the upper end of the fixed support pipe 3 is hinged to the main body 1, a telescopic arm 5 is threadedly connected in the fixed support pipe 3, the lower end of the telescopic arm 5 is rotationally connected to the support frame 4, a pneumatic swing mechanism is connected between the fixed support pipe 3 and the main body 1, a transmission member is connected between the telescopic arm 5 and the main body 1, and a floating structure is arranged on the support frame 4 and communicated with the pneumatic swing mechanism.

[0032] In use, at take-off, the automatic reset of the aerodynamic swing mechanism drives the fixed support pipe 3 to swing towards the fuselage body 1, so that the fixed support pipe 3 is finally in a vertical state close to the fuselage body 1, effectively reducing the air resistance during flight; during the swing process, the fixed support pipe 3 drives the telescopic arm 5 to rotate synchronously through the transmission member, and the telescopic arm 5 will gradually be retracted into the fixed support pipe 3, avoiding the telescopic arm 5 and the support frame 4 exposed to scratch the obstacles in the air during flight, ensuring the safety of the unmanned aerial vehicle flight;

[0033] When it is necessary to land on the water surface and carry out investigation operation, as the fuselage body 1 slowly falls, the aerodynamic swing mechanism is driven to drive the fixed support pipe 3 to expand and swing away from the fuselage body 1, and at the same time, the telescopic arm 5 is driven to rotate reversely through the transmission member, so that the telescopic arm 5 gradually extends from the fixed support pipe 3 and drives the support frame 4 to move outward synchronously, expanding the support span and improving the stability of the unmanned aerial vehicle during landing; after the fixed support pipe 3 swings to the limit position, the aerodynamic swing mechanism drives the float structure to start, and the float structure provides stable buoyancy for the fuselage body 1, so that the fuselage body 1 floats stably on the water surface, reduces energy consumption, avoids overheating of the equipment due to long-time flight, and ensures the continuity of the investigation task;

[0034] After completing the water surface investigation task, the fuselage body 1 is driven to be lifted upward, at this time, the float structure automatically returns to the initial state, and at the same time, the aerodynamic swing mechanism again drives the fixed support pipe 3 to swing towards the fuselage body 1, until it returns to the vertical state close to the fuselage, in this process, the transmission member drives the telescopic arm 5 to retract into the fixed support pipe 3, and the flight resistance is reduced again.

[0035] In order to reduce the air resistance during flight, as shown in Figure 5 、 Figure 6 、 Figure 7 illustrated, the present application further comprises that the transmission member comprises a support plate 6 arranged on the inner side of the fixed support pipe 3, the support plate 6 is rotatably connected with a support shaft 7, the upper end of the support shaft 7 is coaxially connected with a gear 8, a sliding positioning groove 9 is arranged in the telescopic arm 5, a positioning slide rod 10 is slidably connected in the sliding positioning groove 9, the upper end of the positioning slide rod 10 is connected with the support shaft 7, a slotted groove 11 corresponding to the gear 8 is arranged on the fixed support pipe 3, and an arc-shaped rack 12 meshing and driving the gear 8 is fixedly connected to the outer side of the fuselage body 1.

[0036] In use, when the unmanned aerial vehicle takes off, the aerodynamic swing mechanism drives the fixed support pipe 3 to swing towards the direction of the fuselage body 1, in this process, the arc-shaped rack 12 is engaged with the gear 8 to drive the support shaft 7 to rotate synchronously, when the support shaft 7 rotates, it drives the positioning slide rod 10 to rotate, the positioning slide rod 10 and the sliding positioning groove 9 are in sliding fit, which can drive the telescopic arm 5 to rotate, finally the telescopic arm 5 is retracted into the fixed support pipe 3, the air resistance during flight is reduced, the flight efficiency and endurance of the unmanned aerial vehicle are improved, and the risk of collision with obstacles in the air caused by the exposure of the telescopic arm 5 and the support frame 4 is avoided;

[0037] When the unmanned aerial vehicle needs to land, especially water landing, the aerodynamic swing mechanism drives the fixed support pipe 3 to swing away from the direction of the fuselage body 1, at this time the arc-shaped rack 12 is engaged with the gear 8 to drive the support shaft 7 to rotate reversely, the positioning slide rod 10 reversely drives the telescopic arm 5 to rotate, under the action of the screw thread, the telescopic arm 5 gradually extends from the fixed support pipe 3, and synchronously drives the support frame 4 to expand outward, the support span of the foldable landing gear is expanded, the force stability of the unmanned aerial vehicle during landing is improved, and the fuselage is prevented from tilting or rolling over during landing.

[0038] In order to ensure the stability of the fuselage body 1 during landing, as shown in Figure 5 、 Figure 6 , the present application also includes that the aerodynamic swing mechanism includes a micro air pump arranged inside the fuselage body 1, a support ring 13 fixedly connected between the two groups of fixed support pipes 3, a rotating ring 14 rotatably connected on the support ring 13, an automatic retracting type air cylinder 15 fixedly connected on the rotating ring 14, the air cylinder 15 being in communication with the micro air pump, and the output end of the air cylinder 15 being hingedly connected with the side surface of the fuselage body 1.

[0039] In use, after the unmanned aerial vehicle takes off and moves upward, the support frame 4 is separated from the ground, and is reset through the automatic retracting feature of the air cylinder 15, the air cylinder 15 drives the rotating ring 14 to synchronously swing the two groups of fixed support pipes 3 towards the direction of the fuselage body 1, so that the fixed support pipes 3 are in a vertical state, and the transmission member completes the contraction action of the telescopic arm 5, this process does not need manual intervention, realizes automatic folding of the landing gear, simplifies the operation process, reduces the air resistance during flight, and avoids collision damage caused by the exposure of the fixed support pipe 3 and the telescopic arm 5;

[0040] When the unmanned aerial vehicle needs to land on the ground or water surface, the micro air pump is started, the micro air pump supplies air to the air cylinder 15 to drive the air cylinder 15 to elongate, the air cylinder 15 drives the two groups of fixed support pipes 3 to expand and swing away from the direction of the fuselage body 1, and the transmission member realizes the synchronous extension of the telescopic arm 5 outward, which improves the force stability of the unmanned aerial vehicle during landing, and avoids tilting and rolling of the fuselage;

[0041] When the support frame 4 contacts the ground or the water surface, the fixed support pipe 3 is mechanically limited in the maximum expansion state, at which time the gas cylinder 15 cannot be reset by relying on the automatic retraction feature, ensuring the stability of the support structure; if it lands on the water surface, the expansion state can also provide stability for the floating structure, and cooperate with the floating structure to make the main body 1 of the aircraft float smoothly, without the need for continuous flight to carry out long-term investigation operations, significantly reducing energy consumption, avoiding overheating of the equipment due to long-term flight, and ensuring the continuity of the investigation task.

[0042] As shown in the examples of Figure 5 、 Figure 7 、 Figure 8 、 Figure 9 The present application also includes a fixed connection of the lower part of the telescopic arm 5 with a blocking ring 16, a floating sealing ring 17 is provided below the blocking ring 16 and is in sliding connection with the telescopic arm 5, and the upper end of the floating sealing ring 17 is fixedly connected with a sleeve 18.

[0043] The gap 19 for air intake exists between the sliding positioning groove 9 and the positioning slide rod 10, the gas cylinder 15 is in communication with the middle part of the fixed support pipe 3 through a pressure relief valve and a pipeline, the outer side of the sleeve 18 is communicated with an air outlet hole 20, the lower end of the sliding positioning groove 9 is communicated with a through hole 21 corresponding to the sleeve 18, and the outer side of the main body 1 of the aircraft is provided with a spraying structure for cleaning the investigation camera 2.

[0044] In use, the unmanned aerial vehicle performs a water landing task, after the fixed support pipe 3 is expanded to a preset angle and the telescopic arm 5 is fully extended by the micro air pump, the output end of the gas cylinder 15 reaches the elongation limit, at which time the micro air pump continuously supplies air, the excess gas is introduced into the middle part of the fixed support pipe 3 through the pressure relief valve and the pipeline, the support plate 6 can effectively guarantee the sealing performance of the fixed support pipe 3, avoiding gas leakage from the slot 11, the gas flows into the sliding positioning groove 9 along the gap 19 between the sliding positioning groove 9 and the positioning slide rod 10, then enters the inside of the sleeve 18 through the through hole 21 at the lower end of the sliding positioning groove 9, and finally is guided out to the spraying structure through the air outlet hole 20, the spraying structure is driven to start, the spraying structure sprays cleaning liquid to the investigation camera 2, automatically removing dust, water vapor, water surface splashes or oil stains and other impurities attached to the surface of the camera, without the need for remote manual control or additional power source, the camera can be cleaned immediately during landing, avoiding stains from blocking the investigation field of view, ensuring the clarity and accuracy of the investigation picture during water residence, and providing reliable visual protection for subsequent long-term fixed-point investigation;

[0045] With the continuous downward movement of the fuselage body 1, when the support frame 4 contacts the water surface, the water body buoyancy pushes the floating sealing ring 17 to slide upward along the telescopic arm 5 until it is limited by the abutment with the blocking ring 16, at this time the inner side of the floating sealing ring 17 is aligned with the through hole 21 at the lower end of the sliding positioning groove 9, and the floating sealing ring 17 realizes the plugging of the through hole 21, after the through hole 21 is sealed, the gas conduction path is automatically switched, and the gas entering the sliding positioning groove 9 subsequently cannot flow to the spraying structure any more, but is guided into the inside of the floating structure to provide power for the floating structure;

[0046] It should be pointed out that the floating sealing ring 17 can be rotatably and slidably connected with the telescopic arm 5, so as to avoid the synchronous rotation of the floating sealing ring 17 when the telescopic arm 5 rotates;

[0047] It should be further pointed out that the telescopic arm 5 is screw-connected with the fixed support pipe 3, and the screw connection is achieved through the screw structure arranged on the outer side of the telescopic arm 5 and the screw structure arranged at the lower part of the inner side of the fixed support pipe 3; the top outer side of the telescopic arm 5 is connectable with an elastic sealing ring, which is in sliding sealing contact with the inner wall of the fixed support pipe 3, so as to further avoid the leakage of the gas in the fixed support pipe 3 from the lower end thereof.

[0048] In order to facilitate the cleaning of the detection camera 2, as shown in Figure 1 、 Figure 2 , the spraying structure comprises a spray gun 22 fixedly connected to the side surface of the fuselage body 1, the fuselage body 1 is provided with a liquid storage tank for storing cleaning liquid, and the liquid inlet channel of the spray gun 22 is in communication with the liquid storage tank through a pipeline; and the gas outlet hole 20 is in communication with the gas inlet channel of the spray gun 22 through a pipeline.

[0049] In use, when the unmanned aerial vehicle lands, the gas is guided out through the gas outlet hole 20 on the outer side of the sleeve 18, guided into the gas inlet channel of the spray gun 22 through a pipeline, and the cleaning liquid stored in the liquid storage tank is simultaneously pumped into the spray gun 22, the cleaning liquid is sprayed to the surface of the detection camera 2 on the side surface of the fuselage body 1 through the spray head of the spray gun 22, flows along the camera lens and carries away the stains, and the automatic cleaning is completed.

[0050] In order to facilitate the floating of the fuselage body 1 on the water surface for fixed-point detection, as shown in Figure 3 、 Figure 8 、 Figure 9 、 Figure 10 , the floating structure comprises installation grooves 23 arranged at both ends of the support frame 4, elastic inflatable floating bags 24 connected in the installation grooves 23, a communication channel 25 arranged in the support frame 4, one end of the communication channel 25 in communication with the inside of the sliding positioning groove 9, and the other end of the communication channel 25 in communication with the inside of the elastic inflatable floating bag 24.

[0051] In use, when the unmanned aerial vehicle lands on the water surface, the support frame 4 contacts the water surface, the water buoyancy pushes the floating sealing ring 17 to move upwards along the telescopic arm 5 and abuts against the blocking ring 16, the through hole 21 is closed to switch the gas conduction path to the inside of the sliding positioning groove 9, at this time, the gas delivered by the pneumatic swing mechanism continuously injects into the elastic inflatable float bag 24 through the sliding positioning groove 9 and the communication channel 25, the elastic inflatable float bag 24 rapidly expands under the action of the gas pressure to form a symmetrical distributed buoyancy support structure, and the elastic inflatable float bag 24 can stably lift the main body 1 to float on the water surface after being inflated, thereby avoiding the inclination, sinking or overturning of the main body, providing a stable residence basis for long-term fixed-point investigation, the gas delivery path is reused with the pneumatic swing mechanism, without the need for additional inflation equipment, the structure design is simplified and the energy consumption is reduced, and the elastic inflatable float bag 24 is fixed through the mounting groove 23 and can resist the impact of slight water surface fluctuations.

[0052] After completing the water surface investigation task, the unmanned aerial vehicle takes off, the main body 1 is lifted upwards, the floating sealing ring 17 loses the water buoyancy and slides downwards along the telescopic arm 5 to reset, and the through hole 21 at the lower end of the sliding positioning groove 9 is reopened, at this time, the elastic inflatable float bag 24 is contracted, the gas in the elastic inflatable float bag 24 enters the shell 18 through the communication channel 25, the sliding positioning groove 9 and the through hole 21, and then is introduced into the spraying structure through the gas outlet hole 20 on the outside of the shell 18, when the gas flows through the spraying structure, the spray gun 22 is directed to spray onto the surface of the investigation camera 2 again, thereby removing the water stains, dust, plankton residues and other stains attached during the investigation, realizing secondary cleaning before takeoff without manual control or additional power, ensuring that the investigation field is clear after the main body 1 is lifted after the foldable landing gear is stuck in the mud, and ensuring the investigation accuracy during the air cruising stage, and the elastic inflatable float bag 24 is small in size after automatic contraction, thereby reducing the flight resistance and ensuring the air flight flexibility.

[0053] As shown in Figure 10 , the present application further comprises that the outside of the shell 18 is fixedly connected with a plurality of groups of circumferentially distributed floating plates 26.

[0054] In use, the circumferentially distributed floating plates 26 significantly increase the contact area with the water surface, improve the instantaneous buoyancy, and facilitate the driving of the floating plates 26 to move upwards when the foldable landing gear is stuck in the mud, thereby rapidly pushing the floating sealing ring 17 to move upwards along the telescopic arm 5, ensuring that the through hole 21 is timely sealed and the gas conduction path is smoothly switched, and ensuring the rapid start of the subsequent floating structure.

[0055] As shown in Figure 3 , Figure 8 , Figure 10 , the present application further comprises that the middle part of the support frame 4 is embedded with an anti-skid pad 27.

[0056] In use, the anti-skid pad 27 can increase the friction with the contact surface when landing on the ground, form effective limiting, avoid the cylinder 15 driving the fixed support pipe 3 to reset and swing to the vertical state, ensure that the support structure maintains the stable expansion posture when staying on the ground, and improve the reliability of ground operation.

[0057] In use, after the unmanned aerial vehicle starts, the support frame 4 is separated from the ground, the cylinder 15 resets by virtue of the automatic retraction feature, pulls the rotating ring 14 to drive the two groups of fixed support pipes 3 to swing synchronously towards the fuselage main body 1, until the fixed support pipe 3 is in the vertical state and closely adheres to the fuselage main body 1, and in the process of swinging of the fixed support pipe 3, the arc-shaped rack 12 outside the fuselage main body 1 meshes with the gear 8 on the fixed support pipe 3 to drive the support shaft 7 to rotate, thereby driving the positioning slide rod 10 to rotate, the positioning slide rod 10 cooperates with the sliding positioning groove 9 in the telescopic arm 5 to make the telescopic arm 5 shrink to the inside of the fixed support pipe 3 along the threaded connection relationship, complete the automatic folding of the landing gear, and reduce the flight air resistance; after taking off, enter the air cruising mode, rely on the folded landing gear structure to ensure flight flexibility, and carry out aerial reconnaissance work through the reconnaissance camera 2;

[0058] After the aerial reconnaissance is completed, when staying on the ground, the micro air pump inside the fuselage main body 1 is started, air is supplied to the cylinder 15 to drive the output end of the cylinder 15 to elongate, push the two groups of fixed support pipes 3 to expand and swing away from the fuselage main body 1, in the process of swinging of the fixed support pipe 3, the arc-shaped rack 12 reversely meshes with the gear 8 to drive the support shaft 7 and the positioning slide rod 10 to reversely rotate, so that the telescopic arm 5 gradually extends out of the fixed support pipe 3, synchronously drives the support frame 4 to expand outward, expands the support span, the unmanned aerial vehicle slowly lands, after the support frame 4 contacts the ground, the fixed support pipe 3 is in the maximum expansion state to form mechanical limiting, and the cylinder 15 cannot reset; the anti-skid pad 27 in the middle of the support frame 4 increases the friction with the ground, ensures the stability of the support structure, and the unmanned aerial vehicle realizes ground staying, and can carry out ground fixed-point reconnaissance through the reconnaissance camera 2;

[0059] When staying on the water surface is needed, the unmanned aerial vehicle slowly lands on the water surface, the micro air pump continuously supplies air, after the output end of the cylinder 15 reaches the elongation limit, the excess gas is introduced into the middle of the fixed support pipe 3 through the pressure relief valve and the pipeline, flows into the sliding positioning groove 9 through the gap 19 between the sliding positioning groove 9 and the positioning slide rod 10, then enters the sleeve 18 through the through hole 21, is introduced into the spraying structure through the air outlet hole 20, the spraying structure is started, the cleaning liquid in the liquid storage tank is sucked into the spray gun 22, the spray gun 22 sprays the cleaning liquid towards the reconnaissance camera 2, and surface dust, water vapor and other impurities are removed, and the camera cleaning in the landing stage is completed;

[0060] When the support frame 4 contacts the water surface, the water body buoyancy pushes the floating sealing ring 17 to slide upward along the telescopic arm 5 until it is attached to the blocking ring 16, and the through hole 21 switches the gas conduction path, and the gas is injected into the elastic inflatable float 24 through the sliding positioning groove 9 and the communication channel 25, the elastic inflatable float 24 expands rapidly to form a symmetrical buoyancy support structure, and the main body 1 is lifted stably on the water surface; the floating plate 26 on the outside of the shell 18 increases the contact area with the water surface, improves the instantaneous buoyancy, ensures the stable start of the floating structure, and the unmanned aerial vehicle enters the water surface residence mode, and carries out long-time fixed-point investigation through the investigation camera 2;

[0061] When the foldable landing gear sinks into the mud, the floating plate 26 can be conveniently driven to move upward, so as to quickly push the floating sealing ring 17 to move upward along the telescopic arm 5, ensure that the through hole 21 is sealed in time and the gas conduction path is smoothly switched, and ensure that the subsequent floating structure is quickly started;

[0062] After the water surface or ground investigation task is completed, the unmanned aerial vehicle take-off program is started, the main body 1 is lifted upward, if it is a return journey after water surface residence, the floating sealing ring 17 loses the water body buoyancy and slides downward along the telescopic arm 5 to reset, and the through hole 21 at the lower end of the sliding positioning groove 9 is reopened; the elastic inflatable float 24 is contracted, the internal gas enters the shell 18 through the communication channel 25, the sliding positioning groove 9 and the through hole 21, and then is introduced into the spraying structure through the gas outlet 20, and the spray gun 22 sprays cleaning liquid to the investigation camera 2 again, so as to remove the water stains and residual impurities attached during the investigation, and complete the second cleaning before take-off;

[0063] The gas cylinder 15 restores the automatic retraction feature, pulls the fixed support pipe 3 to swing towards the main body 1, and at the same time drives the telescopic arm 5 to contract into the fixed support pipe 3 through the meshing transmission of the arc-shaped rack 12 and the gear 8, so that the landing gear restores the folded state, the unmanned aerial vehicle enters the air cruising mode, returns to the specified place, and completes the entire investigation operation process.

[0064] The above shows and describes the basic principles, main features and advantages of the present application. Those skilled in the art should understand that the present application is not limited to the above embodiments, and the above embodiments and descriptions in the specification are only to illustrate the principles of the present application, and various changes and improvements can be made without departing from the spirit and scope of the present application, and these changes and improvements all fall within the scope of the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A reconnaissance drone capable of flexible loitering, characterized in that, The fuselage includes a main body (1), a reconnaissance camera (2) is provided on the side of the main body (1), and two sets of foldable landing gears are provided on the main body (1). Each foldable landing gear includes two parallel fixed support tubes (3) and a horizontally arranged support frame (4). The upper end of the fixed support tube (3) is hinged to the main body (1), and a telescopic arm (5) is internally threaded on the fixed support tube (3). The lower end of the telescopic arm (5) is rotatably connected to the support frame (4). A pneumatic swing mechanism is connected between the fixed support tube (3) and the main body (1), and a transmission component is connected between the telescopic arm (5) and the main body (1). A float structure connected to the pneumatic swing mechanism is provided on the support frame (4). The telescopic arm (5) is provided with a sliding positioning groove (9), and a positioning slide rod (10) is slidably connected in the sliding positioning groove (9). The float structure includes mounting slots (23) at both ends of the support frame (4), and an elastic inflatable float (24) is connected in the mounting slots (23). The support frame (4) is provided with a connecting channel (25), one end of the connecting channel (25) is connected to the interior of the sliding positioning slot (9), and the other end of the connecting channel (25) is connected to the interior of the elastic inflatable float (24).

2. The reconnaissance drone capable of flexible loitering according to claim 1, characterized in that, The transmission component includes a support plate (6) set on the upper inner side of the fixed support tube (3), a support shaft (7) rotatably connected to the support plate (6), a gear (8) coaxially connected to the upper end of the support shaft (7), the upper end of the positioning slide rod (10) connected to the support shaft (7), the fixed support tube (3) is provided with a slot (11) corresponding to the gear (8), and an arc-shaped rack (12) that meshes with the gear (8) is fixedly connected to the outer side of the main body (1).

3. A reconnaissance drone capable of flexible loitering according to claim 2, characterized in that, The pneumatic swing mechanism includes a miniature air pump installed inside the main body (1), a support ring (13) fixedly connected between the two sets of fixed support pipes (3), a rotating ring (14) rotatably connected to the support ring (13), an automatic retraction type cylinder (15) fixedly connected to the rotating ring (14), the cylinder (15) being connected to the miniature air pump, and the output end of the cylinder (15) being hinged to the side of the main body (1).

4. A reconnaissance drone capable of flexible loitering according to claim 3, characterized in that, The lower part of the telescopic arm (5) is fixedly connected to a retaining ring (16), and a floating sealing ring (17) that is slidably connected to the telescopic arm (5) is provided below the retaining ring (16). A sleeve (18) is fixedly connected to the upper end of the floating sealing ring (17). There is a gap (19) for air intake between the sliding positioning groove (9) and the positioning slide rod (10). The cylinder (15) is connected to the middle of the fixed support pipe (3) through the pressure relief valve and pipeline. The outer side of the casing (18) is connected to the air outlet (20). The lower end of the sliding positioning groove (9) is connected to the through hole (21) corresponding to the casing (18). The outer side of the main body (1) is provided with a spray structure for cleaning the reconnaissance camera (2). The air outlet (20) is connected to the spray structure.

5. A reconnaissance drone capable of flexible loitering according to claim 4, characterized in that, The spray structure includes a spray gun (22) fixedly connected to the side of the main body (1). The main body (1) is provided with a liquid storage tank for storing cleaning fluid. The liquid inlet channel of the spray gun (22) is connected to the liquid storage tank through a pipeline. The air outlet (20) is connected to the air inlet channel of the spray gun (22) through a pipeline.

6. A reconnaissance drone capable of flexible loitering according to claim 5, characterized in that, The outer side of the casing (18) is fixedly connected with several sets of circumferentially distributed floating plates (26).

7. A reconnaissance drone capable of flexible loitering according to claim 6, characterized in that, The support frame (4) is provided with an anti-slip pad (27) embedded in the middle.

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