An underwater unmanned vehicle with asymmetrically arranged pusher motor and steering motor

Abstract

This invention relates to an underwater unmanned aerial vehicle (UAV) with an asymmetrical layout of a propulsion motor and a steering motor. The UAV includes a shell, a control unit, a lateral adjustment unit, a longitudinal adjustment unit, and a propulsion motor. The lateral and longitudinal adjustment units are both mounted on the shell and are coplanar. The propulsion motor and the control unit are mounted on the shell. The axial direction of the propulsion motor is the same as that of the shell, while the axial directions of the lateral and longitudinal adjustment units are different from those of the shell. The control unit is communicatively connected to the lateral, longitudinal, and propulsion motors. The asymmetrical multi-motor layout, consisting of a propulsion motor and lateral and longitudinal adjustment units (each containing a steering motor), provides the forward or backward propulsion for the UAV. The lateral and longitudinal adjustment units adjust the direction, optimizing the motor distribution and separating the power and steering functions for simple and reliable motor steering and power output.

Description

Technical Field

[0001] This invention relates to the field of underwater unmanned aerial vehicle (UAV) technology, and in particular to an underwater UAV with an asymmetrical layout of a propulsion motor and a steering motor. Background Technology

[0002] Underwater unmanned aerial vehicles (UAVs, or underwater remotely operated vehicles) are widely used in marine exploration, underwater observation, pipeline inspection, and rescue operations. The performance of their propulsion system directly determines the UAV's maneuverability, stability, endurance, and reliability. Currently, underwater UAVs using a traditional six-propeller (six-motor) layout have some inherent drawbacks: First, the power configuration is relatively simple. To balance power and steering, the motor connections are usually designed to rotate, requiring one motor to simultaneously provide power output and steering. Furthermore, an additional motor is needed for steering, making the overall motor arrangement complex. A completely new motor arrangement is needed to achieve simple and reliable motor steering and power output.

[0003] Chinese patent application CN109018271B discloses a large-wingspan hybrid-driven unmanned underwater vehicle, comprising a hull structure, a large-wingspan structure, an antenna, a glider, a thruster, and a tail fin. The hull structure includes a nose fairing, a mid-section buoyancy system compartment, a mid-section pitch system compartment, and a tail control system compartment. The hull structure houses a buoyancy adjustment system, a pitch adjustment system, a control system, a payload disposal device, sensors, and a communication antenna. The hull structure is a double-layered structure consisting of a pressure-resistant chamber, which is hollow. The fairing is located at the front of the hull structure. The large-wingspan structure is bolted to both sides of the hull structure, and the tail fin is fixedly mounted on the upper part of the control system compartment. The thruster is suspended from the glider and connected to the pitch adjustment system via wiring. The buoyancy adjustment system... Mounted at the front of the pressure hull, the pitch adjustment system is located in the middle of the pressure hull and uses the same battery pack as a moving weight, enabling different gliding angles of attack. Combined with the buoyancy adjustment system, this allows the underwater vehicle to ascend and descend. The battery pack serves as the moving weight for pitch and tilt adjustments and supplies power to all the underwater vehicle's electrical systems. The control system includes inertial navigation, buoyancy system control circuit boards, and pitch adjustment circuit boards. The overall shape of the large wingspan structure was obtained by measuring the dimensions of the pectoral fin of a triangular ray. After obtaining the dimensions of the triangular ray, a piecewise function was fitted to the pectoral fin outline curve based on the dimensional parameters. Then, using the similarity principle, the dimensions were enlarged accordingly to obtain the appropriate dimensions for the underwater vehicle. This patent has a single power source, primarily using the glider for steering; however, steering becomes inconvenient when affected by complex water currents.

[0004] Therefore, designing a completely new motor layout for underwater drones is a pressing technical problem that needs to be solved. Summary of the Invention

[0005] The purpose of this invention is to overcome the defects of the prior art and provide an underwater unmanned aerial vehicle with an asymmetrical layout of the propulsion motor and the steering motor.

[0006] The objective of this invention can be achieved through the following technical solutions: According to one aspect of the present invention, an underwater unmanned aerial vehicle (UAV) with an asymmetrical layout of a propulsion motor and a steering motor is provided, comprising a housing, a control unit, a lateral adjustment unit, a longitudinal adjustment unit, and a propulsion motor. The lateral adjustment unit and the longitudinal adjustment unit are both mounted on the housing and are coplanar. The propulsion motor and the control unit are mounted on the housing. The axial direction of the propulsion motor is the same as that of the housing. The axial directions of the lateral adjustment unit and the longitudinal adjustment unit are different from those of the housing. The control unit is communicatively connected to the lateral adjustment unit, the longitudinal adjustment unit, and the propulsion motor, respectively.

[0007] As a preferred technical solution, the lateral adjustment unit includes a front end adjustment group and a rear end adjustment group, which are symmetrically arranged at the front end and the rear end of the housing.

[0008] As a preferred technical solution, both the front end adjustment group and the rear end adjustment group include two lateral steering motors, which are symmetrically mounted on both sides of the housing.

[0009] As a preferred technical solution, the axes of the lateral steering motors of the front end adjustment group and the rear end adjustment group form a parallelogram.

[0010] As a preferred technical solution, the lateral steering motors of the front end adjustment group and the rear end adjustment group both form a V-shape.

[0011] As a preferred technical solution, the pointed end of the V-shape faces the outside of the shell.

[0012] As a preferred technical solution, the axes of the lateral steering motors of the front and rear adjustment groups intersect with the axis of the housing.

[0013] As a preferred technical solution, the longitudinal adjustment unit includes a longitudinal steering motor, which is located in the middle of the housing and symmetrically arranged on both sides of the housing.

[0014] As a preferred technical solution, the axis of the longitudinal steering motor is perpendicular to the axis of the housing.

[0015] As a preferred technical solution, the drive motor is located at the top or bottom of the housing.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention sets up a lateral adjustment unit and a longitudinal adjustment unit consisting of a push motor and a steering motor, forming an asymmetrical multi-motor layout. The push motor provides the forward or backward power of the UAV, and the lateral and longitudinal adjustment units adjust the direction. The motor distribution is optimized, so that the power and steering functions are separated, and the motor steering and power output are simple and reliable.

[0017] 2. The front adjustment group and the rear adjustment group of the present invention are located at the front and rear ends of the shell respectively. The two lateral steering motors of the front adjustment group or the rear adjustment group are symmetrically arranged on both sides of the shell and form a V-shape with a preset angle between them, forming a stable parallelogram structure, which makes the steering more stable. The tip of the V-shape faces the outside of the shell, which has a better water separation effect whether moving forward or backward, reducing the resistance when navigating in water.

[0018] 3. The axial direction of the drive motor and the housing is the same in this invention. Only the rotation direction of the motor needs to be adjusted to achieve forward or backward movement. When cruising, maintaining a constant speed, or conducting stable aerial photography, the main motor can work efficiently, while the other steering motors make minor adjustments to the attitude. This mode can significantly optimize energy efficiency and extend the range.

[0019] 4. The steering motors of the lateral adjustment unit and the longitudinal adjustment unit of this invention are distributed at multiple angles. When the UAV needs to accelerate, fight against rapid currents, go against the current, or perform heavy load operations, the drive motor can output its full power and work in conjunction with the steering motor to provide instantaneous and strong additional power, overcoming the bottleneck of insufficient power. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the first structure of the present invention; Figure 2 This is a schematic diagram of the second structure of the present invention; Figure 3 This is a top view of the structure of the present invention; 1. Housing; 2. Drive motor; 3. Lateral steering motor; 4. Longitudinal steering motor. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0022] Example 1 like Figure 1 , Figure 2 and Figure 3As shown, an underwater unmanned aerial vehicle (UAV) with an asymmetrical layout of a propulsion motor and a steering motor includes a shell 1, a control unit, a lateral adjustment unit, a longitudinal adjustment unit, and a propulsion motor 2. The lateral adjustment unit and the longitudinal adjustment unit are both mounted on the shell 1 and are on the same plane. The propulsion motor 2 and the control unit are mounted on the shell 1. The axial direction of the propulsion motor 2 is the same as that of the shell 1. The axial directions of the lateral adjustment unit and the longitudinal adjustment unit are different from those of the shell 1. The control unit is communicatively connected to the lateral adjustment unit, the longitudinal adjustment unit, and the propulsion motor 2, respectively.

[0023] In this embodiment, the present invention mainly includes a housing 1 (main cabin), a control unit is disposed in the housing 1, a push motor 2, a lateral adjustment unit and a longitudinal adjustment unit are disposed on the housing 1, and the control unit is connected to the push motor 2, the lateral adjustment unit and the longitudinal adjustment unit respectively to control the power of the motor. Correspondingly, the control unit also includes a communication module for remote communication with a remote control terminal to control the attitude of the underwater drone.

[0024] like Figure 3 As shown, by rationally arranging the axial direction of the motor and the axial direction of the housing, the underwater UAV can move forward or backward, perform fine attitude adjustments, lateral translation, rotation, and complex maneuvers. The propulsion motor 2 serves as the main power output, with a power greater than that of the gas motor; the propulsion motor 2 is a large shaftless pump-pump motor. Both the lateral and longitudinal adjustment units include steering motors. The lateral adjustment unit is used to adjust the angle of the horizontal plane (the plane composed of the lateral adjustment units), while the longitudinal adjustment unit is used for ascending or descending, and for adjusting the angle of the vertical plane (perpendicular to the horizontal plane).

[0025] The lateral adjustment unit includes a front adjustment group and a rear adjustment group, which are symmetrically arranged at the front and rear ends of the housing 1.

[0026] Both the head adjustment group and the tail adjustment group include two lateral steering motors 3, which are symmetrically mounted on both sides of the housing 2.

[0027] The axes of the lateral steering motors 3 of the front and rear adjustment groups form a parallelogram.

[0028] The lateral steering motors of the first and last adjustment groups form a V-shape with a preset included angle between them.

[0029] The pointed end of the V-shape faces outward from the housing 1.

[0030] The axes of the lateral steering motors 3 of the head adjustment group and the tail adjustment group intersect with the axis of the housing 1.

[0031] In this embodiment, the lateral adjustment unit includes multiple lateral steering motors 3, which are specifically divided into a head adjustment group and a tail adjustment group according to their positions. The head adjustment group is located at the head of the housing 1, and the tail adjustment group is located at the tail of the housing 1. The head adjustment group and the tail adjustment group are symmetrically arranged. Both the head adjustment group and the tail adjustment group include two lateral steering motors 3. With the housing 1 as the center, the two lateral steering motors 3 of the head adjustment group and the tail adjustment group are symmetrical about the housing 1 and form a V-shape. The V-shape means that the axes of the two lateral steering motors 3 of the head adjustment group or the tail adjustment group intersect, forming a apex at the intersection. Because the lateral steering motors 3 are symmetrical about the housing 3 and the lateral steering motors 3 are on the same plane as the housing 1, the axes of the two lateral steering motors 3 of the head adjustment group or the tail adjustment group intersect with the axis of the housing 1, that is, the axial direction of the housing 1 passes through the apex of the V-shape. Both the front and rear adjustment groups are V-shaped, with the tips of the V-shapes facing outwards from the shell (i.e., not towards the middle of the shell 1), and their axes forming a parallelogram, which improves the stability of the structure. At the same time, whether moving forward or backward, the tips of the V-shapes will divide the water flow, thereby reducing resistance. Meanwhile, the lateral steering motors 3 form a parallelogram with each other, which also reduces resistance when turning.

[0032] The longitudinal adjustment unit includes a longitudinal steering motor 4, which is located in the middle of the housing 1 and symmetrically arranged on both sides of the housing 1.

[0033] The axis of the longitudinal steering motor 4 is perpendicular to the axis of the housing 1.

[0034] In this embodiment, the longitudinal steering motor 4 is used for the underwater drone to ascend or descend. At the same time, changing the motor power on different sides changes the tilt angle of the underwater drone. The minimum number of longitudinal steering motors 4 is two, located in the middle of the shell 1 and symmetrically arranged on both sides of the shell 1, with the front end as the positive direction, to achieve left or right tilt. The optimal number is four, with two set on one side of the shell 1, so as to achieve forward tilt, backward tilt, left tilt, and right tilt.

[0035] like Figure 1 and Figure 2 As shown, the drive motor 2 is located at the top or bottom of the housing 1.

[0036] In this embodiment, the axis of the drive motor 2 is the same as the axis of the housing 1 (i.e., the direction of movement), which facilitates driving the underwater drone forward or backward.

[0037] This invention breaks away from the conventional symmetrical layout of 3, 6, and 8 motors, and adopts an asymmetrical multi-motor layout with an additional 1 motor. Specifically, it includes multiple steering motors (arranged laterally and longitudinally) and a large shaftless pump push motor (push motor 2).

[0038] Multiple steering motors are distributed at multiple angles, primarily responsible for the drone's precise attitude adjustment, lateral translation, rotation, and complex maneuvers, providing extremely high operational flexibility and playability. They have relatively low power consumption, making them suitable for frequent starts, stops, and speed changes.

[0039] A dedicated high-power shaftless pump-pump motor (push motor 2) primarily provides the main propulsion for the drone's forward and backward movement. Its advantages are: 1. During cruise, constant speed, or stable aerial photography, this large motor can operate efficiently, while the smaller motors fine-tune the attitude. This mode significantly optimizes energy efficiency and extends endurance; 2. When the drone needs to accelerate, combat rapid currents, move against the current, or perform heavy-load operations, push motor 2 can output full power, working in conjunction with the steering motor to provide instantaneous and powerful additional power, overcoming the bottleneck of insufficient power. This invention achieves an optimal balance of power and efficiency through a unique multi-plus-one motor layout, greatly improves maintainability through a modular quick-release structure, significantly enhances safety and reliability through an external ESC design, and incorporates intelligent collaborative control logic, enabling the underwater drone to possess excellent maneuverability, long endurance, high safety levels, and convenient maintenance.

[0040] On housing 1, mounting positions for the lateral steering motor, longitudinal steering motor, and a dedicated drive motor are precisely designed and machined. Each mounting position is equipped with a corresponding motor mounting cover, which is secured to the motor mounting slot using M5 hexagon socket head cap bolts. This design enables modular quick-release, allowing for motor replacement and maintenance without the need for specialized tools, greatly improving maintenance efficiency in field operations. Simultaneously, the frame includes a pre-installed cable entry point, allowing for neat wiring of the motor and preventing tangling.

[0041] Housing 1 is designed with a mounting position for a drone camera, providing a stable and reliable installation interface for a high-definition camera and ensuring an unobstructed field of view. Housing 1 integrates interfaces for the front, rear, and middle claws, facilitating the expansion of tools or sensors.

[0042] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should all be covered within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. An underwater unmanned aerial vehicle with an asymmetrical layout of a propulsion motor and a steering motor, characterized in that, The device includes a housing (1), a control unit, a lateral adjustment unit, a longitudinal adjustment unit, and a drive motor (2). The lateral adjustment unit and the longitudinal adjustment unit are both mounted on the housing (1) and are on the same plane. The drive motor (2) and the control unit are mounted on the housing (1). The axial direction of the drive motor (2) is the same as that of the housing (1). The axial directions of the lateral adjustment unit and the longitudinal adjustment unit are different from those of the housing (1). The control unit is communicatively connected to the lateral adjustment unit, the longitudinal adjustment unit, and the drive motor (2).

2. An underwater unmanned aerial vehicle with an asymmetrical layout of a propulsion motor and a steering motor according to claim 1, characterized in that, The lateral adjustment unit includes a front adjustment group and a rear adjustment group, which are symmetrically arranged at the front and rear ends of the housing (1).

3. An underwater unmanned aerial vehicle with an asymmetrical layout of a propulsion motor and a steering motor according to claim 2, characterized in that, Both the head adjustment group and the tail adjustment group include two lateral steering motors (3), and the two lateral steering motors (3) of the head adjustment group and the tail adjustment group are symmetrically installed on both sides of the housing (2).

4. An underwater unmanned aerial vehicle with an asymmetrical layout of a propulsion motor and a steering motor according to claim 3, characterized in that, The axes of the lateral steering motors (3) of the head adjustment group and the tail adjustment group form a parallelogram.

5. An underwater unmanned aerial vehicle with an asymmetrical layout of a propulsion motor and a steering motor according to claim 4, characterized in that, The lateral steering motors (3) of the head adjustment group and the tail adjustment group both form a V-shape.

6. An underwater unmanned aerial vehicle with an asymmetrical layout of a propulsion motor and a steering motor according to claim 5, characterized in that, The pointed end of the V-shape faces the outside of the shell (1).

7. An underwater unmanned aerial vehicle with an asymmetrical layout of a propulsion motor and a steering motor according to claim 3, characterized in that, The axes of the lateral steering motors (3) of the head adjustment group and the tail adjustment group intersect with the axis of the housing (1).

8. An underwater unmanned aerial vehicle with an asymmetrical layout of a propulsion motor and a steering motor according to claim 1, characterized in that, The longitudinal adjustment unit includes a longitudinal steering motor (4), which is located in the middle of the housing (1) and symmetrically arranged on both sides of the housing (1).

9. An underwater unmanned aerial vehicle with an asymmetrical layout of a propulsion motor and a steering motor according to claim 8, characterized in that, The axis of the longitudinal steering motor (4) is perpendicular to the axis of the housing (1).

10. An underwater unmanned aerial vehicle with an asymmetrical layout of a propulsion motor and a steering motor according to claim 1, characterized in that, The drive motor (2) is located at the top or bottom of the housing (1).

Images