Cross-media unmanned ship

Abstract

The utility model belongs to the technical field of unmanned plane and unmanned ship, to solve the technical problem that the current lack of water and in the air use small -size rotor device, relate to a kind of cross medium unmanned ship, wherein unmanned ship includes floating assembly, flight rotor assembly, propelling steering assembly, rotor installation arm, mounting bracket and electronic component;Mounting bracket is fixedly connected with floating assembly, the fixed end of rotor installation arm is fixedly connected with mounting bracket, flight rotor assembly is fixedly connected with the extension end of rotor installation arm, propelling steering assembly is fixedly connected with mounting bracket, and it is set in the rear of mounting bracket, and electronic component is connected with flight rotor assembly, propelling steering assembly.Connecting. The above-mentioned unmanned ship and control method provide small -size rotor device realizes the multi-scene application of air and water surface.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) and unmanned surface vessel (USV) technology, and particularly relates to a cross-medium USV. This USV can freely switch between air flight and water surface navigation. Background Technology

[0002] In recent years, small rotary-wing drones have been widely used in civilian and commercial fields such as agriculture, forestry, inspection, and power due to their low requirements for flight environment and simple operation, as well as in the military field. However, existing small rotary-wing drones have a significant problem: they cannot operate across media. Specifically, existing drones can only fly in the air and cannot navigate on the water surface or perform underwater operations, which greatly limits their application range.

[0003] To address this issue, some amphibious unmanned aerial vehicles (UAVs) have been designed in the existing technology. However, these designs often suffer from problems such as complex structure, inconvenient operation, and insufficient endurance. For example, some designs require the installation of complex buoyancy devices on the UAV, leading to increased weight and decreased flight performance; others cannot achieve rapid switching between water and air, are complex to operate, and are difficult to handle in emergencies. Therefore, there is an urgent need for a multi-functional cross-medium unmanned surface vessel that can freely switch between water and air, is easy to operate, and has a long endurance.

[0004] Furthermore, most existing unmanned surface vessels (USVs) can only operate in a single medium (surface or underwater), and cannot achieve cross-medium applications. For example, traditional surface USVs cannot fly in the air, while underwater USVs cannot navigate on water. This limitation of operating in a single medium greatly restricts the application range of USVs, especially in rescue and monitoring missions in complex environments, where single-medium USVs often cannot meet the requirements.

[0005] Therefore, it is necessary to design a vehicle that can switch between corresponding functions according to the operational needs on the water or in the air to meet the above requirements. Utility Model Content

[0006] To address the aforementioned technical problems, this utility model provides a cross-medium unmanned surface vessel.

[0007] In a first aspect, this utility model provides a cross-medium unmanned vessel, characterized in that it includes a floating component, a flight rotor component, a propulsion and steering component, a rotor mounting arm, a mounting frame, and electronic components; The mounting frame is fixedly connected to the floating assembly, the fixed end of the rotor mounting arm is fixedly connected to the mounting frame, the flight rotor assembly is fixedly connected to the extension end of the rotor mounting arm, the propulsion and steering assembly is fixedly connected to the mounting frame and is disposed behind the mounting frame, and the electronic assembly is connected to the flight rotor assembly and the propulsion and steering assembly.

[0008] Compared with the prior art, the present invention has the following technical effects: The cross-medium unmanned surface vessel (USV) in this application adopts a multi-rotor UAV design. A buoyancy component provides buoyancy, a propulsion and steering component provides forward and steering power on the water surface, and a flight rotor component provides propulsion for aerial flight. The electronic components, under remote control, can switch between aerial and underwater modes. By controlling the rotation direction and speed of the propellers in the flight rotor component, the USV's motion control in the air can be achieved. When navigating on the water surface, it can automatically switch to USV mode, achieving a low-power operation mode. The aforementioned cross-medium USV achieves stable switching and operation in both water and aerial modes.

[0009] Secondly, this utility model also provides a control method for cross-medium unmanned vessels, characterized by comprising the following steps: When switching to air mode: The flight control module sends a stop command to the propulsion steering component according to the received air mode switching command, and the brushless motor of the propulsion steering component stops. After the brushless motor stops for a preset time, the flight rotor component sends a start command, and the flight rotor component starts to work. When switching to underwater mode: The flight control module sends a stop command to the flight rotor assembly according to the received underwater mode switching command, and the flight rotor assembly stops. After the flight rotor assembly stops for a preset time, it sends a start command to the propulsion steering assembly, and the propulsion steering assembly starts to work. Attached Figure Description

[0010] The accompanying drawings, which are included to provide a further understanding of the present invention and constitute a part of this invention, illustrate exemplary embodiments of the present invention and, together with the description thereof, serve to explain the present invention and do not constitute an undue limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the structure of a cross-medium unmanned vessel according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of the electronic component according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the overall structure of the unmanned vessel in an embodiment of this utility model; Figure 4 This is a schematic diagram of the propulsion steering assembly in an embodiment of the present invention; Figure 5 This is a schematic diagram of the water-air cross-medium process according to an embodiment of the present invention; Figure 6 This is a framework diagram of a cross-medium unmanned surface vessel system according to an embodiment of the present invention; Figure 7 This is a block diagram of the unmanned vessel propulsion system according to an embodiment of the present invention.

[0011] Reference numerals: Electronic component 1, flight rotor assembly 2, rotor mounting arm 3, floating assembly 4, propulsion and steering assembly 5, flight control module 101, positioning module 102, signal receiver 103, image transmission module 104, drive power supply 105, camera 106, mounting plate 107, image transmission antenna 108, electronic speed controller 109, fixing component 110, top plate 201, bracket 202, brushless motor 301, servo motor 302, transmission link 303, propeller blade 304, servo motor fixing component 305, motor fixing component 306. Detailed Implementation

[0012] To make the technical problem to be solved, the technical solution, and the beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this utility model and are not intended to limit this utility model.

[0013] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0014] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0015] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0016] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0017] Firstly, see [the following] Figures 1 to 7 This utility model provides a cross-medium unmanned vessel, including a floating component 4, a flight rotor component 2, a propulsion and steering component 5, a rotor mounting arm 3, a mounting frame, and an electronic component 1; The mounting bracket is fixedly connected to the floating assembly 4, the fixed end of the rotor mounting arm 3 is fixedly connected to the mounting bracket, the flight rotor assembly 2 is fixedly connected to the extension end of the rotor mounting arm 3, the propulsion steering assembly 5 is fixedly connected to the mounting bracket and is located behind the mounting bracket, and the electronic assembly 1 is connected to the flight rotor assembly 2 and the propulsion steering assembly 5.

[0018] In practice: In this application, the floating component 4 of the cross-medium unmanned surface vessel (USV) provides buoyancy in the water, the flight rotor assembly 2 provides the propulsion for flight, and the propulsion and steering assembly 5 is the USV's water propulsion system. The rotor mounting arms 3 are symmetrically distributed on both sides of the mounting frame in a "cross" or "X" shape, and the flight rotor assembly 2 is fixedly connected to the rotor mounting arms 3. Under the control commands of the electronic component 1, the cross-medium USV can directly switch between the quadcopter drone and USV modes by adjusting the opening and closing of the flight rotor assembly 2 and the propulsion and steering assembly 5. Specifically, when the user sends a command to switch from water surface mode to aerial mode via the remote controller, the electronic component 1 closes the propulsion and steering assembly 5 and opens the flight rotor assembly 2 upon receiving the signal; when the user sends a command to switch from aerial mode to water surface mode via the remote controller, the electronic component 1 closes the flight rotor assembly 2 and opens the propulsion and steering assembly 5 upon receiving the signal. Figure 1As shown, precise control of the propeller rotation direction and speed of the flight rotor assembly 2 enables the switching and adjustment of the quadcopter's motion states, such as hovering, vertical movement, roll motion, and pitch motion. Through dual-power system switching technology, it achieves free conversion between an aerial vehicle (maximum ceiling 500m, endurance 25 minutes) and a surface vehicle (speed 4 knots, endurance 45 minutes). The floating assembly 4 includes two wave-resistant floats, arranged side-by-side and fixedly connected by a mounting bracket. The wave-resistant floats employ a multi-compartment structure design (internal filling with polyethylene foam, density 35kg / m³), providing 8kg of net buoyancy (safety redundancy factor 1.5). Their top connection points are rigidly connected to the carbon fiber base of the mounting bracket via aluminum alloy transmission links.

[0019] The cross-medium unmanned surface vessel is also equipped with a low-battery forced trigger function, which collects the voltage of the drive power supply 105 in real time (via the ADC module). When one of the following conditions is met, it forces a switch from air mode to surface mode; the remaining battery power calculation formula is as follows: in, Remaining battery percentage The current drive power supply voltage is 105V. This is the discharge cutoff voltage (V). The full charge voltage is (V).

[0020] The switching execution process adopts state machine management and strictly enforces power mutual exclusion logic: Shutting down the current power: In air mode, a PWM stop command is sent to the brushless motor 301 ESC, waiting for the propeller to completely stop (delay 500ms); in surface mode, the waterproof motor power is cut off; Mechanism motion control: When switching from air to surface, the air power system is cut off; when switching from surface to air, the surface power system is cut off; Starting the target power: In air mode, the ESC PWM signal is adjusted to idle speed (1000μs); in surface mode, the waterproof motor is started and gradually increased to operating speed according to the following formula: in, Let be the motor speed at time t. This refers to the idle speed. The operating speed is τ, and the time constant is 0.5s.

[0021] The cross-medium unmanned surface vessel is also equipped with a fault protection function, featuring a 10-second timeout mechanism. If the switching fails (e.g., power start-up is unresponsive), it enters fail-safe mode. In case of aerial mode failure: it performs an emergency landing, with the descent speed control formula as follows: in, The descent speed is (m / s), k is the proportionality coefficient (taken as 0.1), and H is the current height (m). In case of a water surface mode failure: execute berthing standby, shut down unnecessary loads, and retain only communication and positioning functions.

[0022] like Figure 2 As shown, electronic component 1 includes a flight control module 101, a positioning module 102, a signal receiver 103, an image transmission module 104, a drive power supply 105, a camera 106, a mounting plate 107, an image transmission antenna 108, an electronic speed controller 109, and a fixing member 110. The mounting plate 107 is made of carbon fiber and includes an upper mounting plate and a lower mounting plate, which are fixedly connected by the fixing member 110. The upper and lower mounting plates are arranged in parallel. The fixing member 110 is formed by additive manufacturing and uses lightweight materials. The fixing member 110 is installed at the bottom of the camera 106, the positioning module 102, and the signal receiver 103. The flight control module 101, positioning module 102, signal receiver 103, image transmission module 104, drive power supply 105, camera 106, image transmission antenna 108, and electronic speed controller 109 are respectively installed in the space enclosed by the upper and lower fixed plates. The flight control module 101, the control core of the aircraft, is installed in the center of the fixed plate 107 and coated with waterproof adhesive, directly or indirectly connected to other electronic components. It is used to monitor the pitch, roll, and yaw angles of the UAV in real time through sensors, and to adjust the motor speed or control surface angle using control algorithms to ensure stable flight or underwater navigation. Simultaneously, it interprets commands from the remote controller or ground control system to control payload devices such as the camera 106 to perform shooting and detection tasks. In this embodiment, the flight control module 101 uses an STM32H7 series chip.

[0023] like Figure 3 The diagram shows the overall layout of the unmanned vessel module, which includes a top plate 201, a support frame 202, a floating assembly 4, and a propulsion and steering assembly 5. The top plate 201, the support frame 202, and the floating assembly 4 form a stable triangular structure with screws, and the propulsion and steering assembly 5 is rigidly connected to the bottom of the top plate 201 with screws.

[0024] like Figure 4The diagram shows the propulsion steering assembly 5. It includes a brushless motor 301, a servo motor 302, a transmission link 303, a propeller blade 304, a servo motor mounting component 305, and a motor mounting component 306. The servo motor 302, through the transmission link 303, achieves vector deflection of the wind-driven brushless motor 301 (deflection range ±30°), thereby achieving steering on the water surface. A four-link transmission mechanism converts the output torque of the servo motor 302 into planar deflection of the propeller blade 304. The servo motor 302 (positioning accuracy ±0.5°), the 1400KV brushless motor 301, and the two-bladed propeller (diameter 203mm) achieve vector deflection of the brushless motor 301 (deflection range ±30°) through an air rudder steering mechanism, thereby achieving steering on the water surface. The four-link transmission mechanism 303 converts the output torque of the servo motor 302 into planar deflection of the propeller blade 304, combined with a feedforward-feedback composite control algorithm, achieving a steering response time of <0.1 seconds.

[0025] The positioning module 102 is installed behind the flight control module 101 to confirm and provide real-time feedback on the location and attitude of the unmanned aerial vehicle (UAV). In this embodiment, a BZ-251 positioning module 102 is used. The signal receiver 103, image transmission module 104, camera 106, and electronic speed controller 109 are installed between the upper and lower fixed plates. The drive power supply 105 is a high-energy-density drive power supply and is installed on the upper and lower fixed plates. When operating in air mode, the flight control module 101 receives control commands from the ground station or remote controller via the signal receiver 103. After parsing, it controls the rotation speed of the four flight rotor components 2 via the electronic speed controller 109 to adjust the flight attitude. When operating on the water surface, it controls the rotation speed of the wind-driven brushless motor 301 and coordinates with the servo motor 302 to control the swing direction of the brushless motor 301, thereby controlling the speed and direction of the water surface navigation. At the same time, when the UAV is operating, the sensors will provide real-time feedback of the UAV's location to the flight control module 101, providing algorithm parameters. The camera 106 receives instructions from the flight control module 101 to capture images and returns them to the flight control module 101, whereby the images are transmitted back to the ground via the image transmission module 104.

[0026] like Figure 5 As shown, the cross-medium unmanned vessel of this utility model can freely switch between two configurations: a quadcopter drone and an underwater vehicle, thereby realizing six motion modes: land docking, land takeoff, air flight, water landing, water navigation, and water takeoff. The working process and working components of the cross-medium vehicle of this utility model are described below with reference to the accompanying drawings.

[0027] After the unmanned aerial vehicle lands on the water, it can be switched to unmanned boat mode by sending a command through the control system. At this time, the wind propulsion and steering device is activated. When aerial operations are required, the control system sends a command to shut down the wind propulsion and steering device, activate the aerial power system, and switch to quadcopter drone mode. The brushless motor 301 starts and drives the rotor to rotate at high speed to provide lift for the vehicle to take off from the water.

[0028] The cross-medium unmanned surface vessel (USV) in this application adopts a multi-rotor UAV design. A buoyancy component provides buoyancy, a propulsion and steering component provides forward and steering power on the water surface, and a flight rotor component provides propulsion for aerial flight. The electronic components, under remote control, can switch between aerial and underwater modes. By controlling the rotation direction and speed of the propellers in the flight rotor component, the USV's motion control in the air can be achieved. When navigating on the water surface, it can automatically switch to USV mode, achieving a low-power operation mode. The aforementioned cross-medium USV achieves stable switching and operation in both water and aerial modes.

[0029] As one possible implementation, the mounting frame includes a bracket 202 and a top plate 201; the bracket 202 is fixedly connected to the floating component 4, the top plate 201 is fixedly connected to the bracket 202, and they form a triangular structure; the electronic component 1, the rotor mounting arm 3, and the propulsion steering component 5 are fixedly connected to the top plate 201.

[0030] The bracket 202 enables the installation and fixation of the floating component 4, and together with the top plate 201, forms a triangular structure, which improves the overall structural strength of the unmanned vessel.

[0031] As one possible implementation, the propulsion steering assembly 5 includes a brushless motor 301, a servo motor 302, a transmission link 303, a propeller blade 304, a servo motor mounting bracket 305, and a motor mounting bracket 306. The motor mounting bracket 306 is fixedly connected to the mounting frame, the servo motor 302 is fixedly connected to the motor mounting bracket 306 through the servo motor mounting bracket 305, the brushless motor 301 is rotatably connected to the motor mounting bracket 306 through a turntable, the servo motor 302 is drive-connected to the turntable through the transmission link 303, and the propeller blade 304 is fixedly connected to the output end of the brushless motor 301.

[0032] The drag steering component enables the unmanned vessel to move and turn on the water.

[0033] As one possible implementation, the floating assembly 4 includes multiple wave-resistant buoys arranged side by side and fixedly connected by a mounting bracket. The wave-resistant buoys have a multi-compartment structure.

[0034] The floating assembly 4, composed of multiple wave-resistant buoys, ensures the buoyancy of the unmanned vessel, and the multi-compartment structure of the wave-resistant buoys also enhances the buoyancy of the floating assembly 4.

[0035] As one possible implementation, there are multiple rotor mounting arms 3, which are symmetrically arranged on both sides of the mounting frame.

[0036] The rotor mounting arms 3, symmetrically arranged on both sides of the mounting frame, improve the stability of the unmanned vessel during flight in aerial mode.

[0037] In one possible implementation, the electronic component 1 includes a mounting plate 107, a flight control module 101, and a positioning module 102, a signal receiver 103, an image transmission module 104, a drive power supply 105, a camera 106, an image transmission antenna 108, and an electronic speed controller 109 connected to the flight control module 101. The mounting plate 107 includes an upper mounting plate, a lower mounting plate, and a fastener 110. The upper and lower mounting plates are fixedly connected by the fastener 110. The flight control module 101, the positioning module 102, the signal receiver 103, the image transmission module 104, the camera 106, the image transmission antenna 108, and the electronic speed controller 109 are fixedly connected to the lower mounting plate. The drive power supply 105 is fixedly connected to the upper mounting plate, and the lower mounting plate is fixedly connected to the mounting bracket.

[0038] It enables the switching control of the unmanned vessel's aerial and underwater modes, and also ensures the stable operation of the unmanned vessel.

[0039] As one possible implementation, the unmanned vessel also includes a modular payload compartment, which is fixedly connected to the lower fixed plate.

[0040] The modular payload compartment can be equipped with functional testing devices, which improves the functionality of the unmanned surface vessel.

[0041] Secondly, this utility model also provides a control method for a cross-medium unmanned vessel, comprising the following steps: When switching to air mode: The flight control module sends a stop command to the propulsion steering component according to the received air mode switching command. The brushless motor of the propulsion steering component stops. After the brushless motor stops for a preset time, the flight rotor component sends a start command to the flight rotor component, and the flight rotor component starts to work. When switching to underwater mode: The flight control module sends a stop command to the flight rotor assembly based on the received underwater mode switching command. The flight rotor assembly stops. After the flight rotor assembly stops for a preset time, it sends a start command to the propulsion steering assembly, and the propulsion steering assembly starts to work.

[0042] As one possible implementation method, the control method further includes the following steps: The remaining power of the drive power supply is collected in real time. When the remaining power is lower than the set low power warning value, the system will force a switch from air mode to underwater mode. When the system is in underwater mode, the mode switching action will not be performed.

[0043] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0044] The above are merely specific embodiments of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A cross-medium unmanned surface vessel, characterized in that, This includes floating components, flight rotor components, propulsion and steering components, rotor mounting arms, mounting brackets, and electronic components; The mounting frame is fixedly connected to the floating assembly, the fixed end of the rotor mounting arm is fixedly connected to the mounting frame, the flight rotor assembly is fixedly connected to the extended end of the rotor mounting arm, the propulsion and steering assembly is fixedly connected to the mounting frame and is disposed behind the mounting frame, and the electronic assembly is connected to the flight rotor assembly and the propulsion and steering assembly. The propulsion and steering assembly includes a brushless motor, a servo motor, a transmission link, propeller blades, a servo motor mounting component, and a motor mounting component. The motor mounting bracket is fixedly connected to the mounting frame. The servo motor is fixedly connected to the motor mounting bracket through the servo motor mounting bracket. The brushless motor is rotatably connected to the motor mounting bracket through the turntable. The servo motor is driven to the turntable through the transmission link. The propeller blade is fixedly connected to the output end of the brushless motor. The floating assembly includes multiple wave-resistant buoys, which are arranged side by side and fixedly connected by the mounting frame. The wave-resistant buoys have a multi-compartment structure. The flight rotor assembly is a power unit that provides flight. When the flight rotor assembly is activated, it switches to quadcopter drone mode. When the propulsion and steering assembly is activated, it switches to unmanned boat mode.

2. The cross-medium unmanned surface vessel according to claim 1, characterized in that, The mounting frame includes a bracket and a top plate; The bracket is fixedly connected to the floating assembly, the top plate is fixedly connected to the bracket and forms a triangular structure, and the electronic assembly, the rotor mounting arm and the propulsion steering assembly are fixedly connected to the top plate.

3. The cross-medium unmanned surface vessel according to claim 1, characterized in that, The rotor mounting arms are multiple and are symmetrically arranged on both sides of the mounting frame.

4. The cross-medium unmanned surface vessel according to claim 1, characterized in that, The electronic components include a fixed plate, a flight control module, and a positioning module, a signal receiver, an image transmission module, a drive power supply, a camera, an image transmission antenna, and an electronic speed controller connected to the flight control module. The fixing plate includes an upper fixing plate, a lower fixing plate, and a fixing member. The upper fixing plate and the lower fixing plate are fixedly connected by the fixing member. The flight control module, the positioning module, the signal receiver, the image transmission module, the camera, the image transmission antenna, and the electronic speed controller are fixedly connected to the lower fixing plate. The drive power supply is fixedly connected to the upper fixing plate, and the lower fixing plate is fixedly connected to the mounting bracket.

5. The cross-medium unmanned surface vessel according to claim 4, characterized in that, The unmanned vessel also includes a modular payload compartment, which is fixedly connected to the lower fixed plate.

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