CN107521688B - Rotor wing type flying underwater vehicle - Google Patents

Abstract

The invention provides a rotor wing type flying underwater vehicle with a novel body structure, which is suitable for sailing in two media of water and air; when the aircraft is in a flying state, the wings are opened through the steering engine to enter the flying state, and when the aircraft enters underwater, the wings are folded; in order to control the weight of an aircraft, the rotor wing type flying underwater vehicle provides a novel water-air integrated motor as driving power so as to maximally utilize the existing equipment of the aircraft; secondly, in order to solve the problem of water-air communication obstacle and control the weight of the aircraft, the rotor type flying underwater vehicle provides a novel communication antenna to ensure the safety of communication in the air and in water.

Description

A rotary-wing flying submersible

technical field

The invention relates to the technical field of flying submersibles, in particular to a rotor-type flying submersible with a novel fuselage structure suitable for navigating in water and air.

Background technique

The research and development of flying submersible is a comprehensive science and technology that integrates fluid mechanics, structural mechanics, control disciplines, and materials disciplines. It has great technical challenges and pioneering, and also has huge application prospects. Air and water search and rescue, underwater structure detection, hydrological monitoring, channel surveying, port monitoring, maritime cruise, etc.

Rotor-type flying submersibles of flying submersibles are the only aircraft that can complete aerial flight, underwater navigation, and water-air crossing under the current technical conditions, and they are simple to deploy and recover. However, it faces technical problems such as rough control model, short battery life and difficult underwater communication.

Most of the driving equipment of existing flying submersible vehicles are separated. When flying in the air, they rely on the flight motor for driving, and when underwater, they rely on another set of underwater motors to provide power driving, which results in a waste of load resources and restricts navigation. load and battery life. And the communication of the existing aircraft has always been a difficult problem, and the electromagnetic wave communication signal across the water and air medium attenuates quickly. If electromagnetic wave communication is used in the air and acoustic wave communication is used underwater, it will bring a lot of burden to the aircraft, complicate its circuit design, increase the load and cause various inconveniences in energy consumption.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a rotor-type flying submersible with simple structure, long endurance and safe communication.

The technical solution that realizes the purpose of the present invention is:

A rotor-type flying submersible is characterized in that it includes a fuselage, a wing, a nose, a communication device, an upper driving cover, a lower driving cover, a wing connecting shaft and a waterproof steering gear; A controller and a power module are provided, and the controller and the power module are connected; the front end of the fuselage is fixedly connected with the end of the handpiece, and the front end of the handpiece is provided with a communication device; the two sides of the end of the top cover of the fuselage Both sides of the fuselage are provided with upper driving cover plates, and both sides of the end of the bottom cover of the fuselage are provided with lower driving cover plates; both sides of the fuselage are provided with wings, and the wings are movably connected to the fuselage through the wing connecting shaft; Both sides of the bottom of the fuselage are provided with waterproof steering gears, the waterproof steering gear is connected with the wing connecting shaft through a gear transmission mechanism, and the control end of the waterproof steering gear is connected with the controller; the wings include upper and lower open shells body, front driving device and rear driving device; the front end of the casing is provided with a front driving device, and the end of the casing is provided with a rear driving device; a motor and a driving fan blade; the bottom of the cylinder body is provided with a driving motor, the top of the driving motor is provided with a driving fan blade, and the controller of the driving motor is connected with the controller; one end of the cylinder body of the rear drive device is provided with an inlet A water outlet, the other end of the cylinder body of the rear drive device is provided with a water outlet.

Preferably, the communication device includes an anti-skid plug, an antenna rod, a buoy, a rotating shaft, a camera sensor and an antenna main body platform; one end of the antenna main body platform is connected with the front end of the nose, and the other end of the antenna main body platform is connected with one end of the rotating shaft The other end of the rotating shaft is connected with the camera sensor; the rotating shaft is provided with an antenna rod, the top of the antenna rod is provided with a non-slip plug, and the antenna rod is provided with a buoy; the antenna rod and the camera sensor are both connected to the controller. connect.

Preferably, the gear transmission mechanism includes a first gear and a second gear; the first gear is arranged on the output end of the waterproof steering gear, the second gear is arranged on the connecting shaft of the wing, and the first gear and the second gear are arranged on the output end of the waterproof steering gear. toothed connection.

Preferably, a drive motor is fixed to the bottom of the cylinder through a bracket.

Preferably, the controller adopts an embedded single-chip controller.

Preferably, the power module adopts a rechargeable lithium battery.

Preferably, the drive motor adopts a water-air motor.

Compared with the prior art, the present invention has significant advantages:

(1) The rotor-type flying submersible of the present invention is driven by a water and air motor, and is driven by flight power when flying in the air, and is driven by underwater power when sailing underwater, so as to reduce the weight of the aircraft and improve its endurance and load. ability.

(2) The rotor-type flying submersible of the present invention communicates by means of electromagnetic waves through the communication device, and when navigating in the water, the antenna is exposed to the water surface and the influence of the swing of the flying submersible is overcome.

The present invention will be described in further detail below with reference to the accompanying drawings.

Description of drawings

FIG. 1 is a schematic structural diagram of the rotor-type flying submersible of the present invention.

FIG. 2 is a schematic structural diagram of the wing connection in the rotor-type flying submersible of the present invention.

FIG. 3 is a schematic structural diagram of a communication device in a rotor-type flying submersible according to the present invention.

FIG. 4 is a schematic structural diagram of the state switching of the rotor-type flying submersible according to the present invention.

Detailed ways

Example 1:

As shown in Figure 1, Figure 2 and Figure 3, a rotor-type flying submersible includes a fuselage 1, a wing 2, a nose 3, a communication device 4, an upper drive cover 5, a lower drive cover 6, a machine The wings are connected to the rotating shaft 7 and the waterproof steering gear 8; the inside of the fuselage 1 is provided with a controller and a power supply module, and the controller and the power supply module are connected; the controller adopts an embedded single-chip controller, and the power module adopts a Rechargeable lithium battery; the front end of the fuselage 1 is fixedly connected with the end of the nose 3, and the front end of the nose 3 is provided with a communication device 4; the communication device 4 includes a non-slip plug 17, an antenna rod 18, a buoy 19, The rotating shaft 20, the camera sensor 21 and the antenna main body platform 22; one end of the antenna main body platform 22 is connected with the front end of the nose 3, the other end of the antenna main body platform 22 is connected with one end of the rotating shaft 20, and the other end of the rotating shaft 20 is connected with the rotating shaft 20. The camera sensor 21 is connected; the rotating shaft 20 is provided with an antenna rod 18, the top of the antenna rod 18 is provided with a non-slip plug 17, and the antenna rod 18 is provided with a buoy 19; the antenna rod 18 and the camera sensor 21 are both connected to the controller connected; both sides of the end of the top cover of the body 1 are provided with an upper drive cover 5, and both sides of the end of the bottom cover of the body 1 are provided with a lower drive cover 6; A wing 2 is provided, and the wing 2 is movably connected with the fuselage 1 through the wing connecting shaft 7; the two sides of the bottom of the fuselage 1 are provided with a waterproof steering gear 8, and the waterproof steering gear 8 is connected with the wing through a gear transmission mechanism The rotating shaft 7 is connected, and the control end of the waterproof steering gear 8 is connected with the controller; the gear transmission mechanism includes a first gear 23 and a second gear 24; the first gear 23 is arranged on the output end of the waterproof steering gear 8 , the second gear 24 is arranged on the wing connecting shaft 7, the first gear 23 and the second gear 24 are in a toothed connection; the wing 2 includes a casing 9 with an upper and lower opening, a front drive device 10 and a rear drive device 11 ; The front end of the housing 9 is provided with a front drive device 10, and the end of the housing 9 is provided with a rear drive device 11; the front drive device 10 and the rear drive device 11 both include upper and lower open cylinders 12, drive motors 13 and the driving fan blade 14; the bottom of the cylinder 12 is fixed with a driving motor 13 through a bracket, the top of the driving motor 13 is provided with a driving fan blade 14, and the controller of the driving motor 13 is connected with the controller; the driving motor 13 adopts water An empty dual-purpose motor; one end of the cylinder body 12 of the rear drive device 11 is provided with a water inlet 15 , and the other end of the cylinder body 12 of the rear drive device 11 is provided with a water outlet 16 .

As shown in Figure 4, a control method for a rotor-type flying submersible includes the following steps:

(1) The flying submersible is turned on and enters the automatic detection state to detect whether the signal strength and battery power are within the set safe range. If it is not within the safe range, an alarm will prompt. If it is within the safe range, the current geographic location information will be recorded and wait for the next step. instruction;

(2) The flying submersible has four states, which are flying state, floating state (propeller leaving the water), surface sailing state (propeller is underwater), and underwater sailing state (propeller is underwater);

A. The flight submersible receives the flight status command, and the flight submersible detects the current status:

If the current state is the water surface floating state, the flying submersible enters the flight state initialization;

If the current state is not a floating state, the flying submersible will keep the current state and wait for the next command;

Flight state initialization: the water tank is drained to the flight state, the wings are opened, the flying submersible enters the flight state, and waits for the next command;

B. The flying submersible receives the command of the floating state on the water surface, and the flying submersible detects the current state:

If the current state is the flight state, the flying submersible will automatically decelerate to stop on the water surface and then enter the water surface floating initialization state;

If the current state is the surface navigation state; then the flying submersible enters the surface floating initialization state;

If the current state is not the flight state or the surface navigation state, the flying submersible keeps the current state and waits for the next instruction;

Water surface floating initialization state: the water tank is drained to the water surface floating state, confirm that the wings are folded, the flying submersible enters the water surface floating state, and waits for the next instruction;

C. The flying submersible receives the command of the surface navigation state, and the flying submersible detects the current state:

If the current state is the surface floating state or the underwater navigation state, the flying submersible enters the surface navigation initialization state;

If the current state is not the floating state or the underwater navigation state, the flying submersible keeps the current state and waits for the next instruction;

Surface navigation initialization state: the water tank is drained to the surface navigation state, confirm that the wings are folded, the flying submersible enters the water surface floating state, and waits for the next instruction;

D. The flying submersible receives the underwater navigation state command, and the flying submersible detects the current state:

If the current state is the surface navigation state, the flying submersible enters the underwater navigation initialization state;

If the current state is not the underwater navigation state, the flying submersible maintains the current state and waits for the next instruction;

Underwater navigation initialization state: the water tank is drained to the underwater navigation state, confirm that the wings are folded, the flying submersible enters the underwater navigation state, and waits for the next instruction;

(3) If the flight submersible system detects that the current signal strength and battery power are lower than the set safety range, it will automatically return to home.

In summary, the rotor-type flying submersible of the present invention is driven by a water-air motor, and is driven by flight power when flying in the air, and is driven by underwater power when sailing underwater, so as to reduce the weight of the vehicle and improve its endurance. and carrying capacity; the rotor-type flying submersible of the present invention communicates by means of electromagnetic waves through the communication device, and when navigating in the water, the antenna is exposed to the water surface and the influence of the swing of the flying submersible is overcome.

Claims (7)

1. A rotor-type flying submersible, characterized in that it comprises a fuselage (1), a wing (2), a nose (3), a communication device (4), an upper drive cover (5), a lower drive cover The board (6), the wing connection shaft (7) and the waterproof steering gear (8); the inside of the fuselage (1) is provided with a controller and a power supply module, and the controller and the power supply module are connected; the fuselage ( The front end of 1) is fixedly connected with the end of the machine head (3), and the front end of the machine head (3) is provided with a communication device (4); both sides of the end of the top cover of the body (1) are provided with upper drive covers Plate (5), both sides of the bottom cover end of the fuselage (1) are provided with lower drive cover plates (6); both sides of the fuselage (1) are provided with wings (2), the wings (2) The rotating shaft (7) is movably connected with the fuselage (1) through the wing; the two sides of the bottom of the fuselage (1) are provided with waterproof steering gears (8), and the waterproof steering gears (8) are connected to the fuselage through a gear transmission mechanism. The wing connecting shaft (7) is connected, and the control end of the waterproof steering gear (8) is connected with the controller; the wing (2) includes an upper and lower open casing (9), a front drive device (10) and a rear drive Device (11); the front end of the casing (9) is provided with a front drive device (10), and the end of the casing (9) is provided with a rear drive device (11); the front drive device (10) and the rear drive The device (11) includes a cylindrical body (12) with upper and lower openings, a driving motor (13) and a driving fan blade (14); the bottom of the cylindrical body (12) is provided with a driving motor (13), and the driving motor (13) A driving fan blade (14) is arranged on the top of the rear drive device (13), and the control end of the driving motor (13) is connected with the controller; one end of the cylinder (12) of the rear driving device (11) is provided with a water inlet (15), and the rear driving device (11) is provided with a water inlet (15). The other end of the cylinder body (12) of the device (11) is provided with a water outlet (16). 2 . The rotor-type flying submersible according to claim 1 , wherein the communication device ( 4 ) comprises an anti-skid plug ( 17 ), an antenna rod ( 18 ), a buoy ( 19 ), a rotating shaft ( 20 ), a camera, and a camera. 3 . A sensor (21) and an antenna main body platform (22); one end of the antenna main body platform (22) is connected to the front end of the machine head (3), and the other end of the antenna main body platform (22) is connected to one end of the rotating shaft (20) connection, the other end of the rotating shaft (20) is connected with the camera sensor (21); the rotating shaft (20) is provided with an antenna rod (18), the top of the antenna rod (18) is provided with an anti-skid plug (17), and the antenna rod (18) is provided with a buoy (19); the antenna rod (18) and the camera sensor (21) are both connected to the controller. 3 . The rotor-type flying submersible according to claim 1 , wherein the gear transmission mechanism comprises a first gear ( 23 ) and a second gear ( 24 ); the first gear ( 23 ) is provided in a waterproof On the output end of the steering gear (8), a second gear (24) is arranged on the wing connecting shaft (7), and the first gear (23) is meshed with the second gear (24). 4 . The rotor-type flying submersible according to claim 1 , wherein a drive motor ( 13 ) is fixed to the bottom of the cylinder ( 12 ) through a bracket. 5 . 5 . The rotor-type flying submersible according to claim 1 , wherein the controller adopts an embedded single-chip controller. 6 . 6 . The rotor-type flying submersible according to claim 1 , wherein the power module adopts a rechargeable lithium battery. 7 . 7 . The rotor-type flying submersible according to claim 1 , wherein the driving motor ( 13 ) adopts a water-air motor. 8 .

Images