CN110816829A - A four-rotor water and air amphibious unmanned boat - Google Patents

Abstract

The invention belongs to the technical field of remote-controlled unmanned boats, and in particular relates to a four-rotor water-air amphibious unmanned boat. The invention adopts a multi-rotor system, cleverly combines the unmanned boat and the unmanned aerial vehicle, and enhances the stability by designing two floating bodies similar to the catamaran; It is equipped with a rotor module and an underwater propulsion module, respectively. The two modules apply two sets of control systems, which do not affect each other and can improve the work efficiency of the unmanned boat. The invention is used for taking water samples to monitor water quality, can easily cross obstacles, operate in complex water environment, has strong endurance, realizes water and air amphibious, all-round and multi-angle collection of water samples. The battery module of the present invention and the water sample taken will be placed on the bottom platform, which can lower the center of gravity of the unmanned boat and enhance the stability.

Description

A four-rotor water and air amphibious unmanned boat

technical field

The invention belongs to the technical field of remote-controlled unmanned boats, and in particular relates to a four-rotor water-air amphibious unmanned boat.

Background technique

The real-time detection technology of water environment has been put on the schedule of environmental protection science. People urgently need a technology for real-time automatic detection of water pollution in lakes or rivers, which saves tedious manpower and material resources, enhances intelligence and reliability, and can Perform water quality monitoring in wider waters. Today's unmanned water quality monitoring equipment has the following problems:

(1) There are special unmanned water quality monitoring ships in China, but for ships, its navigation area is limited. In some swamps, tidal flats and other places, water quality monitoring ships cannot work at all.

(2) At present, there are relatively advanced UAV water quality monitoring equipment in foreign countries, which can operate in complex water environments such as swamps or mountains and canyons, but the endurance of UAVs limits its activity area.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a combination of the characteristics of the unmanned boat and the unmanned aerial vehicle, which can easily cross obstacles, operate in a complex water environment, have strong endurance, realize amphibious water and air, and collect water in all directions and from multiple angles. Such a four-rotor water and air amphibious unmanned boat.

The object of the present invention is achieved through the following technical solutions: including a rotor module, an underwater propulsion module and a bottom frame; a floating body is installed below both sides of the bottom frame, and two brackets are respectively provided above the left and right sides of the bottom frame; The upper part of the bracket is provided with a connecting hole; the rotor module includes two rotor beams and an upper platform, and each rotor beam passes through the connecting holes on the upper part of the two brackets on the left and right sides of the bottom frame respectively, and the two rotor beams are on the left and right sides of the rotor beam respectively. A rotor is installed at the end; the upper platform includes a first central platform; the first central platform is respectively connected with four brackets through four connecting beams, and a self-balancing device, a positioning module and a self-balancing device are mounted on the first central platform. The rotor control module; the underwater propulsion module includes a bottom platform; the bottom platform includes a second central platform; the second central platform is respectively connected with four brackets through four connecting beams, and the second central platform The battery module, the signal system and the control system of the underwater thruster are mounted on it; the second central platform is provided with support plates under the front and rear ends; the left and right ends of the support plate are respectively connected with the brackets on the left and right sides of the bottom frame. connection; a propeller support frame is arranged at the bottom of the support plate, and an underwater propeller is mounted between the propeller support frames at the front and rear ends of the second central platform.

The present invention can also include:

The first central platform, the connecting beam connected to the first central platform and the support plate are all provided with lightening holes.

The beneficial effects of the present invention are:

The invention adopts a multi-rotor system, cleverly combines the unmanned boat and the unmanned aerial vehicle, and enhances the stability by designing two floating bodies similar to the catamaran; It is equipped with a rotor module and an underwater propulsion module, respectively. The two modules apply two sets of control systems, which do not affect each other and can improve the work efficiency of the unmanned boat. The invention is used for taking water samples to monitor water quality, can easily cross obstacles, operate in complex water environment, has strong endurance, realizes water and air amphibious, all-round and multi-angle collection of water samples. The battery module of the present invention and the water sample taken will be placed on the bottom platform, which can lower the center of gravity of the unmanned boat and enhance the stability. The upper platform of the present invention is equipped with a self-balancing device and a positioning module. When the four-rotor amphibious unmanned boat floats on the water, the underwater propeller can realize the rapid movement of the unmanned boat. Fly to the destination by remote control rotor flight.

Description of drawings

Figure 1 is a three-dimensional view of a quad-rotor amphibious unmanned vehicle.

Figure 2 is an axonometric view of a four-rotor amphibious unmanned vehicle.

Figure 3 is a side view of a quadrotor amphibious unmanned boat.

Figure 4 is a top view of a quad-rotor amphibious unmanned boat.

Figure 5 is a bottom view of a quad-rotor amphibious unmanned boat.

Figure 6 is a front view of a quad-rotor amphibious unmanned boat.

Figure 7 is a rear view of a quadrotor amphibious unmanned boat.

Detailed ways

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

A four-rotor water and air amphibious unmanned boat relates to the field of unmanned boats. The invention includes a rotor module and an underwater propulsion module, and a surface-air amphibious function can be realized through a novel mechanism design. The rotor module and underwater propulsion The modules are located on two platforms to avoid mutual interference, and both are controlled by radio signals, which can realize the water intake work in the mountains and valleys, and increase the convenience of water quality monitoring.

As shown in Figures 1 and 2, a quadrotor amphibious unmanned boat includes a rotor module, an underwater propulsion module and a bottom frame 3. Two floating bodies 1 are installed below the bottom frame, and four brackets 2 are arranged above the bottom frame. The tops of the two brackets on the same side are connected by reinforcing beams, and the brackets above the reinforcing beams are provided with connecting holes. The rotor module includes two rotor beams 7 and an upper platform 6, one rotor beam is connected through the upper part of the two brackets on the left side of the bottom frame, and the other rotor beam is connected through the upper part of the two brackets on the right side of the bottom frame. hole. Each rotor spar is provided with two rotors 8 located at the left and right ends of the rotor spar. The upper platform includes a first central platform, the first central platform is square as a whole, and square lightening holes are evenly arranged on the first central platform. The first central platform is respectively connected with the four brackets through four connecting beams, and triangular lightening holes are evenly distributed on the connecting beams. A self-balancing device, a positioning module and a rotor control module are mounted on the first central platform. The subsea propulsion module includes a bottom platform 5 which includes a second central platform. The second central platform is square as a whole. The second central platform is respectively connected with the four brackets through four connecting beams, and the battery module, the signal system and the control system of the underwater propeller are mounted on the second central platform. Two support plates are arranged under the second central platform, and the left and right ends of the support plates are respectively connected with the brackets on the left and right sides of the bottom frame. Two propeller support brackets are arranged at the bottom of each support plate, and the propeller support brackets are triangular as a whole. One bottom edge of the triangle is connected with the bottom edge of the support plate, the other fixed point is provided with a circular ring, and the underwater thruster 9 is mounted between the two circular rings of the two propeller support frames. A total of two underwater thrusters 9 are arranged at the bottom of the four-rotor amphibious unmanned boat.

As shown in FIGS. 6 and 7 , two square lightening holes are opened in the center of the support plate 4 , and several triangular lightening holes are symmetrically distributed on both sides of the two square holes.

Figures 3 to 7 show plan views from various angles of the quadrotor amphibious unmanned vehicle. Combine the following figures to illustrate the working process of the quadrotor amphibious unmanned boat. The role of the two floating bodies is to provide buoyancy for the four-rotor amphibious unmanned boat, and the flight function is mainly composed of two rotor spars and four rotors. When the four-rotor amphibious unmanned boat is on the water surface, the two underwater propellers are just underwater, and the rapid movement of the four-rotor amphibious unmanned boat can be realized by remote control, which can be realized by the differential speed of the two propellers. Steering; if the water taking place is far away, the remote control rotor can be used to fly to the destination. The water and air use two control systems, so only the underwater thruster is activated on the water surface, and only the rotor module is activated in the air.

The purpose of the present invention is to provide a new type of unmanned boat that can realize amphibious water and air, and uses a multi-rotor system to skillfully combine the unmanned boat and the unmanned aerial vehicle. The present invention is designed with two floating bodies, similar to a catamaran, to enhance stability. The invention is designed with a bracket and two platforms fixed, respectively equipped with a rotor module and an underwater propulsion module, the two modules are separated, and two sets of control systems are applied, which do not affect each other, and can improve the working efficiency of the unmanned boat. The function of the support plate is to fix the bracket, and to support the second platform to ensure its stability. The function of the lightening hole is to reduce the weight of the entire unmanned boat, so that the space for the flight system to adjust the lift is more abundant. The invention is designed to take water samples to monitor water quality. In order to reduce the center of gravity of the unmanned boat and enhance the stability, the battery module and the water samples taken will be placed on the bottom platform, and the upper platform will be equipped with a self-balancing device and a positioning module; When the empty amphibious unmanned boat floats on the water, the underwater propeller can realize the rapid movement of the unmanned boat.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (2)

1. The utility model provides a four rotor water-air amphibious unmanned ship which characterized in that: comprising a rotor module, an underwater propulsion module and a bottom frame; the lower parts of the two sides of the bottom frame are provided with floating bodies, and the upper parts of the left side and the right side of the bottom frame are respectively provided with two brackets; the upper part of the bracket is provided with a connecting hole; the rotor wing module comprises two rotor wing beams and an upper platform, each rotor wing beam respectively passes through connecting holes in the upper parts of the two brackets above the left side and the right side of the bottom frame, and rotor wings are installed at the left end and the right end of each rotor wing beam; the upper platform comprises a first central platform; the first central platform is respectively connected with the four brackets through four connecting beams, and a self-balancing device, a positioning module and a rotor wing control module are loaded on the first central platform; the underwater propulsion module comprises a bottom platform; the bottom platform comprises a second central platform; the second central platform is respectively connected with the four brackets through four connecting beams, and a battery module, a signal system of the underwater propeller and a control system are carried on the second central platform; supporting plates are arranged below the front end and the rear end of the second central platform; the left end and the right end of the supporting plate are respectively connected with the brackets at the left side and the right side of the bottom frame; the bottom of the supporting plate is provided with a propeller supporting frame, and underwater propellers are loaded between the propeller supporting frames at the front end and the rear end of the second central platform.

2. A quad-rotor water-air amphibious unmanned vehicle as claimed in claim 1, wherein: lightening holes are formed in the first central platform, the connecting beam connected with the first central platform and the supporting plate.

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