CN110481777B - Water-air amphibious unmanned rescue platform - Google Patents
Water-air amphibious unmanned rescue platform Download PDFInfo
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- CN110481777B CN110481777B CN201910766834.6A CN201910766834A CN110481777B CN 110481777 B CN110481777 B CN 110481777B CN 201910766834 A CN201910766834 A CN 201910766834A CN 110481777 B CN110481777 B CN 110481777B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C9/00—Life-saving in water
- B63C9/01—Air-sea rescue devices, i.e. equipment carried by, and capable of being dropped from, an aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/005—Flying-boats; Seaplanes with propellers, rudders or brakes acting in the water
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C35/00—Flying-boats; Seaplanes
- B64C35/008—Amphibious sea planes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/02—Dropping, ejecting, or releasing articles
- B64D1/08—Dropping, ejecting, or releasing articles the articles being load-carrying devices
- B64D1/12—Releasing
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- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention provides a water-air amphibious unmanned rescue platform which can sail on the water surface and fly in the air, two sailing modes can be quickly and freely switched, the sailing on the water surface depends on two small water plane streamline ship bodies and a ship propeller arranged behind each ship body, and the propelling mode adopts double propeller differential propelling; the air navigation depends on four propellers for four rotors and matched brushless motors, and the propellers are fixed right above the rescue platform in a regular quadrangle shape; the remote rescue goods and materials putting device provided by the invention adopts a simple and reliable door type structure; the invention can realize the functions of autonomous tracking and autonomous obstacle avoidance. The unmanned rescue platform combines the advantages of the small waterplane area catamaran and the quad-rotor unmanned aerial vehicle, can realize the rapid crossing of discontinuous water areas by utilizing the flight function, can arrive in a flight mode in the water areas without the launching condition of the conventional rescue vessel, enhances the environmental adaptability of the unmanned rescue platform, and enlarges the working range of the unmanned rescue platform.
Description
Technical Field
The invention relates to a water-air amphibious unmanned rescue platform, and belongs to the field of rescue equipment.
Background
According to the investigation of the world health organization, 37 ten thousand people die of drowning every year in the world, wherein the drowning is mainly caused by untimely rescue and crude rescue equipment, the traditional overwater rescue mode is mainly based on the cooperation of manpower rescue and simple rescue devices, the rescue efficiency is low, the search and rescue range is limited, rescuers often fall into a dangerous situation, and tragic disasters of two rescuers and rescuees are caused.
Today with the increasing progress of science and technology, the concept of unmanned intellectualization provides a new idea for research and development of water rescue equipment, and the concept typically comprises an unmanned rescue ship, a rescue unmanned aerial vehicle and the like. However, the actual water area environment is complex and variable, the depths of partial water areas are different or small-area discontinuous distribution is achieved, for example, swamps and submerged reef water areas, and unmanned rescue ships cannot pass through the discontinuous water areas, and some water areas have complex shore environments and large water surface-ground fall, for example, reservoirs, mountains and lakes, and rescue equipment and personnel are difficult to launch, so that the rescue efficiency is greatly reduced, and even the best rescue time can be missed, and irretrievable loss is caused. The rescue unmanned aerial vehicle is limited by an energy supply mode, has limited cruising ability and smaller load, and cannot complete long-time search and rescue tasks.
Disclosure of Invention
The invention aims to provide a water-air amphibious unmanned rescue platform, which can sail on water surface and fly in air, and can freely switch between two sailing states, so that the environment adaptability of the unmanned rescue platform is improved, the application range of the unmanned rescue platform is enlarged, meanwhile, the unmanned rescue platform has two control modes, namely an online remote control mode and an autonomous sailing mode, and can realize autonomous tracking and autonomous obstacle avoidance functions in the autonomous sailing mode, the work burden of operators is reduced due to the realization of the autonomous sailing mode, the unmanned autonomous working capacity of the unmanned rescue platform is greatly improved, and the unmanned rescue platform is also provided with a remote control rescue goods and materials throwing device with a special structure.
The purpose of the invention is realized as follows: including surface of water navigation part, aerial navigation part, rescue goods and materials input device and central control box, surface of water navigation part includes two hulls, connects the body link of two hulls, sets up at the screw of every hull afterbody, sets up at the outside kuppe of screw, aerial navigation part includes screw sectional shelf, sets up four screw combinations on screw sectional shelf, and four screw combinations make up square arrangement and two adjacent screw combinations revolve to opposite, are connected through the intermediate junction stand between screw sectional shelf and the body link, rescue goods and materials input device includes ejection rack and ejection cable, and the ejection rack includes two upper fixing framves that the symmetry set up at screw sectional shelf lower extreme, sets up two lower fixing frame on two hulls upper end, sets up four drive steering wheel on four mounts, sets up the frame of opening and shutting on four drive steering wheel output ends respectively, the ejection cable has two, and the both ends of every ejection cable are connected with two opening and shutting frames of one side, central control box sets up the central point at screw sectional shelf, is equipped with the required next aircraft system, drive circuit system and the power supply system of unmanned platform control box in central control box, has the camera head rescue.
The invention also includes such structural features:
1. and a longitudinal buffer mechanism is also arranged between the connection part of the ship body and the floating body connection frame, and comprises a buffer reed and a U-shaped aluminum profile.
2. The outer surface of the central control box is designed to be a slope.
3. The floating body connecting frame, the middle connecting upright post and the propeller combined bracket are all arranged to be hollow structures.
4. When the opening and closing frame is closed, the ejection cable annularly wraps rescue materials to be thrown in and is collected on the inner side of the opening and closing frame, the ejection cable can be elastically deformed due to the occupied volume of the rescue materials to be thrown in, when the materials are required to be thrown in, the opening and closing frame is opened by the aid of the driving steering engine fixed on the fixing frame, and the ejection cable can be straightened by the aid of elastic restoring force of the ejection cable, so that the rescue materials are ejected out.
Compared with the prior art, the invention has the beneficial effects that: the water-air amphibious unmanned rescue platform disclosed by the invention combines the advantages of a small waterplane area catamaran and a quad-rotor unmanned aerial vehicle, can sail on the water surface stably and quickly, and can fly in the air, two sailing modes can be freely switched, the structure of the whole ship does not need to be changed, and the water-air amphibious unmanned rescue platform can adapt to a more complex rescue environment; the water-air amphibious unmanned rescue platform has two control modes, namely an online remote control mode and an autonomous navigation mode, and can realize autonomous tracking and autonomous obstacle avoidance functions in the autonomous navigation mode, so that the burden of operators is greatly reduced, and the unmanned autonomous working capacity of the unmanned rescue platform is improved; the water-air amphibious unmanned rescue platform adopts a double-propeller differential propulsion mode, has excellent maneuverability, realizes the decoupling of the ship navigation speed and the ship rotation capacity, and provides convenience for the introduction of a high-grade course control algorithm; the water-air amphibious unmanned rescue platform can realize vertical take-off and landing on the water surface and the ground, and does not need a large water area for taking off; the water-air amphibious unmanned rescue platform can realize hovering in the air and can realize flying in any direction in the air, and has excellent air maneuverability; the air flight mode and the water surface navigation mode of the water-air amphibious unmanned rescue platform adopt different power devices, and the air flight mode and the water surface navigation mode are not influenced mutually, so that the mutual interference of two navigation modes is avoided; compared with a power device for sailing on the water surface, the power device for sailing in the air has higher energy consumption, and does not work in the sailing mode on the water surface, so that the amphibious unmanned rescue platform for water and air is more energy-saving and environment-friendly, and has stronger cruising ability. The water-air amphibious unmanned rescue platform can utilize flight function to realize rapid crossing of different water areas under discontinuous water areas, thereby enhancing the environmental adaptability of the unmanned rescue platform; the water-air amphibious unmanned rescue platform can take off at a place far away from a water area in the water area without the launching condition of a conventional unmanned rescue ship and then land in a target water environment to complete a set task. The main controller of the water-air amphibious unmanned rescue platform is reserved with a sensor and an execution mechanism interface, and has extremely strong function expansibility. The rescue material throwing device adopted by the water-air amphibious unmanned rescue platform is simple in structure, low in failure rate, easy to maintain and maintain, and small in weight, and cannot bring excessive burden to the flying part.
Drawings
FIG. 1 is an oblique side view of a water-air amphibious double-body unmanned rescue platform;
FIG. 2 is a top view of a water-air amphibious double-body unmanned rescue platform;
FIG. 3 is a left side view of the water-air amphibious double-body unmanned rescue platform;
fig. 4 is a folding state diagram of the rescue goods and materials putting device;
FIG. 5 is a diagram showing an opened state of the rescue goods and materials delivery device;
FIG. 6 is a block diagram of a related control system of the water-air amphibious double-body unmanned rescue platform;
the reference numbers in the figures illustrate: 1. the device comprises a left ship body, a right ship body, a left propeller, a right screw propeller, a left air guide sleeve, a right air guide sleeve, a floating body connecting frame, a central control box, a longitudinal buffer mechanism, a vertical column, a middle connecting column, a propeller combination I, a propeller combination II, a propeller combination III, a propeller combination IV, a propeller combination support 15, a two-shaft high-definition binocular camera, an upper fixing frame, a lower fixing frame 18, a rescue material releasing device upper opening and closing frame 19, a driving steering engine 20, a driving steering engine under the rescue material releasing device 21, an upper opening and closing frame 22, a lower opening and closing frame 23 and a catapulting cable 7.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The water-air amphibious unmanned rescue platform is structurally divided into a water surface navigation part, an air navigation part, a rescue material throwing device part and a related control system part. Including two hulls, hull link, two marine screw and driving motor, four for the four rotors screw and driving motor, four for the rotor motor support, rescue goods and materials put in device and be located the rescue platform control box of rescue platform middle part, two hulls utilize hull link to fix together with proper interval parallel connection, two marine screw and driving motor fix respectively at two hull backs, four for the four rotors screw and driving motor utilize four for the rotor motor support be positive quadrangle fix directly over rescue platform, rescue goods and materials put in device's installation and not only need guarantee its normal clear of putting in the action and can not disturb the realization of other functions of rescue platform. The amphibious unmanned rescue platform can sail on the water surface and fly in the air, can be freely switched between two sailing modes, and does not need to change the integral structure of the amphibious unmanned rescue platform when the sailing modes are switched. The ship body connecting frame and the motor support for the four rotors are made of carbon fiber materials. The water surface sailing mode is realized by utilizing a double-propeller differential propelling mode. The driving motors of the two marine propellers and the driving motors of the four-rotor propeller are brushless motors. In the air navigation mode, the flight state of the rescue platform during air flight is adjusted by controlling the respective rotating speed of the four propellers for the four quadrotors. The control system mainly comprises an electric controller, a flight controller, an IMU sensor, a GPS (global positioning system) or a Beidou satellite navigation system, a wireless communication and image transmission module, a two-axis high-definition binocular camera, a rescue material delivery device driving mechanism, a ground base station and a main controller which are required by the brushless motor. Interfaces of other sensors and execution units are reserved in the control system, and function expansion is facilitated. The control mode comprises an online remote control mode and an autonomous navigation mode. The autonomous tracking and autonomous obstacle avoidance functions can be realized in the autonomous navigation mode.
The water surface navigation part adopts the design idea of a small water plane catamaran, the two hulls adopt the small water plane streamline design, the waterline area of the small water plane catamaran type is only about 1/4 of that of a common ship with the same water displacement, the wave-making resistance can be greatly reduced, and the interference effect of sea waves is obviously weakened, so that the swinging motion and wave slapping of the ship in the waves are reduced, the wave resistance of the small water plane catamaran type is superior to that of the common ship type and the common catamaran, and the amphibious unmanned rescue platform can be in a more stable state in the water surface take-off stage due to the advantages. In addition, the small waterplane area catamaran type has the advantages of high speed, good stability, excellent maneuverability and the like.
The ship body of the small waterplane area catamaran is fixedly connected by the carbon fiber pipes with high strength and small mass, so that the requirements of the aerial part on the weight of the whole ship body are met while the firmness and stability of the structure of the water surface sailing part are ensured.
The power device of the water surface navigation part utilizes the principle of double-propeller differential propulsion, the tail part of each ship body is provided with a marine propulsion propeller, the thrust generated by the two propellers is controlled by controlling the rotating speed of the two propellers, the navigation speed of the water surface navigation part of the unmanned rescue platform is controlled, the thrust ratio of the two propellers is controlled by controlling the rotating speed ratio of the two propellers, the ship body is subjected to gyroscopic moment, the water surface course control of the unmanned rescue platform is realized, in order to enable the thrust of each propeller to be more concentrated, and a flow guide cover is additionally arranged outside each propeller. The double-propeller differential propulsion mode belongs to a vector propulsion mode, and is matched with a small waterplane area twin-hull ship type, so that the unmanned rescue platform is endowed with more excellent maneuverability for the water surface sailing part. The double propeller differential propulsion mode does not need a rudder to control the navigation direction of the ship, removes the hard coupling relation between the navigation speed of the ship and the rotation capacity of the ship, and provides convenience for introducing an advanced course control algorithm.
The driving motor of the marine propulsion propeller adopts the brushless motor, the brushless motor has the advantages of strong reliability and good control performance, the harsh performance requirements of a double-propeller differential propulsion mode on the driving motor can be met, the brushless motor does not have an electric brush, and the brushless motor has longer service life compared with a common direct current motor.
The aerial navigation part comprises four propellers for four rotors and a brushless motor for driving the propellers to rotate, the propellers are connected with the middle main body part of the unmanned rescue platform by using a carbon fiber tube as a support, the four propellers are in a regular quadrilateral shape and fixed right above the unmanned rescue platform, the adjacent propellers are opposite in rotation direction, and the flying height and flying posture of the aerial part of the unmanned rescue platform are adjusted by controlling the respective rotating speeds of the four propellers.
The rescue goods and materials throwing device comprises a launching frame and an elastic launching cable, wherein the launching frame comprises a group of fixing frames and a group of opening and closing frames, the opening and closing frames can rotate around the tail ends of the fixing frames to form a door type structure, the fixing frames can be compared with door frames, the opening and closing frames are compared with door plates, the launching cable is made of elastic materials, the tail ends of the launching cable are respectively fixed at the tail ends of the free ends of the opening and closing frames, when the opening and closing frames are closed, the launching cable wraps rescue goods and materials to be thrown in and is collected in the inner sides of the opening and closing frames, due to the occupied volume of the rescue goods and materials to be thrown in, the launching cable can be elastically deformed, when the goods and materials are required to be thrown, the opening and closing frames are opened, and the launching cable utilizes the elastic restoring force of the launching cable to launch the rescue goods and materials. The throwing device is simple in structure, low in failure rate, easy to maintain and maintain, and small in weight, and cannot bring excessive burden to the flying part.
The related control system includes: the flight control part comprises an electric regulation required by a brushless motor driving a propeller combination, is connected with the brushless motor, the flight controller and a power supply system and is mainly used for controlling the rotating speed of the brushless motor; the flight controller is mainly used for the resultant force decomposition operation of the flight part of the water-air amphibious unmanned rescue platform and controlling the rotating speeds of four motors of the flight part by using electric regulation; the water surface control part comprises an electric regulator required by the brushless motors for driving the left propeller and the right propeller, is connected with the brushless motors for driving the left propeller and the right propeller, a main controller and a power supply system, and is mainly used for controlling the rotating speed of the motors required by the water surface control part; the main controller is used for decomposing and calculating the resultant force of the water surface part, controlling the rotating speed of the two motors of the water surface part by using electric regulation, controlling the rescue material throwing device to execute an ejection action, processing a control command from the ground base station and matching with the flight controller; the rescue goods and materials launching device control part comprises a goods and materials ejection opening and closing frame driving steering engine and a goods and materials ejection opening and closing frame and is used for driving the rescue goods and materials launching device to execute launching actions; the mounting sensor part comprises an IMU sensor for detecting and feeding back attitude information of the water-air amphibious unmanned rescue platform, and a GPS positioning system for detecting and feeding back position information of the water-air amphibious unmanned rescue platform; the two-axis high-definition binocular camera has self-stabilization capability and anti-shake capability, is used for remote monitoring and water area detection, is matched with the realization of an obstacle avoidance function of the unmanned rescue platform, is also reserved with an interface on the main controller, and can finish data processing and related control by the main controller in a unified way if other sensors or execution units are additionally arranged on the amphibious unmanned rescue platform; the human-computer interaction part comprises a ground base station, a wireless communication module and a picture transmission module and is mainly used for human-computer interaction of the ground part, the ground base station can be used for remotely controlling the water-air amphibious unmanned rescue platform in real time in an online remote control mode, a preset track can be given by the aid of the human-computer interaction part in an autonomous navigation mode, and contents shot by the camera can be checked in real time.
The water-air amphibious unmanned rescue platform has the capabilities of autonomous tracking and autonomous obstacle avoidance, under the autonomous navigation mode, an operator gives a preset track on an electronic map by using a ground base station, the water-air amphibious unmanned rescue platform can autonomously control a ship body to autonomously navigate along the preset track given by the operator by using a related sensor and a controller carried on the ship, the water-air amphibious unmanned rescue platform can autonomously identify obstacles and guide the water-air amphibious unmanned rescue platform to autonomously avoid the obstacles by using a two-shaft high-definition binocular camera carried on the ship in the navigation process, and the functions can greatly reduce the workload of operators when the water-air unmanned rescue platform executes tasks such as amphibious cruise control, underwater terrain detection and the like, so that the operator can be relieved from the tedious ship driving work.
As shown in fig. 1-3, the amphibious double-hull unmanned rescue platform is respectively an oblique side view, a top view and a left side view, and the unmanned rescue platform is mainly structurally divided into a water surface sailing part, an air sailing part, a central control box (8) part and a rescue material throwing device part.
The water surface navigation part mainly comprises a left ship body (1) and a right ship body (2) which are distributed in parallel and are separated by a proper distance, the two ship bodies adopt a small waterplane area design, the waterline area of a small waterplane area catamaran type is only equal to about 1/4 of that of a common ship with the same displacement, wave making resistance can be greatly reduced, and the interference effect of sea waves is obviously weakened, so that the swinging motion and wave slapping of the ship in the waves are reduced, the wave resistance of the amphibious catamaran type is superior to that of the common ship type and the common catamaran, and the amphibious unmanned rescue platform can be in a more stable state in the water surface takeoff stage. The small waterplane area twin-hull ship type can provide a larger deck area, and provides enough support in space for the unmanned rescue platform to additionally install other working platforms. In order to reduce the resistance of the ship body in the process of advancing in water, the front end of the floating body adopts a streamline design. Meanwhile, in order to ensure the overall stability of the amphibious unmanned rescue platform in the air, the weight of the floating bodies should be evenly distributed in a plane formed by the two floating bodies.
The power device of the water surface navigation part utilizes the principle of double-propeller differential propulsion, the rear ends of the left ship body (1) and the right ship body (2) are respectively provided with a marine propeller and are respectively corresponding to a left propeller (3) and a right propeller (4), the thrust generated by the two propellers is controlled by controlling the rotating speed of the two propellers, the navigation speed of the water surface navigation part of the unmanned rescue platform is controlled, the thrust ratio of the two propellers is controlled by controlling the rotating speed ratio of the two propellers, so that the turning moment is generated for the ship body, the water surface course control of the unmanned rescue platform is realized, the two propellers are respectively additionally provided with the fairings, the left fairings (5) and the right fairings (6) are corresponding, the fairings are additionally provided with the fairings which are beneficial to centralizing the water flow pushed backwards by the two propellers, the more centralized thrust is generated, the fairings are provided with rectangular holes, the large sundries in the water body near the propellers are beneficial to filtering, such as waterweeds, fishing nets and the like, the fairings are prevented from being wound on the propellers, and meanwhile, the damages caused by the impact can be avoided.
The control motor of marine propeller adopts brushless motor, brushless motor has the advantage that the reliability is strong, control performance is good, can satisfy double propeller differential propulsion mode to driving motor's harsh performance requirement, and brushless motor does not have the brush, compares ordinary DC motor life longer, because brushless motor does not have like this kind of exposed electrified part of brush, needn't worry the waterproof problem of motor, consequently can directly with the motor snap-on left hull (1) and right hull (2) rear, reduced unmanned rescue platform power device's the installation degree of difficulty.
The left ship body (1) and the right ship body (2) are fixedly connected by using the carbon fiber pipes with high strength and small mass to be matched with aluminum profiles, the firmness and the stability of the structure of a water surface navigation part are guaranteed, the requirement of an aerial part on the weight of the whole ship body is also considered, the carbon fiber pipes and the aluminum profiles are built into a firm floating body connecting frame (7) by using aluminum alloy connecting pieces, and in order to avoid the large impact on the central control box (8) when the amphibious unmanned rescue platform descends, the floating body connecting frame (7) and each connecting part of the floating body are respectively provided with a longitudinal buffer mechanism (9) consisting of four buffer reeds and U-shaped aluminum profiles. The floating body connecting frame (7) is connected with the aerial navigation part of the amphibious unmanned rescue platform through four middle connecting upright posts (10) made of high-strength carbon fiber tubes.
The aerial navigation part mainly comprises four propeller combinations consisting of four rotor propellers and matched brushless motors, the propeller combinations correspond to a propeller combination I (11), a propeller combination II (12), a propeller combination III (13) and a propeller combination IV (14) in sequence, the positions of the four propellers are in a regular quadrilateral shape and are fixed right above the unmanned rescue platform, the directions of adjacent propellers are opposite in the working state, but the directions of generated lift forces are the same, and therefore the propeller rotation directions of the adjacent four rotors are opposite, for example, the propeller combination I (11), the propeller combination II (12), the propeller combination III (13) and the propeller combination IV (14) adopt a positive propeller, a reverse propeller, a positive propeller and a reverse propeller in sequence. The flying height and flying attitude of the aerial part of the unmanned rescue platform are adjusted by controlling the rotating speeds of the four propellers. And a carbon fiber pipe is also used as a propeller combined bracket (15) to be connected with the middle main body part of the unmanned rescue platform.
The central control box (8) is partially positioned in the middle main body part of the unmanned rescue platform, a lower computer system, a driving circuit system and a power supply system which are required by the unmanned rescue platform control system are arranged in the central control box (8), a two-shaft high-definition camera (16) is fixed below the control box, and the floating body connecting frame (7), the middle connecting upright post (10) and the propeller combined support (15) are all of hollow structures, so that the floating body connecting frame can be used as a routing pipe. Unmanned rescue platform control box upper surface adopts the slope design, avoids the rainwater or the water accumulation that flies to splash in the navigation water environment on the control box, and control box upper cover and control box lower surface coupling part have carried out water repellent, avoid internal circuit and water contact and damage.
The rescue goods and materials releasing device comprises a launching rack and an elastic launching cable, the launching rack comprises a group of fixed frames (17) and (18) and a group of opening and closing frames (21) and (22), the opening and closing frames can rotate around the tail ends of the fixed frames to form a door type structure, the fixed frames (17) and (18) can be compared with a door frame, the opening and closing frames (21) and (22) are compared with a door plate, the launching cable (23) is made of two elastic strip-shaped materials, the tail ends of the launching cable are respectively fixed at the tail ends of the free ends of the opening and closing frames, when the opening and closing frames are closed (as shown in figure 4), the launching cable annularly wraps rescue goods and materials to be released and is collected inside the opening and closing frames (21) and (22), the launching cable (23) can generate elastic deformation due to the volume occupied by the rescue goods and materials to be released, when the rescue goods and materials are needed to be released, the opening and closing frames are opened (as shown in figure 5) by driving steering engines (19) and (20) fixed on the fixed to the fixed (17) and (18), and the launching cable (23) stretches itself by using the elastic restoring force of the launching cable, so as to launch the launching of the launching cable, and launch the rescue goods and materials. The throwing device is simple in structure, low in failure rate, easy to maintain and maintain, and small in weight, and cannot bring excessive burden to the flying part.
Fig. 6 is a block diagram of a related control system of the water-air amphibious catamaran unmanned rescue platform, wherein the related control system comprises: the flight control part comprises an electric regulation required by brushless motors driving propeller combinations (11), (12), (13) and (14), is connected with the brushless motors, the flight controller and a power supply system, and is mainly used for controlling the rotating speed of the brushless motors; the flight controller is mainly used for the resultant force decomposition operation of the flight part of the water-air amphibious unmanned rescue platform and controlling the rotating speed of four motors of the flight part by using electric regulation; the water surface control part comprises an electric regulator required by brushless motors for driving the left and right propellers (3) and (4), is connected with the brushless motors for driving the left and right propellers, a main controller and a power supply system, and is mainly used for controlling the rotating speed of the motors required by the water surface control part; the main controller is used for the resultant force decomposition operation of the water surface part, controlling the rotating speeds of the two motors of the water surface part by using the electric regulation, controlling the rescue material throwing device to execute a catapulting action, processing a control command from the ground base station and matching with the flight controller; the rescue goods and materials launching device control part comprises goods and materials launching opening and closing frame driving steering engines (19) (20) and goods and materials launching opening and closing frames (21) (22) and is used for driving the rescue goods and materials launching device to execute launching actions; the mounting sensor part comprises an IMU sensor for detecting and feeding back attitude information of the water-air amphibious unmanned rescue platform, and a GPS positioning system for detecting and feeding back position information of the water-air amphibious unmanned rescue platform; the two-axis high-definition binocular camera (16) has self-stabilization capability and anti-shake capability, is used for remote monitoring and water area investigation, is matched with the unmanned rescue platform to realize the obstacle avoidance function, is also reserved with an interface on the main controller, and can finish data processing and related control by the main controller in a unified way if other sensors or execution units are additionally arranged on the amphibious unmanned rescue platform; the human-computer interaction part comprises a ground base station, a wireless communication module and a picture transmission module and is mainly used for human-computer interaction of the ground part, the ground base station can be used for remotely controlling the water-air amphibious unmanned rescue platform in real time in an online remote control mode, a preset track can be given by the aid of the human-computer interaction part in an autonomous navigation mode, and contents shot by the camera can be checked in real time.
The water-air amphibious unmanned rescue platform has the capabilities of autonomous tracking and autonomous obstacle avoidance, under the autonomous navigation mode, an operator gives a preset track on an electronic map by using a ground base station, and the water-air amphibious unmanned rescue platform autonomously controls a ship body to follow the preset track given by the operator by using an IMU sensor, a GPS positioning system and a controller carried on the ship to perform autonomous navigation. The water-air amphibious unmanned rescue platform can automatically recognize obstacles by utilizing a carried two-shaft high-definition binocular camera in the navigation process, calculate the position of the obstacles relative to the unmanned rescue platform in a controller, mark the positions of the obstacles and the self on an electronic map by utilizing a GPS positioning system, and control the water-air amphibious unmanned rescue platform to automatically avoid the obstacles by utilizing the controller.
In conclusion, the invention discloses a water-air amphibious unmanned rescue platform, which can sail on the water surface and fly in the air, wherein two sailing modes can be quickly and freely switched, the sailing on the water surface depends on two small water plane streamline ship bodies and a ship propeller arranged behind each ship body, and the propelling mode adopts double propeller differential propelling; the air navigation depends on four propellers for four rotors and matched brushless motors, and the propellers are fixed right above the rescue platform in a regular quadrangle shape; the remote rescue goods and materials putting device provided by the invention adopts a simple and reliable door type structure; the invention can realize the functions of autonomous tracking and autonomous obstacle avoidance. The unmanned rescue platform combines the advantages of the small waterplane area catamaran and the quad-rotor unmanned aerial vehicle, can realize the rapid crossing of discontinuous water areas by utilizing the flight function, can arrive in a flight mode in the water areas without the launching condition of the conventional rescue vessel, enhances the environment adaptability of the unmanned rescue platform, and enlarges the working range of the unmanned rescue platform.
Claims (5)
1. The utility model provides an empty amphibious unmanned rescue platform of water which characterized in that: the aerial navigation part comprises two ship bodies, a floating body connecting frame for connecting the two ship bodies, propellers arranged at the tail part of each ship body and a flow guide cover arranged outside the propellers, the aerial navigation part comprises a propeller combined support and four propeller combinations arranged on the propeller combined support, the four propellers are combined into a square arrangement, the rotating directions of the two adjacent propeller combinations are opposite, the propeller combined support and the floating body connecting frame are connected through a middle connecting upright post, the rescue material throwing device comprises a catapult frame and a catapult cable, the catapult frame comprises two upper fixing frames symmetrically arranged at the lower end of the propeller combined support, two lower fixing frames arranged at the upper ends of the two ship bodies, four driving steering engines arranged on the four fixing frames and opening and closing frames respectively arranged on the output ends of the four driving steering engines, the catapult cable comprises two, the two ends of each catapult cable are connected with the two opening and closing frames at the same side, a central control box is arranged at the central position of the propeller combined support, a lower computer system, a driving circuit system and a power supply system which are required by an unmanned platform control system are arranged in the central control box, and a camera head is fixed below the control box; the opening and closing frame rotates around the tail end of the fixing frame to form a door type structure, the fixing frame is compared with a door frame, the opening and closing frame is compared with a door plate, the ejection cables are made of elastic materials, the tail ends of the ejection cables are respectively fixed at the tail ends of the free ends of the opening and closing frame, when the opening and closing frame is closed, the ejection cables wrap rescue goods to be thrown in an annular mode and are collected inside the opening and closing frame, due to the occupied volume of the rescue goods to be thrown, the ejection cables can generate elastic deformation, when the goods are required to be thrown, the opening and closing frame is opened by the aid of driving steering engines fixed on the fixing frame, and the ejection cables stretch out the rescue goods by the aid of elastic restoring force of the ejection cables.
2. The water-air amphibious unmanned rescue platform of claim 1, characterized in that: and a longitudinal buffer mechanism is also arranged between the connection part of the ship body and the floating body connection frame, and comprises a buffer reed and a U-shaped aluminum profile.
3. A water-air amphibious unmanned rescue platform according to claim 1 or 2, characterized in that: the outer surface of the central control box is designed to be a slope.
4. An air-water amphibious unmanned rescue platform as claimed in claim 1 or claim 2 wherein: the floating body connecting frame, the middle connecting upright post and the propeller combined bracket are all arranged to be hollow structures.
5. The water-air amphibious unmanned rescue platform of claim 3, wherein: the floating body connecting frame, the middle connecting upright post and the propeller combined bracket are all arranged to be hollow structures.
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| CN112009647B (en) * | 2020-09-10 | 2021-07-13 | 江西中科冠物联网科技有限公司 | Fire-fighting robot |
| CN112061343B (en) * | 2020-09-10 | 2022-01-25 | 重庆智能机器人研究院 | Robot |
| US11787538B2 (en) * | 2020-10-12 | 2023-10-17 | Shanghai Autoflight Co., Ltd. | Amphibious drone with detachable buoys |
| CN112606973B (en) * | 2020-12-29 | 2023-03-28 | 武汉理工大学 | Water-air amphibious three-dimensional search and rescue system and method |
| CN113093795B (en) * | 2021-03-30 | 2022-04-22 | 华南理工大学 | Semi-automatic wireless control method and device for unmanned surface vehicle |
| CN113212667B (en) * | 2021-04-26 | 2022-06-21 | 江苏大学 | Farm-oriented amphibious bait casting boat capable of crossing pond and control method |
| CN113427953B (en) * | 2021-07-29 | 2022-06-24 | 上海电子信息职业技术学院 | Water-air dual-purpose unmanned detection device |
| CN113664845A (en) * | 2021-08-19 | 2021-11-19 | 重庆七腾科技有限公司 | Water surface inspection robot and inspection method |
| CN114475111A (en) * | 2022-01-17 | 2022-05-13 | 哈尔滨工程大学 | Submarine land amphibious robot |
| CN114715343A (en) * | 2022-04-24 | 2022-07-08 | 烟台市海洋经济研究院(烟台市渔业技术推广站、烟台市海洋捕捞增殖管理站) | Apostichopus japonicus bottom-broadcast site selection device and use method |
| CN114684341B (en) * | 2022-04-28 | 2023-02-28 | 中国船舶科学研究中心 | Underwater observation device and operation method |
| CN217347391U (en) * | 2022-07-26 | 2022-09-02 | 南京开天眼无人机科技有限公司 | Water-air amphibious lifesaving stretcher and control module |
| CN115903056B (en) * | 2023-02-23 | 2023-05-30 | 武汉大学 | Rail water-air amphibious unmanned aircraft passive autonomous detection system and method |
| CN116968949A (en) * | 2023-09-19 | 2023-10-31 | 北京航空航天大学杭州创新研究院 | High-stability water-air amphibious unmanned carrier |
| CN117103919B (en) * | 2023-10-16 | 2024-05-17 | 广东工业大学 | Water-air amphibious catamaran and control method thereof |
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| CN109017181A (en) * | 2017-06-08 | 2018-12-18 | 周泽才 | A kind of small-scale underwater vehicle device carriage by air is laid and recovery system |
| KR102018975B1 (en) * | 2018-01-25 | 2019-09-05 | 한국건설기술연구원 | Drone for radiation measuring in river and method for controlling the same |
| CN108438137A (en) * | 2018-05-16 | 2018-08-24 | 江苏科技大学 | The unmanned Wutai rock group of multifunctional rescue and its working method |
| CN109649657B (en) * | 2019-01-29 | 2023-12-29 | 华北电力大学（保定） | Fixed point delivery device for delivering small materials in cooperation with unmanned aerial vehicle |
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