CN213862665U - Double-layer tilting wing water unmanned aerial vehicle - Google Patents
Double-layer tilting wing water unmanned aerial vehicle Download PDFInfo
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- CN213862665U CN213862665U CN202022928469.5U CN202022928469U CN213862665U CN 213862665 U CN213862665 U CN 213862665U CN 202022928469 U CN202022928469 U CN 202022928469U CN 213862665 U CN213862665 U CN 213862665U
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Abstract
The utility model relates to a double-deck wing unmanned aerial vehicle that verts on water, including longeron, front and back stand, upper strata tilt wing, screw and engine, lower floor tilt wing, flotation pontoon. The longitudinal beam is of a hollow structure, two ends of the longitudinal beam are fixed with the front and rear upright posts, the front part, the front belly part and the rear belly part are provided with cameras, and the inside of the longitudinal beam is provided with a flight controller. The front and rear upright posts are of a hollow structure, the interiors of the front and rear upright posts are communicated with the longitudinal beam to facilitate cable arrangement, three crankshafts are respectively arranged in the front and rear upright posts, the middle crankshaft is coaxial with the steering engine, the upper crankshaft and the lower crankshaft are driven by a connecting rod, the upper crankshaft is coaxial with upper tilting wings on the left and right sides, and the front edges of the left and right upper tilting wings are respectively provided with a propeller and a driving motor; the lower crankshaft is coaxial with the left lower inclined rotating wing and the right lower inclined rotating wing, and the outer sides of the left lower inclined rotating wing and the right lower inclined rotating wing are externally hung with buoys. The positioning navigator antenna is installed on the upper portion of the front upright post, and the depth sounding sonar is installed on the lower portion of the front upright post. Through the utility model discloses, can improve unmanned aerial vehicle at aerial flying speed and at surface of water navigation speed, reduce the process energy resource consumption of taking off.
Description
Technical Field
The utility model relates to a double-deck wing unmanned aerial vehicle on water that verts belongs to unmanned aerial vehicle technical field on water.
Background
Unmanned aerial vehicle on water does not need the pilot to drive because its advantage such as small, light in weight, with low costs, the demand in fields such as water conservancy survey, resource protection, maritime affairs search and rescue, national defense construction is increasing. Unmanned aerial vehicles are similar to piloted aircraft, and can be mainly divided into fixed-wing aircraft and rotor aircraft. The fixed-wing aircraft utilizes the propellers to generate forward thrust and utilizes the fixed wings to generate upward lift, so that the fixed-wing aircraft has long flight distance, high speed and low energy consumption, but needs a larger take-off and landing site; the rotor aircraft can vertically take off and land and hover in the air by utilizing the lift force and the thrust generated by the rotor, but has short flight distance, low speed and high energy consumption. In order to overcome the respective defects of fixed-wing aircraft and rotor aircraft, tilt-wing aircraft, which have both fixed wings and rotor wings, appear. There are two types of tilt-wing aircraft: the first is that the propeller and the motor of the rotor wing tilt, and the fixed wing does not tilt; the second is that the propeller and motor of the rotor wing tilt together with the fixed wing. When the first tilt wing aircraft vertically takes off, the fixed wing shields the airflow; when the second type of tilt wing aircraft takes off vertically, the fixed wing does not shield the airflow. Two kinds of wing aircraft that vert are at the in-process that converts to the flat flight from vertical take-off, and flight speed is less, and it is just little that the stationary vane produces the lift that makes progress, therefore takes place the crash easily. The unmanned aerial vehicle on water that verts wing needs increase the flotation pontoon, and the process resistance of taking off is bigger. The tilting wing water unmanned aerial vehicle with small take-off process resistance and large fixed wing lift force has practical significance in research.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to the not enough of current problem, a double-deck wing unmanned aerial vehicle that verts on water is provided.
The technical scheme of the utility model is that: a double-layer tilting wing water unmanned aerial vehicle comprises a longitudinal beam, a front upright post and a rear upright post, wherein two ends of the longitudinal beam are fixed with the front upright post and the rear upright post to form a water unmanned aerial vehicle body;
the method is characterized in that: the longitudinal beam, the front upright post and the rear upright post are all of hollow structures, and the interiors of the longitudinal beam, the front upright post and the rear upright post are communicated, so that cables can be conveniently laid;
the front upright post is internally provided with a front upper crankshaft, a front middle crankshaft, a front lower crankshaft, a front connecting rod and a forward-tilting wing steering engine, the front connecting rod is hinged with the front upper crankshaft, the front middle crankshaft and the front lower crankshaft, the forward-tilting wing steering engine is coaxial with the front middle crankshaft, and the front upper crankshaft and the front lower crankshaft are driven to synchronously rotate through the front connecting rod;
a rear upper crankshaft, a rear middle crankshaft, a rear lower crankshaft, a rear connecting rod and a rear tilting rotary wing steering engine are arranged in the rear upright post, the rear connecting rod is hinged with the rear upper crankshaft, the rear middle crankshaft and the rear lower crankshaft, the rear tilting rotary wing steering engine is coaxial with the rear middle crankshaft, and the rear upper crankshaft and the rear lower crankshaft are driven to synchronously rotate through the rear connecting rod;
front upper-layer tilting wings coaxial with the front upper-layer crankshaft are arranged on the left side and the right side of the front upper-layer crankshaft, front propellers and first driving motors are arranged on the front edges of the front upper-layer tilting wings on the left side and the right side, power output shafts of the first driving motors are fixedly connected with the front propellers, and the first driving motors are coaxial with the front propellers;
rear upper-layer tilting wings coaxial with the rear upper-layer crankshaft are arranged on the left side and the right side of the rear upper-layer crankshaft, rear propellers and second driving motors are arranged on the front edges of the rear upper-layer tilting wings on the left side and the right side, power output shafts of the second driving motors are fixedly connected with the rear propellers, and the second driving motors are coaxial with the rear propellers;
the left side and the right side of the front lower crankshaft are provided with front lower layer tilting wings which are coaxial with the front lower crankshaft, and the outer sides of the front lower layer tilting wings on the left side and the right side are respectively connected with the front part of the left buoy and the front part of the right buoy;
the left side and the right side of the rear lower crankshaft are provided with rear lower layer inclined rotating wings which are coaxial with the rear lower crankshaft, and the outer sides of the rear lower layer inclined rotating wings on the left side and the right side are respectively connected with the rear part of the left buoy and the rear part of the right buoy;
the left buoy and the right buoy are respectively provided with a left battery box and a right battery box;
the lower part of the longitudinal beam is provided with a front belly camera and a rear belly camera, and a flight controller is arranged in the longitudinal beam;
the front part of the front upright post is provided with a front camera, the upper part of the front upright post is provided with a positioning navigator antenna, and the lower part of the front upright post is provided with a depth sounding sonar;
the flight controller is connected with the left battery box and the right battery box; the front camera, the front belly camera, the rear belly camera, the positioning navigator antenna, the depth sounding sonar, the forward-tilting wing steering engine, the backward-tilting wing steering engine, the front propeller, the first driving motor, the rear propeller and the second driving motor are connected with the flight controller.
The front camera, the front belly camera and the back belly camera are all higher than the water surface.
Preceding upper strata tilt wing, back upper strata tilt wing, preceding lower floor tilt wing, back lower floor tilt wing can vert between horizontal direction and vertical direction, and the angle of verting is not less than 90.
The distance between the front propeller on the left and the front propeller on the right is greater than the diameter of the front propeller, and the distance between the rear propeller on the left and the rear propeller on the right is greater than the diameter of the rear propeller.
And the left buoy and the right buoy are not completely submerged below the water surface.
And the left battery box and the right battery box are respectively positioned at the middle lower parts of the left buoy and the right buoy.
The flight controller is connected with a first coaxial driving motor of the front propeller and a second coaxial driving motor of the rear propeller through a waterproof cable and a cable connector, controls the first driving motor and the second driving motor to rotate, drives the front propeller and the rear propeller to rotate, and controls the rotating speeds of the front propeller and the rear propeller by controlling the rotating speeds of the first driving motor and the second driving motor;
the forward-tilting rotary wing steering engine and the backward-tilting rotary wing steering engine are respectively coaxial with the fixed shafts of the front middle crankshaft and the rear middle crankshaft, and the moving shafts of the front middle crankshaft and the rear middle crankshaft are respectively hinged with the middle parts of the front connecting rod and the rear connecting rod; the upper parts of the front connecting rod and the rear connecting rod are respectively hinged with the moving shafts of the front upper crankshaft and the rear upper crankshaft; the lower parts of the front connecting rod and the rear connecting rod are respectively hinged with the moving shafts of the front lower crankshaft and the rear lower crankshaft; the fixed shafts of the front upper crankshaft and the rear upper crankshaft are respectively fixed with the rotating shafts of the front upper layer inclined rotating wing and the rear upper layer inclined rotating wing; the fixed shafts of the front lower crankshaft and the rear lower crankshaft are respectively fixed with the rotating shafts of the front lower inclined rotating wing and the rear lower inclined rotating wing;
when the forward tilting wing steering engine and the backward tilting wing steering engine rotate, the front upper tilting wing, the rear upper tilting wing, the front lower tilting wing and the rear lower tilting wing are driven to tilt at the same direction and the same rotating speed.
The flight controller is connected with the forward-tilting wing steering engine and the backward-tilting wing steering engine through a waterproof cable and a cable connector, and controls the steering and rotating speed of the forward-tilting wing steering engine and the backward-tilting wing steering engine.
The flight controller is connected with the front camera, the front belly camera and the back belly camera through a waterproof cable and a cable connector to acquire front and lower image information; the front abdominal part camera and the back abdominal part camera can provide binocular stereoscopic vision;
the flight controller is connected with a positioning navigator antenna arranged on the upper part and a depth sounding sonar arranged on the lower part through a waterproof cable and a cable connector, and can obtain the position information and the underwater information of the unmanned aerial vehicle.
The utility model discloses advanced science, through the utility model discloses, the pair of double-deck wing unmanned aerial vehicle that overturns that inclines on water that inclines provided, including longeron, front and back stand, upper strata incline and incline the wing (including preceding upper strata incline and incline the wing, back upper strata incline and incline the wing), screw (including preceding screw, back screw) and motor (including first actuating motor, second actuating motor), lower floor incline and incline the wing (including preceding lower floor's incline and incline the wing, back lower floor's incline and incline the wing), flotation pontoon (including left side flotation pontoon, right side flotation pontoon). The two ends of the longitudinal beam are fixed with the front and rear upright posts, three crankshafts are respectively arranged in the front and rear upright posts, the middle crankshaft is coaxial with the steering engine, the upper crankshaft and the lower crankshaft are driven by a connecting rod, the upper crankshaft is coaxial with upper-layer tilting wings on the left and right sides, and the front edges of the left and right upper-layer tilting wings are respectively provided with a propeller and a motor; the lower crankshaft is coaxial with the left lower inclined rotating wings and the right lower inclined rotating wings, the outer sides of the left lower inclined rotating wings and the right lower inclined rotating wings are externally hung with buoys, and the left buoys and the right lower inclined rotating wings are respectively provided with a battery box. Through the utility model discloses, increased the lower floor tilt wing, solved the big, little problem of stationary vane lift of take-off process resistance.
The double-layer tilting wing water unmanned aerial vehicle has the functions of an unmanned aerial vehicle and an unmanned ship, can take off and land vertically on land and on the water surface, take off and land in a sliding manner, hover in the air and sail on the water surface. When the aircraft vertically takes off, the upper-layer inclined rotating wings and the lower-layer inclined rotating wings are in the vertical direction, so that airflow is not blocked, and the resistance is small; in the process of converting from vertical takeoff to flat flight, the area of the fixed wing is increased, and the lift force is increased; when sailing on the water surface at a low speed, the lower layer inclined rotating wings are in the horizontal direction, so that the buoyancy is increased, and the water resistance is small; when the aircraft sails on the water surface at a high speed, the lower-layer tilting wings have the hydrofoil function and have smaller water resistance; when the aircraft glides on the water surface for takeoff, the lower inclined rotary wing has the function of a hydrofoil, and the takeoff distance is shortened. The utility model discloses unmanned aerial vehicle on water can improve unmanned aerial vehicle at aerial flying speed and at surface of water navigation speed, reduces the process energy resource consumption that takes off, increases the continuation of the journey mileage.
Drawings
Fig. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view in another direction of the present invention;
FIG. 3 is a schematic view of the utility model when navigating on water;
FIG. 4 is a schematic view of the vertical take-off and landing device of the present invention;
in the figure: 1 longitudinal beam, 2-1 front camera, 2-2 front belly camera, 2-3 rear belly camera, 3 flight controller, 4 positioning navigator antenna, 5 depth sounding sonar, 6-1 front column, 6-2 rear column, 7-1 front upper crankshaft, 7-2 rear upper crankshaft, 8-1 front middle crankshaft, 8-2 rear middle crankshaft, 9-1 front lower crankshaft, 9-2 rear lower crankshaft, 10-1 front connecting rod, 10-2 rear connecting rod, 11-1 front upper layer tilt wing, 11-2 rear upper layer tilt wing, 12-1 front propeller, 12-2 rear propeller, 13-1 front lower layer tilt wing, 13-2 rear lower layer tilt wing, 14-1 left float, 14-2 right float, 15-1 left battery box, 15-2 right battery box, 16 water surface, 17-1 forward tilting wing steering engine and 17-2 backward tilting wing steering engine.
Detailed Description
The principles and features of the present invention are described below in conjunction with the following drawings, the examples given are intended to illustrate the present invention and are not intended to limit the scope of the invention.
As shown in fig. 1: a double-layer tilting wing water unmanned aerial vehicle comprises a longitudinal beam 1, a front upright post 6-1 and a rear upright post 6-2, wherein two ends of the longitudinal beam 1 are fixed with the front upright post 6-1 and the rear upright post 6-2 to form a water unmanned aerial vehicle body. In this embodiment the front upright 6-1 is on the left side and the rear upright 6-2 is on the right side.
The front upright post 6-1 is internally provided with a front upper crankshaft 7-1, a front middle crankshaft 8-1, a front lower crankshaft 9-1, a front connecting rod 10-1 and a forward-tilting wing steering engine 17-1, the front connecting rod 10-1 is hinged with the front upper crankshaft 7-1, the front middle crankshaft 8-1 and the front lower crankshaft 9-1, the forward-tilting wing steering engine 17-1 is coaxial with the front middle crankshaft 8-1, and the front upper crankshaft 7-1 and the front lower crankshaft 9-1 are driven to synchronously rotate through the front connecting rod 10-1. The forward-tilting wing steering engine 17-1 rotates anticlockwise, the front middle crankshaft 8-1 rotates anticlockwise along with the forward-tilting wing steering engine, the front connecting rod 10-1 is driven to move downwards, the front upper crankshaft 7-1 and the front lower crankshaft 9-1 are driven to rotate anticlockwise, the front upper-layer tilting wing 11-1 and the front lower-layer tilting wing 13-1 are driven to rotate anticlockwise, and finally the forward-tilting wing steering engine is in a horizontal position as shown in fig. 3. The forward-tilting wing steering engine 17-1 rotates clockwise, the front middle crankshaft 8-1 rotates clockwise along with the forward-tilting wing steering engine, the front connecting rod 10-1 is driven to move upwards, the front upper crankshaft 7-1 and the front lower crankshaft 9-1 are driven to rotate clockwise, the front upper-layer tilting wing 11-1 and the front lower-layer tilting wing 13-1 are driven to rotate clockwise, and finally the forward-tilting wing steering engine is in a vertical position as shown in fig. 4.
The rear upright 6-2 is internally provided with a rear upper crankshaft 7-2, a rear middle crankshaft 8-2, a rear lower crankshaft 9-2, a rear connecting rod 10-2 and a rear tilting rotary wing steering engine 17-2, the rear connecting rod 10-2 is hinged with the rear upper crankshaft 7-2, the rear middle crankshaft 8-2 and the rear lower crankshaft 9-2, the rear tilting rotary wing steering engine 17-2 is coaxial with the rear middle crankshaft 8-2, and the rear upper crankshaft 7-2 and the rear lower crankshaft 9-2 are driven to synchronously rotate by the rear connecting rod 10-2. The backward tilting wing steering engine 17-2 rotates anticlockwise, the rear middle crankshaft 8-2 rotates anticlockwise with the backward tilting wing steering engine, the rear connecting rod 10-2 is driven to move downwards, the rear upper crankshaft 7-2 and the rear lower crankshaft 9-2 are driven to rotate anticlockwise, the rear upper tilting wing 11-2 and the rear lower tilting wing 13-2 are driven to rotate anticlockwise, and finally the rear upper tilting wing and the rear lower tilting wing are in a horizontal position as shown in fig. 3. The backward tilting wing steering engine 17-2 rotates clockwise, the rear middle crankshaft 8-2 rotates clockwise along with the backward tilting wing steering engine, the rear connecting rod 10-2 is driven to move upwards, the rear upper crankshaft 7-2 and the rear lower crankshaft 9-2 are driven to rotate clockwise, the rear upper tilting wing 11-12 and the rear lower tilting wing 13-2 are driven to rotate clockwise, and finally the backward tilting wing steering engine is in a vertical position as shown in the figure 4.
As shown in fig. 2: neither the left buoy 14-1 nor the right buoy 14-2 is completely submerged below the water surface 16. The left battery box 15-1 and the right battery box 15-2 are respectively positioned at the middle lower parts of the left buoy 14-1 and the right buoy 14-2. The battery box should have leak protection water, prevent short circuit function.
The distance between the front propeller 12-1 on the left and the front propeller 12-1 on the right is greater than the diameter of the front propeller 12-1, and the distance between the rear propeller 12-2 on the left and the rear propeller 12-2 on the right is greater than the diameter of the rear propeller 12-2. The left and right propellers have the same thrust direction and the rotation direction must be reversed to prevent the body from tilting. The left front propeller, the right front propeller, the motor 12-1, the left rear propeller, the right rear propeller and the motor 12-2 are all higher than the water surface 16.
Fig. 1 left side is the unmanned aerial vehicle front side, and the right side is the rear side, and fig. 1 inboard is the left side, and the outside is the right side.
The left battery box 15-1 and the right battery box 15-2 are connected with the flight controller through waterproof cables and cable connectors and supply power.
The flight controller is connected with a coaxial first driving motor (1 front propeller 12-1 and a first driving motor on the left and right sides respectively) of the front propeller 12-1 and a coaxial second driving motor (1 rear propeller 12-2 and a second driving motor on the left and right sides respectively) of the rear propeller 12-2 through a waterproof cable and a cable connector, provides adjustable driving voltage and controls the rotating speed of the front propeller 12-1 and the rear propeller 12-2.
The flight controller is connected with the forward-tilting wing steering engine 17-1 and the backward-tilting wing steering engine 17-2 through a waterproof cable and a cable connector, provides adjustable driving voltage and controls the steering and rotating speed of the steering engine.
The forward-tilting wing steering engine 17-1 and the backward-tilting wing steering engine 17-2 are coaxial with the fixed shafts of the front middle crankshaft 8-1 and the rear middle crankshaft 8-2 respectively, and the moving shafts of the front middle crankshaft 8-1 and the rear middle crankshaft 8-2 are hinged with the middle parts of the front connecting rod 10-1 and the rear connecting rod 10-2. The upper parts of the front connecting rod 10-1 and the rear connecting rod 10-2 are respectively hinged with the moving shafts of the front upper crankshaft 7-1 and the rear upper crankshaft 7-2; the lower parts of the front connecting rod 10-1 and the rear connecting rod 10-2 are respectively hinged with the moving shafts of the front lower crankshaft 9-1 and the rear lower crankshaft 9-2. The fixed shafts of the front upper crankshaft 7-1 and the rear upper crankshaft 7-2 are respectively fixed with the rotating shafts of a front upper layer inclined rotating wing 11-1 (1 each on the left and the right) and a rear upper layer inclined rotating wing 11-2 (1 each on the left and the right); the fixed shafts of the front lower crankshaft 9-1 and the rear lower crankshaft 9-2 are respectively fixed with the rotating shafts of the front lower inclined rotating wing 13-1 (1 each on the left and the right) and the rear lower inclined rotating wing 13-2 (1 each on the left and the right).
When the forward tilting wing steering engine 17-1 and the backward tilting wing steering engine 17-2 rotate, the crankshaft connecting rod structure drives the front upper layer tilting wing 11-1 (1 each on the left and right), the rear upper layer tilting wing 11-2 (1 each on the left and right), the front lower layer tilting wing 13-1 (1 each on the left and right), and the rear lower layer tilting wing 13-2 (1 each on the left and right) to tilt at the same direction and at the same rotating speed.
The flight controller is connected with the front camera 2-1, the front abdomen camera 2-2 and the back abdomen camera 2-3 through a waterproof cable and a cable connector to acquire front and lower image information. The front abdomen camera 2-1 and the back abdomen camera 2-3 can provide binocular stereoscopic vision.
The flight controller is connected with the upper part through a waterproof cable and a cable connector and is provided with a positioning navigator antenna 4, and the lower part is provided with a depth sounding sonar 5, so that the position information and the underwater information of the unmanned aerial vehicle can be obtained.
The inside 6 gyros that have of flight controller can provide unmanned aerial vehicle's flight gesture.
Claims (9)
1. A double-layer tilting wing water unmanned aerial vehicle comprises a longitudinal beam (1), a front upright post (6-1) and a rear upright post (6-2), wherein two ends of the longitudinal beam (1) are fixed with the front upright post (6-1) and the rear upright post (6-2) to form a water unmanned aerial vehicle body;
the method is characterized in that: the longitudinal beam (1), the front upright post (6-1) and the rear upright post (6-2) are all of hollow structures, are communicated with each other inside and are convenient for cable arrangement;
the front upright post (6-1) is internally provided with a front upper crankshaft (7-1), a front middle crankshaft (8-1), a front lower crankshaft (9-1), a front connecting rod (10-1) and a forward-tilting rotary wing steering engine (17-1), the front connecting rod (10-1) is hinged with the front upper crankshaft (7-1), the front middle crankshaft (8-1) and the front lower crankshaft (9-1), the forward-tilting rotary wing steering engine (17-1) is coaxial with the front middle crankshaft (8-1), and the front upper crankshaft (7-1) and the front lower crankshaft (9-1) are driven to synchronously rotate through the front connecting rod (10-1);
a rear upper crankshaft (7-2), a rear middle crankshaft (8-2), a rear lower crankshaft (9-2), a rear connecting rod (10-2) and a rear tilting wing steering engine (17-2) are arranged in the rear upright post (6-2), the rear connecting rod (10-2) is hinged with the rear upper crankshaft (7-2), the rear middle crankshaft (8-2) and the rear lower crankshaft (9-2), the rear tilting wing steering engine (17-2) is coaxial with the rear middle crankshaft (8-2), and the rear upper crankshaft (7-2) and the rear lower crankshaft (9-2) are driven to synchronously rotate through the rear connecting rod (10-2);
the left side and the right side of the front upper crankshaft (7-1) are provided with front upper layer tilting wings (11-1) which are coaxial with the front upper crankshaft (7-1), the front edges of the front upper layer tilting wings (11-1) on the left side and the right side are provided with a front propeller (12-1) and a first driving motor, the power output shaft of the first driving motor is fixedly connected with the front propeller (12-1), and the first driving motor is coaxial with the front propeller (12-1);
rear upper-layer tilting wings (11-2) coaxial with the rear upper-layer crankshaft (7-2) are arranged on the left side and the right side of the rear upper-layer crankshaft (7-2), rear propellers (12-2) and second driving motors are arranged on the front edges of the rear upper-layer tilting wings (11-2) on the left side and the right side, power output shafts of the second driving motors are fixedly connected with the rear propellers (12-2), and the second driving motors are coaxial with the rear propellers (12-2);
the left side and the right side of the front lower crankshaft (9-1) are provided with front lower inclined rotating wings (13-1) which are coaxial with the front lower crankshaft (9-1), and the outer sides of the front lower inclined rotating wings (13-1) on the left side and the right side are respectively connected with the front part of the left buoy (14-1) and the front part of the right buoy (14-2);
rear lower-layer tilting wings (13-2) coaxial with the rear lower-layer crankshaft (9-2) are arranged on the left side and the right side of the rear lower-layer crankshaft (9-2), and the outer sides of the rear lower-layer tilting wings (13-2) on the left side and the right side are respectively connected with the rear part of the left buoy (14-1) and the rear part of the right buoy (14-2);
the left buoy (14-1) and the right buoy (14-2) are respectively provided with a left battery box (15-1) and a right battery box (15-2);
the lower part of the longitudinal beam (1) is provided with a front belly camera (2-2) and a rear belly camera (2-3), and a flight controller (3) is arranged in the longitudinal beam;
the front part of the front upright post (6-1) is provided with a front camera (2-1), the upper part is provided with a positioning navigator antenna (4), and the lower part is provided with a depth sounding sonar (5);
the flight controller (3) is connected with the left battery box (15-1) and the right battery box (15-2); the front camera (2-1), the front belly camera (2-2), the rear belly camera (2-3), a positioning navigator antenna (4), a depth measurement sonar (5), a forward-tilting wing steering engine (17-1), a backward-tilting wing steering engine (17-2), a first driving motor and a second driving motor are connected with the flight controller (3).
2. The double-deck tilt-wing marine drone of claim 1, wherein: the front camera (2-1), the front abdomen camera (2-2) and the back abdomen camera (2-3) are all higher than the water surface (16).
3. The double-deck tilt-wing marine drone of claim 1, wherein: the front upper layer tilting wing (11-1), the rear upper layer tilting wing (11-2), the front lower layer tilting wing (13-1) and the rear lower layer tilting wing (13-2) can tilt between the horizontal direction and the vertical direction, and the tilting angle is not less than 90 degrees.
4. The double-deck tilt-wing marine drone of claim 1, wherein: the distance between the front propeller (12-1) on the left and the front propeller (12-1) on the right is larger than the diameter of the front propeller (12-1), and the distance between the rear propeller (12-2) on the left and the rear propeller (12-2) on the right is larger than the diameter of the rear propeller (12-2).
5. The double-deck tilt-wing marine drone of claim 1, wherein: the left buoy (14-1) and the right buoy (14-2) are not completely submerged below the water surface (16).
6. The double-deck tilt-wing marine drone of claim 1, wherein: the left battery box (15-1) and the right battery box (15-2) are respectively positioned at the middle lower parts of the left buoy (14-1) and the right buoy (14-2).
7. The double-deck tilt-wing marine drone of claim 1, wherein:
the flight controller (3) is connected with a coaxial first driving motor of the front propeller (12-1) and a coaxial second driving motor of the rear propeller (12-2) through a waterproof cable and a cable connector, the flight controller (3) controls the rotation of the first driving motor and the second driving motor to drive the front propeller (12-1) and the rear propeller (12-2) to rotate, and controls the rotation speed of the front propeller and the rear propeller by controlling the rotation speed of the first driving motor and the second driving motor;
the forward-tilting rotary wing steering engine (17-1) and the backward-tilting rotary wing steering engine (17-2) are coaxial with fixed shafts of the front middle crankshaft (8-1) and the rear middle crankshaft (8-2), and moving shafts of the front middle crankshaft (8-1) and the rear middle crankshaft (8-2) are hinged with the middle parts of the front connecting rod (10-1) and the rear connecting rod (10-2) respectively; the upper parts of the front connecting rod (10-1) and the rear connecting rod (10-2) are respectively hinged with the moving shafts of the front upper crankshaft (7-1) and the rear upper crankshaft (7-2); the lower parts of the front connecting rod (10-1) and the rear connecting rod (10-2) are respectively hinged with the moving shafts of the front lower crankshaft (9-1) and the rear lower crankshaft (9-2); the fixed shafts of the front upper crankshaft (7-1) and the rear upper crankshaft (7-2) are respectively fixed with the rotating shafts of the front upper inclined rotating wing (11-1) and the rear upper inclined rotating wing (11-2); the fixed shafts of the front lower crankshaft (9-1) and the rear lower crankshaft (9-2) are respectively fixed with the rotating shafts of the front lower inclined rotating wing (13-1) and the rear lower inclined rotating wing (13-2);
when the forward tilting wing steering engine (17-1) and the backward tilting wing steering engine (17-2) rotate, the front upper tilting wing (11-1), the rear upper tilting wing (11-2), the front lower tilting wing (13-1) and the rear lower tilting wing (13-2) are driven to tilt at the same direction and the same rotating speed.
8. The double-deck tilt-wing marine drone of claim 1, wherein:
the flight controller (3) is connected with the forward-tilting wing steering engine (17-1) and the backward-tilting wing steering engine (17-2) through a waterproof cable and a cable connector, and controls the steering and rotating speed of the forward-tilting wing steering engine (17-1) and the backward-tilting wing steering engine (17-2).
9. The double-deck tilt-wing marine drone of claim 1, wherein:
the flight controller (3) is connected with the front camera (2-1), the front belly camera (2-2) and the rear belly camera (2-3) through a waterproof cable and a cable connector to acquire front and lower image information; the front abdominal camera (2-2) and the back abdominal camera (2-3) can provide binocular stereoscopic vision;
the flight controller (3) is connected with a positioning navigator antenna (4) arranged at the upper part and a depth sounding sonar (5) arranged at the lower part through a waterproof cable and a cable connector, so that the position information and the underwater information of the unmanned aerial vehicle can be obtained;
and 6-axis gyroscopes are arranged in the flight controller (3), so that the flight attitude of the unmanned aerial vehicle can be acquired.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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