CN214165267U

CN214165267U - Novel unmanned navigation ware can dive

Info

Publication number: CN214165267U
Application number: CN202120228317.6U
Authority: CN
Inventors: 王曰英; 周卫祥; 吴乃龙; 路楠; 成敏
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-01-27
Filing date: 2021-01-27
Publication date: 2021-09-10
Anticipated expiration: 2031-01-27

Abstract

The utility model belongs to the technical field of unmanned sea vehicle, and discloses a novel submersible unmanned aircraft, which comprises a hollow lower cabin body and a cover plate arranged on the lower cabin body, wherein a buoyancy adjusting module in a gas and liquid ballast mode is arranged in the lower cabin body, a mast is arranged on the cover plate, a foldable sail is connected onto the mast, the sail comprises a main sail plate, one side of the main sail plate is connected with a resistance plate, the main sail plate and the mast are arranged in the same direction, and the main sail plate and the mast are both rotatably connected with the cover plate; the utility model provides a novel unmanned navigation ware possess and arrive up to four kinds of attitude, compare two current attitude unmanned navigation ware, the utility model discloses the application scene that is suitable for is more, and operating performance and duration are stronger.

Description

Novel unmanned navigation ware can dive

Technical Field

The utility model relates to an unmanned delivery vehicle technical field in ocean, concretely relates to novel unmanned navigation ware can dive.

Background

With the deep exploration of the ocean by human beings, the unmanned ocean vehicle has wide application prospect as an unmanned ocean vehicle capable of replacing human beings to carry out dangerous scene operation; however, the traditional marine unmanned aircraft has the disadvantages of single functionality and limited endurance, and therefore the marine unmanned aircraft with multiple sailing states is more and more emphasized.

However, the existing multi-attitude unmanned aircraft has the following disadvantages:

firstly, the method comprises the following steps: the application scene is single; the existing multi-navigation unmanned aircraft is mostly in two navigation states of a water surface wave boat and an underwater glider. The water surface wave boat can only move by utilizing wind, waves, currents and the like in the marine environment, and the underwater glider moves in a zigzag manner by changing the buoyancy of the underwater glider; the cruising speeds of the two navigation states are lower, the device can only be applied to low-maneuverability tasks such as hydrological observation and the like, and the device cannot be applied to tasks such as dynamic target tracking and the like with high requirements on maneuverability.

Secondly, the method comprises the following steps: the viability is weak; the conventional multi-navigation-state unmanned aircraft is not additionally provided with a power device, so that the threat of an external target cannot be avoided in time, and the existing multi-navigation-state unmanned aircraft cannot drive away from a dangerous area in time.

Therefore, there is a need for an unmanned marine vehicle that has the capability of working in multiple application scenes on water and underwater for a long time and has strong survivability.

SUMMERY OF THE UTILITY MODEL

For solving the problem that exists among the prior art, the utility model provides a novel unmanned navigation ware can dive, the ability that this unmanned navigation ware had long-time surface of water, used scene work under water more can have stronger survivability and duration again.

In order to achieve the above purpose, the technical scheme of the utility model is that:

a novel submersible unmanned aircraft comprises a hollow lower cabin body and a cover plate arranged on the lower cabin body, wherein a buoyancy adjusting module, a control module and an energy module are arranged in the lower cabin body; the cover plate is rotatably connected with a foldable sail; the sail comprises a main sailboard fixedly arranged with the mast, one side of the main sailboard is rotatably connected with a resistance board, and the direction of the main sailboard is consistent with that of the mast; the main sailboard and the mast are both rotationally connected with the cover plate, and the main sailboard and the mast can rotate around the cover plate in a vertical plane.

Furthermore, the main sailboard is rotationally connected with the cover plate in a vertical plane through a linkage device; the main sailboard is connected with the resistance board through a belt transmission device, the resistance board is rotationally folded on the main sailboard along the belt transmission device, and the folded resistance board is attached to the surface of the main sailboard.

Further, belt drive includes the connecting plate, and the connecting plate both ends all are rotated through the transmission shaft and are connected with the support, and two supports are fixed respectively on main sailboard and resistance board, and two transmission shafts are fixed respectively on the support, and two transmission shafts pass through belt drive and connect.

Furthermore, the linkage device comprises a casing which is a hollow square box structure, the casing is rotatably connected with the cover plate in a vertical surface through a turnover mechanism, and a rotating mechanism for controlling the mast to rotate around the axis of the mast is further arranged in the casing.

Furthermore, the rotating mechanism is a rotating shaft coaxially arranged with the mast, the rotating shaft extends out of the machine shell and is fixedly connected with the mast, the rotating shaft is connected with a rotating motor, and the rotating motor is arranged in the machine shell.

Further, the buoyancy adjusting module comprises a set of gas ballast device arranged close to the bow of the unmanned aircraft and two sets of liquid ballast devices arranged close to the stern of the unmanned aircraft, and the two sets of liquid ballast devices are symmetrically arranged on two sides of the center line of the unmanned aircraft in the length direction.

Further, the gas ballast device comprises a gas storage tank with a gas pump and an air bag, the gas storage tank and the air bag are connected through a hose, and the gas pump can charge the buoyancy gas in the gas storage tank into the air bag and also can compress the buoyancy gas in the air bag into the gas storage tank; the liquid ballast device comprises a water storage tank and a ballast pump, the water storage tank is connected with the ballast pump through a hose, a water inlet pipe and a water outlet pipe of the ballast pump penetrate through the cabin body to be communicated with the outside, and water can be injected into or drained from the water storage tank through the ballast pump.

Further, the mast is sleeved with a transition belt wheel, the transition belt wheel comprises a cylindrical sleeve, belt wheels are arranged at two ends of the sleeve, one belt wheel is connected with an adjusting motor, the adjusting motor is arranged in a shell of the linkage device, and the other belt wheel is connected with a belt transmission device.

Furthermore, a groove is formed in the cover plate along the length direction of the unmanned aircraft, the groove is a blind end at the fore end of the unmanned aircraft, an open end is at the stern end of the unmanned aircraft, and the sail is arranged in the groove.

Compared with the prior art, the beneficial effects of the utility model are that:

(1) compared with the existing double-navigation-state unmanned marine vehicle, the foldable sail is arranged in the device, the foldable sail is designed to be folded and unfolded by a belt transmission device and a linkage device, the gravity center of the unmanned aircraft is adjusted by a buoyancy adjusting module arranged in the unmanned aircraft, and the propeller is arranged at the stern of the unmanned aircraft.

When the unmanned aircraft works on the water surface, the unmanned aircraft can be driven to move by wind power; the sail is unfolded to be in a vertical state through the turnover shaft of the linkage device, then the rotation angle of the main sailboard is adjusted through the rotation shaft, the included angle between the resistance plate and the main sailboard is adjusted through the belt transmission device, the contact area of the sail and the wind can be effectively increased, the driving device can move on the water surface through the wind, the cruising ability of the device can be effectively improved, and the function of a water surface sailboard ship is achieved.

When the device is used for rapidly and timely avoiding severe sea conditions, the resistance plate is retracted through rotation of the belt transmission device, the sail is folded to be close to the center line of the sailing device body through the turnover shaft, then the unmanned aircraft is submerged through the buoyancy adjusting module until the top end of the mast is exposed out of the water surface, the depth of the unmanned aircraft under water is shallow, the unmanned aircraft can be charged through the solar panel when weather is good, the survival capability and the cruising capability of the device under severe sea conditions are effectively improved, and the device has the function of a semi-submersible type unmanned aircraft.

When the wind sail needs to submerge emergently to avoid in a dangerous situation, the belt transmission device and the linkage device quickly fold the wind sail into the groove on the cover plate, so that the wind sail is more stable, the resistance of underwater navigation is reduced, and a better underwater motion effect is achieved; the gravity center of the unmanned aircraft is adjusted by adjusting the buoyancy adjusting device, the unmanned aircraft is rapidly submerged at a certain angle by matching with the pushing propeller, the gravity center is adjusted to be in a balanced state after the unmanned aircraft reaches a certain depth, the propeller at the stern of the unmanned aircraft pushes the unmanned aircraft to rapidly drive away from a dangerous area, the survival capacity under a complex environment is improved, and the underwater autonomous robot has the function of an underwater autonomous robot.

When the unmanned aircraft needs to operate underwater but has insufficient power, the gravity center of the unmanned aircraft can be adjusted through the buoyancy adjusting module to enable the unmanned aircraft to obtain a certain pitch angle, the unmanned aircraft starts to ascend or descend at a certain angle under the action of buoyancy, and the unmanned aircraft can move forwards along a zigzag path under the action of gravity and buoyancy by intermittently adjusting the gravity center position, so that the energy consumption is low, the cruising ability is long, external dangerous targets can be avoided, the unmanned aircraft is not easy to detect and capture, and the underwater glider has the function of an underwater glider.

(2) An angle adjusting device is arranged between a main sail board and a resistance board of the sail, and the angle adjusting device is driven by belt transmission, so that the purpose of adjusting the rotation angle of the resistance board around the edge of the main sail board can be achieved, the contact area of the sail and wind is effectively increased, the angle between the wind direction and the sail is adjusted, and the utilization of wind power is maximized; and moreover, the device is driven in a belt transmission mode, so that the damage of overload of the resistance plate to the device can be effectively reduced, and the stability and the durability of the device are improved.

(3) The linkage device can drive the sail to be unfolded or folded into the groove in the cover plate, the sail can also be driven to rotate and the resistance plate can be driven to rotate around the main sail plate, and the rotation angle controlled by the motor is more accurate.

(4) The unmanned aircraft is provided with a gas ballast device near the bow, and the gravity center of the unmanned aircraft is adjusted by filling buoyancy gas into the air bag or compressing the gas into a gas storage tank; the unmanned aircraft is provided with a liquid ballast device near the stern, and the liquid ballast device adjusts the gravity center of the unmanned aircraft by filling or discharging liquid into or from a water storage tank; the mixed use of the gas ballast device and the liquid ballast device can effectively improve the stability of the gravity center adjustment of the device, and is more convenient and fast during adjustment.

(5) The novel submersible unmanned aircraft can realize the operation during overlong navigation; for the common ocean unmanned vehicle, the power source mode is single, most of the power source mode is batteries or fuel oil, and the vehicle needs to return to the journey before the energy is exhausted, so the endurance time is short; the utility model relates to an unmanned navigation ware's power energy compares in general ocean carrier more widely of speaking, including the battery of outfit, solar cell panel and wind, ocean current etc..

Drawings

Fig. 1 is a schematic three-dimensional structure of the present invention when the sail is folded in embodiment 1;

fig. 2 is a schematic three-dimensional structure of the present invention when the sail is deployed in embodiment 1;

fig. 3 is an exploded view of the present invention in example 1;

FIG. 4 is an enlarged view taken at A in FIG. 3;

FIG. 5 is an enlarged view at B in FIG. 3;

FIG. 6 is a half cross-sectional view of the linkage of FIG. 5;

FIG. 7 is a schematic view showing the internal structure of the lower hull in example 1;

FIG. 8 is a flowchart of the diving procedure of example 3;

FIG. 9 is a flow chart of example 3 floating;

FIG. 10 is a flow chart for implementing the functions of the semi-submersible unmanned aircraft in example 4;

FIG. 11 is a flow chart of a function of an underwater autonomous robot implemented in embodiment 5;

fig. 12 is a flow chart for realizing the function of the underwater glider in the embodiment 6.

In the figure: the solar photovoltaic panel comprises a cover plate 1, a hanging ring 2, a solar panel 3, a linkage device 4, a rotating shaft 401, a transition belt wheel 402, a regulating motor 403, a shell 404, a rotating motor 405 and a turnover shaft 406; the device comprises a main sailboard 5, a drag board 6, a tail wing 7, an antenna 8, a lower cabin body 9, a direction stabilizing board 10, a water drop-shaped counterweight 11, a control surface 12, a propeller 13, a mast 14, a belt transmission device 15, a support 1501, a connecting plate 1502 and a transmission shaft 1503; the ballast water storage device comprises a water storage tank 16, a ballast pump 17, a lithium battery pack 18, a counterweight 19, a gas storage tank 20 and a gas bag 21.

Detailed Description

In order to make the technical solution of the present invention better understood by those skilled in the art, the present invention is further explained below with reference to the accompanying drawings.

Example 1

Referring to fig. 1-7, a novel submersible unmanned aircraft comprises a hollow lower cabin body 9 and a cover plate 1 arranged on the lower cabin body 9, wherein a buoyancy adjusting module, a control module, an energy module and a counterweight 19 are arranged in the lower cabin body 9, a power executing module and an automatic righting device are arranged at the bottom of the lower cabin body 9, the automatic righting device comprises a direction stabilizing plate 10 vertically arranged at the bottom end of the unmanned aircraft cabin body, a water-drop-shaped counterweight 11 is arranged at the other end of the direction stabilizing plate 10, and a sensor module and a navigation communication module are arranged on the cover plate 1.

The lower cabin body 9 is divided into a front equipment cabin close to the bow part of the unmanned aircraft and a rear equipment cabin close to the stern part, the buoyancy adjusting module comprises a set of gas ballast device and two sets of liquid ballast devices, wherein one set of gas ballast device is arranged in the front equipment cabin, and the two sets of liquid ballast devices are arranged in the rear equipment cabin and are symmetrically arranged along the central line of the length direction of the unmanned aircraft; the gas ballast device comprises a gas storage tank 20 with a gas pump and an air bag 21, the gas storage tank 20 and the air bag 21 are connected through a hose, the gas pump can charge the buoyancy gas in the gas storage tank 20 into the air bag 21 and can also compress the buoyancy gas in the air bag 21 into the gas storage tank 20; the liquid ballast device comprises a group of ballast pumps 17 and a group of water storage tanks 16, the water storage tanks 16 are connected with the ballast pumps 17 through hoses, and water inlet and outlet pipes of the ballast pumps penetrate through the cabin body to be communicated with the outside and can inject water or discharge water into the water storage tanks through the ballast pumps; the control module is arranged in the middle of the lower cabin body 9 and is connected with the buoyancy adjusting module, the energy module, the sensor module, the power execution module and the navigation communication module; the energy module comprises a lithium battery pack 18 arranged in the lower cabin and a solar panel 3 connected with the lithium battery pack 18, and the solar panel 3 is laid on the cover plate 1; the power execution module comprises a pair of control surfaces 12 and a pair of propellers 13 which are arranged at the bottom of the lower cabin body 9, the control surfaces 12 are arranged in a splayed shape, and the control surfaces 12 and the propellers 13 are arranged along the axial mirror image in the length direction of the unmanned aircraft.

The cover plate 1 is provided with a groove arranged along the length direction of the unmanned aircraft, the groove is a T-shaped groove, the T-shaped groove is a blind end close to the bow end of the unmanned aircraft, and the tail end of the unmanned aircraft is an open end; the linkage device 4 is rotationally connected in the groove, and the linkage device 4 is movably connected with a sail; the linkage device can rotate around the cover plate in a vertical plane, and the sail can rotate while the linkage device rotates.

The linkage device 4 comprises a casing 404, a pair of rotating shaft 401 and a turning shaft 406 which are vertically arranged in space are arranged in the casing 404, and the rotating shaft 401 and the turning shaft 406 both penetrate through the casing 404; the rotating shaft 401 is movably connected with the machine shell 404, a rotating motor 405 for driving the rotating shaft 401 to rotate around the axis of the rotating shaft is arranged in the machine shell 404, and the rotating motor 405 and the rotating shaft 401 are driven by gears or belts; the turning shaft 406 is arranged in the width direction of the unmanned aircraft and fixed on the shell 404, a through hole matched with the turning shaft 406 is formed in the cover plate 1, the turning shaft 406 is connected with a turning motor, the turning motor is fixed on the cover plate 1, the turning motor 404 drives the turning shaft 406 to rotate in a vertical plane, then the linkage device 4 is driven to rotate in the vertical plane, and the sail is folded into a groove in the cover plate 1 or unfolded to be in a state of being perpendicular to the cover plate 1.

The sail comprises a mast 14 coaxially arranged with the rotating shaft 401 and a main sailboard 5 arranged along the length direction of the mast 14, the main sailboard 5 is rotatably connected with a resistance plate 6, the main sailboard 5 and the resistance plate 6 are both in streamline plate-shaped structures, and the main sailboard 5 and the resistance plate 6 are arranged in the same direction; the main sailboard 5 is connected with the resistance board 6 through two belt transmission devices 15 which are arranged up and down, the belt transmission devices 15 can drive the resistance board 6 to rotate around the main sailboard 5, so that the resistance board 6 rotates and folds towards the main sailboard 5 along the belt transmission devices 15, and the folded resistance board 6 is attached to the surface of the main sailboard 5; the belt transmission device 15 is connected with an adjusting motor 403, and the adjusting motor 403 is arranged in the machine shell 404; the belt transmission device 15 comprises a pair of brackets 1501 arranged in a mirror image manner, the two brackets 1501 are respectively arranged on the main windsurfing board 5 and the resistance board 6, and the two brackets 1501 are rotatably connected through a pair of connecting plates 1502; any one support 1501 comprises a vertically arranged bottom plate, the bottom plate is fixed on one side of the main sailboard 5 and the resistance plate 6 in a bolt or welding mode, a pair of horizontally arranged ear plates are fixed on one side of the bottom plate, a transmission shaft 1503 is arranged at one end, far away from the bottom plate, of each ear plate, and the two transmission shafts 1503 and the adjusting motor 403 are in transmission connection through a belt; a transition belt pulley 402 is sleeved on the mast 14, the transition belt pulley 402 comprises a cylindrical sleeve, belt pulleys are arranged at two ends of the sleeve, one belt pulley is connected with the adjusting motor 403, and the other belt pulley is connected with the belt transmission device 15; the sensor module mainly comprises an anemoclinograph, a temperature sensor, a humidity sensor and a mast lamp which are arranged at the top end of the mast 14, a water level sensor and a posture sensor which are arranged on the lower cabin body 9, and an infrared remote control module is also arranged at the top of the mast 14.

The top surface of the cover plate 1 is provided with a pair of tail wings 7, the tail wings 7 are arranged at one end of the cover plate 1 close to the stern of the unmanned aircraft, and the tail wings 7 are symmetrically arranged at two sides of the cover plate 1 along the central axis of the length direction of the unmanned aircraft; a navigation positioning module is arranged in the tail 7, and an antenna 8 of the navigation positioning module extends out of the tail 7; the cover plate 1 is also provided with two hanging rings 2, wherein one hanging ring 2 is arranged close to the bow of the aircraft, and the other hanging ring 2 is arranged close to the stern of the aircraft.

The lower cabin body 9, the cover plate 1, the main sailboard 5, the resistance board 6, the empennage 7, the control surface 12 and the like of the aircraft are all made of carbon fiber materials; all exposed electronic equipment is subjected to watertight treatment, so that short circuit is prevented.

The sail of the utility model can be folded into the groove on the cover plate 1 and unfolded to be vertical to the top surface of the cover plate 1 through the linkage device 4 and the belt transmission device 15; the process of folding the sail is as follows: the adjusting motor 403 in the linkage device 4 drives the belt transmission device 15 to move through belt transmission, and the belt transmission device 15 drives the resistance plate 6 to rotate through belt transmission until the resistance plate 6 is attached to the surface of the main sail plate 5; then, the turnover motor drives the turnover shaft 406 to rotate, and the turnover shaft 406 drives the casing 404 to turn over in the vertical plane until the sail is turned over into the groove on the cover plate 1, so that the folding of the sail is completed; the sail deployment process is the reverse of the folding process.

Example 2

The novel submersible unmanned aircraft has a water surface navigation mode, and the mode mainly comprises the following steps: before the task is executed, the unmanned aircraft can float on the water surface stably by increasing and decreasing the counter weight 19 in the lower cabin body 9; erecting the sail and opening the resistance plate 6; according to the information of the anemoclinograph in the sensor module, the windward angle of the resistance plate 6 is changed through the belt transmission device 15, the power of advancing can be obtained in windy weather, the yaw force is obtained through the cooperation of the control surface 12, the lithium battery pack 18 is charged by the solar panel 3, and the energy can be ensured to be sufficient when the task is executed.

In windless weather, the lithium battery pack 18 can be used for driving the propeller 13 to obtain power, and the yaw force is obtained by matching with the differential motion of the control surface 12 or the propeller 13.

The automatic righting device can enable the unmanned aircraft to still keep self stability under severe sea conditions and prevent overturning, and the equipped wireless communication module can enable the unmanned aircraft and operators to realize remote communication and remote control operation; the attitude information provided by the inertial navigation plate of the electronic device and the position information provided by the navigation positioning module can provide a basis for the automatic cruise of the unmanned aircraft.

Example 3

Referring to fig. 8-9, a novel submersible unmanned vehicle has an underwater mode of travel that includes primarily the submerging and surfacing processes.

The submergence process is as follows:

s1, in the process of navigating on the water surface, after receiving a diving instruction through a navigation communication module, an unmanned aircraft rotates a resistance plate 6 through a belt transmission device 15 to fold the resistance plate and a main sail plate 5, and the plate surfaces of the two are attached; the roll-over shaft 406 is rotated to stow the sail into the recess in the top surface of the cover plate 1.

S2, the front equipment chamber and the rear equipment chamber simultaneously compress the buoyancy gas in the air bag 21 into the air storage tank 20 through the air pump in the air storage tank 20, and fill water into the water storage tank 16 through the ballast pump 17 until the whole cabin body is submerged by the water surface, and at the moment, the ballast pump 17 is turned off.

S3, continuously compressing the gas in the air bag 21 in the front equipment compartment, enabling the gravity center of the aircraft to deviate towards the bow part, enabling the whole aircraft to have a certain downward pitch angle, and turning off the air pump at the moment.

S4, starting the propeller 13, and enabling the unmanned aircraft to quickly dive; the unmanned vehicle enters an underwater mode at this time.

The floating step comprises:

and P1, when the unmanned aircraft receives a floating instruction through the navigation communication module, the air pump in the air storage tank 20 in the front equipment cabin starts to work, floating air is filled into the air bag 21, the gravity center of the unmanned aircraft can deviate towards the stern of the unmanned aircraft, so that the whole unmanned aircraft has a certain upward pitch angle, and the propeller 13 is started, so that the unmanned aircraft can quickly float upwards.

And P2, when the unmanned aircraft approaches the water surface, water in the water storage tank 16 is drained from the rear equipment cabin through the ballast pump 17, when the unmanned aircraft reaches the water surface, the pitch angle of the unmanned aircraft is adjusted to reach the level, and all the air pumps and the ballast pump stop working.

P3, after the unmanned aircraft is stably anchored on the water surface, starting the linkage device 4, erecting the sail, driving the transmission device 15 to act and expand the resistance plate 6, recovering communication, and enabling the solar panel 3 to recover work to charge the lithium battery pack 18; and at the moment, the unmanned aircraft is switched to the water surface mode again.

Example 4

Referring to fig. 10, the novel submersible unmanned vehicle has a function of a semi-submersible unmanned vehicle, and can enter the function of the semi-submersible unmanned vehicle to avoid severe weather when the navigation of sea surface waves is unstable and the unmanned vehicle needs to be operated in real time to complete tasks such as patrol and the like;

the method comprises the following steps:

and T1, the unmanned aircraft suddenly meets the weather of heavy storms in the water surface navigation process, so that the unmanned aircraft navigates unstably, or receives a semi-submersible function switching command of a mother ship through a navigation communication module.

And T2, folding the resistance plate 6 and the main sail plate 5 through a belt transmission device 15, and folding the sail to be close to the center line of the sailing body through a linkage device 4.

T3. by compressing the uplifted gas in the air bag 21 into the gas storage tank 20 and filling the water storage tank 16 with water through the ballast pump 17, the unmanned aircraft can be submerged until only the sensor module and the infrared remote control module on the top of the mast 14 are exposed.

T4, in the mode, the unmanned aircraft can communicate with the mother ship through the infrared remote control module; meanwhile, as the submergence depth is relatively shallow, the solar battery can continue to work to charge the lithium battery, and the sufficiency of energy can be ensured.

The main body of the aircraft is below the water surface, so that compared with an underwater aircraft, the main body of the aircraft is less influenced by wind waves, and the anemoclinograph, the temperature sensor, the humidity sensor, the mast lamp and the infrared remote control module are exposed out of the water surface and can have the remote control operation function of the underwater aircraft; meanwhile, as the submergence depth of the unmanned aircraft is shallow, the solar cell panel can still work, so that sufficient energy can be provided for the unmanned aircraft, the propeller 13 and related equipment are supported to work, and the long-time endurance of the unmanned aircraft is guaranteed.

Example 5

Referring to fig. 11, when the novel submersible unmanned vehicle meets dangerous targets during operation on the water surface, the traditional underwater autonomous robot function can be used for avoiding external dangerous targets, and compared with the traditional unmanned vehicle on the water surface, the submersible unmanned vehicle has stronger survival capability and is more difficult to detect and capture.

The method for entering the underwater autonomous robot comprises the following steps:

q1. the unmanned vehicle enters an underwater mode according to the submerging steps, the submerging depth of the unmanned vehicle is measured in real time through the depth sensor, and the unmanned vehicle reaches the vicinity of the expected depth.

And Q2, slowly filling buoyancy gas into the air bag 21, slowly and stably measuring the pitch angle of the unmanned aircraft at the moment, measuring the pitch angle of the unmanned aircraft in real time through an attitude sensor in the electronic bin, enabling the pitch angle of the unmanned aircraft to be zero through inflation and compression of an air pump in the air storage tank 20, and stopping the work of the air pump at the moment.

Q3. the unmanned vehicle can achieve smooth motion in the horizontal plane by the cooperation of the propeller 13 and the control surface 12. Can be driven away from the dangerous area quickly to avoid danger.

Example 6

Referring to fig. 12, the novel submersible unmanned vehicle can also realize the underwater glider function.

Enter the glider function under water, its step includes:

and R1, the unmanned aircraft enters an underwater mode according to the submerging steps, the submerging depth of the unmanned aircraft is measured in real time through the depth sensor, and the unmanned aircraft reaches the position near the expected depth.

And R2, continuously inflating the airbag 21 in the front equipment compartment through the air pump in the air storage tank 20, and restoring the pitch angle of the unmanned aircraft to zero.

And R3, continuing to inflate, changing the pitch angle of the unmanned aircraft from downward to upward, and floating the unmanned aircraft at a certain pitch angle along with the increase of the buoyancy.

R4, when the unmanned aircraft approaches the water surface, compressing the gas in the front equipment cabin airbag 21 into the gas storage tank 20 through the gas pump, simultaneously starting the ballast pump 17 to discharge the water in the water storage tank 16, and enabling the unmanned aircraft to submerge at a certain pitch angle; the steps from R2 to R4 are repeated, and the cycle is repeated, and the unmanned aircraft moves forwards in a zigzag route.

The underwater glider mode only depends on changing the gravity center and buoyancy of the underwater glider to realize movement, and compared with a semi-submersible mode and an underwater autonomous robot mode, the underwater glider mode has the advantages of lower energy consumption, longer cruising ability, capability of avoiding external dangerous targets and difficulty in detection and capture.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention in its corresponding aspects.

Claims

1. A novel submersible unmanned aircraft comprises a hollow lower cabin body and a cover plate arranged on the lower cabin body, wherein a buoyancy adjusting module is arranged in the lower cabin body, and a mast is arranged on the cover plate; the direction of the main sailboard is consistent with that of the mast; the main sailboard and the mast are both rotationally connected with the cover plate.

2. The novel submersible unmanned aerial vehicle of claim 1, wherein the main windsurfing board is rotationally connected with the coverboard by a linkage; the main sailboard is connected with the resistance board through a belt transmission device, and the resistance board rotates and folds towards the main sailboard along the belt transmission device.

3. The novel submersible unmanned aerial vehicle of claim 2, wherein the belt drive comprises a connecting plate, wherein two ends of the connecting plate are rotatably connected with brackets through transmission shafts, the two brackets are respectively fixed on the main sailboard and the resistance board, and the two transmission shafts are connected through belt drive.

4. The novel submersible unmanned aerial vehicle of claim 3, wherein the linkage comprises a housing, the housing is rotatably connected with the cover plate in a vertical plane through a turnover mechanism, and a rotating mechanism for controlling the mast to rotate around the axis of the mast is further arranged in the housing.

5. The novel submersible unmanned aerial vehicle as claimed in claim 4, wherein the turnover mechanism is a turnover shaft fixed on the housing along the width direction of the unmanned aerial vehicle, and the turnover shaft is connected with a turnover motor fixed on the cover plate.

6. The novel submersible unmanned aerial vehicle of claim 5, wherein the rotation mechanism is a rotating shaft engaged with a mast, the rotating shaft having a rotating motor connected thereto.

7. The novel submersible unmanned aerial vehicle of claim 6, wherein the buoyancy adjustment module comprises a set of gas ballast devices disposed proximate to a bow portion of the vehicle and two sets of liquid ballast devices symmetrically disposed proximate to a stern portion of the vehicle.

8. The novel submersible unmanned aerial vehicle of claim 7, wherein the gas ballast device comprises a gas reservoir with a gas pump and a gas bladder, the gas reservoir and the gas bladder being connected by a hose; the liquid ballast device comprises a water storage tank and a ballast pump, the water storage tank is connected with the ballast pump through a hose, and a water inlet pipe and a water outlet pipe of the ballast pump penetrate through the cabin body to be communicated with the outside.

9. The novel submersible unmanned aerial vehicle as recited in claim 8, wherein the mast is sleeved with a transition pulley, the transition pulley comprises a cylindrical sleeve, the two ends of the sleeve are provided with pulleys, one of the pulleys is connected with an adjusting motor, and the other pulley is connected with a belt transmission device.

10. The novel submersible unmanned vehicle of claim 9, wherein the coverplate has a groove disposed along a length of the unmanned vehicle, and the sail is disposed within the groove.