阅读说明：本技术 一种基于差动传动系统的两栖无人机及其控制方法 (Amphibious unmanned aerial vehicle based on differential transmission system and control method thereof ) 是由 詹祺 徐仁 阮学满 罗凯旋 马佳欢 李博 王潇 于 2021-08-31 设计创作，主要内容包括：本发明公开一种基于差动传动系统的两栖无人机及其控制方法,两栖无人机是指结合了飞行器与潜水艇的优势,既能在空中飞行,又能在水中航行的无人机。在无人机领域研究中,海空两栖无人机在海洋救援、勘测和军事侦察等方面有着广阔的应用前景。该无人机的关键技术在于动力稳定可靠和水空切换。由于两种介质粘性、密度相差较大,现有技术,即使是目前最广泛的共轴八旋翼结构,均无法满足在不同介质中提供稳定的动力。针对这一现状,设计了差动传动系统实现上层空气螺旋桨和下层水用螺旋桨交替工作的双动力航行器,简化了两栖无人机的结构、减轻了负重,在提高效率的同时还能拥有高机动性,对两栖无人机的发展具有重要的创新意义。(The invention discloses an amphibious unmanned aerial vehicle based on a differential transmission system and a control method thereof, wherein the amphibious unmanned aerial vehicle is an unmanned aerial vehicle which combines the advantages of an aircraft and a submarine and can fly in the air and navigate in water. In the research of the field of unmanned aerial vehicles, the sea-air amphibious unmanned aerial vehicle has wide application prospects in the aspects of marine rescue, surveying, military reconnaissance and the like. The key technology of the unmanned aerial vehicle lies in stable and reliable power and water-air switching. Due to the fact that the viscosity and the density of two media are greatly different, even the most extensive coaxial eight-rotor structure in the prior art cannot provide stable power in different media. Aiming at the current situation, a differential transmission system is designed to realize a dual-power aircraft with an upper-layer air propeller and a lower-layer water propeller which work alternately, so that the structure of the amphibious unmanned aerial vehicle is simplified, the load is reduced, the efficiency is improved, meanwhile, the amphibious unmanned aerial vehicle has high maneuverability, and the amphibious unmanned aerial vehicle has important innovation significance for the development of the amphibious unmanned aerial vehicle.)

1. An amphibious unmanned aerial vehicle based on differential transmission system which characterized in that: the unmanned aerial vehicle comprises a vehicle body, a differential transmission system, a power system and a double-thrust system, wherein the double-thrust system comprises water propellers and air propellers, and the propellers are correspondingly connected to the differential transmission system respectively;

the double-thrust system, the differential transmission system and the power system are connected to the periphery of the airplane body together.

2. An amphibious unmanned aerial vehicle based on a differential transmission system according to claim 1, wherein: the differential transmission system comprises two coaxial ratchet devices, the two ratchet devices are respectively and reversely arranged at the upper end and the lower end of the motor, and the working directions are opposite.

3. An amphibious unmanned aerial vehicle based on a differential transmission system according to claim 2, wherein: the coaxial ratchet device comprises a ratchet, two pawls, two springs and two limiting bearings, wherein a threaded hole is formed in the side face of the ratchet and can be locked with a rotating shaft of the motor through a screw;

a spring mounting groove and a pawl mounting groove are formed in the ratchet wheel shell, a spring is mounted in the groove to support a pawl, and the pawl is mounted in the groove and matched with the ratchet;

the ratchet shell is connected with the ratchet through two limiting bearings, and the limiting bearings are embedded in grooves in the centers of the ratchet and the ratchet shell and used for limiting the degree of freedom of the ratchet shell.

4. An amphibious unmanned aerial vehicle based on a differential transmission system according to claim 1, wherein: the double-thrust system comprises an air propeller and a water propeller, wherein the air propeller and the water propeller are reversely arranged at the upper end and the lower end of the motor through coaxial ratchet wheel devices.

5. An amphibious unmanned aerial vehicle based on a differential transmission system according to claim 1, wherein: the power system comprises a motor with double output shafts, the motor comprises two output shafts positioned on the same axis, and the two output shafts are respectively connected to the ratchet teeth of the ratchet wheel; the shell of the motor is fixed in the duct through the motor support, and the duct is connected to the periphery of the machine body through the machine arms.

6. An amphibious unmanned aerial vehicle based on a differential transmission system according to claim 1, wherein: the unmanned aerial vehicle comprises 4 ducts, the ducts are distributed around the vehicle body in an X shape, and the double-thrust system, the differential transmission system and the power system form a whole and are arranged in the ducts.

7. An amphibious unmanned aerial vehicle based on a differential transmission system according to claim 1, wherein: the power system is internally provided with a battery and an electric controller, the battery and the electric controller are installed in the machine body, and the motor is installed on the machine arm.

8. A control method of an amphibious unmanned aerial vehicle based on a differential transmission system is characterized in that: the control method is characterized in that a bidirectional differential transmission system is matched with a double-output shaft motor to realize independent control of propellers in different media;

when the unmanned aerial vehicle hovers and flies in a first medium, the differential transmission system drives the first propeller to provide lift force, and the second propeller does not give power at the moment;

when the unmanned aerial vehicle hovers in a first medium, the differential transmission system only drives the first propeller to provide lift force, and the second propeller is not distributed with power;

when the unmanned aerial vehicle enters a second medium from a first medium, the motor is stopped to rotate firstly, so that the unmanned aerial vehicle naturally enters the second medium under the action of self gravity, the motor is changed to steer after the unmanned aerial vehicle enters the second medium, and the second propeller provides required power for the unmanned aerial vehicle to supply water; then, the first propeller is not distributed with power, the differential transmission system only transmits the power to the second propeller, the unmanned aerial vehicle is pulled into a second medium, and the sailing task in the second medium is completed by operating the second propeller;

when the unmanned aerial vehicle leaves the second medium upwards, the tension of the second propeller is firstly reduced, so that the unmanned aerial vehicle floats to the surface of the second medium; the direction of rotation of the motor is changed again so that the differential transmission system transmits power only to the first propeller, taking the drone away from the second medium and then into a mode of flight in the first medium.

9. The control method of the amphibious unmanned aerial vehicle based on the differential transmission system according to claim 8, wherein the control method comprises the following steps: the first medium is air, the second medium is water, the first propeller is an air propeller, and the second propeller is a water propeller.

10. The control method of the amphibious unmanned aerial vehicle based on the differential transmission system according to claim 8, wherein the control method comprises the following steps: the differential transmission system comprises two coaxial ratchet wheel devices, the two ratchet wheel devices are respectively and reversely arranged at the upper end and the lower end of the motor, and the working directions are opposite;

the motor comprises two output shafts positioned on the same axis, and the two output shafts are respectively connected to the ratchets of the ratchet wheel; the shell of the motor is fixed in the duct through the motor support, and the duct is connected to the periphery of the machine body through the machine arms.

Technical Field

The invention relates to the technical field of amphibious unmanned aerial vehicles, in particular to an amphibious unmanned aerial vehicle based on a differential transmission system and a control method thereof.

Background

The sea-air amphibious unmanned aerial vehicle is an unmanned aerial vehicle which can fly in the air and can sail in water, and the advantages of an aircraft and a submarine are organically combined. In the field of unmanned aerial vehicles, sea-air amphibious unmanned aerial vehicles are an important research direction, and the unmanned aerial vehicles have more possibilities due to wider space, and have great potential in the aspects of marine rescue, survey and reconnaissance and the like. The technical key of the sea-air amphibious unmanned aerial vehicle lies in meeting normal work in air and underwater, and due to the fact that the viscosity and the density of two media are greatly different, different types of blades are needed to be used for generating power meeting requirements. Among the prior art at present, all can't satisfy and provide stable power in different media, even the most common coaxial eight rotor structure at present, also can't overcome the not enough defect of aquatic power to need two motors on the same axis, brought the heavy burden big, the inefficiency problem.

Disclosure of Invention

Aiming at the power problem of an amphibious unmanned aerial vehicle in different media, the amphibious unmanned aerial vehicle based on a differential transmission system is designed, and the unmanned aerial vehicle is a double-thrust system aircraft which uses a four-rotor layout as a basis and realizes the alternate work of upper-layer air propellers and lower-layer water propellers through the differential transmission system.

The application realizes the above effects through the following technical scheme:

an amphibious unmanned aerial vehicle based on a differential transmission system comprises a vehicle body, the differential transmission system, a power system and a double-thrust system, wherein the double-thrust system comprises water propellers and air propellers, and the propellers are correspondingly connected to the differential transmission system respectively;

the double-thrust system, the differential transmission system and the power system are connected to the periphery of the airplane body together.

Furthermore, the differential transmission system comprises two coaxial ratchet devices, the two ratchet devices are respectively and reversely arranged at the upper end and the lower end of the motor, and the working directions are opposite.

Furthermore, the coaxial ratchet device comprises a ratchet, two pawls, two springs and two limiting bearings, wherein a threaded hole is formed in the side surface of the ratchet and can be locked with a rotating shaft of the motor through a screw;

a spring mounting groove and a pawl mounting groove are formed in the ratchet wheel shell, a spring is mounted in the groove to support a pawl, and the pawl is mounted in the groove and matched with the ratchet;

the ratchet shell is connected with the ratchet through two limiting bearings, and the limiting bearings are embedded in grooves in the centers of the ratchet and the ratchet shell and used for limiting the degree of freedom of the ratchet shell.

Furthermore, the double-thrust system comprises an air propeller and a water propeller, and the air propeller and the water propeller are reversely arranged at the upper end and the lower end of the motor through coaxial ratchet wheel devices.

Furthermore, the power system comprises a motor with double output shafts, the motor comprises two output shafts positioned on the same axis, and the two output shafts are respectively connected to the ratchet teeth of the ratchet wheel; the shell of the motor is fixed in the duct through the motor support, and the duct is connected to the periphery of the machine body through the machine arms.

As a preferred embodiment of the present application, the unmanned aerial vehicle includes 4 ducts, the ducts are distributed around the fuselage in an "X" shape, and the dual thrust system, the differential transmission system and the power system form a whole and are arranged in the ducts.

Furthermore, a battery and an electric controller are arranged in the power system, the battery and the electric controller are installed in the machine body, and the motor is installed on the machine arm.

Based on the unmanned aerial vehicle, the application provides a control method of an amphibious unmanned aerial vehicle based on a differential transmission system, and the control method realizes independent control of propellers in different media by matching a bidirectional differential transmission system with a double-output-shaft motor;

when the unmanned aerial vehicle hovers and flies in a first medium, the differential transmission system drives the first propeller to provide lift force, and the second propeller does not give power at the moment;

when the unmanned aerial vehicle hovers in a first medium, the differential transmission system only drives the first propeller to provide lift force, and the second propeller is not distributed with power;

when the unmanned aerial vehicle enters a second medium from a first medium, the motor is stopped to rotate firstly, so that the unmanned aerial vehicle naturally enters the second medium under the action of self gravity, the motor is changed to steer after the unmanned aerial vehicle enters the second medium, and the second propeller provides required power for the unmanned aerial vehicle to supply water; then, the first propeller is not distributed with power, the differential transmission system only transmits the power to the second propeller, the unmanned aerial vehicle is pulled into a second medium, and the sailing task in the second medium is completed by operating the second propeller;

when the unmanned aerial vehicle leaves the second medium upwards, the tension of the second propeller is firstly reduced, so that the unmanned aerial vehicle floats to the surface of the second medium; the direction of rotation of the motor is changed again so that the differential transmission system transmits power only to the first propeller, taking the drone away from the second medium and then into a mode of flight in the first medium.

Further, the first medium is air, the second medium is water, the first propeller is an air propeller, and the second propeller is a propeller for water.

Furthermore, the differential transmission system comprises two coaxial ratchet devices, the two ratchet devices are respectively and reversely arranged at the upper end and the lower end of the motor, and the working directions are opposite;

the motor comprises two output shafts positioned on the same axis, and the two output shafts are respectively connected to the ratchets of the ratchet wheel; the shell of the motor is fixed in the duct through the motor support, and the duct is connected to the periphery of the machine body through the machine arms.

As a preferred embodiment of the present application, the drone comprises 4 ducts distributed around the fuselage in an "X" shape.

Compared with the prior art, the invention has the following advantages:

1. according to the differential transmission system for the amphibious unmanned aerial vehicle, the single shaft of the amphibious unmanned aerial vehicle only needs one set of power device such as a motor and an electric regulator, power can be provided for the unmanned aerial vehicle to work in air and water media, power loss is small, and dead weight is light; under the condition of the same power source, the dead weight of the aircraft body is reduced, and compared with a coaxial eight-rotor configuration, the air theoretical range is improved by 30 percent; and the differential system can be widely applied to unmanned aerial vehicles with various configurations.

2. The amphibious unmanned aerial vehicle special-purpose time transmission device can meet special-purpose requirements of the amphibious unmanned aerial vehicle, and the motor only transmits power to the air propeller in the air; in water, the motor only transmits power to the underwater propeller; the control flexibility that unmanned aerial vehicle possessed has been preserved when having guaranteed the output of power.

3. The amphibious unmanned aerial vehicle can realize free switching between water and air, does not need devices like a booster cabin of a submarine and the like, and simplifies the structure of the amphibious unmanned aerial vehicle.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the present invention will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without inventive labor.

FIG. 1 is a schematic view of the overall structure of the unmanned aerial vehicle of the present invention;

fig. 2 is a schematic view of a rotor of the unmanned aerial vehicle of the present invention;

FIG. 3 is a cross-sectional view of the coaxial ratchet device;

FIG. 4 is a detail view of the ratchet housing;

FIG. 5 is a detail view of the ratchet;

in the figure, 1, an air propeller, 2, an underwater propeller, 3, a waterproof machine body, 4, a motor support, 5, a differential transmission system, 6, a rotor duct, 7, a double-output-shaft waterproof motor, 8, a ratchet housing, 9, ratchets, 10, pawls, 11, spring grooves, 12, ratchet housing fixing holes, 13, limit bearings, 14, limit bearing grooves, 15, pawl grooves, 16, ratchet fixing holes and 17, motor shaft mounting holes are formed.

Detailed Description

The technical solution of the present invention will be further described in detail with reference to the accompanying drawings in the embodiments of the present invention.

Example 1

As shown in the attached drawings, the structure of the amphibious unmanned aerial vehicle is simplified through the ratchet gear-based unmanned aerial vehicle differential transmission system, the load is reduced, and the application is wide. The differential transmission system comprises two coaxial ratchet devices, the two ratchet devices are respectively and reversely arranged at the upper end and the lower end of the motor, the working directions are opposite, each ratchet device comprises a ratchet, two pawls, two springs and two limiting bearings, a threaded hole is formed in the side face of the ratchet and can be locked with a rotating shaft of the motor through a screw, a spring mounting groove and a pawl mounting groove are formed in a ratchet shell, the springs are mounted in the grooves to support the pawls, the pawls are mounted in the grooves and matched with the ratchets, the ratchet shell is connected with the ratchets through the two limiting bearings, and the limiting bearings are embedded in grooves in the centers of the ratchets and the ratchet shell and used for limiting the degree of freedom of the ratchet shell. The working state is determined according to the motor steering, and when one ratchet works, the other ratchet is in a sliding state and cannot lose the power of the motor. The amphibious unmanned aerial vehicle comprises a waterproof body, a power system, a differential transmission system, a double-thrust system and the like, wherein the power system comprises a double-output-shaft waterproof motor, an electric regulator and a power supply; wherein the double-thrust system consists of an air propeller and a water propeller.

The specific structure of the unmanned aerial vehicle is explained in detail by combining the attached drawings, and the amphibious unmanned aerial vehicle based on the differential transmission system comprises a vehicle body, the differential transmission system, a power system and a double-thrust system, wherein the double-thrust system comprises propellers for water and air, and the propellers are respectively and correspondingly connected to the differential transmission system;

the double-thrust system, the differential transmission system and the power system are connected to the periphery of the airplane body together.

Furthermore, the differential transmission system comprises two coaxial ratchet devices, the two ratchet devices are respectively and reversely mounted at the upper end and the lower end of the motor, the working directions are opposite, each ratchet device comprises a ratchet, two pawls, two springs and two limiting bearings, a threaded hole is formed in the side face of each ratchet and can be locked with a rotating shaft of the motor through a screw, a spring mounting groove and a pawl mounting groove are formed in the ratchet shell, the springs are mounted in the grooves to support the pawls, the pawls are mounted in the grooves and matched with the ratchets, the ratchet shell is connected with the ratchets through the two limiting bearings, and the limiting bearings are embedded in grooves in the centers of the ratchets and the ratchet shell and used for limiting the freedom degree of the ratchet shell.

Further, the dual thrust system comprises an air propeller and a water propeller, which are reversely mounted through a coaxial ratchet device.

Furthermore, the power system comprises a motor with double output shafts, the motor comprises two output shafts positioned on the same axis, and the two output shafts are respectively connected to the ratchet teeth of the ratchet wheel; the shell of the motor is fixed in the duct through the motor support, and the duct is connected to the periphery of the machine body through the machine arms.

As a preferred embodiment of the present application, the unmanned aerial vehicle includes 4 ducts, the ducts are distributed around the fuselage in an "X" shape, and the dual thrust system, the differential transmission system and the power system form a whole and are arranged in the ducts.

Furthermore, a battery and an electric controller are arranged in the power system, the battery and the electric controller are installed in the machine body, and the motor is installed on the machine arm.

The unmanned aerial vehicle body is used as a carrier, the four rotor ducts 6 are symmetrically distributed around the vehicle body 3 and are connected with the vehicle body through four fixing rods, the air screw 1 and the water screw 2 are reversely installed through a coaxial ratchet device, the installation mode of the ratchet device is shown in figure 2, the differential transmission system 5 is respectively connected with the air screw 1 and the water screw 2 correspondingly, and is finally connected through the waterproof motor 7, and the waterproof motor 7 is fixedly installed through the three motor supports 4.

The differential transmission system can realize independent power transmission to the air propeller or the underwater propeller, so that more adjustment modes are provided for different flying and underwater navigation attitudes in the air. Here, the general air flight principle and the water navigation principle are shown.

Example 2

Based on the unmanned aerial vehicle, the embodiment is a control method of an amphibious unmanned aerial vehicle based on a differential transmission system, and the control method realizes independent control of propellers in different media by a bidirectional differential transmission system;

when the unmanned aerial vehicle hovers in a first medium, the differential transmission system only drives the first propeller to provide lift force, and the second propeller is not distributed with power;

when the unmanned aerial vehicle enters a second medium from a first medium, the motor is stopped to rotate firstly, so that the unmanned aerial vehicle naturally enters the second medium under the action of self gravity, the motor is changed to steer after the unmanned aerial vehicle enters the second medium, and the second propeller provides required power for the unmanned aerial vehicle to supply water; then, the first propeller is not distributed with power, the differential transmission system only transmits the power to the second propeller, the unmanned aerial vehicle is pulled into a second medium, and the sailing task in the second medium is completed by operating the second propeller;

when the unmanned aerial vehicle leaves the second medium upwards, the tension of the second propeller is firstly reduced, so that the unmanned aerial vehicle floats to the surface of the second medium; the direction of rotation of the motor 7 is changed again so that the differential transmission system transmits power only to the first propeller, disengaging the drone from the second medium and then entering a mode of flight in the first medium.

Further, the first medium is air, the second medium is water, the first propeller is an air propeller, and the second propeller is a propeller for water.

Furthermore, the two ratchet wheel devices are respectively and reversely arranged at the upper end and the lower end of the motor, the working directions are opposite, each ratchet wheel device comprises a ratchet, two pawls, two springs and two limiting bearings, a threaded hole is formed in the side surface of each ratchet, the side surface of each ratchet can be locked with a rotating shaft of the motor through a screw, a spring mounting groove and a pawl mounting groove are formed in the ratchet shell, the springs are mounted in the grooves to support the pawls, the pawls are mounted in the grooves to be matched with the ratchets, the ratchet shell is connected with the ratchets through the two limiting bearings, and the limiting bearings are embedded in grooves in the centers of the ratchets and the ratchet shell and used for limiting the degree of freedom of the ratchet shell;

the motor comprises two output shafts positioned on the same axis, and the two output shafts are respectively connected to the ratchets of the ratchet wheel; the shell of the motor is fixed in the duct through the motor support, and the duct is connected to the periphery of the machine body through the machine arms.

As a preferred embodiment of the present application, the drone comprises 4 ducts distributed around the fuselage in an "X" shape.

When unmanned aerial vehicle hovers in the air and flies, unmanned aerial vehicle's waterproof motor 7 passes through the drive of differential transmission system air screw 1 provides lift, and this moment water does not give power with screw 2, accomplishes aerial flight index through controlling four pneumatic rotor.

In the air, the differential transmission system enables the motor to transmit power only to the pneumatic propeller; when the unmanned plane enters water, the aircraft hovers on the water surface and water slurry is naturally immersed in the water, the motor steering is changed, the differential transmission system only transmits power to the water slurry, and at the moment, the working principle of the aircraft is the same as that of a common Y-shaped four-rotor aircraft, and the unmanned plane is pulled into the water; when the water flows out, the water slurry pulling force is reduced by the aircraft, the aircraft floats to the water surface under the action of buoyancy, and the aircraft can fly only by changing the motor steering again.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Furthermore, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include elements inherent in the list. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element. In addition, parts of the above technical solutions provided in the embodiments of the present application, which are consistent with the implementation principles of corresponding technical solutions in the prior art, are not described in detail so as to avoid redundant description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.