The invention discloses an underwater multi-degree-of-freedom navigation sea-air amphibious unmanned aerial vehicle and a control method thereof. The unmanned aerial vehicle comprises an unmanned aerial vehicle body and a vehicle body shell, the unmanned aerial vehicle body comprises a motor, a camera and outwards-extending supporting arms in the front direction, the rear direction, the left direction and the right direction, and the motor is connected with a main rotor wing in the center; stepping motors and small motors are arranged at the tail ends of the four outwards-extending supportingarms, and the small motors are connected with small rotors respectively; and a vertically-through duct is arranged at the main rotor wing in the center of the aircraft body shell, and ducts are also arranged at the outwards-extending rotors of the four outwards-extending supporting arms. According to the sea-air amphibious unmanned aerial vehicle capable of achieving underwater multi-degree-of-freedom navigation, efficient and stable air flight and underwater navigation and working stability of water and air environment transition are achieved through the unique structural design, the problemof switching between the water outlet flight mode and the water inlet flight mode of the unmanned aerial vehicle is solved, the working field of the unmanned aerial vehicle is expanded, and applicability is improved.

    本发明公开了一种水下多自由度航行的海空两栖无人机及其控制方法,无人机包括无人机本体、机体外壳,所述无人机本体包括电机、相机、前后左右四个方向的外伸支臂,电机在中央位置连接主旋翼,外伸的四个支臂末端有步进电机与小型电机,小型电机分别连接小型旋翼;所述机体外壳在中央位置主旋翼处设有上下贯通的涵道,四个外伸支臂的外伸旋翼处也设有涵道。本发明的目的是提供一种水下多自由度航行的海空两栖无人机,以独特的结构设计实现空中飞行与水中航行的高效稳定,以及水、空环境过渡的工作稳定性,解决无人机出水入水飞行模式切换问题,扩大无人机工作领域,提高适用性。


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    Title :

    Underwater multi-degree-of-freedom navigation sea-air amphibious unmanned aerial vehicle and control method thereof


    Additional title:

    一种水下多自由度航行的海空两栖无人机及其控制方法


    Contributors:
    WANG XIAO (author) / LI BO (author) / XIA PINQI (author)

    Publication date :

    2021-01-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60F VEHICLES FOR USE BOTH ON RAIL AND ON ROAD , Fahrzeuge für den Verkehr sowohl auf Schienen als auch auf Straßen / B64C AEROPLANES , Flugzeuge / B64D Ausrüstung für Flugzeuge , EQUIPMENT FOR FITTING IN OR TO AIRCRAFT



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