Water-air amphibious cross-medium unmanned aerial vehicle with variable configuration

Abstract

The invention relates to the field of aircrafts and underwater vehicles, in particular to a variable-configuration water-air amphibious cross-medium unmanned aerial vehicle which comprises a watertight electronic cabin assembly, a flight rotor component, a vehicle arm seat, a vehicle arm driving assembly, an undercarriage, a connecting rod and an underwater propelling assembly used for driving the vehicle to move underwater. The flying rotor component is mounted at the upper end of the watertight electronic cabin component and is driven by the arm driving component to be unfolded or folded, so that the unmanned aerial vehicle can be freely converted between two configurations of a four-rotor unmanned aerial vehicle and an underwater vehicle; the arm seats, the undercarriages, the flying rotor components and the connecting rods are hinged to one another to form a parallelogram connecting rod mechanism, and the undercarriages are unfolded and folded along with unfolding and folding of the flying rotor components under driving of the arm driving assemblies. The four-rotor unmanned aerial vehicle can be freely converted between two configurations of a four-rotor unmanned aerial vehicle and an underwater vehicle through the structure variant, so that the requirements of various application scenes such as water rescue, underwater detection and cross-medium monitoring are met.

Description

Technical Field

[0001] The present invention relates to the field of aircraft and submersibles, and specifically to a variable-configuration amphibious cross-media unmanned aerial vehicle. Background Art

[0002] With the continuous development of technology, vehicles are increasingly widely used in various fields. However, existing vehicles are usually only suitable for a single medium. For example, traditional unmanned aerial vehicles have good mobility and flexibility when flying in the air, but face huge resistance underwater, resulting in a significant decrease in propulsion efficiency and being unable to stay underwater for a long time. While underwater submersibles can navigate stably underwater, their structural designs are usually not suitable for flying in the air and it is difficult to achieve rapid water-air conversion. This single-medium adaptability makes vehicles often require additional equipment or manpower intervention when facing tasks that need to cross water-air media, increasing the complexity and cost of operation and restricting the application scope and function of vehicles in complex environments.

[0003] In summary, there is currently a lack of a vehicle in the prior art that can operate efficiently in both water and air media and can easily switch configurations to meet the requirements of various application scenarios such as water rescue, underwater detection, and cross-media monitoring. In these scenarios, the vehicle needs to have the ability to quickly reach the target area in the air, navigate stably underwater to perform tasks, and freely switch between water and air, while the existing vehicle technology cannot well meet these requirements.

[0004] Therefore, it is necessary to design a vehicle that can switch to the corresponding configuration according to the operation requirements underwater or in the air to meet the above requirements. Summary of the Invention

[0005] The purpose of the present invention is to overcome the deficiencies of the prior art and propose a variable-configuration amphibious cross-media unmanned aerial vehicle that can freely switch between two configurations of a quadrotor unmanned aerial vehicle and an underwater submersible through structural variation to meet the requirements of various application scenarios such as water rescue, underwater detection, and cross-media monitoring.

[0006] To achieve the above purpose, the specific technical solution adopted by the present invention is as follows: A water-air amphibious cross-medium unmanned aerial vehicle with variable configuration, which includes a watertight electronic cabin assembly, a flight rotor component, an arm base, an arm drive assembly, a landing gear, a connecting rod, and an underwater propulsion assembly for driving the vehicle to move underwater; the flight rotor component is installed at the upper end of the watertight electronic cabin assembly and is driven by the arm drive assembly to expand or retract, enabling the unmanned aerial vehicle to freely switch between the configurations of a quadcopter and an underwater submersible; the arm base, the landing gear, the flight rotor component, and the connecting rod are hinged to form a parallelogram linkage mechanism, and under the drive of the arm drive assembly, the landing gear expands and retracts along with the expansion and retraction of the flight rotor component.

[0007] In the water-air amphibious cross-medium unmanned aerial vehicle with variable configuration of the present invention, the watertight electronic cabin assembly includes a cabin body, a cabin cover, and a flight control module, a positioning module, a signal receiver, a video transmission module, a battery, a camera, a peristaltic pump, a water tank, an electronic speed controller, a 4-in-1 electronic speed controller, and a depth sensor installed in the cabin body through a laminate; the arm base is installed at the front end of the watertight electronic cabin, and the cabin cover is fixedly installed at the rear end of the cabin body. The joint surfaces of the three are sealed with sealing components such as O-rings, so that the arm base, the cabin body, the cabin cover, and the sealing components form a waterproof sealed cabin body. The depth sensor is installed on the dedicated mounting hole of the arm base in the cabin body, and the sensitive area extends outside the cabin to monitor the underwater depth of the vehicle.

[0008] In the water-air amphibious cross-medium unmanned aerial vehicle with variable configuration of the present invention, the peristaltic pump and the water tank form a controllable buoyancy system, and the water is pumped into or out of the water tank through the peristaltic pump to adjust the floating and sinking state of the vehicle underwater.

[0009] In the water-air amphibious cross-medium unmanned aerial vehicle with variable configuration of the present invention, the flight rotor component includes two arm carbon fiber plates, a brushless motor mounting seat, a brushless motor, and a rotor. The two arm carbon fiber plates are symmetrically arranged and connected by a carbon fiber tube in the middle; the brushless motor mounting seat is installed between the two arm carbon fiber plates, the brushless motor is installed on the brushless motor mounting seat, and the rotor is installed on the brushless motor. The rotor is driven by the brushless motor to rotate at high speed to provide lift for the vehicle to fly. Preferably, the rotor is a folding rotor, and the rotor can fold itself under the action of gravity when the flight rotor component is retracted.

[0010] In the water-air amphibious cross-medium unmanned aerial vehicle with variable configuration of the present invention, the flight rotor component is designed with 3 sets of hinge points, namely hinge point one, hinge point two, and hinge point three. Among them, hinge point one cooperates with the landing gear to drive the landing gear to expand and retract along with the expansion and retraction of the flight rotor component; hinge point two is used to cooperate with the arm base and is also the swing center of the expansion and retraction action of the flight rotor component; hinge point three cooperates with the connecting frame of the arm drive assembly.

[0011] A variable-configuration water-air amphibious cross-medium unmanned aerial vehicle of the present invention, wherein the arm driving assembly includes a micro DC motor, a lead screw, a lead screw nut and a connecting frame. The micro DC motor is installed at the bottom of the arm seat. One end of the lead screw is connected to the output end of the micro DC motor, and the other end passes through the connecting frame and is in mechanical cooperation with the lead screw nut fixedly installed on the connecting frame. When the micro DC motor is powered on and rotates, it drives the lead screw to drive the lead screw nut and the connecting frame to perform linear motion along the axis of the lead screw.

[0012] A variable-configuration water-air amphibious cross-medium unmanned aerial vehicle of the present invention, wherein the connecting frame is provided with 4 groups of notch structures, which cooperate with 4 groups of flight rotor components to drive the 4 groups of flight rotor components to expand or retract synchronously.

[0013] A variable-configuration water-air amphibious cross-medium unmanned aerial vehicle of the present invention, wherein the underwater propulsion assembly includes two underwater thrusters, a thruster bracket, a servo motor, a linkage mechanism, a thrust bearing and a sealing ring. The two underwater thrusters are symmetrically installed on both sides of the watertight electronic cabin assembly. Both ends of the thruster bracket penetrate through the cabin cover and are connected to the underwater thrusters through the thrust bearing, which is used to provide an installation platform for the servo motor in the cabin cover and connect the servo motor and the two underwater thrusters at the same time. The servo motor is installed at a dedicated installation position inside the cabin cover and drives the thruster bracket to rotate through the linkage mechanism to control the pitch angle of the unmanned aerial vehicle.

[0014] A variable-configuration water-air amphibious cross-medium unmanned aerial vehicle of the present invention. When the underwater propulsion assembly works, the heading control of the vehicle is realized by adjusting the output power difference between the two underwater thrusters on both sides and combining with the pitch adjustment of the servo motor.

[0015] The present invention has the following characteristics and beneficial effects: The variable-configuration water-air amphibious cross-medium unmanned aerial vehicle of the present invention can freely switch between the configurations of a quadcopter drone and an underwater submersible, and can realize seven motion forms including land parking, land takeoff, air flight, water surface landing, underwater navigation, water surface floating, and water surface takeoff, so as to meet the requirements of various application scenarios such as water rescue, underwater detection, and cross-medium monitoring.

[0016] When the variable-configuration water-air amphibious cross-medium unmanned aerial vehicle of the present invention is flying in the air, the configuration of the vehicle is a quadcopter drone, and the motion state of the quadcopter drone can be realized by accurately controlling the rotation direction and speed of the propellers of the flight rotor components; when navigating underwater, the configuration of the vehicle is transformed into an underwater submersible, reducing the underwater navigation resistance. At the same time, through the variable buoyancy system, the underwater attitude and motion mode of the vehicle are controlled, and the low-power operation of the vehicle underwater can be realized. Description of the Drawings

[0017] Figure 1This is the overall structure diagram of a variable configuration water-air amphibious cross-medium unmanned aerial vehicle according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the watertight electronic cabin assembly according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the flight rotor component according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the arm drive assembly according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the underwater propulsion assembly according to an embodiment of the present invention; Figure 6 This is a schematic diagram of a variable configuration water-air amphibious cross-medium unmanned aerial vehicle in the configuration of a submersible underwater vehicle; Figure 7 This is a schematic diagram of the water-air cross-medium working process according to an embodiment of the present invention; In the figure: 1, watertight electronic cabin assembly; 2, flight rotor component; 3, arm seat; 4, arm drive assembly; 5, landing gear; 6, connecting rod; 7, underwater propulsion assembly; 101, flight control module; 102, positioning module; 103, signal receiver; 104, video transmission module; 105, battery; 106, cabin body; 107, cabin cover; 108, camera; 109, peristaltic pump; 110, water tank; 111, electronic speed controller; 112, 4-in-1 electronic speed controller; 113, depth sensor; 201, arm carbon fiber board; 202, brushless motor mounting seat; 203, brushless motor; 204, rotor; 2A, hinge point 1; 2B, hinge point 2; 2C, hinge point 3; 401, micro DC motor; 402, lead screw; 403, lead screw nut; 404, connecting frame; 701, underwater thruster; 702, thruster bracket; 703, servo; 704, link mechanism; 705, thrust bearing; 706, sealing ring. Detailed implementation manners

[0018] The present invention will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any form. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0019] As Figure 1Shown is a variable-configuration water-air amphibious trans-medium unmanned aerial vehicle of the present invention, which includes a watertight electronic cabin assembly 1, a flight rotor member 2, an arm base 3, an arm drive assembly 4, a landing gear 5, a connecting rod 6, and an underwater propulsion assembly 7 for driving the vehicle to move underwater; the arm base 3 is installed at the front end of the watertight electronic cabin 1. As one of the waterproof components of the watertight electronic cabin 1, it is tightly connected to the watertight electronic cabin 1 and is sealed at the joint through a sealing assembly such as an O-ring; the four flight rotor members 2 are distributed in a symmetric "cross" or "X" shape and are installed at the upper end of the watertight electronic cabin assembly 1 through the arm drive assembly 4. The arm drive assembly 4 can drive the flight rotor member 2 to unfold or fold, thereby realizing the free conversion between the two configurations of a quadrotor unmanned aerial vehicle and an underwater submersible; the arm base 3, the landing gear 5, the flight rotor member 2, and the connecting rod 6 are hinged to form a parallelogram linkage mechanism. Driven by the arm drive assembly 4, the landing gear 5 unfolds and folds along with the unfolding and folding of the flight rotor member 2, thereby driving the direct switching of the unmanned aerial vehicle of the present invention between the two configurations of a quadrotor unmanned aerial vehicle and an underwater submersible; specifically, the upper end of the arm base 3 is hinged to the flight rotor member 2, and the lower end extends to the side of the watertight electronic cabin 1 and is hinged to one end of the connecting rod 6. The landing gear 5 is a straight rod structure, and hinge points are respectively provided at the end and the middle and upper sections. The hinge point at the displacement end is hinged to the flight rotor member 2, and the hinge point located in the middle and upper sections is hinged to one end of the connecting rod 6. The other end of the connecting rod is hinged to the corresponding hinge point of the arm base 3. When the flight rotor member 2 unfolds, it will drive the landing gear 5 to descend, and then the connecting rod 6 will be in a horizontal state, realizing the unfolding operation of the landing gear 5. When the flight rotor member 2 folds, it will drive the landing gear 5 to rise, and then the connecting rod 6 will be converted from a horizontal state to a vertical state, making the landing gear 5 close to the watertight electronic cabin assembly 1, realizing the folding operation. In the illustrated state, the unmanned aerial vehicle is in the configuration of a quadrotor unmanned aerial vehicle. At this time, the four flight rotor members 2 of the unmanned aerial vehicle unfold, and the switching and adjustment of the motion states of the quadrotor unmanned aerial vehicle such as hovering, vertical motion, rolling motion, pitching motion, etc. can be realized through the precise control of the rotation direction and speed of the propellers of the flight rotor member 2.

[0020] As Figure 2The figure shows a schematic diagram of the watertight electronic cabin assembly of the present invention. The watertight electronic cabin assembly 1 includes a flight control module 101, a positioning module 102, a signal receiver 103, a video transmission module 104, a battery 105, a cabin body 106, a cabin cover 107, a camera 108, a peristaltic pump 109, a water tank 110, an electronic speed controller 111, a 4-in-1 electronic speed controller 112, and a depth sensor 113. The cabin body 106 is made of acrylic material. The cabin cover 107 is formed by additive manufacturing technology, made of a lightweight transparent material, and fixedly installed at the rear end of the cabin body 106. The joint surface between the two is sealed with a sealing component such as an O-ring, so that the arm base 3, the cabin body 106, the cabin cover 107, and the sealing component form a waterproof sealed cabin to protect the internal electronic components. The flight control module 101, the positioning module 102, the signal receiver 103, the video transmission module 104, the battery 105, the camera 108, the peristaltic pump 109, the water tank 110, the electronic speed controller 111, and the 4-in-1 electronic speed controller 112 are respectively installed in the waterproof sealed cabin through a laminate. Among them, the flight control module 101 is the control core of the vehicle, installed at the top inside the waterproof sealed cabin, directly or indirectly connected to other electronic components, used to monitor the pitch angle, roll angle, and heading angle of the unmanned aerial vehicle in real time through sensors, and use control algorithms to adjust the motor speed or rudder surface angle to ensure stable flight or underwater navigation. At the same time, it analyzes the instructions of the remote controller or the ground control system and controls load devices such as cameras to perform shooting and detection tasks. In this embodiment, the model of the flight control module 101 is Pixhawk2.4.8.

[0021] The positioning module 102 is installed below the flight control module 101 and is used to confirm and provide real-time feedback on the position and attitude of the unmanned aerial vehicle. In this embodiment, a UBLOX M8N positioning module is adopted; the signal receiver 103, the video transmission module 104, and the 4-in-1 electronic speed controller 112 are installed on the same layer, which is below the positioning module; notches are designed on the second, third, and fourth layers of the waterproof and sealed cabin from top to bottom for the installation of the battery 105. The battery 105 adopts a high-energy density battery and is installed vertically along the axis of the cabin. The camera 108 is fixedly installed on the cabin cover 107. The peristaltic pump 109 and the water tank 110 form a controllable buoyancy system. The peristaltic pump 109 pumps water into or out of the water tank to adjust the floating and sinking state of the vehicle underwater; to improve the utilization rate of the cabin space, the shape of the water tank 110 is designed as a special-shaped structure, such as a semi-cylindrical shape. The depth sensor 113 is installed on the special installation hole of the arm base 3 in the waterproof and sealed cabin, and the sensitive area extends outside the cabin to monitor the underwater depth of the vehicle. During operation, the flight control module 101 receives control commands from the ground station or the remote controller through the signal receiver 103. After parsing, it controls the rotation speed of the brushless motors 203 of the 4 flight rotor components 2 through the 4-in-1 electronic speed controller to adjust the flight attitude; when underwater, it controls the rotation speed of the 2 underwater thrusters 701 through two electronic speed controllers 111, and cooperates with the control of the servo 703 to control the pitch angle of the underwater thrusters to control the underwater navigation attitude. At the same time, during underwater propulsion, the depth sensor will provide real-time feedback on the depth of the position of the unmanned aerial vehicle to the flight control module 101 to provide algorithm parameters. The camera 108 receives commands from the flight control module 101 to take images, and returns them to the flight control module 101, and the images are transmitted back to the ground through the video transmission module 104.

[0022] Such as Figure 3As shown in the figure, it is a schematic structural diagram of the flight rotor component of the present invention, including two arm carbon fiber plates 201, a brushless motor mounting base 202, a brushless motor 203, and a rotor 204. The two arm carbon fiber plates 201 are symmetrically arranged and are connected by a carbon fiber tube in the middle to form a rotor arm. Both ends of the carbon fiber tube are fixedly connected to the two arm carbon fiber plates 201 by bolts and nuts respectively. To install and fix the flight rotor component 2 and provide a force application point for the deployment-retraction action of the flight rotor component 2, the flight rotor component 2 of the present invention is designed with 3 sets of hinge points, which are hinge point one 2A, hinge point two 2B, and hinge point three 2C starting from the side where the rotor is installed. Among them, hinge point one 2A cooperates with the landing gear 5 to drive the landing gear to accompany the deployment-retraction action of the flight rotor component; hinge point two 2B is used to cooperate with the arm seat to fix the rotor arm and is also the swing center of the deployment-retraction action of the flight rotor component; hinge point three 2C cooperates with the connecting frame 404 of the arm drive assembly 4 to convert the linear movement of the connecting frame along the axis of the lead screw into the rotational movement of the rotor arm around hinge point two. The brushless motor mounting base 202 is made by 3D printing technology, installed between the two arm carbon fiber plates 201, and located at one end of the two arm carbon fiber plates 201 away from hinge point three 2C. The brushless motor 203 is installed on the brushless motor mounting base 202 by screws, and the rotor 204 is installed on the brushless motor 203. The rotor 204 is driven by the brushless motor 203 to rotate at high speed to provide lift for the flight of the vehicle. Preferably, the rotor 204 is a folding rotor, and the rotor 204 can be folded by itself under the action of gravity when the flight rotor component 2 is retracted. In an embodiment of the present invention, a total of 4 sets of the above-mentioned flight rotor components are installed.

[0023] As Figure 4As shown in the figure, it is a schematic structural diagram of the arm drive assembly of the present invention, including a micro DC motor 401, a lead screw 402, a lead screw nut 403, and a connecting frame 404. The micro DC motor 401 is installed at the bottom of the arm base 3, and the fuselage is located inside the waterproof and sealed cabin. The lead screw 402 is installed at the output end of the micro DC motor 401, passes through the connecting frame 404, and is mechanically engaged with the lead screw nut 403. The lead screw nut 403 is fixedly connected to the connecting frame 404, and the two always remain relatively stationary. When the micro DC motor is energized, it drives the lead screw 402 to rotate. Through the thread structure of the lead screw 402 and the lead screw nut 403, the rotational motion output by the micro DC motor 401 is converted into the linear motion of the lead screw nut 403 along the axis of the lead screw 402. Then, through the connecting frame 404, the flight rotor member 2 is driven to swing around the hinge point 2B. When the rotation direction of the micro DC motor 401 is changed, the swing direction of the flight rotor member 2 will also change accordingly to realize the deployment and retraction operations of the flight rotor member 2. The connecting frame is provided with 4 groups of notch structures, which cooperate with 4 groups of flight rotor members to drive the 4 groups of flight rotor members to deploy or retract synchronously. Preferably, there is a self-locking effect between the lead screw 402 and the lead screw nut 403. When the micro DC motor 401 stops rotating, it can prevent the flight rotor member 2 from changing its position under the action of external forces.

[0024] As Figure 5 shown in the figure, it is a schematic diagram of the underwater propulsion assembly of the present invention, including two underwater thrusters 701, a thruster bracket 702, a servo motor 703, a linkage mechanism 704, a thrust bearing 705, and a sealing ring 706. The two underwater thrusters 701 are symmetrically installed on both sides of the cabin body 106 and are installed through the concave holes symmetrically distributed on both sides of the cabin cover 108. Two sealing rings 706 and a thrust bearing 705 are installed in the concave holes of the cabin cover 108 to ensure the sealing effect and the smooth rotation of the thruster bracket 7. Both ends of the thruster bracket 702 pass through the cabin cover 108 and are connected to the underwater thruster 701 through the thrust bearing 705, which is used to provide an installation platform for the servo motor 703 in the cabin cover 108 and at the same time connect the servo motor 703 and the two underwater thrusters 701. The servo motor 703 is installed at a dedicated installation position inside the cabin cover 108 and drives the thruster bracket 702 to rotate through the linkage mechanism 704 to control the pitch angle of the underwater thruster. When the underwater propulsion assembly 7 works, the heading control of the vehicle is achieved by adjusting the output power difference between the two underwater thrusters 701 on both sides and combining the pitch adjustment through the servo motor 703. Preferably, the thruster bracket 702 is designed as a split structure.

[0025] As Figure 6As shown in the figure, it is a schematic diagram of the unmanned aerial vehicle of the present invention in the configuration state of an underwater submersible vehicle. At this time, the four flight rotor components 2 are retracted at the front end of the watertight electronic cabin 1 and arranged perpendicular to the front end face of the watertight electronic cabin 1. Compared with the quadrotor unmanned aerial vehicle configuration, the underwater submersible vehicle configuration has a smaller water-facing area underwater, effectively reducing the operating resistance of the vehicle underwater and improving the maneuverability of underwater operation.

[0026] As Figure 7 shown, the variable-configuration water-air amphibious cross-medium unmanned aerial vehicle of the present invention can freely switch between the quadrotor unmanned aerial vehicle and underwater submersible vehicle configurations, and thus realize seven motion forms: land parking, land takeoff, aerial flight, water surface landing, underwater navigation, water surface floating, and water surface takeoff. The following will introduce the cross-medium working process and working components of the vehicle of the present invention in conjunction with the accompanying drawings.

[0027] When the flight rotor components 2 can be driven to unfold by the arm drive assembly 4, the configuration of the unmanned aerial vehicle is a quadrotor unmanned aerial vehicle configuration with landing gear, which can park and take off on land and fly in the air. At this time, the buoyancy of the vehicle is greater than the gravity, and it can directly land on the water surface and maintain a floating state.

[0028] After the unmanned aerial vehicle lands on the water surface, the flight rotor assembly 2 can be retracted by the arm drive assembly 4 to switch to the underwater submersible vehicle configuration. At this time, start the controllable buoyancy system, pump the water outside the cabin into the cabin to increase the overall gravity of the whole machine, balance the buoyancy and weight, and then start the underwater propulsion assembly 7 to drive the vehicle to navigate underwater; when underwater operation is required, with the cooperation of the underwater propulsion assembly 7 and the controllable buoyancy system, adjust the attitude of the vehicle to the vertical state, the peristaltic pump 109 pumps the water in the water tank 110 out to reduce the overall gravity of the whole machine, the vehicle floats out of the water surface, the flight rotor components 2 are completely exposed to the air, start the arm drive assembly 4 to unfold the flight rotor components 2, switch to the quadrotor unmanned aerial vehicle configuration, and the brushless motor 203 starts to drive the rotor 204 to rotate at a high speed to provide lift for the vehicle to realize the water surface takeoff of the vehicle.

[0029] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and descriptions in the specification are only preferred examples of the present invention and do not limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A water-air amphibious cross-medium unmanned aerial vehicle with variable configuration, characterized in that: The unmanned aerial vehicle includes a watertight electronic cabin assembly, a flight rotor component, an arm base, an arm drive assembly, a landing gear, a connecting rod, and an underwater propulsion assembly for driving the vehicle to move underwater; the flight rotor component is installed at the upper end of the watertight electronic cabin assembly and is driven by the arm drive assembly to deploy or retract, realizing the conversion of the unmanned aerial vehicle between two configurations: a quadcopter and an underwater submersible; the arm base, the landing gear, the flight rotor component, and the connecting rod are hinged to form a parallelogram linkage mechanism, and under the drive of the arm drive assembly, the landing gear deploys or retracts along with the deployment-retraction of the flight rotor component.

2. The variable configuration water-air amphibious cross-medium unmanned aerial vehicle according to claim 1, wherein: The watertight electronic cabin assembly includes a cabin body, a cabin cover, and a flight control module, a positioning module, a signal receiver, a video transmission module, a battery, a camera, a peristaltic pump, a water tank, an electronic speed controller, a 4-in-1 electronic speed controller, and a depth sensor installed in the cabin body through a laminate; the arm base is installed at the front end of the watertight electronic cabin, and the cabin cover is fixedly installed at the rear end of the cabin body. The joint surfaces of the three are sealed with a sealing component.

3. The water-air amphibious cross-medium unmanned aerial vehicle with variable configuration according to claim 2, characterized in that: The peristaltic pump and the water tank form a controllable buoyancy system, and the peristaltic pump pumps water into or out of the water tank to adjust the floating and sinking state of the vehicle underwater.

4. The variable configuration water-air amphibious cross-medium unmanned aerial vehicle according to claim 1, characterized in that: The flight rotor component includes two arm carbon fiber plates, a brushless motor mounting seat, a brushless motor, and a rotor. The two arm carbon fiber plates are symmetrically arranged and are connected by a carbon fiber tube in the middle to form a rotor arm; the brushless motor mounting seat is installed on one side of the rotor arm for installing the brushless motor and the rotor, and the rotor is driven by the brushless motor to rotate at high speed to provide lift for the vehicle to fly.

5. The variable configuration water-air amphibious cross-medium unmanned aerial vehicle according to claim 4, characterized in that: There are 3 sets of hinge points designed on the rotor arm, which are hinge point one, hinge point two, and hinge point three starting from the side where the rotor is installed. Among them, hinge point one cooperates with the landing gear to drive the landing gear to deploy-retract along with the deployment-retraction of the flight rotor component; hinge point two is used to cooperate with the arm base to fix the rotor arm; hinge point three cooperates with the connecting frame of the arm drive assembly to convert the linear movement of the connecting frame along the axis of the screw rod into the rotational movement of the rotor arm around hinge point two.

6. The water-air amphibious cross-medium unmanned aerial vehicle with variable configuration according to claim 1, characterized in that: The arm drive assembly includes a micro DC motor, a screw rod, a screw nut, and a connecting frame. The micro DC motor is installed at the bottom of the arm base. One end of the screw rod is connected to the output end of the micro DC motor, and the other end passes through the connecting frame and is mechanically matched with the screw nut. The screw nut is fixedly connected to the connecting frame, and the two always maintain a relatively static state; when the micro DC motor is energized, it drives the screw rod to rotate, and the rotational movement output by the micro DC motor is converted into the linear movement of the screw nut along the axis of the screw rod through the thread structure of the screw rod and the screw nut.

7. The variable configuration water-air amphibious cross-medium unmanned aerial vehicle according to claim 6, characterized in that: The connecting frame is provided with 4 sets of notch structures, which cooperate with 4 sets of flight rotor components to drive the 4 sets of flight rotor components to deploy or retract synchronously.

8. The variable configuration water-air amphibious cross-medium unmanned aerial vehicle according to claim 1, characterized in that: The underwater propulsion assembly includes two underwater thrusters, a thruster bracket, a servo, a linkage mechanism, a thrust bearing and a sealing ring. The two underwater thrusters are symmetrically installed on both sides of the watertight electronic cabin assembly. The two ends of the thruster bracket penetrate through the hatch cover and are connected to the underwater thrusters through the thrust bearings, which is used to provide an installation platform for the servo in the hatch cover and connect the servo and the two underwater thrusters at the same time. The servo is installed on a dedicated installation position inside the hatch cover and drives the thruster bracket to rotate through the linkage mechanism to control the pitch angle of the unmanned aerial vehicle.

9. The variable-configuration water-air amphibious cross-medium unmanned aerial vehicle according to claim 7, characterized in that: When the underwater propulsion assembly works, the heading control of the vehicle is achieved by adjusting the output power difference between the two side underwater thrusters and combining with the pitch adjustment through the servo.

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