Separation mechanism for underwater carrying air unmanned aerial vehicle to realize water-air cross-domain and carrier

Abstract

The invention relates to a separation mechanism for underwater carrying of an aerial unmanned aerial vehicle to achieve water-air cross-domain and a carrier, the separation mechanism and the carrier are included, and the separation mechanism comprises an unmanned aerial vehicle container, a catapult and a driving mechanism; the unmanned aerial vehicle container is a sealed container capable of being opened and closed and comprises a fixed container and a movable container cover movably connected to the fixed container. The ejector is used for ejecting the unmanned aerial vehicle from the unmanned aerial vehicle container; the driving mechanism is used for driving the unmanned aerial vehicle container to open and close; wherein the driving mechanism is connected with the movable container cover, and the ejector is arranged at the bottom of the fixed container; a separation mechanism groove for placing the separation mechanism is formed in the top of the carrier, and the separation mechanism is embedded and fixed in the separation mechanism groove. Therefore, the functions of carrying the unmanned aerial vehicle in underwater navigation and separating and releasing the unmanned aerial vehicle in a water-air cross-domain manner can be realized on the premise of keeping the functions and the performance of the underwater navigation vehicle.

Description

Technical Field

[0001] The present application relates to the technical field of underwater carrying equipment, and in particular to a separation mechanism and a carrier for underwater carrying of an aerial drone to achieve water-to-air cross-domain. Background Art

[0002] Cross-media navigation is a cutting-edge technology that has developed rapidly in recent years. Some research in related fields has made significant progress. Some existing achievements are mainly concentrated in the field of air-water cross-domain technology. Its medium conversion is achieved through special structural design (such as special folding wing structure, lightweight pressure-resistant structure), specific power switching technology and fast-response dynamic control technology to achieve air-underwater medium crossing.

[0003] This type of technology needs to consider the dual functions of integrating aerial flight and underwater diving, while taking into account the power performance under different media conditions. Its related technologies have the following characteristics: 1. Special structural design It adopts a combination of fixed-wing and folding-wing structures (such as "Longbow 1" and "Longbow 2"), which can be folded to reduce underwater resistance. Some models incorporate a rotor design to support vertical take-off and landing operations.

[0004] 2. Special power system and control system configuration It needs to be equipped with a dual-mode propulsion device, relying on electric propellers or jet engines in the air, and switching to pump propulsion or gliding power underwater, and equipped with a rapid response control system to adapt to medium changes.

[0005] These characteristics lead to the following shortcomings in existing technologies: 1. Structural design is difficult Since it involves cross-media navigation, higher requirements are placed on the main structure of the carrier. It must not only meet the statics and fluid dynamics requirements in different media, but also ensure the realization of various functional performance indicators in different media. This will increase the complexity of the structure and require unique structural design innovations and supporting processes and new materials. It also requires a lot of experimental verification work.

[0006] 2. High technical configuration requirements To achieve cross-media operation, high-performance special power units and communication systems and other functional modules are required. This relies on a large number of technologically advanced sensor components, functional modules and other supporting support. This will greatly increase R&D and implementation costs, restricting the rapid promotion and application of the technology. 3. Functions and performance are limited due to media compatibility requirements Interface conversion needs to overcome the difference in medium density, and requires corresponding precise switching and adjustment of the carrier's center of gravity and center of buoyancy, the wing angle of attack, and the output form of the power device. Functional realization requires a balance and consideration between the two, which will limit the performance in each medium and thus affect the overall efficacy.

[0007] In addition, the application of cross-domain water and air technologies can only be limited to some more special military application fields due to the need for strong technical support and system support.

[0008] Therefore, how to provide a cross-medium underwater vehicle that can overcome the above problems is an issue that those skilled in the art urgently need to solve. Summary of the Invention

[0009] In order to solve or partially solve the problems existing in the relevant technologies, the present application provides an underwater carrier drone to achieve water-to-air cross-domain separation mechanism and carrier, which can realize the function of carrying aerial drones underwater navigation and implementing water-to-air cross-domain separation and release of drones without changing the proper functions and performance of the underwater navigation carrier.

[0010] The present application discloses a separation mechanism for an underwater drone to achieve water-air cross-domain separation, comprising: The drone container is an openable and closable sealed container, comprising a fixed container and a movable cover movably connected to the fixed container; a catapult, which is used to eject the drone from the drone container; and a drive mechanism, which is used to drive the opening and closing of the drone container; wherein the drive mechanism is connected to the movable cover, and the catapult is installed at the bottom of the fixed container.

[0011] Optionally, the drone container is configured to be in the shape of a round pot, and one end of its movable cover is connected to a magnetic buckle; a catapult seat is provided at the bottom of its fixed container, and an annular reinforcing ring rib and reinforcing vertical ribs projecting vertically therefrom are provided on its inner wall; a positioning fastening plate is provided on the outer wall of its fixed container, and a positioning plate is provided on its top for positioning and sealing with the movable cover.

[0012] Optionally, the driving mechanism includes a first telescopic member, a connecting head, a transmission member, a rocking member, a rocking shaft seat, and a connecting head; wherein, the rocking shaft seat is arranged below the middle position of the rocking member, a connecting member is provided at one end of the rocking member to connect to the top center position of the movable cover, the other end of the rocking member is connected to the transmission member through a rotating shaft, the other end of the transmission member is transferred to the connecting head, and the connecting head is connected to the telescopic end of the first telescopic member.

[0013] Optionally, the catapult includes: a central support seat, the central support seat is used for positioning support, and a limited seat is provided on the top of the central support seat to abut against the bottom of the drone; a supporting circular plate, a U-shaped clip is constructed on the supporting circular plate to clamp the drone; and an ejection circular plate, an ejection seat is constructed on the ejection circular plate to abut against the bottom of the drone; and a limiting clamp, the limiting clamp is used to limit the pop-up of the ejection circular plate; and a driving pull rod, the driving pull rod is used to drive the limiting clamp to open so that the ejection circular plate pops out and pushes the drone away; and a first spring, a second retractor; wherein, a central support seat is provided on the catapult seat, a supporting circular plate and an ejection circular plate are sleeved on the outer side of the central support seat, a first spring is provided between the supporting circular plate and the ejection circular plate, the first spring is sleeved on the central support seat, a limiting clamp is connected on one side of the ejection circular plate, the limiting clamp clamps the ejection circular plate, a driving pull rod is provided on one side of the limiting clamp to connect the limiting clamp to open the limiting clamp so that the ejection circular plate pops out, and the second retractor is used to drive the limiting clamp to open.

[0014] Optionally, it further comprises a movable sleeve and a limiting clamp rotating shaft seat, a support platform is constructed on the middle part of the outer side of the movable sleeve, and a limiting protruding ear plate is constructed on the outer bottom of the movable sleeve; A telescopic groove is constructed on one side of the supporting circular plate, and a plurality of supporting vertical plates are vertically arranged on the plate surface, and elastic U-shaped clips are arranged on the supporting vertical plates; An ejection stand is vertically arranged on the ejection circular plate, and an ejection seat is arranged on the ejection stand; A triangular plate is provided at one end of the driving rod, and a telescopic mounting head is provided at the other end; The limiting clamp includes a left clamp and a right clamp, wherein a transfer hole is constructed at the middle and rear parts of the left clamp and the right clamp, a slot is constructed at one end of each, a spring mounting protrusion is provided in the slot, a driving ear is constructed at the other end of each, and a second compression spring is installed between the two spring mounting protrusions; Among them, the second telescopic device is installed in the telescopic device groove, the telescopic end of the second telescopic device is connected to the telescopic device mounting head, the driving ear abuts against the two edges of the triangular plate, the movable sleeve is slidably connected to the central support seat, and a first spring is arranged in the movable sleeve and is sleeved on the central support seat. The limiting clamp is connected to the limiting clamp rotating shaft seat through a rotating shaft. The drone is embedded in the U-shaped card and abuts against the top of the limit seat, and the bottom of the drone abuts against the ejection seat.

[0015] Optionally, it also includes a mounting ring, the center of the upper surface of the mounting ring is configured with a circular groove, the lower surface is configured with an annular groove, and the outer side of the ring is configured with a ring plate; an annular protrusion is configured on the ejector seat, the annular groove of the mounting ring is embedded in the annular protrusion, the center support seat is fastened in the circular groove by screws, the supporting circular plate is embedded in the mounting ring and is fastened to the ring plate by screws, and the limiting clamp rotation shaft seat is arranged on the outer side of the circular groove of the mounting ring.

[0016] Optionally, limit holes are constructed on the left and right splints, and limit screws are set on the mounting ring and pass through the limit holes; a limit keyway is constructed at the center position of the triangular plate, and a limit screw is set on the mounting ring and passes through the limit keyway.

[0017] A carrier for carrying an underwater drone to achieve water-to-air crossing, comprising a separation mechanism for carrying an underwater drone to achieve water-to-air crossing as described above; and a drain pipe is provided at the bottom of the fixed container.

[0018] Optionally, the top of the carrier is configured with a separation mechanism groove for accommodating the separation mechanism, and the separation mechanism is embedded and fixed in the separation mechanism groove.

[0019] Optionally, it also includes a connecting frame and a driving frame; the connecting frame is configured as a strip groove, with side panels fixed on both sides thereof, a container frame provided in the middle thereof, a container ring plate provided on the container frame, a rear support and a swing support provided on both sides of the container frame respectively, and a magnetic buckle provided on the container ring plate; the driving frame is configured as a strip groove, including a telescopic baffle; wherein the driving mechanism is arranged and fixed in the driving frame and abuts against the telescopic baffle, the driving frame is fixed to the connecting frame by screws, and the connecting frame is fixed in the separation mechanism groove by screws; the middle part of the rocking member is transferred to the rocking support, and the positioning and fastening plate abuts against the container ring plate and is fastened by screws.

[0020] The technical solution provided by this application may have one of the following beneficial effects: This device can use a mature underwater vehicle as a carrier to carry aerial drones. It only needs to configure the separation mechanism of this application on the underwater vehicle to carry aerial drones. The carried drones do not need to undergo special and difficult structural designs to adapt to the underwater environment and navigation conditions. They can be adapted to the already formed vertical take-off and landing rotor aerial drones. In this way, the drone can be carried underwater and separated from the air after reaching the location, releasing the drone into the air. The overall solution has a simple technical architecture and a clear functional allocation of media conversion. It does not need to consider configuring expensive cutting-edge technical functional modules and conducting special structural designs, and the various underwater navigation functions and performance of the equipment can be fully utilized. The drone is loaded into a pot-shaped container, which is reinforced with ribs to increase support strength to meet water depth and pressure requirements. The pot-shaped container facilitates the loading of rotary-wing drones and also helps to withstand underwater pressure. By using the middle part as the support point, the swing piece constructs a seesaw, which can greatly overcome the magnetic attraction of the magnetic buckle to open the movable cover, and can also press the movable cover tightly to achieve sealing when sealing; The second retractor is used to telescope the limiting clamp, which then clamps the ejection disc and compresses the first spring. In this state, the unmanned cantilever is clamped in the U-shaped clamp. When the drone needs to be launched, the second retractor's telescopic limiting clamp opens to release the ejection disc. Under the elastic force of the first spring, the ejection disc pushes the drone out of the U-shaped clamp through the ejection seat, thus achieving rapid separation of the drone from the underwater vehicle. This mechanism uses the telescopic second retractor to control the restriction of the limiting clamp on the ejection disc, thereby controlling the timing of the drone's ejection and separation. The present application can achieve the positioning and fastening connection of each component and facilitate the operation of the entire mechanism. The angle wedge structure of the triangular plate allows the restraining clamp to be quickly opened, and the opening of the restraining clamp allows the movable sleeve to be suddenly released, thereby pushing the ejection seat to eject the drone. This application constructs a separation mechanism slot on the carrier to house the separation mechanism, and connects the entire device to the carrier through a connecting frame and a drive frame to form a whole. This does not affect the original structure of the carrier or the underwater vehicle, and avoids the limitation of functions and performance due to media compatibility requirements during water-to-air cross-domain. The functions and performance of the carrier and the drone remain unchanged, and they can still achieve underwater navigation together and the drone can achieve rapid water-to-air cross-domain and air flight. On the other hand, the entire equipment does not need to be configured with other special functional modules, only a communication system that can control the drone and carrier simultaneously or separately.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The above and other objects, features and advantages of the present application will become more apparent through a more detailed description of exemplary embodiments of the present application in conjunction with the accompanying drawings, wherein the same reference numerals generally represent the same components in the exemplary embodiments of the present application.

[0023] Figure 1 Schematic diagram of the separation mechanism structure shown in an embodiment of the present application; Figure 2 This is a top view of the separation mechanism without a cover shown in an embodiment of the present application; Figure 3 1 is a front view of a drone container mechanism shown in an embodiment of the present application; Figure 4 is a cross-sectional view of a drone container mechanism shown in an embodiment of the present application; Figure 5 1 is a top view of the drone container mechanism shown in an embodiment of the present application; Figure 6Schematic diagram of the driving mechanism structure shown in the embodiment of the present application; Figure 7 1 is a schematic diagram of the structure of a catapult shown in an embodiment of the present application; Figure 8 1 is a schematic diagram of the structure of a catapult according to another embodiment of the present application; Figure 9 is a top view of the catapult structure shown in an embodiment of the present application; Figure 10 1 is a schematic diagram of the carrier structure shown in an embodiment of the present application; Figure 11 is a top view of a carrier shown in an embodiment of the present application; Figure 12 This is a schematic diagram of the separation mechanism on the connecting frame shown in the embodiment of the present application. Figure 1 ; Figure 13 The separation mechanism shown in the embodiment of the present application is shown on the connecting frame. Figure 2 ; Figure 14 This is a front view of the separation mechanism shown in the embodiment of the present application on the connecting frame; Figure 15 This is a right side view of the separation mechanism shown in the embodiment of the present application on the connecting frame; Figure 16 This is a left side view of the separation mechanism on the connecting frame shown in the embodiment of the present application; Figure 17 is a top view of the separation mechanism shown in an embodiment of the present application on the connecting frame; Figure 18 This is a schematic diagram of the driving mechanism of the separation mechanism shown in the embodiment of the present application on the driving frame. Figure 1 ; Figure 19 This is a schematic diagram of the driving mechanism of the separation mechanism shown in the embodiment of the present application on the driving frame. Figure 2 ; Figure 20 is a cross-sectional view of the driving mechanism of the separation mechanism shown in an embodiment of the present application on the driving frame; Reference numerals: 1. Carrier; 11. Separation mechanism slot; 2. Separation mechanism; 21. Connecting frame; 211. Side plate; 212. Container frame; 213. Container ring plate; 214. Rear support; 215. Reinforced connecting plate; 216. Magnetic buckle seat; 217. Swing support; 22. Drive frame; 221. Telescopic baffle; 222. Front connecting plate; 223. Side slot; 224. Rear connecting plate; 23. Drive mechanism; 231. First telescopic device; 232. Connector; 233. Transmission member; 234. Swing member; 235. Swing shaft seat; 236. Connecting member; 24. UAV container; 241. Movable cover; 242. Fixed container; 2411. Magnetic buckle; 2421. Positioning and fastening plate; 2422. Positioning plate; 2423. Reinforced vertical ribs; 2425. Reinforced ring ribs; 2426. Ejector seat ; 24261, positioning mounting ring; 25, drain pipe; 26, ejector; 261, mounting ring; 262, center support seat; 2621, limit seat; 263, support circular plate, 2631, telescopic slot; 2632, support vertical plate, 2633, U-shaped card; 264, first spring; 265, movable sleeve; 2651, support platform; 2652, limit protruding ear plate; 266, limit clamp rotation Axle seat; 267, ejection circular plate; 2671, ejection vertical plate; 2672, ejection seat; 268, limiting clamp; 2681, left clamp, 2682, right clamp; 2683, spring mounting protrusion; 2684, limiting hole; 2685, drive groove, 2686, drive ear; 269, drive rod; 2691, triangle plate; 2692, limiting keyway; 2693, telescope mounting head. DETAILED DESCRIPTION

[0024] The following describes embodiments of the present application in more detail with reference to the accompanying drawings. Although the accompanying drawings illustrate embodiments of the present application, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. Rather, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0025] In response to the above problems, an embodiment of the present application provides an underwater carrying aerial drone (hereinafter referred to as drone or aerial drone) to achieve water-to-air cross-domain separation mechanism and carrier. The technical solution of the embodiment of the present application is described in detail below with reference to the accompanying drawings.

[0026] like Figure 1 and Figure 2An underwater drone carrier realizes a separation mechanism for crossing water and air, including: a drone container 24, which is an openable and closable sealed container. The drone is placed in the drone container 24. When the carrier 1 carries the drone, the drone container 24 is in a sealed state and is not affected by the underwater environment. The drone container 24 includes a fixed container 242 and a movable cover 241 movably connected to the fixed container 242. When the drone needs to leave the drone container 24, the movable cover 241 opens, allowing the drone to be ejected from the fixed container 242. In order to quickly eject the drone from the fixed container 242, the present application includes a catapult 26, which is used to eject the drone from the drone container 24; the movable cover 241 is used to drive the opening and closing of the drone container 24 through a driving mechanism 23; wherein the driving mechanism 23 is connected to the movable cover 241, and the catapult 26 is installed at the bottom of the fixed container 242.

[0027] During use, the device is placed on a carrier 1. While underwater, the carrier 1 navigates to a designated location. Upon reaching the designated location, the carrier 1 rises until the movable cover 241 emerges from the water. The drive mechanism 23 drives the movable cover 241 to open, and the catapult 26 simultaneously ejects the drone, which then takes off on its own, completing its mission. After the movable cover 241 closes, the vehicle descends and awaits the drone's return for recovery. This device can utilize a well-established underwater vehicle as the carrier 1 to carry the drone. The existing underwater vehicle requires no significant modifications; it only needs to incorporate the structure of this application to carry the drone. The drone also does not need to be modified to adapt to the underwater environment, retaining its original structure and functionality. This allows for underwater drone transport and navigation, as well as cross-domain separation of the drone after arrival, without significantly altering their respective structures and functions. The overall solution is simple in structure, employing existing technical configurations, reducing cross-media technical requirements and eliminating the need for consideration of the columnar structures of both. This reduces design complexity and allows for full utilization of the various functions and performance of both underwater navigation and aerial flight.

[0028] In one embodiment, the drone container 24 is a device that is compatible with a certain type of rotor drone, such as a quadcopter or a multi-rotor, and the present application example provides a shape of a convex arc surface rotation body, such as Figure 3 、 Figure 4 and Figure 5As shown, the drone container 24 is designed in a round pot shape to facilitate loading the drone. A magnetic clasp 2411 is attached to one end of the movable cover 241, allowing it to be tightly secured to the container 242 during sealing. This also facilitates the opening of the movable cover 241 by the actuating mechanism 23. The bottom of the fixed container 242 is provided with an ejector seat 2426 to facilitate installation of the ejector 26. The inner wall is provided with an annular reinforcing rib 2425 and vertical reinforcing ribs 2423 projecting perpendicularly from the reinforcing rib 2425 to enhance the overall structural strength. The movable cover 241 is also designed as an arc-shaped cover, with its bottom abutting the top of the drone. The center portion is also filled with corresponding reinforcing ribs to increase strength and withstand underwater pressure. The outer wall of the fixed container 242 is provided with a positioning and fastening plate 2421 to facilitate connection and fastening with other components. The top is provided with a positioning plate 2422 that seals with the movable cover 241 to facilitate sealing after docking.

[0029] In the present application, a pot-shaped drone container 24 is provided to load the drone, and corresponding reinforcing ribs are provided inside the container to increase the supporting strength to meet the water depth pressure requirements. The pot-shaped container can facilitate the loading of the rotor drone and is also beneficial for underwater pressure resistance. In one embodiment, the driving component is used to drive the opening and closing of the drone container 24. Since the drone container 24 is composed of two opening and closing parts, it is only necessary to drive the movable cover 241 and the fixed container 242 to open and separate. The movable cover 241 can be supported from the inside by a hydraulic mechanism, or opened from the outside by a corresponding hydraulic mechanism, or opened by lifting. However, since the drone does not need vertical take-off and landing, the movable cover 241 cannot be located above the fixed container 242 after opening. The present application provides a driving mechanism 23 such as Figure 6 、 Figure 18 、 Figure 19 and Figure 20 As shown, it includes a first telescopic device 231, a connecting head 232, a transmission member 233, a rocking member 234, a rocking shaft seat 235, and a connecting member 236; wherein, the rocking shaft seat 235 is arranged below the middle position of the rocking member 234, and is connected to the fixed container 242 through a rotating shaft when in use, a connecting member 236 is provided at one end of the rocking member 234 to connect to the top center position of the movable cover 241, and the other end of the rocking member 234 is connected to the transmission member 233 through a rotating shaft, and the other end of the transmission member 233 is transferred to the connecting head 232, and the connecting head 232 is connected to the telescopic end of the first telescopic device 231.

[0030] In this way, the first retractor 231 of the present application can be extended and retracted by rotating the rocking member 234 about the rocking pivot seat 235 (rotation angle > 110°) via the transmission member 233, allowing the movable cover 241 to be quickly opened while preventing the movable cover 241 from obstructing the fixed container 242. By using the middle portion as a support point, the rocking member 234 forms a lever structure that can overcome the magnetic attraction of the magnetic buckle 2411 to open the movable cover 241, and can also press the movable cover 241 tightly to achieve a seal when closing.

[0031] In one embodiment, the catapult 26 is the key to whether the UAV can quickly separate from the underwater vehicle and take off across water. Figure 7 , the present application provides a catapult 26, comprising: The center support seat 262 is used for positioning support. The top of the center support seat 262 is provided with a limit seat 2621 that abuts against the bottom of the drone, and the bottom is connected to the ejector seat 2426; A supporting circular plate 263 is provided with a U-shaped clip 2633 for clipping the UAV so that the UAV can be stably placed during navigation of the underwater vehicle; The ejection circular plate 267 is provided with an ejection seat 2672 which abuts against the bottom of the UAV to eject the UAV when needed; A limiting clip 268 is used to limit the ejection of the ejection circular plate 267; A driving rod 269 is used to drive the limiting clamp 268 to open so that the ejection circular plate 267 is ejected and ejected from the UAV; and a first spring 264 and a second retractor (not shown); Among them, a central support seat 262 is set on the ejector seat 2426, and a support circular plate 263 and an ejection circular plate 267 are sleeved on the outer side of the central support seat 262. A first spring 264 is set between the support circular plate 263 and the ejection circular plate 267. The first spring 264 is sleeved on the central support seat 262, and a limiting clamp 268 is connected to one side of the ejection circular plate 267. The limiting clamp 268 clamps the ejection circular plate 267. A driving pull rod 269 is set on one side of the limiting clamp 268 to connect the limiting clamp 268 to open the limiting clamp 268 so that the ejection circular plate 267 pops out. The second telescoping device (not shown in the figure) is used to drive the limiting clamp 268 to open.

[0032] Thus, in the present application, the second retractor is used to telescope the limiting clamp 268 to close. When closed, the limiting clamp 268 clamps the ejection circular plate 267 and compresses the first spring 264. In this state, the unmanned cantilever is clamped in the U-shaped clamp 2633. When the drone needs to be ejected, the second retractor is used to telescope the limiting clamp 268 to open and release the ejection circular plate 267. Under the elastic force of the first spring 264, the ejection circular plate 267 pushes the drone out of the U-shaped clamp 2633 through the ejection seat 2672, and then separates, allowing the drone to quickly detach from the underwater vehicle. This mechanism uses the telescopic movement of the second retractor to control the clamping and release of the ejection circular plate 267 by the limiting clamp 268, so that the drone can be ejected by the first spring 264 when it is separated.

[0033] In one embodiment, in order to facilitate the positioning and installation of the entire ejector 26, as shown in FIG. Figure 7 , Figure 8 and Figure 9 As shown, the ejector 26 also includes a mounting ring 261, a movable sleeve 265 and a limiting clamp shaft seat 266. The center of the upper surface of the mounting ring 261 is configured with a circular groove, the lower surface is configured with an annular groove, and the outer side of the ring is configured with a ring plate; an annular protrusion is configured on the ejector seat 2426, and the annular groove of the mounting ring 261 is embedded in the annular protrusion, the central support seat is fastened in the circular groove by screws, the supporting circular plate 263 is embedded in the mounting ring 261 and is fastened to the ring plate by screws, and the limiting clamp shaft seat 266 is arranged on the outer side of the circular groove of the mounting ring 261, so as to facilitate the fixed installation and matching of each component.

[0034] A support platform 2651 is constructed on the middle portion of the outer side of the movable sleeve 265, and a limiting protruding ear plate 2652 is constructed on the outer bottom portion of the movable sleeve 265; A retractor slot 2361 is constructed on one side of the supporting circular plate 263, and a plurality of supporting vertical plates 2632 are vertically arranged on the plate surface, and elastic U-shaped clips 2633 are provided on the supporting vertical plates 2632; An ejection plate 2671 is vertically arranged on the surface of the ejection circular plate 267, and an ejection seat 2672 is arranged on the ejection plate 2671; A triangular plate 2691 is provided at one end of the driving rod 269, and a retractor mounting head 2693 is provided at the other end; The limiting clamp 268 includes a left clamping plate 2681 and a right clamping plate 2682. A transfer hole is formed at the center and rear of the left clamping plate 2681 and the right clamping plate 2682. A slot is formed at one end of each of the left clamping plate 2681 and the right clamping plate 2682. A spring mounting protrusion 2683 is provided in the slot. A driving ear 2686 is formed at the other end of each of the left clamping plate 2681 and the right clamping plate 2682. A second compression spring is installed between the two spring mounting protrusions 2683. Among them, the second telescopic device is installed in the telescopic device slot 2361, the telescopic end of the second telescopic device is connected to the telescopic device mounting head 2693, the driving ear 2686 is abutted against the two edges of the triangle plate 2691, the movable sleeve 265 is slidably connected to the center support seat 262, and the first spring 264 is arranged in the movable sleeve 265 and is sleeved on the center support seat 262. The limiting clamp 268 is connected to the limiting clamp shaft seat 266 through a rotating shaft. The drone is embedded in the U-shaped card 2633 and abuts against the top of the limit seat 2621, and the bottom of the drone abuts against the ejection seat 2672.

[0035] In this way, the present application can achieve the positioning and fastening connection of each component and facilitate the operation of the entire mechanism. The angle wedge structure of the triangular plate 2691 enables the limiting clamp 268 to be quickly opened, and the opening of the limiting clamp 268 enables the movable sleeve 265 to be suddenly released, thereby driving the ejection stand 2671 to eject the drone.

[0036] In one embodiment, Figure 9 In order to ensure that the limiting clamp 268 can only achieve stable horizontal opening and closing at a certain angle, a limiting hole 2684 is constructed on the left clamp plate 2681 and the right clamp plate 2682, and a limiting screw is set on the mounting ring 261 and passes through the limiting hole 2684; a limiting keyway 2692 is constructed at the center position of the triangular plate 2691, and a limiting screw is set on the mounting ring 261 and passes through the limiting keyway 2692.

[0037] In one embodiment, in order to adapt to underwater navigation conditions, the present application provides a carrier 1 for underwater carrying UAVs to achieve water-to-air crossing, including a separation mechanism for underwater carrying UAVs to achieve water-to-air crossing as in any of the above embodiments; and a drain pipe 25 is provided at the bottom of the fixed container 242, and the drain pipe 25 is connected to a water pump to drain the accumulated water in the UAV container 24 and keep the interior dry.

[0038] In one embodiment, for the adaptation of the carrier 1 to the separation mechanism, such as Figures 10 to 20 As shown, the top of the carrier 1 is constructed with a separation mechanism slot 11 for accommodating the separation mechanism, and the separation mechanism is embedded and fixed in the separation mechanism slot 11. It also includes a connecting frame 21 and a driving frame 22 for connection.

[0039] Specifically, the connecting frame 21 is configured as a strip-shaped slot, with side panels 211 fixedly mounted on either side for screw connection to the separation mechanism slot 11. A container frame 212 is positioned in the center, with a container ring plate 213 mounted on the frame. The drone container is embedded within the ring plate 213, and the positioning and fastening plate 2421 abuts against the ring plate 213, securing the connection with bolts. A rear support 214 and a rocking support 217 are mounted on either side of the frame 212, respectively. A magnetic buckle 216 is mounted on the ring plate 213, magnetically attracting the magnetic buckle 2411. Grooves are constructed on the bottom and sides of the connecting frame to reduce overall weight, and bolt holes are provided on the bottom for fastening to the separation mechanism slot.

[0040] The drive frame 22 is configured in a strip-shaped groove, including a telescopic baffle 221, a front connecting plate 222, a side groove 223 and a rear connecting plate 224. These connecting plates are used to place other components; Among them, the driving mechanism is arranged and fixed in the driving frame 22 and abuts against the telescopic baffle 221. The driving frame 22 is fixed to the connecting frame 21 by screws, and the connecting frame 21 is fixed in the separation mechanism groove 11 by screws; the middle part of the rocking member 234 is transferred to the rocking support 217, and the positioning fastening plate 2421 abuts against the container ring plate 213 and is fastened by screws.

[0041] Thus, by constructing a separation mechanism slot 11 on the carrier 1 to house the separation mechanism 2, and by connecting and securing the entire device to the carrier 1 via a connecting frame 21 and a drive frame 22, the present application maintains the functionality and performance of underwater navigation without significantly altering the main structure of either the carrier 1 or the underwater vehicle, while still enabling underwater navigation with a UAV. Furthermore, the entire device requires no additional specialized functional modules, requiring only a communication control system capable of simultaneously or separately controlling the UAV and carrier 1.

[0042] In one embodiment, an underwater drone-carrying device realizes a separation mechanism and a carrier for cross-domain water-air transport, including a carrier 1 and a drone. The carrier, as an independent carrier, has the ability to navigate and carry underwater, as well as the ability of remote control, communication, and navigation and positioning. The drone, as an independent aerial drone, has the ability of vertical take-off and landing, hovering, navigation and positioning, as well as remote control and communication. A container slot for placing the drone is provided on the carrier, and a drone container is provided in the slot, and the drone is placed in the container. A control center is provided on the shore or on a ship to control the carrier and the drone through wireless communication. The control center can control the carrier to transport the drone to a designated location and then float to the surface, open the drone container, and at the same time, the control center can control the drone to separate from the drone container and take off. After the drone takes off, the control center controls the drone container to close and controls the carrier to return or sail to other designated locations.

[0043] In this application, the existing vehicle 1 can be equipped with energy and power units, positioning and navigation systems, and communication system modules that meet the requirements of underwater autonomous navigation. These devices are controlled by a control console and a drone remote controller. The console wirelessly receives and displays various parameter information transmitted by the underwater vehicle. Simultaneously, the vehicle's underwater navigation and the operation of its water-to-air separation mechanism can be controlled from shore or on a ship. The drone remote controller can control and operate the drone's vertical takeoff and landing, as well as its aerial flight. The entire control system is integrated into the vehicle and control center, resulting in a compact structure and easy operation.

[0044] The vehicle 1 is equipped with an energy and power device. The energy device can provide the required electrical energy for underwater navigation, including a battery pack and a battery management module; the power device is mainly composed of four vertical thrusters and two horizontal thrusters. The four vertical thrusters are arranged in a rectangular array with the center of gravity of the vehicle 1 as the center, which can drive the vehicle 1 to move vertically in the water or maintain a hovering state at a certain depth. The two horizontal thrusters are symmetrically distributed on both sides of the vehicle 1, which can drive the vehicle 1 forward, backward and turn. The thrusters can be controlled in a coordinated manner to form direction control, attitude control and speed control of the navigation of the vehicle 1.

[0045] The vehicle 1 is equipped with a positioning and navigation system and a communication system. The positioning and navigation system is mainly composed of various functional modules that meet the positioning and navigation requirements, which can ensure that the vehicle 1 can autonomously navigate and return to the predetermined target; the communication system mainly undertakes the function of data transmission, including a signal data acquisition module, a data transmission module and an operation processing and storage module.

[0046] In one embodiment, the drone container is a sealed container with an ejection separation mechanism at the bottom. When the control center controls the carrier to float to the surface, the drone container is opened, and the ejection separation mechanism can quickly eject the drone, separate it from the sealed container, and take off.

[0047] In one embodiment, the drone is made of waterproof material and has a waterproof capability of IP67 or above. A buoyancy block is provided at the bottom of the drone rotor arm. When the carrier 1 carries the drone to a designated location and floats to a certain position below the water surface, the drone is released. The drone floats to the surface under the buoyancy of the buoyancy block, and the drone can be controlled to take off through the control center.

[0048] Buoyancy blocks are installed on aerial drones to ensure they can surface and take off after separation. The buoyancy blocks are determined based on the drone's total weight and the volume of water it displaces. They are mounted below the drone's rotor arms, minimizing any impact on flight. This allows the drone to surface and take off after being ejected, thanks to the buoyancy of the blocks. However, this method requires the drone to possess a certain level of waterproofing (IP67 or higher). This demonstrates a separation mechanism and carrier for underwater drones that achieves cross-domain separation between water and air. This innovative separation mechanism combines water and air vehicles, achieving cross-domain separation capabilities. Specifically, the underwater carrier carrying the drone reaches the target waters and surfaces, where it is separated and released for takeoff via the cross-domain separation mechanism.

[0049] The position of the carrier above the water surface is determined by water pressure. The buoyancy block is determined according to the total weight and displacement volume of the aerial drone. The time it takes for the buoyancy block to drive the drone to float to the water surface is determined by the water pressure, the position of the carrier above the water surface, the total weight of the drone, and the buoyancy of the buoyancy block. The take-off timing of the drone is determined based on this time.

[0050] A drain pipe is provided at the bottom of the drone container, and a water pump connected to the drain pipe is provided in the carrier so that the accumulated water inside can be drained.

[0051] In one embodiment, a separation mechanism and carrier for underwater drones to achieve cross-water-air transport includes the following steps: S1: Check whether the capabilities and parameters of the carrier and UAV are normal; S2: Check whether the control center's communication and control of the UAV and carrier are normal; S3: Secure the drone in the drone container inside the carrier, activate the drone, close the drone container cover, and set the target location information and various operating parameters; S4: Use a sling to lift the vehicle into the water and conduct autonomous navigation or manual control operations; S5: After the carrier sails underwater to a predetermined location, it floats to the surface of the water, causing the drone container to leak out of the water; S6: Open the drone container cover and at the same time, control the drone to take off vertically, complete the drone's underwater navigation from the shore or ship to the predetermined location and achieve cross-domain separation between water and air to fly in the air.

[0052] In view of this, when in use, the underwater vehicle 1 can be hoisted into the water from the shore or the ship's deck. Before entering the water, the vertical take-off and landing UAV is turned on and loaded into the fixed U-shaped card of the water-to-air cross-domain separation mechanism, the hatch is closed, and the target position information and various operating parameters are set. After entering the water, the underwater vehicle 1 can navigate to the mission target position autonomously or by remote control. After reaching the mission target position, the underwater vehicle 1 floats up and hovers on the water surface, and the water-to-air medium conversion operation can be performed to separate the vertical take-off and landing UAV from the underwater vehicle 1 and surface it. Then, the air flight control can be performed by operating the remote control of the vertical take-off and landing UAV. After the mission is completed, the underwater vehicle or vehicle 1 and the vertical take-off and landing UAV can return autonomously to the set position.

[0053] The embodiments of the present application have been described above. The above description is illustrative and not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those skilled in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is selected to best explain the principles of the embodiments, their practical applications, or improvements to the technology in the market, or to enable other persons skilled in the art to understand the embodiments disclosed herein.

Claims

1. A separation mechanism for underwater carrying of aerial drones to achieve cross-water and air-air transport, characterized in that: include: A drone container (24), wherein the drone container (24) is an openable and closable sealed container, comprising a fixed container (242) and a movable cover (241) movably connected to the fixed container (242); and a catapult (26) for ejecting the drone from the drone container (24); and A driving mechanism (23), the driving mechanism (23) is used to drive the opening and closing of the drone container (24); The driving mechanism (23) is connected to the movable cover (241), and the ejector (26) is installed at the bottom of the fixed container (242).

2. The underwater-carrying aerial drone separation mechanism according to claim 1 is characterized by: The drone container (24) is configured in a round pot shape, and one end of the movable cover (241) is connected to a magnetic buckle (2411); the bottom of the fixed container (242) is provided with an ejector seat (2426), and the inner wall thereof is provided with an annular reinforcing ring rib (2425) and a reinforcing vertical rib (2423) projecting perpendicularly to the reinforcing ring rib (2425); the outer wall of the fixed container (242) is provided with a positioning fastening plate (2421), and the top thereof is provided with a positioning plate (2422) for positioning and sealing with the movable cover (241).

3. The underwater-carrying aerial drone separation mechanism according to claim 1 is characterized by: The driving mechanism (23) includes a first telescopic device (231), a connecting head (232), a transmission member (233), a rocking member (234), a rocking shaft seat (235), and a connecting member (236); The swing shaft seat (235) is arranged below the middle position of the swing member (234), a connecting member (236) is provided at one end of the swing member (234) to connect to the top center position of the movable cover (241), the other end of the swing member (234) is connected to the transmission member (233) via a rotating shaft, the other end of the transmission member (233) is connected to the connecting head (232), and the connecting head (232) is connected to the telescopic end of the first telescopic device (231).

4. The underwater-carrying aerial drone separation mechanism according to claim 1 is characterized by: The catapult (26) comprises: A central support seat (262), the central support seat (262) is used for positioning support, and a limit seat (2621) is provided on the top thereof to abut against the bottom of the drone; A supporting circular plate (263), wherein a U-shaped clip (2633) is constructed on the supporting circular plate (263) for clipping the drone; and An ejection circular plate (267), wherein an ejection seat (2672) is constructed on the ejection circular plate (267) and abuts against the bottom of the drone; and A limiting clamp (268), the limiting clamp (268) is used to limit the ejection of the ejection circular plate (267); and A driving rod (269) is used to drive the limiting clamp (268) to open so that the ejection circular plate (267) is ejected to fly the UAV; and a first spring (264), a second retractor; Wherein, a central support seat (262) is provided on the ejector seat (2426), a support circular plate (263) and an ejection circular plate (267) are sleeved on the outer side of the central support seat (262), a first spring (264) is provided between the support circular plate (263) and the ejection circular plate (267), the first spring (264) is sleeved on the central support seat (262), a limiting clamp (268) is connected to one side of the ejection circular plate (267), the limiting clamp (268) clamps the ejection circular plate (267), a driving pull rod (269) is provided on one side of the limiting clamp (268) to connect the limiting clamp (268) to open the limiting clamp (268) so that the ejection circular plate (267) is ejected, and a second telescoping device is used to drive the limiting clamp (268) to open.

5. The underwater-carrying aerial drone separation mechanism according to claim 4 is characterized in that: It also includes a movable sleeve (265) and a limiting clamp rotating shaft seat (266), wherein a support platform (2651) is constructed at the middle of the outer side of the movable sleeve (265), and a limiting protruding ear plate (2652) is constructed at the outer bottom of the movable sleeve (265); A telescoping groove (2361) is formed on one side of the supporting circular plate (263), and a plurality of supporting vertical plates (2632) are vertically arranged on the plate surface, and elastic U-shaped clips (2633) are provided on the supporting vertical plates (2632); An ejection vertical plate (2671) is vertically arranged on the surface of the ejection circular plate (267), and an ejection seat (2672) is arranged on the ejection vertical plate (2671); One end of the driving pull rod (269) is provided with a triangular plate (2691), and the other end is provided with a telescopic device mounting head (2693); The limiting clamp (268) includes a left clamp (2681) and a right clamp (2682), wherein a transfer hole is constructed at the middle and rear parts of the left clamp (2681) and the right clamp (2682), a groove is constructed at one end of the two, and a spring mounting protrusion (2683) is provided in the groove, and a driving ear (2686) is constructed at the other end of the two, and a second compression spring is installed between the two spring mounting protrusions (2683); The second telescoping device is installed in the telescoping device slot (2361), the telescopic end of the second telescoping device is connected to the telescoping device mounting head (2693), the driving ear (2686) is in contact with the two edges of the triangular plate (2691), the movable sleeve (265) is slidably connected to the central support seat (262), a first spring (264) is provided in the movable sleeve (265) and is sleeved on the central support seat (262), the limiting clamp (268) is connected to the limiting clamp rotating shaft seat (266) through a rotating shaft, the UAV is embedded in the U-shaped card (2633) and is in contact with the top of the limit seat (2621), and the bottom of the UAV is in contact with the ejection seat (2672).

6. The underwater-carrying aerial drone separation mechanism according to claim 5 is characterized by: It also includes a mounting ring (261), the center of the upper surface of the mounting ring (261) is configured with a circular groove, the lower surface is configured with an annular groove, and the outer side of the ring is configured with a ring plate; the ejector seat (2426) is configured with an annular protrusion, the annular groove of the mounting ring (261) is embedded in the annular protrusion, the central support seat is fastened in the circular groove by screws, the supporting circular plate (263) is embedded in the mounting ring (261) and is fastened to the ring plate by screws, and the limiting clamp rotating shaft seat (266) is arranged on the outer side of the circular groove of the mounting ring (261).

7. The underwater-carrying aerial drone separation mechanism for achieving water-air cross-domain separation according to claim 5 or 6 is characterized in that: A limiting hole (2684) is constructed on the left clamping plate (2681) and the right clamping plate (2682), and a limiting screw is provided on the mounting ring (261) and passes through the limiting hole (2684); a limiting keyway (2692) is constructed at the center position of the triangular plate (2691), and a limiting screw is provided on the mounting ring (261) and passes through the limiting keyway (2692).

8. A vehicle for carrying an aerial drone underwater to achieve cross-water and air transport, characterized by: It comprises a separation mechanism for realizing water-air cross-domain of an underwater carrier drone as described in any one of claims 1 to 7 above; a drainage pipe (25) is provided at the bottom of the fixed container (242).

9. The underwater carrier for carrying an aerial drone to achieve cross-water and air transport according to claim 8 is characterized by: The top of the carrier (1) is provided with a separation mechanism groove (11) for accommodating the separation mechanism, and the separation mechanism is embedded in and fixed in the separation mechanism groove (11).

10. The underwater carrier for carrying an aerial drone to achieve cross-water-air transport according to claim 8, characterized in that: It also includes a connecting frame (21) and a driving frame (22); The connecting frame (21) is configured to be in the shape of a strip groove, with side plates (211) fixedly provided on both sides thereof, a container frame (212) provided in the middle thereof, a container ring plate (213) provided on the container frame (212), a rear support (214) and a swing support (217) provided on both sides of the container frame (212), and a magnetic buckle seat (216) provided on the container ring plate (213); The driving frame (22) is configured in a strip-shaped groove and includes a telescopic baffle (221); The driving mechanism is arranged and fixed in the driving frame (22) and abuts against the telescopic baffle (221); the driving frame (22) is fixed to the connecting frame (21) by screws; the connecting frame (21) is fixed in the separation mechanism slot (11) by screws; the middle part of the rocking member (234) is connected to the rocking support (217); the positioning fastening plate (2421) abuts against the container ring plate (213) and is fastened by screws.

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