A self-powered cross-medium drone for offshore wind turbine operation and maintenance
Through the combination of flexible wings and integrated motor propellers, the problem of insufficient underwater monitoring capabilities of traditional drones in offshore wind farms is solved, and all-round and multi-angle monitoring and maintenance in offshore wind farms is achieved, thus reducing operations Maintenance costs improve the battery life and operating efficiency of the drone.
Patent Information
- Application Number
- CN202210609922.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-05-31
- Publication Date
- 2024-12-24
- Estimated Expiration
- 2042-05-31
AI Technical Summary
Traditional drones lack underwater monitoring and maintenance capabilities in offshore wind farms, and the operation time of self-energy cross-media drones is relatively short, so they need to frequently return to the mother ship to replace the battery, resulting in high distribution and recycling costs, and it is impossible to achieve all aspects. Multi-angle offshore fan monitoring and maintenance.
Adopting a flexible wing design and three integrated motor thrusters, the wing telescopic state is adjusted through a fluid pump to achieve rapid conversion of wing mode; the integrated motor thruster acts as a generator under waves and currents, providing in-situ energy supply, and Vector propulsion and forward and reverse double-slip blade structure are adopted to improve the propulsion efficiency and flexibility in water-air medium.
It realizes efficient monitoring and maintenance in both water-air media, increases the battery life of the drone and underwater operation capabilities, reduces the cost of layout and recycling, and improves operating efficiency and reliability.
Smart Images
Figure CN114771832B_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to a cross-medium UAV, and in particular to a self-powered cross-medium UAV that can be used for stereoscopic monitoring and maintenance of offshore wind turbines both above and below the water. Background Art
[0002] In recent years, with the rapid growth of onshore wind power installed capacity, its problems of "large land occupation and high noise" have become increasingly prominent. In contrast, offshore wind power has less impact on humans, has a wider development area, and has greater potential to become the core direction of future wind power industry development.
[0003] Onshore wind farms often use drones to complete comprehensive monitoring and maintenance of wind turbines to save manpower and reduce costs. At present, due to the inconvenience of maritime transportation, offshore wind farms also rely on drones to complete their daily maintenance work. However, traditional drones do not have the ability to perform underwater monitoring and maintenance. Therefore, their actual use effect is very limited. In response to this, a cross-medium drone that can be used for water-air operations is proposed to solve this problem.
[0004] At present, the demand for offshore wind power operation and maintenance and the development of cross-medium drones are insufficient. Existing cross-medium drones are basically powered by batteries, usually with short operation time, and need to return to the mother ship many times for battery replacement and data transmission. The deployment and recovery costs are high. Therefore, there is currently a lack of a self-powered cross-medium drone that can not only monitor the operating status of offshore wind turbines in all aspects and from multiple angles, but also save deployment and recovery costs and improve operation efficiency. Summary of the invention
[0005] Based on the problems raised in the background technology, the present invention proposes a self-powered cross-medium UAV for offshore wind turbine operation and maintenance. In order to meet the requirements of UAV operation reliability and maneuverability, the UAV in the present invention adopts a flexible wing design and three integrated motor propellers. A fluid pump is installed at the connection between the wing and the UAV cabin, which can adjust the telescopic state of the wing by pumping in and out air: in the aerial operation state, the wing pumps in air to enter the extended state, reducing flight power consumption; in the underwater operation state, the wing pumps out air to enter the contracted state, reducing the travel resistance, and using the characteristics of the fluid pump with large driving force and fast response speed to quickly realize the conversion of wing modes. The propeller used realizes vector propulsion, ensuring that flexible attitude adjustment can be achieved in both water and air media. Among them, the counter-rotating propeller of the integrated motor propeller adopts a counter-rotating double-blade structure, the two blades are on the same rotating axis and turn in opposite directions, and air blades and water blades are used respectively to ensure high propulsion efficiency in both media. At the same time, the integrated motor propeller adopted by the present invention can be used as a generator to supply energy to the UAV in situ under the impact of waves and currents, thereby increasing the underwater operation capability and endurance of the UAV.
[0006] The specific technical solution of the present invention is:
[0007] The self-powered cross-medium UAV of the present invention comprises a fuselage, two flexible wings, three integrated motor propellers, a plurality of batteries and a control mainboard. The fuselage comprises a head fuselage, a middle fuselage and a tail fuselage, and the head fuselage, the middle fuselage and the tail fuselage are not connected; the two flexible wings are respectively installed on the left and right symmetrical sides of the middle fuselage.
[0008] The middle fuselage has two through installation grooves in the vertical direction on both sides symmetrically close to the head fuselage and the tail fuselage. An integrated motor propeller is installed in each installation groove, and another integrated motor propeller is installed under the bottom of the middle fuselage.
[0009] Each storage battery and control main board are installed in the sealed middle fuselage between two installation grooves; each integrated motor propeller, control main board and each storage battery are electrically connected to each other.
[0010] A tail wing is respectively installed on the left and right symmetrical sides and the top surface of the tail of the fuselage.
[0011] Each integrated motor propeller includes a motor housing and a counter-rotating propeller; the motor housing is in the shape of a circular cylinder, and the counter-rotating propeller is coaxially installed in the center of the motor housing; each integrated motor propeller also includes a motor cover, which is installed on both sides of the motor housing by screws and fixes the counter-rotating propeller in the center of the motor housing.
[0012] The radial direction of the motor housing of the integrated motor propeller inside each installation slot is the same as the travel direction of the UAV. The two integrated motor propellers can realize vertical take-off and landing and hovering of the UAV in two operating media; the radial direction of the motor housing of the integrated motor propeller below the bottom of the middle fuselage is perpendicular to the travel direction of the UAV. This integrated motor propeller can realize horizontal propulsion and energy capture of the UAV in two operating media; when stationed in the water, it can be used as a generator to capture ocean current energy to charge the battery, thereby increasing the flight time of the UAV; each integrated motor propeller does not contact the middle fuselage.
[0013] Three servo motors are installed inside the middle fuselage between the two installation grooves, and each servo motor is close to an integrated motor propeller. A connecting shaft along the radial direction of the motor housing and facing a nearby servo motor is provided in the middle of the outer side surface of the motor housing of each integrated motor propeller. The output shaft of each servo motor is coaxially and synchronously connected to the connecting shaft of a nearby integrated motor propeller. The rotation of the output shaft of the servo motor drives the integrated motor propeller to rotate around its own connecting shaft.
[0014] Each servo motor is electrically connected to the control main board. The control main board controls the rotation of the output shaft of each servo motor, thereby driving each integrated motor propeller to rotate around its own connection shaft, adjusting the deflection angle of each integrated motor propeller, and realizing the vector propulsion and complex posture adjustment of the UAV.
[0015] The counter-rotating propellers of each integrated motor propeller include an air propeller structure and a water propeller structure, and the air propeller structure and the water propeller structure are coaxially hingedly arranged at their centers.
[0016] The air propeller structure includes an air propeller and a propeller outer ring frame. The propeller outer ring frame is a circular ring body. The air propeller is coaxially installed at the center of the propeller outer ring frame. The top of each air blade of the air propeller is connected to the propeller outer ring frame as a whole.
[0017] The water propeller structure includes a water propeller and a propeller outer ring frame. The water propeller is coaxially installed at the center of the propeller outer ring frame. The top of each water blade of the water propeller is connected to the propeller outer ring frame as a whole; the propeller outer ring frame of the air propeller structure and the propeller outer ring frame of the water propeller structure do not contact.
[0018] Several magnets are evenly spaced along the circumference inside the propeller outer ring frame, and the magnetic pole direction of each magnet is the same as the axial direction of the counter-rotating propeller, and the magnetic pole directions of two adjacent magnets are opposite. There are 27 magnets in each propeller outer ring frame, and the magnets are sealed with epoxy resin to serve as the motor rotor of the integrated motor propeller.
[0019] Air propellers use air blades, such as 1470 blades; water propellers use water blades, such as 5150 blades, to ensure that the UAV has high propulsion efficiency in both media.
[0020] The inner ring surface of the motor housing of each integrated motor propeller is provided with two identical annular grooves coaxial with the motor housing, and the propeller outer ring frames of the air propeller structure and the water propeller structure are respectively slidably installed in the two annular grooves.
[0021] Two three-phase windings that are coaxial with the motor housing and not in contact with the motor housing are installed inside the motor housing of each integrated motor propeller, and the inner side surface of each three-phase winding is arranged opposite to a corresponding propeller outer ring frame; the three-phase winding is encapsulated with epoxy resin and serves as the motor stator of the integrated motor propeller.
[0022] Each three-phase winding is electrically connected to each battery and a control main board.
[0023] The interior of the middle body between the two installation slots is a cavity and is also equipped with a plurality of fluid pumps, each of which is connected to the external air and is electrically connected to the control mainboard.
[0024] When operating in the air, the control motherboard controls each fluid pump to pump in air, and the two flexible wings extend out of the middle fuselage to reduce flight power consumption; when operating in the water, the control motherboard controls each fluid pump to pump out air, and the two flexible wings retract into the middle fuselage to reduce travel resistance.
[0025] The surface of the flexible wing is covered with an ultra-thin polymer material that supports the soft skeleton.
[0026] The fuselage is made of pressure-resistant metal material.
[0027] Each of the batteries is a hybrid energy storage system composed of a lithium-ion battery and a supercapacitor, which takes into account the requirements of high capacity density and high power density; the hybrid energy storage system adopts liquid cooling to achieve battery thermal management, and combines the in-situ power supply mode of the drone, and adopts an adaptive intelligent charging method to achieve overcharge and over-discharge protection of the battery pack.
[0028] The self-powered cross-medium UAV is equipped with a monitoring camera; when the self-powered cross-medium UAV is in working condition, when the self-powered cross-medium UAV is sailing in the air or in the water, the control mainboard controls each battery to supply power to the two three-phase windings of each integrated motor propeller, and the two three-phase windings generate electromagnetic fields with opposite phases, and generate electromagnetic force to drive the opposite magnetic steels to drive the water propeller structure and the air propeller structure to rotate in opposite directions around the central axis, thereby maintaining the navigation of the self-powered cross-medium UAV until it sails to the vicinity of the offshore wind turbine, and the offshore wind power is monitored in real time through the monitoring camera carried by the self-powered cross-medium UAV.
[0029] When the self-powered cross-medium drone is in a non-working state, the self-powered cross-medium drone is suspended in the sea, and the action of waves and currents causes the various water propeller structures and air propeller structures equipped with magnetic steel to rotate, thereby realizing the process of converting mechanical energy into electrical energy. The energy is converted into electrical energy through electromagnetic induction between the magnetic steel and the three-phase winding, so that each three-phase winding generates electrical energy, and then the control mainboard controls each three-phase winding to reversely transmit the generated electrical energy to each battery for reverse charging and energy supply.
[0030] Beneficial effects of the present invention:
[0031] Compared with other traditional cross-medium UAVs, the device of the present invention has added flexible wings and integrated motor propellers as energy-harvesting modules. It ensures that high working efficiency can be achieved in both water and air media; in a non-working state, the energy-harvesting module can collect ocean energy in the water to power itself, increasing the UAV's endurance and underwater operation capabilities. At the same time, the device of the present invention uses three integrated motor propellers with adjustable deflection angles, which simplifies the propulsion structure and realizes vector propulsion, ensuring the stability and maneuverability of the UAV's operating state. Among them, the propeller blades adopt a forward and reverse double-blade structure, and the two blades are respectively air blades and water blades, ensuring the reliability and efficiency of the UAV working in both water and air media. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] Figure 1 It is a schematic diagram of the overall structure of the present invention;
[0033] Figure 1 (a) is a schematic diagram of the flexible wing in the unfolded state;
[0034] Figure 1 (b) is a schematic diagram of the flexible wing in a retracted state;
[0035] Figure 2 It is a schematic diagram of the internal structure of the fuselage;
[0036] Figure 2 (a) is a top view of the internal structure of the fuselage;
[0037] Figure 2 (b) is a side view of the internal structure of the fuselage;
[0038] Figure 3 is a schematic diagram of the integrated motor propulsion structure;
[0039] Figure 3 (a) is a three-dimensional diagram of the integrated motor propulsion structure;
[0040] Figure 3 (b) is an internal side view of the integrated motor propulsion structure;
[0041] Figure 4 This is a schematic diagram of the counter-rotating propeller and three-phase winding structure;
[0042] In the figure: 1. fuselage, 2. flexible wing, 3. integrated motor propeller, 4. servo motor, 5. battery, 6. control main board, 7. fluid pump, 8. motor housing, 9. counter-rotating propeller, 10. motor cover, 11. air blade, 12. water blade, 13. three-phase winding. DETAILED DESCRIPTION
[0043] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.
[0044] like Figure 1 a and b and Figure 2 As shown in a and b, the self-powered cross-medium UAV includes a fuselage 1, two flexible wings 2, three integrated motor propellers 3, a number of batteries 5 and a control mainboard 6. The fuselage 1 includes a head fuselage, a middle fuselage and a tail fuselage, and the head fuselage, the middle fuselage and the tail fuselage are not connected; the two flexible wings 2 are respectively installed on the left and right symmetrical sides of the middle fuselage. A tail wing is respectively installed on the left and right symmetrical sides and the top surface of the tail of the fuselage. The fuselage 1 is made of pressure-resistant metal material.
[0045] The middle fuselage has two through installation grooves in the vertical direction on both sides symmetrically close to the head fuselage and the tail fuselage, each of which is equipped with an integrated motor propeller 3, and another integrated motor propeller 3 is installed under the bottom of the middle fuselage.
[0046] Each battery 5 and control mainboard 6 are installed inside the sealed middle fuselage between the two installation slots; each integrated motor propeller 3, control mainboard 6 and each battery 5 are electrically connected to each other. Each battery 5 is a hybrid energy storage system composed of lithium-ion batteries and supercapacitors to meet the requirements of high capacity density and high power density; the hybrid energy storage system uses liquid cooling to achieve battery thermal management, and combines the in-situ power supply mode of the drone, and adopts an adaptive intelligent charging method to achieve overcharge and over-discharge protection of the battery pack.
[0047] The interior of the middle fuselage between the two installation slots is a cavity and is also equipped with a number of fluid pumps 7, each of which is connected to the external air and electrically connected to the control mainboard 6; when operating in the air, the control mainboard 6 controls each of the fluid pumps 7 to pump air, and the two flexible wings 2 extend out of the middle fuselage, which can reduce flight power consumption; when operating in water, the control mainboard 6 controls each of the fluid pumps 7 to pump out air, and the two flexible wings 2 retract into the middle fuselage to reduce travel resistance. The surface of the flexible wing 2 is covered with an ultra-thin polymer material to support the soft body skeleton.
[0048] like Figure 3 As shown in a and b, each integrated motor propeller 3 includes a motor housing 8 and a counter-rotating propeller 9; the motor housing 8 is an annular column, and the counter-rotating propeller 9 is coaxially installed in the center of the motor housing 8; each integrated motor propeller 3 also includes a motor cover 10, which is installed on both sides of the motor housing 8 by screws and fixes the counter-rotating propeller 9 in the center of the motor housing 8.
[0049] The radial direction of the motor housing 8 of the integrated motor propeller 3 inside each installation slot is the same as the travel direction of the UAV, and the two integrated motor propellers 3 can realize vertical take-off and landing and hovering of the UAV in two operating media; the radial direction of the motor housing 8 of the integrated motor propeller 3 below the bottom of the middle fuselage is perpendicular to the travel direction of the UAV, and the one integrated motor propeller 3 can realize horizontal propulsion and energy capture of the UAV in two operating media; when stationed in the water, it can be used as a generator to capture wave energy and ocean current energy to charge the battery 5, thereby increasing the flight time of the UAV; each integrated motor propeller 3 does not contact the middle fuselage.
[0050] Three servo motors 4 are installed inside the middle fuselage between the two installation grooves, and each servo motor 4 is close to an integrated motor propeller 3. A connecting shaft along the radial direction of the motor housing 8 and facing the adjacent servo motor 4 is provided in the middle of the outer side surface of the motor housing 8 of each integrated motor propeller 3. The output shaft of each servo motor 4 is coaxially and synchronously connected to the connecting shaft of an adjacent integrated motor propeller 3. The rotation of the output shaft of the servo motor 4 drives the integrated motor propeller 3 to rotate around its own connecting shaft.
[0051] Each servo motor 4 is electrically connected to the control main board 6. The control main board 6 controls the rotation of the output shaft of each servo motor 4, thereby driving each integrated motor propeller 3 to rotate around its own connection shaft, adjusting the deflection angle of each integrated motor propeller 3, and realizing the vector propulsion and complex posture adjustment of the UAV.
[0052] like Figure 4 As shown, the counter-rotating propellers 9 of the integrated motor propeller 3 include an air propeller structure and a water propeller structure, and the centers of the air propeller structure and the water propeller structure are coaxially hinged; the air propeller structure includes an air propeller 11 and a propeller outer ring frame, the propeller outer ring frame is a circular ring body, the air propeller 11 is coaxially installed at the center of the propeller outer ring frame, and the top of each air blade of the air propeller 11 is connected to the propeller outer ring frame as a whole; the water propeller structure includes a water propeller 12 and a propeller outer ring frame, the water propeller 12 is coaxially installed at the center of the propeller outer ring frame, and the top of each water blade of the water propeller 12 is connected to the propeller outer ring frame as a whole; the propeller outer ring frame of the air propeller structure and the propeller outer ring frame of the water propeller structure do not contact. The air propeller 11 adopts air blades, such as 1470 blades; the water propeller 12 adopts water blades, such as 5150 blades, to ensure that the UAV has high propulsion efficiency in both media.
[0053] Several magnets are evenly spaced along the circumferential direction inside the propeller outer ring frame, and the magnetic pole direction of each magnet is the same as the axial direction of the counter-rotating propeller 9, and the magnetic pole directions of two adjacent magnets are opposite. Specifically, there are 27 magnets in each propeller outer ring frame, and the magnets are sealed with epoxy resin to serve as the motor rotor of the integrated motor propeller 3.
[0054] Two identical annular grooves coaxial with the motor housing 8 are formed on the inner annular surface of the motor housing 8 of each integrated motor propeller 3, and the propeller outer ring frames of the air propeller structure and the water propeller structure are slidably installed in the two annular grooves respectively.
[0055] Two three-phase windings 13 are installed inside the motor housing 8 of each integrated motor propeller 3. The three-phase windings 13 are coaxial with the motor housing 8 and do not contact the motor housing 8. The inner side of each three-phase winding 13 is arranged opposite to a corresponding propeller outer ring frame. The three-phase windings 13 are potted with epoxy resin to serve as the motor stator of the integrated motor propeller 3. Each three-phase winding 13 is electrically connected to each storage battery 5 and the control mainboard 6.
[0056] The self-powered cross-medium UAV is equipped with a monitoring camera; when the self-powered cross-medium UAV is in working condition, when the self-powered cross-medium UAV is sailing in the air or in the water, the control main board 6 controls each battery 5 to supply power to the two three-phase windings 13 of each integrated motor propeller 3, and the two three-phase windings 13 generate electromagnetic fields with opposite phases, and generate electromagnetic force to drive the opposite magnetic steels to drive the water propeller structure and the air propeller structure to rotate in opposite directions around the central axis, maintaining the navigation of the self-powered cross-medium UAV until it sails to the vicinity of the offshore wind turbine, and the offshore wind power is monitored in real time through the monitoring camera carried by the self-powered cross-medium UAV.
[0057] When the self-powered cross-medium drone is in a non-working state, the self-powered cross-medium drone floats on the sea surface, and the waves and currents cause the various water propeller structures and air propeller structures equipped with magnetic steel to rotate, thereby realizing the process of converting mechanical energy into electrical energy. The electromagnetic induction between the magnetic steel and the three-phase winding 13 converts the energy into electrical energy, so that each three-phase winding 13 generates electrical energy, and then controls each three-phase winding 13 through the control main board 6 to reversely transmit the generated electrical energy to each battery 5 for reverse charging and energy supply.
[0058] First, compared with other cross-medium UAVs, the device of the present invention has added an ocean energy self-powered module, which solves the problem that the UAV needs to be frequently released and retracted and has high operation and maintenance costs, and greatly increases the operation time and endurance of the UAV. Secondly, the present invention adopts a flexible wing 2 design, controls the extension and contraction of the flexible wing 2 through a fluid pump 7, and corresponds to the two operating states of the UAV in the air and in the water, respectively, to ensure its operating efficiency in the two media. Then, the present invention adopts a servo motor 4 to realize the vector propulsion of the propeller, cooperates with the integrated motor propeller 3, simplifies the transmission system, and increases the maneuverability and reliability of the UAV system during operation. Finally, the present invention improves the propeller of the traditional integrated motor propeller, adopts a forward and reverse double-blade structure, and uses air blades 11 and water blades 12 respectively, to ensure that the UAV can achieve a higher travel efficiency in both water and air media, reduce working energy consumption, and improve operating capacity. During operation, unified and coordinated control is implemented through the control main board 6 in the cabin to achieve in-situ energy capture and vector propulsion, ensure the stationing and endurance of the drone, and its flexible movement in the water-air medium, thereby realizing unmanned operation and maintenance of offshore wind turbines. The operation status of offshore wind turbines can be monitored from all aspects and angles.
Claims
1. A self-powered cross-medium drone for offshore wind turbine operation and maintenance, characterized by: The invention comprises a fuselage (1), two flexible wings (2), three integrated motor propellers (3), a plurality of storage batteries (5) and a control main board (6), wherein the fuselage (1) comprises a head fuselage, a middle fuselage and a tail fuselage, wherein the head fuselage, the middle fuselage and the tail fuselage are not connected; the two flexible wings (2) are respectively installed on the left and right symmetrical sides of the middle fuselage; the middle fuselage is provided with two through-going installation grooves in the vertical direction on the symmetrical sides close to the head fuselage and the tail fuselage, each installation groove is installed with an integrated motor propeller (3), and another integrated motor propeller (3) is installed below the bottom of the middle fuselage; each storage battery (5) and the control main board (6) are installed inside the sealed middle fuselage between the two installation grooves; each integrated motor propeller (3), the control main board (6) and each storage battery (5) are electrically connected to each other; Each integrated motor propeller (3) comprises a motor housing (8) and a counter-rotating propeller (9); the motor housing (8) is in the shape of a circular column, and the counter-rotating propeller (9) is coaxially mounted at the center of the motor housing (8); the radial direction of the motor housing (8) of each integrated motor propeller (3) inside the mounting slot is the same as the travel direction of the UAV, and the radial direction of the motor housing (8) of the integrated motor propeller (3) below the bottom of the middle fuselage is perpendicular to the travel direction of the UAV. The integrated motor propeller (3) realizes horizontal propulsion and energy capture of the UAV in two operating media, and in the stationary state in water, it acts as a generator to capture wave energy and ocean current energy to charge the storage battery (5); each integrated motor propeller (3) does not contact the middle fuselage; Three servo motors (4) are installed inside the middle fuselage between the two installation grooves, each servo motor (4) is respectively close to an integrated motor propeller (3), and a connecting shaft along the radial direction of the motor housing (8) and facing the adjacent servo motor (4) is provided in the middle of the outer side surface of the motor housing (8) of each integrated motor propeller (3), and the output shaft of each servo motor (4) is coaxially and synchronously connected to the connecting shaft of the adjacent integrated motor propeller (3), and the rotation of the output shaft of the servo motor (4) drives the integrated motor propeller (3) to rotate around its own connecting shaft; each servo motor (4) is electrically connected to the control mainboard (6), and the control mainboard (6) controls the rotation of the output shaft of each servo motor (4), thereby driving each integrated motor propeller (3) to rotate around its own connecting shaft, thereby adjusting the deflection angle of each integrated motor propeller (3); The counter-rotating propellers (9) of each integrated motor propeller (3) include an air propeller structure and a water propeller structure, and the air propeller structure and the water propeller structure are coaxially hingedly arranged at the center; the air propeller structure includes an air propeller (11) and a propeller outer ring frame, the propeller outer ring frame is a circular ring body, the air propeller (11) is coaxially installed at the center of the propeller outer ring frame, and the top of each air blade of the air propeller (11) is connected to the propeller outer ring frame as a whole; the water propeller structure includes A water propeller (12) and a propeller outer ring frame, wherein the water propeller (12) is coaxially mounted at the center of the propeller outer ring frame, and the top of each water blade of the water propeller (12) is connected to the propeller outer ring frame as a whole; the propeller outer ring frame of the air propeller structure and the propeller outer ring frame of the water propeller structure are not in contact; a plurality of magnets are evenly spaced along the circumferential direction inside the propeller outer ring frame, and the magnetic pole direction of each magnet is the same as the axial direction of the counter-rotating propeller (9), and the magnetic pole directions of two adjacent magnets are opposite; The inner annular surface of the motor housing (8) of each integrated motor propeller (3) is provided with two identical annular grooves coaxial with the motor housing (8), and the propeller outer ring frames of the air propeller structure and the water propeller structure are respectively slidably mounted in the two annular grooves; Two three-phase windings (13) coaxial with the motor housing (8) and not in contact with each other are installed inside the motor housing (8) of each integrated motor propeller (3), and the inner side surface of each three-phase winding (13) is arranged opposite to a corresponding propeller outer ring frame; each three-phase winding (13) is electrically connected to each storage battery (5) and the control mainboard (6); Each storage battery (5) is a hybrid energy storage system composed of a lithium-ion battery and a supercapacitor.
2. A self-powered cross-medium drone for offshore wind turbine operation and maintenance according to claim 1, characterized in that: The interior of the middle fuselage between the two installation grooves is a cavity and is also equipped with a plurality of fluid pumps (7), each of which is connected to the external air and is electrically connected to the control main board (6); when operating in the air, the control main board (6) controls each of the fluid pumps (7) to pump in air, and the two flexible wings (2) extend out of the middle fuselage; when operating in the water, the control main board (6) controls each of the fluid pumps (7) to pump out air, and the two flexible wings (2) retract into the middle fuselage.
3. The self-powered cross-medium UAV for offshore wind turbine operation and maintenance according to claim 1, characterized in that: The fuselage (1) is made of pressure-resistant metal material.
4. The self-powered cross-medium UAV for offshore wind turbine operation and maintenance according to claim 1, characterized in that: The self-powered cross-medium drone is equipped with a surveillance camera; When the self-powered cross-medium UAV is in working state, when the self-powered cross-medium UAV is sailing in the air or in the water, the control mainboard (6) controls each storage battery (5) to supply power to two three-phase windings (13) of each integrated motor propeller (3), and the two three-phase windings (13) generate electromagnetic fields with opposite phases, and generate electromagnetic force to drive each magnet steel facing each other to drive the water propeller structure and the air propeller structure to rotate in opposite directions around the central axis, so as to maintain the navigation of the self-powered cross-medium UAV until it sails to the vicinity of the offshore wind turbine, and the offshore wind power is monitored in real time through the monitoring camera carried by the self-powered cross-medium UAV; When the self-powered cross-medium drone is in a non-operating state, the self-powered cross-medium drone is suspended in the sea, and the water propeller structures and air propeller structures provided with magnetic steel are rotated by the action of waves and ocean currents, so that each three-phase winding (13) generates electric energy, and then the control main board (6) controls each three-phase winding (13) to reversely transmit the generated electric energy to each storage battery (5) for reverse charging and energy supply.