Trans-medium vehicle and trans-medium vehicle trans-domain method

Abstract

The application discloses a cross-medium vehicle and a cross-medium method of the cross-medium vehicle. The cross-medium vehicle comprises a vehicle body, a first fuselage and a second fuselage, which are sequentially arranged from a first end to a second end of the vehicle body. The first fuselage is a rotary body structure suitable for air navigation, and the second fuselage is a ship type structure suitable for water navigation. A first driving assembly is arranged at a middle part of the vehicle body, and is used for controlling the stability of the cross-medium vehicle in a cross-medium navigation process. A second driving assembly is arranged at the first end of the vehicle body, and is used for controlling the stability of the cross-medium vehicle in air navigation. A third driving assembly is arranged at the second end of the vehicle body, and is used for controlling the stability of the cross-medium vehicle in underwater navigation. The cross-medium vehicle and the cross-medium method of the cross-medium vehicle can reduce the resistance of the cross-medium vehicle in the navigation process, and have high control stability in underwater navigation, cross-medium navigation and air navigation.

Description

Technical Field

[0001] This application belongs to the field of aircraft technology, and particularly relates to a cross-medium aircraft and a cross-domain method for the cross-medium aircraft. Background Technology

[0002] As humanity continues to explore the marine environment, submersibles have been widely used due to their advantages such as good stealth and long endurance. However, submersibles have disadvantages such as slow speed and poor maneuverability, while aircraft have the advantages of high speed and good maneuverability. Therefore, some experts and scholars have proposed the concept of a water-air cross-medium vehicle. This type of cross-medium vehicle can both submerge underwater and fly in the air, effectively combining the advantages of submersibles and aircraft, and has a broader application prospect.

[0003] However, existing cross-medium vehicles only have the function of cross-medium navigation, but their control stability is low when underwater, during cross-medium navigation, and during air navigation, and they also have greater resistance during navigation. Summary of the Invention

[0004] This application provides a cross-medium vehicle and a cross-domain method for the cross-medium vehicle, which can reduce the drag of the cross-medium vehicle during navigation and has high control stability during underwater navigation, cross-medium navigation and air navigation.

[0005] The present application discloses a transmedium vehicle, comprising: a vehicle body including a first fuselage and a second fuselage, the first fuselage and the second fuselage being sequentially arranged from a first end to a second end of the vehicle body; the first fuselage being a rotating structure suitable for air navigation, and the second fuselage being a boat-shaped structure suitable for water navigation; a first drive assembly located in the middle of the vehicle body for controlling the stability of the transmedium vehicle during transmedium navigation; a second drive assembly located at the first end of the vehicle body for controlling the stability of the transmedium vehicle during air navigation; and a third drive assembly located at the second end of the vehicle body for controlling the stability of the transmedium vehicle during underwater navigation.

[0006] In the above-mentioned transmedia vehicle, the first fuselage is connected to the first end of the second fuselage. The cross-sectional shape of the first end of the second fuselage is the same as the cross-sectional shape of the rotating body structure of the first fuselage. Along the direction from the first end to the second end of the second fuselage, the second fuselage gradually changes from a rotating body structure to a boat-shaped structure.

[0007] In the above-described cross-medium vehicle, a first drive assembly and a second drive assembly are used to provide driving force in the airspace, and the driving force direction of the first drive assembly and the driving force direction of the second drive assembly are at a preset angle.

[0008] The above-mentioned transmedia vehicle further includes: a wing assembly, which is disposed on the top of the vehicle body. The wing assembly includes multiple wings arranged in pairs. The multiple wings are stacked on the top surface of the vehicle body and have the same axis. Two of the wings in a pair rotate in opposite directions.

[0009] The above-mentioned transmedium vehicle has a wing comprising a rotating part, a first wing segment, and a second wing segment. The rotating part is fixedly connected to the first end of the first wing segment, and the second end of the first wing segment is rotatably connected to one end of the second wing segment. The second wing segment can rotate 180 degrees around a direction perpendicular to the extension of the first wing segment.

[0010] In the above-mentioned transmedium vehicle, the first fuselage is a hollow structure, and the interior of the first fuselage has a first cavity and a second cavity. The first cavity and the second cavity are arranged sequentially from the first end to the second end of the first fuselage. The first cavity is a sealed cavity, and the second cavity is a water-permeable cavity. The water storage capacity of the second cavity can be controlled.

[0011] In the above-mentioned transmedium vehicle, the second fuselage has a hollow structure and contains a third cavity and a fourth cavity. The third cavity and the fourth cavity are arranged sequentially from the first end to the second end of the second fuselage. The third cavity is a water-permeable cavity with a controllable water storage capacity, and the fourth cavity is a sealed cavity.

[0012] In the above-mentioned transmedium vehicle, both the second and third cavities are equipped with air chambers and airbags. The air chambers and airbags are connected. The air chambers are used to store gas and can inflate the airbags or extract the gas from the airbags.

[0013] In the above-mentioned transmedium vehicle, a center of gravity adjustment assembly is provided in the first cavity. The center of gravity adjustment assembly includes two support members, a connecting rod, a slider, and a center of gravity member. The connecting rod extends along the direction from the first end to the second end of the vehicle body. The two support members are respectively provided at both ends of the connecting rod. The slider is movably inserted through the connecting rod, and the center of gravity member is connected to the slider.

[0014] The above-mentioned cross-medium vehicle further includes a balance adjustment assembly and a hydrofoil structure. The balance adjustment assembly is located on the surface of the second fuselage, and the hydrofoil structure is located on the bottom of the first fuselage.

[0015] On the other hand, this application also provides a cross-domain method for a cross-medium vehicle, wherein the aforementioned cross-medium vehicle employs the cross-domain method to achieve cross-medium navigation between water and airspace. The cross-domain method for the cross-medium vehicle includes: deploying the cross-medium vehicle into the water, with the wing assembly in a folded state, filling the second and third cavities with water, and activating the third drive assembly, so that the cross-medium vehicle enters an underwater cruising state; draining the second and third cavities, and adjusting the center of gravity adjustment assembly, so that the cross-medium vehicle enters an underwater surfacing state from the underwater cruising state; and surfacing the cross-medium vehicle to the surface, with the wing assembly in a semi-open state, and activating... The first drive assembly is activated, and the center of gravity adjustment assembly is adjusted to allow the cross-medium vehicle to transition from an underwater surfacing state to a surface gliding state. The second drive assembly is activated, and the wing assembly is fully deployed, allowing the cross-medium vehicle to transition from a surface gliding state to a high-speed takeoff state, thus achieving cross-medium navigation from water to airspace. After the cross-medium vehicle reaches the set altitude, the first and third drive assemblies are deactivated, and the center of gravity adjustment assembly is adjusted to allow the cross-medium vehicle to transition from a high-speed takeoff state to an aerial cruising state. The first drive assembly is activated, and the rotational speed of the second drive assembly is reduced, allowing the cross-medium vehicle to transition from an aerial cruising state to a surface landing state, thus achieving cross-medium navigation from airspace to water.

[0016] The above-described cross-domain method for a cross-medium vehicle, wherein the cross-medium vehicle enters an underwater cruising state, includes: folding the wing assembly, with the first and second wing segments of the folded wing assembly stacked on the top surface of the vehicle body; extracting gas from the airbag in the air chamber, and filling the second and third cavities with water; and activating the first and second drive components and the third drive component.

[0017] The above-described method for the trans-medium vehicle, wherein the process of moving the trans-medium vehicle from an underwater cruising state to an underwater surfacing state includes: inflating the air chamber into the airbag, discharging the water stored in the second and third cavities; and adjusting the center of gravity adjustment assembly to make the slider slide along the connecting rod toward the second cavity.

[0018] The above-described method for the trans-medium vehicle, wherein the process of moving the trans-medium vehicle from an underwater surfacing state to a surface gliding state includes: placing the wing assembly in a semi-open state, wherein the two first wing segments of a pair of wings of the semi-open wing assembly extend in opposite directions; activating the first drive assembly; and adjusting the center of gravity adjustment assembly so that the slider continues to slide along the connecting rod toward the direction of the second cavity until all other parts of the trans-medium vehicle, except for the second fuselage and hydrofoil structure, are above the water surface.

[0019] The above-described method for the trans-medium vehicle, wherein the process of enabling the trans-medium vehicle to transition from a water surface gliding state to a high-speed takeoff state includes: activating the second drive assembly; and fully deploying the wing assembly, wherein the second wing section of the fully deployed wing assembly rotates 180 degrees to extend the length of the wing assembly.

[0020] The above-described method for the trans-medium vehicle, wherein the process of enabling the trans-medium vehicle to transition from a high-speed takeoff state to an airborne cruise state includes: shutting down the first and third drive components; and adjusting the center of gravity adjustment component so that the slider slides along the connecting rod away from the second cavity until the trans-medium vehicle is stably cruising in the air.

[0021] The above-described method for the trans-medium vehicle, wherein the process of transitioning the trans-medium vehicle from an air cruising state to a water landing state includes: activating the first drive component; reducing the rotational speed of the second drive component to tilt the trans-medium vehicle toward the water surface.

[0022] The above-described cross-domain method for cross-medium vehicles involves a first speed and a second speed. When the actual speed of the cross-medium vehicle exceeds the first speed, the cross-medium vehicle transitions from an underwater surfacing state to a surface gliding state. When the actual speed of the cross-medium vehicle exceeds the second speed, the cross-medium vehicle transitions from a surface gliding state to a high-speed takeoff state.

[0023] The cross-medium vehicle of this application includes a vehicle body, which comprises a first fuselage and a second fuselage. The first fuselage is a rotating structure suitable for air navigation, which can reduce the drag of the cross-medium vehicle during air navigation. The second fuselage is a boat-shaped structure suitable for water navigation, which can reduce the drag of the cross-medium vehicle during water navigation. Therefore, the vehicle body composed of the first fuselage and the second fuselage can simultaneously ensure the stability of water navigation, cross-medium navigation, and air navigation. The cross-medium vehicle also has a first drive assembly located in the middle, a second drive assembly located at the first end, and a third drive assembly located at the second end. When the cross-medium vehicle becomes unstable, it can be adjusted in time by the drive assemblies located at different positions. Moreover, each drive assembly also has a stabilizing effect in different navigation media. The third drive assembly is used to control the stability of the cross-medium vehicle during underwater navigation, the first drive assembly is used to control the stability of the cross-medium vehicle during cross-medium navigation, and the second drive assembly is used to control the stability of the cross-medium vehicle during air navigation, so that the cross-medium vehicle has high control stability during underwater navigation, cross-medium navigation, and air navigation. Attached Figure Description

[0024] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is an overall schematic diagram of a cross-medium vehicle according to an embodiment of this application;

[0026] Figure 2 This is a cross-sectional view of a transmedia vehicle according to an embodiment of this application;

[0027] Figure 3 This is a schematic diagram of the wing assembly of a transmedia vehicle according to an embodiment of this application in a semi-open state;

[0028] Figure 4 This is a schematic diagram of the wing assembly of the transmedia vehicle according to an embodiment of this application in a fully deployed state;

[0029] Figure 5 This is a schematic diagram of the center of gravity adjustment assembly of a cross-medium vehicle according to an embodiment of this application;

[0030] Figure 6 This is a flowchart illustrating the cross-domain method for a cross-medium vehicle according to an embodiment of this application.

[0031] Explanation of icon numbers:

[0032] 10. First fuselage; 11. First cavity; 12. Second cavity; 13. Center of gravity adjustment assembly; 131. Support component; 132. Connecting rod; 133. Slider; 134. Center of gravity component; 20. Second fuselage; 21. Third cavity; 22. Fourth cavity; 23. Air pod; 24. Airbag; 30. Load-bearing part; 40. Wing assembly; 41. Wing; 411. Rotating part; 412. First wing section; 413. Second wing section; 50. First drive assembly; 51. First propeller; 52. First mounting component; 60. Second drive assembly; 61. Second propeller; 62. Second mounting component; 70. Third drive assembly; 71. Propulsion component; 72. Third mounting component; 80. Balance adjustment assembly; 81. First balance adjustment component; 82. Second balance adjustment component; 83. Third balance adjustment component; 84. Hydrofoil structure; 841. Connecting part; 842. Wing; 90. Camera device; 91. Antenna; 92. Water permeable hole;

[0033] 100. The main body of the aircraft. Detailed Implementation

[0034] The features and exemplary embodiments of various aspects of this application will be described in detail below. To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain this application and not to limit it. For those skilled in the art, this application can be implemented without some of these specific details. The following description of the embodiments is merely to provide a better understanding of this application by illustrating examples.

[0035] like Figures 1 to 4 As shown in the embodiment of this application, the transmedium vehicle includes a vehicle body 100, comprising a first fuselage 10 and a second fuselage 20. The first fuselage 10 and the second fuselage 20 are sequentially arranged from a first end to a second end of the vehicle body 100. The first end of the vehicle body 100 is the bow of the transmedium vehicle, and the second end of the vehicle body 100 is the stern of the transmedium vehicle. That is, during the transmedium vehicle's navigation, the first end of the vehicle body 100 is in front, and the second end is behind. The first fuselage 10 is a rotating structure suitable for air navigation, which can reduce the drag of the transmedium vehicle when it is in the air. The second fuselage 20 is a boat-shaped structure suitable for water navigation, which can reduce the drag of the transmedium vehicle when it is in the water. Therefore, the vehicle body 100 composed of the first fuselage 10 and the second fuselage 20 can simultaneously ensure the stability of water navigation, transmedium navigation, and air navigation.

[0036] The cross-medium vehicle also includes a first drive assembly 50 located in the middle, a second drive assembly 60 located at the first end, and a third drive assembly 70 located at the second end. When the cross-medium vehicle becomes unstable, it can be adjusted in a timely manner through the drive assemblies located at different positions. Moreover, each drive assembly also has a stabilizing effect in different navigation media. The third drive assembly 70 is used to control the stability of the cross-medium vehicle when it is underwater, the first drive assembly 50 is used to control the stability of the cross-medium vehicle during cross-medium navigation, and the second drive assembly 60 is used to control the stability of the cross-medium vehicle when it is airborne, so that the cross-medium vehicle has high control stability when it is underwater, during cross-medium navigation, and during airborne navigation.

[0037] Specifically, the rotating structure of the first fuselage 10 is a combination of a hemispherical structure and a cylindrical structure. The first end of the first fuselage 10 is a hemispherical structure, and the rest is a cylindrical structure. The hemispherical structure and the cylindrical structure are smoothly connected. The shape of the first fuselage 10 makes the transmedium vehicle experience less resistance and has higher stability when traveling in the air. The hull-shaped structure of the second fuselage 20 consists of an upper semi-cylindrical structure and a lower hull structure. The upper part of the hull structure is a semi-cylindrical structure that is smoothly connected to the cylindrical structure of the first fuselage 10. The lower hull structure is formed by splicing two arc-shaped plates at a certain angle, which makes the transmedium vehicle experience less resistance and has higher stability when traveling in water.

[0038] Specifically, the transmedium vehicle also includes a support portion 30, which is recessed at the top of the middle part of the vehicle body 100. That is, a part of the support portion 30 is recessed at the top of the cylindrical structure of the first fuselage 10, and another part is recessed at the top of the semi-cylindrical structure of the upper half of the second fuselage 20. The support portion 30 is generally planar. The first drive assembly 50 is disposed on the surface of the support portion 30. Since the support portion 30 is recessed towards the axis of the vehicle body 100, only a small part of the first drive assembly 50 protrudes from the outer peripheral surface of the vehicle body 100, so that the transmedium vehicle experiences less resistance and has higher stability when sailing in water.

[0039] like Figure 1 and Figure 2 As shown in the embodiment of this application, the cross-medium vehicle is connected to the first end of the first fuselage 10 and the second fuselage 20. The cross-sectional shape of the first end of the second fuselage 20 is the same as the cross-sectional shape of the rotating body structure of the first fuselage 10, so that the first fuselage 10 and the second fuselage 20 can achieve a smooth transition connection, avoiding the appearance of protruding parts on the surface of the vehicle body 100, which would affect the stability of the cross-medium vehicle during navigation. Along the direction from the first end to the second end of the second fuselage 20, the second fuselage 20 gradually changes from a rotating body structure to a boat-shaped structure. This gradual structural design makes the second fuselage 20 a structure suitable for water flow on the surface, which can reduce the water resistance when sailing in water and improve the stability of the cross-medium vehicle when sailing in water.

[0040] Specifically, the two arc-shaped plates of the lower half of the second fuselage 20 together form an arc-shaped structure at the first end. The arc-shaped structure can smoothly transition and connect with the cylindrical structure of the first fuselage 10. Along the direction from the first end to the second end of the second fuselage 20, the curvature of the two arc-shaped plates decreases, gradually forming two boat-shaped bottom plates set at an angle. This boat-shaped structure has stability when sailing in water.

[0041] Specifically, in the direction from the first end to the second end of the vehicle body 100, the length of the first fuselage 10 is 50% of the total length of the vehicle body 100, which is 0.8m. The diameter of the rotating body structure is 0.18m. The length of the second fuselage 20 is 0.8m. The length of the gradient structure part of the second fuselage 20 is 30% of the total length of the vehicle body 100. The length of the boat-shaped structure of the second fuselage 20 is 20% of the total length of the vehicle body 100.

[0042] like Figure 1 As shown in the embodiment of this application, the transmedium vehicle is provided with a first drive component 50 and a second drive component 60 for providing driving force in the airspace. The driving force direction of the first drive component 50 and the driving force direction of the second drive component 60 are at a preset angle, so that the transmedium vehicle can be subjected to driving forces in the horizontal and vertical directions, thereby maintaining stability in the airspace.

[0043] Specifically, such as Figure 1 As shown, the first drive assembly 50 includes a first propeller 51, which is rotatably configured to drive airflow and generate thrust from the bottom to the top of the vehicle body 100. Under the control of the first propeller 51, the transmedium vehicle can maintain stability during transmedium navigation from water to air. The first drive assembly 50 also includes a first mounting member 52, which is a cylindrical structure located in the middle of the support portion 30 and perpendicular to the surface of the support portion 30. The first propeller 51 is rotatably configured at the other end of the first mounting member 52 and rotates when activated to generate thrust from the bottom to the top of the vehicle body 100.

[0044] Specifically, such as Figure 1 As shown, the second drive assembly 60 includes a second propeller 61, which is rotatably configured to drive airflow. The second propeller 61 can generate thrust from the first end to the second end of the vehicle body 100, enabling the transmedium vehicle to have stable horizontal thrust during air navigation and achieve stable navigation. The second drive assembly 60 also includes a second mounting member 62, which is obliquely connected to the first end of the first fuselage 10. The second propeller 61 can be vertically and rotatably connected to the second mounting member 62, thereby generating thrust from the first end to the second end of the vehicle body 100.

[0045] Specifically, such as Figure 1As shown, the third drive assembly 70 includes a propulsion member 71, which is rotatably configured to drive the flow of water. The propulsion member 71 can generate thrust from the first end to the second end of the vehicle body 100 and from the bottom to the top of the vehicle body 100, so that the cross-medium vehicle can have stable thrust during water navigation and achieve stable navigation. The third drive assembly 70 also includes a third mounting member 72, one end of which is fixedly connected to the second fuselage 20, and the second end is rotatably connected to the propulsion member 71, thereby generating thrust in the water for the cross-medium vehicle through rotation.

[0046] like Figures 1 to 4 As shown in the embodiment of this application, the transmedium vehicle further includes: a wing assembly 40, which is disposed on the top of the vehicle body 100. The wing assembly 40 includes a plurality of wings 41 arranged in pairs. The plurality of wings 41 are stacked on the top surface of the vehicle body 100 and have the same axis. Two of the pairs of wings 41 rotate in opposite directions.

[0047] In practice, when the transmedium vehicle is navigating in water, all the wings 41 are closed. At this time, the wings 41 can be stacked on top of the vehicle body 100 to reduce the drag of the transmedium vehicle navigating in water. When the transmedium vehicle is navigating in the air, all the wings 41 are open. Two of the pairs of wings 41 can be respectively set on both sides of the vehicle body 100 so that the transmedium vehicle can navigate stably in the air.

[0048] Specifically, the cross-medium vehicle includes two sets of wing assemblies 40, both of which are disposed on the surface of the support part 30. The two sets of wing assemblies 40 are respectively disposed on both sides of the first drive assembly 50 along the direction from the first end to the second end of the vehicle body 100, which further improves the stability of the cross-medium vehicle during air navigation.

[0049] like Figure 3 and Figure 4 As shown in the embodiment of this application, the transmedium vehicle includes a wing 41 comprising a rotating part 411, a first wing segment 412, and a second wing segment 413. The rotating part 411 is fixedly connected to a first end of the first wing segment 412, and the second end of the first wing segment 412 is rotatably connected to one end of the second wing segment 413. The second wing segment 413 can rotate 180 degrees around a direction perpendicular to the extension of the first wing segment 411.

[0050] In practical implementation, the two-section design of the first wing section 412 and the second wing section 413 enables the transmedium vehicle to have different states in different navigation phases. When the transmedium vehicle is gliding on the water surface, one of the wings 41 rotates 90 degrees toward one side of the vehicle body 100, and the other wing 41 rotates 90 degrees toward the other side of the vehicle body 100. At this time, the first wing section 412 and the second wing section 413 are stacked, and the transmedium vehicle can navigate stably on the water surface. During the transmedium vehicle's takeoff from the water surface and during its flight, the second wing section 413 rotates 180 degrees around the direction perpendicular to the extension of the first wing section 412 to increase the length of the wing 41, so that the transmedium vehicle can maintain a stable navigation state during takeoff from the water surface and during flight.

[0051] Specifically, the second wing section 413 is equipped with flaps, and the airfoil is the NACA2412 standard airfoil. The flaps can increase the overall area of ​​the wing and change the wing camber, thereby improving the lift of the transmedium vehicle.

[0052] like Figure 2 As shown in the embodiment of this application, the cross-medium vehicle has a first fuselage 10 as a hollow structure. The first fuselage 10 has a first cavity 11 and a second cavity 12 inside. The first cavity 11 and the second cavity 12 are arranged sequentially from the first end to the second end of the first fuselage 10. The first cavity 11 is a sealed cavity, and the second cavity 12 is a water-permeable cavity. The water storage capacity of the second cavity 12 can be controlled. By controlling the water storage capacity of the second cavity 12, the overall weight of the cross-medium vehicle can be changed, thereby controlling the buoyancy or slumber of the cross-medium vehicle when it is sailing in water.

[0053] In the cross-medium vehicle of this application embodiment, the second fuselage 20 is hollow inside, and has a third cavity 21 and a fourth cavity 22 inside. The third cavity 21 and the fourth cavity 22 are arranged sequentially from the first end to the second end of the second fuselage 20. The third cavity 21 is a water-permeable cavity, and the water storage capacity of the third cavity 21 is controllable. The fourth cavity 22 is a sealed cavity. By controlling the water storage capacity of the third cavity 21, the overall weight of the cross-medium vehicle can be changed, thereby controlling the buoyancy or slumber of the cross-medium vehicle when it is sailing in water.

[0054] Specifically, the second cavity 12 and the third cavity 21 are connected to the water area through the water permeable hole 92, so that liquid can enter or exit the second cavity 12 and the third cavity 21.

[0055] like Figure 2As shown in the embodiment of this application, the cross-medium vehicle is provided with an air chamber 23 and an airbag 24 in both the second cavity 12 and the third cavity 21. The air chamber 23 is connected to the airbag 24. The air chamber 23 is used to store gas and can inflate the airbag 24 or extract the gas from the airbag 24.

[0056] The air chamber 23 can store gas, which can inflate the airbag 24, filling it to occupy 50% of the space in the second cavity 12 and the third cavity 21. This allows most of the liquid in the second cavity 12 and the third cavity 21 to be expelled. At this time, the buoyancy of the transmedium vehicle is greater than the gravity, enabling the transmedium vehicle to automatically rise when navigating in water, thus reducing the energy consumption of the transmedium vehicle. The air chamber 23 can also extract all the gas from the airbag 24, reducing the volume of the airbag 24. The liquid re-enters the second cavity 12 and the third cavity 21, where gravity is greater than buoyancy, enabling the transmedium vehicle to sink when navigating in water.

[0057] like Figure 1 and Figure 5 As shown in the embodiment of this application, the transmedium vehicle has a center of gravity adjustment assembly 13 disposed in the first cavity 11. The center of gravity adjustment assembly 13 includes two support members 131, a connecting rod 132, a slider 133 and a center of gravity member 134. The connecting rod 132 extends along the direction from the first end to the second end of the vehicle body 100. The two support members 131 are respectively disposed at the two ends of the connecting rod 132. The slider 133 is movably inserted through the connecting rod 132. The center of gravity member 134 is connected to the slider 133.

[0058] In practice, in order to increase the buoyancy of the transmedium vehicle in water, the slider 133 is slid along the extension direction of the connecting rod 132 toward the second end of the vehicle body 100, so as to drive the center of gravity component 134 to move toward the second end of the vehicle body 100, thereby adjusting the center of gravity of the vehicle body 100 to move toward the second end, so that the first end of the vehicle body 100 is lifted upward, and the transmedium vehicle quickly rises under the pushing action of the propulsion component 71.

[0059] Optionally, the slider 133 can be slidably disposed in the slide rail, which extends along the direction from the first end to the second end of the vehicle body 100, and the slider 133 can drive the center of gravity member 134 to move towards the second end of the vehicle body 100.

[0060] Specifically, the cross-medium vehicle also includes a control module, an energy supply module, and a navigation module, all of which are located within the first cavity 11.

[0061] like Figure 1 and Figure 2As shown in the embodiment of this application, the transmedium vehicle further includes a balance adjustment component 80 and a hydrofoil structure 84. The balance adjustment component 80 is disposed on the surface of the second fuselage 20, and the hydrofoil structure 84 is disposed on the bottom of the first fuselage 10. When the transmedium vehicle is navigating on the water surface, its first fuselage 10 is located on the water surface, the second fuselage 20 is located in the water, and the hydrofoil structure 84 at the bottom of the first fuselage 10 remains in the water to maintain the navigation stability of the transmedium vehicle when navigating on the water surface.

[0062] Specifically, the hydrofoil structure 84 includes a connecting part 841 extending along the height direction of the transmedium vehicle and a wing 842 extending along the horizontal direction of the transmedium vehicle. The wing 842 is a plate-like structure. One end of the connecting part 841 is connected to the bottom of the first fuselage 10, and the other end is connected to the wing 842. The wing 842 can increase the stability of the transmedium vehicle in water and on the water surface.

[0063] Specifically, the balance adjustment assembly 80 further includes a first balance adjustment member 81, a second balance adjustment member 82, and a third balance adjustment member 83. The first balance adjustment member 81 extends along the height direction of the transmedium vehicle and is connected to the top of the second fuselage 20. The second balance adjustment member 82 and the third balance adjustment member 83 both extend along the horizontal direction of the transmedium vehicle and are oppositely connected to the two sides of the second fuselage 20 along the horizontal direction of the transmedium vehicle. The first balance adjustment member 81, the second balance adjustment member 82, and the third balance adjustment member 83 can control the overall stability at the second end of the transmedium vehicle, enabling the transmedium vehicle to navigate stably in water.

[0064] Specifically, the cross-medium vehicle also includes a camera device 90 and an antenna 91. The camera device 90 is installed at the bottom of the first fuselage 10 and can detect the navigation environment when navigating in the air or water. The camera device 90 is equipped with a gimbal to meet the detection requirements within a 180-degree range. The antenna is located at the top of the first fuselage 10 and can transmit and receive signals.

[0065] like Figure 6 As shown in the embodiments of this application, a cross-domain method for a cross-medium vehicle is also provided. The cross-medium vehicle employs this cross-domain method to achieve cross-medium navigation between water and airspace. The cross-domain method for the cross-medium vehicle includes:

[0066] S110. Deploy the cross-medium vehicle into the water, with the wing assembly 40 in a folded state, fill the second cavity 12 and the third cavity 21 with water, and start the third drive assembly 70. The cross-medium vehicle enters the underwater cruise state. At this time, the entire cross-medium vehicle is underwater and sails in the water.

[0067] S120. Drain water from the second cavity 12 and the third cavity 21, and adjust the center of gravity adjustment component 13 to make the cross-medium vehicle enter the underwater surfacing state from the underwater cruising state. At this time, the first end of the cross-medium vehicle rises. After entering the underwater surfacing state, the cross-medium vehicle floats upward with the first end on top and the second end on the bottom.

[0068] S130. The cross-medium vehicle rises to the water surface, so that the wing assembly 40 is in a semi-open state. The first drive assembly 50 is activated, and the center of gravity adjustment assembly 13 is adjusted so that the cross-medium vehicle enters the water surface gliding state from the underwater rising state. In the water surface gliding state, the cross-medium vehicle still maintains the attitude of the first end being on top and the second end being on the bottom.

[0069] S140, activate the second drive assembly 60 to fully open the wing assembly 40, so that the cross-medium vehicle can enter the high-speed take-off state from the water surface gliding state, and realize cross-medium navigation from the water area to the airspace. In the high-speed take-off state, the cross-medium vehicle maintains the attitude of the first end up and the second end down and accelerates upward in the airspace. At this time, the entire cross-medium vehicle is in the airspace.

[0070] S150. After the cross-medium vehicle reaches the set altitude, the first drive assembly 50 and the third drive assembly 70 are turned off, and the center of gravity adjustment assembly 13 is adjusted so that the first end and the second end of the cross-medium vehicle are on the same horizontal plane. The cross-medium vehicle enters the air cruise state from the high-speed take-off state. In the air cruise state, the cross-medium vehicle sails stably in the airspace.

[0071] S160, the first drive component 50 is activated, and the rotation speed of the second drive component 60 is reduced. The cross-medium vehicle enters the water surface landing state from the air cruise state. At this time, the speed of the cross-medium vehicle is reduced until it approaches the water surface, realizing cross-medium navigation from airspace to water.

[0072] The cross-domain method for cross-medium vehicles using the embodiments of this application enables cross-medium vehicles to perform underwater navigation, cross-medium navigation, and air navigation with a stable attitude, thus ensuring the control stability of the cross-medium vehicle.

[0073] The method for cross-domain operation of a cross-medium vehicle according to an embodiment of this application, wherein the cross-medium vehicle enters an underwater cruising state, includes: folding the wing assembly 40, wherein the first wing segment 412 and the second wing segment 413 of the wing assembly 40 are stacked on the top surface of the vehicle body 100 to prevent the wing assembly 40 from protruding from the vehicle body 100, thereby reducing the drag of the cross-medium vehicle in water and making the cross-medium vehicle more stable when cruising in water; the air chamber 23 extracts the gas from the airbag 24, and the second cavity 12 and the third cavity 21 are filled with water, at which point the gravity of the cross-medium vehicle is greater than the buoyancy, and the cross-medium vehicle can continue to sink until it submerges to the target depth for underwater navigation; and closing the first drive assembly 50 and the second drive assembly 60, and activating the third drive assembly 70, wherein the propeller 71 of the third drive assembly 70 rotates to move the cross-medium vehicle in water.

[0074] In practice, the first balance adjustment component 81, the second balance adjustment component 82, and the third balance adjustment component 83 can control the balance of the transmedium vehicle when it is navigating in water, so as to adjust the attitude of the transmedium vehicle in water.

[0075] The method for a cross-domain transmedium vehicle according to an embodiment of this application, wherein the transmedium vehicle enters an underwater surfacing state from an underwater cruising state, includes: the air chamber 23 inflating the airbag 24, and the water stored in the second cavity 12 and the third cavity 21 being discharged outward. At this time, the buoyancy of the transmedium vehicle is greater than the gravity, and the transmedium vehicle floats upward as a whole. In order to increase the upward floating speed of the transmedium vehicle, it is necessary to adjust the center of gravity adjustment component 13, so that the slider 133 slides along the connecting rod 132 towards the direction of the second cavity 12. The slider 133 simultaneously drives the center of gravity component 134 to slide towards the direction of the second cavity 12, thereby moving the center of gravity of the vehicle body 100 towards the second end of the vehicle body 100, and lifting the first end of the vehicle body 100 upward, ultimately achieving the rapid surfacing of the transmedium vehicle.

[0076] In practice, after adjusting the center of gravity adjustment component 13, the first end of the vehicle body 100 is raised higher than its second end. At this time, the propulsion component 71 is activated, causing it to rotate and generate downward thrust, which can further improve the ascent speed of the transmedium vehicle.

[0077] like Figure 3As shown, the cross-domain method for a cross-medium vehicle according to an embodiment of this application, wherein the cross-medium vehicle rises to the water surface, and the cross-medium vehicle enters the water surface gliding state from the underwater surfacing state, includes: putting the wing assembly 40 in a semi-open state, and extending the first wing sections 412 of a pair of wings 41 in opposite directions. At this time, the wing assembly 40 can reduce the drag of the first fuselage 10 in the air, ensuring the stability of the cross-medium vehicle in the water surface gliding state; putting the first drive assembly 50 in an activated state, which can maintain the balance of the middle part of the cross-medium vehicle, so that the middle part of the cross-medium vehicle is at the water surface; adjusting the center of gravity adjustment assembly 13, so that the slider 133 continues to slide along the connecting rod 132 towards the second cavity 12, and the slider 133 simultaneously drives the center of gravity component 134 to continue to slide towards the second cavity 12, so that the center of gravity of the vehicle body 100 continues to move towards the second end of the vehicle body 100, until all other parts of the cross-medium vehicle except the second fuselage 20 and the hydrofoil structure 84 are above the water surface.

[0078] Specifically, the transmedium vehicle rises to the surface of the water, so that the transmedium vehicle enters the water surface gliding state from the underwater surfacing state, and also includes keeping the third drive assembly 70 in the activated state, with the propulsion component 71 of the third drive assembly 70 rotating to make the transmedium vehicle move on the water surface.

[0079] like Figure 4 As shown in the embodiment of this application, the cross-domain method for a cross-medium vehicle, wherein the cross-medium vehicle enters a high-speed takeoff state from a water surface gliding state to achieve cross-medium navigation from water to airspace, includes: activating the second drive assembly 60, at which time the second propeller 61 rotates to generate downward thrust to propel the cross-medium vehicle upward for takeoff; and fully opening the wing assembly 40, that is, rotating the second wing section 413, which is stacked with the first wing section 412, by 180 degrees to extend the length of the wing assembly 40, which can improve the navigation speed of the cross-medium vehicle in the air and ensure the navigation stability of the cross-medium vehicle in the high-speed takeoff state.

[0080] The method for cross-domain operation of a cross-medium vehicle according to an embodiment of this application, wherein the cross-medium vehicle reaches a set altitude and enters an air cruise state from a high-speed takeoff state, includes: turning off the first drive assembly 50 and the third drive assembly 70, leaving only the second drive assembly 60 in the activated state, so that the second drive assembly 60 can generate a stable thrust to drive the cross-medium vehicle in air cruise, avoiding the first drive assembly 50 generating a vertical thrust that would interfere with the navigation stability of the cross-medium vehicle; adjusting the center of gravity adjustment assembly 13, so that the slider 133 slides along the connecting rod 132 away from the second cavity 12, and the slider 133 simultaneously drives the center of gravity component 134 to slide away from the second cavity 12, thereby moving the center of gravity of the vehicle body 100 towards the first end of the vehicle body 100 until the first end and the second end of the vehicle body 100 are on the same plane, so that the cross-medium vehicle can navigate stably in the air.

[0081] The method for cross-domain navigation of a cross-medium vehicle according to the embodiments of this application, wherein the cross-medium vehicle enters the water landing state from the air cruise state to realize cross-medium navigation from the airspace to the water, includes: activating the first drive component 50 and reducing the rotation speed of the second drive component 60 to adjust the attitude of the cross-medium vehicle, causing the cross-medium vehicle to tilt towards the water surface. The combined control of the first drive component 50 and the second drive component 60 can improve the stability of the cross-medium vehicle during the water landing process, so that the cross-medium vehicle lands smoothly.

[0082] The cross-domain method for a cross-medium vehicle according to embodiments of this application includes a first navigation speed and a second navigation speed. When the actual navigation speed of the cross-medium vehicle exceeds the first navigation speed, the cross-medium vehicle enters a surface gliding state from an underwater surfacing state. When the actual navigation speed of the cross-medium vehicle exceeds the second navigation speed, the cross-medium vehicle enters a high-speed takeoff state from the surface gliding state.

[0083] In practice, the first and second speeds are used to determine the navigation phase of the cross-medium vehicle, thus preventing the cross-medium vehicle from having an excessively high actual speed during its current navigation phase, which could affect navigation stability.

[0084] Specifically, the first and second navigation speeds are stored in the control module, and the control module can also detect the actual navigation speed of the cross-medium vehicle and compare it with the first and second navigation speeds to determine whether the actual navigation speed of the cross-medium vehicle exceeds the first and second navigation speeds.

[0085] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus that includes said element.

[0086] The above description is merely a specific implementation of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here. It should be understood that the protection scope of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the protection scope of this application.

Claims

1. A cross-media vehicle, characterized by, The cross-medium vehicle comprises: a vehicle body (100) comprising a first fuselage (10) and a second fuselage (20), the first fuselage (10) and the second fuselage (20) being arranged in sequence along a first end to a second end of the vehicle body (100), the first fuselage (10) being a body of revolution structure suitable for air navigation, and the second fuselage (20) being a ship-shaped structure suitable for underwater navigation; a first driving assembly (50) arranged at a middle part of the vehicle body (100) and used for controlling stability of the cross-medium vehicle during cross-medium navigation; a second driving assembly (60) arranged at the first end of the vehicle body (100) and used for controlling stability of the cross-medium vehicle during air navigation; a third driving assembly (70) arranged at the second end of the vehicle body (100) and used for controlling stability of the cross-medium vehicle during underwater navigation.

2. The cross-media vehicle of claim 1, wherein, The first fuselage (10) is connected to a first end of the second fuselage (20), a cross-sectional shape of the first end of the second fuselage (20) is the same as a cross-sectional shape of the body of revolution structure of the first fuselage (10), and the second fuselage (20) gradually changes from the body of revolution structure to the ship-shaped structure along a direction from the first end to the second end of the second fuselage (20).

3. The cross-medium vehicle of claim 1, wherein, The first driving assembly (50) and the second driving assembly (60) are used for providing driving force in an air space, a driving force direction of the first driving assembly (50) and a driving force direction of the second driving assembly (60) form a preset angle.

4. The cross-medium vehicle of claim 1, wherein, The cross-medium vehicle further comprises: a wing assembly (40) arranged at a top of the vehicle body (100), the wing assembly (40) comprising a plurality of wings (41) arranged in pairs, the plurality of wings (41) being arranged in layers on a top surface of the vehicle body (100) and having the same axis, and two wings (41) in a pair of the wings (41) rotate towards opposite directions respectively.

5. The cross-media vehicle of claim 4, wherein, The wing (41) comprises a rotating part (411), a first wing segment (412) and a second wing segment (413), the rotating part (411) is fixedly connected to a first end of the first wing segment (412), a second end of the first wing segment (412) is rotatably connected to one end of the second wing segment (413), and the second wing segment (413) can rotate by 180 degrees around a direction perpendicular to an extension direction of the first wing segment (412).

6. The cross-media vehicle of claim 5, wherein, The first fuselage (10) is a hollow structure, the first fuselage (10) has a first cavity (11) and a second cavity (12) inside, the first cavity (11) and the second cavity (12) are arranged in sequence along a first end to a second end of the first fuselage (10), the first cavity (11) is a sealed cavity, the second cavity (12) is a water-permeable cavity, and a water storage amount of the second cavity (12) is controllable.

7. The cross-media vehicle of claim 6, wherein, The second fuselage (20) is a hollow structure, and the second fuselage (20) has a third cavity (21) and a fourth cavity (22) inside, the third cavity (21) and the fourth cavity (22) are sequentially arranged from a first end to a second end of the second fuselage (20), the third cavity (21) is a water-permeable cavity, and a water storage amount of the third cavity (21) is controllable, and the fourth cavity (22) is a sealed cavity.

8. The cross-media vehicle of claim 7, wherein, The second cavity (12) and the third cavity (21) are both provided with an air chamber (23) and an air bag (24), the air chamber (23) is in communication with the air bag (24), the air chamber (23) is used for storing gas, and the air chamber (23) can inflate the air bag (24) or exhaust the gas in the air bag (24).

9. The cross-media vehicle of claim 8, wherein, The first cavity (11) is provided with a gravity adjusting assembly (13), the gravity adjusting assembly (13) comprises two support members (131), a connecting rod (132), a sliding block (133) and a gravity member (134), the connecting rod (132) extends in a direction from a first end to a second end of the aircraft body (100), the two support members (131) are respectively arranged at two ends of the connecting rod (132), the sliding block (133) movably penetrates the connecting rod (132), and the gravity member (134) is connected to the sliding block (133).

10. The cross-medium vehicle of claim 1, wherein, The cross-medium aircraft further comprises a balance adjusting assembly (80) and a hydrofoil structure (84), the balance adjusting assembly (80) is arranged on a surface of the second fuselage (20), and the hydrofoil structure (84) is arranged at a bottom of the first fuselage (10).

11. A method of crossing a domain of a cross-medium vehicle, the method comprising: The cross-medium aircraft of claim 9 adopts a cross-domain method of the cross-medium aircraft, can realize cross-medium navigation between a water area and an air area, and the cross-domain method of the cross-medium aircraft comprises: Launching the cross-medium aircraft into the water area, making the wing assembly (40) in a folded state, filling water into the second cavity (12) and the third cavity (21), and starting the third driving assembly (70), so that the cross-medium aircraft enters an underwater cruising state; Draining the second cavity (12) and the third cavity (21), and adjusting the gravity adjusting assembly (13), so that the cross-medium aircraft enters an underwater floating state from the underwater cruising state; The cross-medium aircraft floats to the water surface, makes the wing assembly (40) in a half-open state, starts the first driving assembly (50), and adjusts the gravity adjusting assembly (13), so that the cross-medium aircraft enters a water surface sliding state from the underwater floating state; Starting the second driving assembly (60), so that the wing assembly (40) is in a fully open state, the cross-medium aircraft enters a high-speed take-off state from the water surface sliding state, and realizes cross-medium navigation from the water area to the air area; The cross-medium vehicle reaches the set height, the first driving assembly (50) and the third driving assembly (70) are closed, and the gravity center adjusting assembly (13) is adjusted, so that the cross-medium vehicle enters the air cruising state from the high-speed take-off state; The first driving assembly (50) is started, and the rotating speed of the second driving assembly (60) is reduced, so that the cross-medium vehicle enters the water surface landing state from the air cruising state, and realizes the cross-medium navigation from the airspace to the water area.

12. The method of claim 11, wherein, The cross-medium vehicle enters the underwater cruising state, comprising: The wing assembly (40) is in a folded state, and the first wing section (412) and the second wing section (413) of the wing assembly (40) in the folded state are stacked on the top surface of the vehicle body (100); The air chamber (23) extracts the gas in the air bag (24), and the second cavity (12) and the third cavity (21) are filled with water; The first driving assembly (50) and the second driving assembly (60) are in a closed state, and the third driving assembly (70) is in a started state.

13. The method of claim 12, wherein, The cross-medium vehicle enters the underwater floating state from the underwater cruising state, comprising: The air chamber (23) fills the air bag (24) with air, and the water stored in the second cavity (12) and the third cavity (21) is discharged outward; The gravity center adjusting assembly (13) is adjusted, so that the sliding block (133) slides along the connecting rod (132) to the direction close to the second cavity (12).

14. The method of claim 13, wherein, The cross-medium vehicle enters the water surface sliding state from the underwater floating state, comprising: The wing assembly (40) is in a half-open state, and the two first wing sections (412) of the pair of wings (41) of the wing assembly (40) in the half-open state extend in opposite directions; The first driving assembly (50) is in a started state; The gravity center adjusting assembly (13) is adjusted, so that the sliding block (133) continues to slide along the connecting rod (132) to the direction close to the second cavity (12), until all parts of the cross-medium vehicle except the second fuselage (20) and the hydrofoil structure (84) are above the water surface.

15. The method of claim 14, wherein, The cross-medium vehicle enters the high-speed take-off state from the water surface sliding state, comprising: The second driving assembly (60) is in a started state; The wing assembly (40) is in a fully open state, and the second wing section (413) of the wing assembly (40) in the fully open state is rotated by 180 degrees to lengthen the wing assembly (40).

16. The method of claim 15, wherein, The cross-medium vehicle enters the air cruising state from the high-speed take-off state, comprising: The first driving assembly (50) and the third driving assembly (70) are in a closed state; The gravity center adjusting assembly (13) is adjusted, so that the sliding block (133) slides along the connecting rod (132) to the direction away from the second cavity (12), until the cross-medium vehicle stably navigates in the air.

17. The method of claim 16, wherein, The cross-medium vehicle enters the water surface landing state from the air cruising state, comprising: The first driving assembly (50) is in a started state; decreasing the rotation speed of the second driving assembly (60) to tilt the trans-medium vehicle towards the water surface.

18. The method of claim 11, wherein, The trans-medium vehicle has a first navigation speed and a second navigation speed, when the actual navigation speed of the trans-medium vehicle exceeds the first navigation speed, the trans-medium vehicle enters a water surface sliding state from the underwater floating state; When the actual navigation speed of the trans-medium vehicle exceeds the second navigation speed, the trans-medium vehicle enters a high-speed take-off state from the water surface sliding state.

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