A floating control method and control system for a cross-medium water-air dual-purpose aircraft

Abstract

The present invention discloses a floating control method for a cross-medium water-air dual-purpose aircraft, which obtains the operation intention of an external host computer or an operator, and detects the medium environment parameters of the aircraft fuselage and the current motion state parameters of the aircraft; by sucking water from the environment or discharging water from the aircraft fuselage, the force condition of the aircraft in the water environment is changed, thereby realizing its floating control in the water environment. The present invention also discloses a floating control system for a cross-medium water-air dual-purpose aircraft, which includes: a detection module, a main control module and an actuator. In the system provided by the present invention, each device is tightly coupled and the system architecture is clear. The control method provided by the present invention is easy to control, and the aircraft can conveniently and efficiently control its own force condition when in a water environment, and can be conveniently implemented in a water environment and in the process of switching between a water environment and an air environment.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and in particular to a cross-medium water-air dual-purpose aircraft. Background Art

[0002] Rotor-type water-air vehicles have become an important research direction for aircraft due to their flexibility and lack of restrictions on take-off and landing sites. Water-air vehicles need to move in an atmospheric environment or a water environment. Due to the phase difference between air and water, the motion control methods for water-air vehicles are completely different. When the aircraft moves completely in the air, the main considerations are the effects of gravity on the aircraft fuselage and air resistance during movement on the movement; when the aircraft needs to enter the water from the air, or enter the air from the water, or move completely in the water, the aircraft is greatly affected by the buoyancy of the water. If the control means are not set accordingly, it is difficult for the aircraft to achieve the expected control effect. Today, most cross-media aircraft are in the laboratory stage, and there is no mature floating control method for water-air dual-use aircraft in the existing technology. Summary of the invention

[0003] Based on this, it is necessary to provide a floating control method and control system that can be applied to cross-medium water-air dual-purpose aircraft. The floating control method can enable the aircraft to conveniently and efficiently control its own force conditions when in a water environment. The system will assist the aircraft in realizing underwater motion control of the aircraft.

[0004] The technical solution of the present invention is as follows:

[0005] A floating control method for a dual-purpose aircraft for water and air across media, the method comprising: obtaining the operation intention of an external host computer or an operator, and detecting the medium environment parameters in which the aircraft fuselage is currently located and the current motion state parameters of the aircraft; if the aircraft fuselage is currently in a water environment and the external host computer or the operator requires the aircraft to remain in underwater motion, water in the environment is sucked in or water stored in the aircraft fuselage is discharged to change the total weight of the aircraft itself, and the aircraft fuselage is controlled to move below the water surface; if the aircraft fuselage is currently in a water environment and the external host computer or the operator requires the aircraft to move across an air environment, all water stored in the aircraft fuselage is gradually discharged to move the aircraft fuselage below the water surface. The total weight of the aircraft itself is reduced to the minimum, so that the aircraft gradually floats out of the water until it leaves the water environment and enters the air environment; if the aircraft body is currently in the air environment and the external host computer or operator requires the aircraft to remain in the air environment, the aircraft is kept in a state of draining all the water stored in the fuselage, and the aircraft body is controlled to move above the water surface; if the aircraft body is currently in the air environment and the external host computer or operator requires the aircraft to step into the water environment for movement, the aircraft is controlled to land on the water surface, gradually inhale the water in the environment to gradually increase the total weight of the aircraft body, so that the aircraft is gradually immersed in the water environment until it leaves the air environment and completely enters the water environment.

[0006] Optionally, if the aircraft body is currently in a water environment, and the external host computer or the operator requires the aircraft to keep moving underwater and below the real-time position of the aircraft, the aircraft inhales water in the environment to increase the total weight of the aircraft body, so that the aircraft dives below the water surface to a lower position;

[0007] If the aircraft is currently in a water environment and the external host computer or operator requires the aircraft to remain in underwater motion and higher than the aircraft's real-time position, the aircraft will discharge the water stored in the fuselage to reduce the total weight of the aircraft so that the aircraft floats to a higher position above the water surface;

[0008] If the aircraft body is currently in a water environment and the external host computer or operator requires the aircraft to keep moving underwater and at the same altitude as the real-time position of the aircraft, the aircraft maintains the current water storage volume unchanged so that the aircraft maintains the current altitude level in the water.

[0009] Optionally, when the aircraft is completely submerged in water and completely below the surface of the water, the aircraft fuses sonar data, pressure data, and inertial data to determine the real-time position of the aircraft;

[0010] When the vehicle is airborne and completely above the water, the vehicle fuses inertial data with satellite positioning data to determine the vehicle’s real-time position;

[0011] When the aircraft is in the process of crossing the two media of water and air, the aircraft integrates inertial data, satellite positioning data, pressure data and sonar data to determine the real-time position of the aircraft.

[0012] Optionally, the aircraft adjusts the rate of water intake or discharge at the current moment according to its real-time position data.

[0013] Optionally, if the aircraft body is currently in a water environment and an external host computer or operator requires the aircraft to move into an air environment, the aircraft gradually discharges the water stored in the fuselage to reduce the total weight of the aircraft body. When the aircraft has discharged all the water stored in the fuselage, the real-time position of the aircraft at this time is used to confirm that the aircraft has surfaced, and then the aircraft is controlled to leave the water environment and enter the air environment.

[0014] Optionally, if the aircraft fuselage is currently in an air environment and an external host computer or an operator requires the aircraft to move into a water environment, the aircraft is controlled to gradually lower its altitude. When the aircraft lands on the water surface, it begins to inhale water in the environment to gradually increase the total weight of the aircraft fuselage. The total weight of the aircraft fuselage gradually increases until the aircraft is completely immersed in the water environment.

[0015] The present invention also provides a floating control system for a cross-medium water-air dual-purpose aircraft, which is used to implement the floating control method for the cross-medium water-air dual-purpose aircraft; the system comprises:

[0016] Detection module: set in the aircraft body, used to detect the medium environment parameters of the aircraft body and the current motion state parameters of the aircraft;

[0017] Main control module: used to obtain the operation intention of the external host computer or operator and access the data of the detection module, and issue corresponding control instructions after comprehensive calculation;

[0018] And, an actuator: used to receive control instructions from the main control module, and correspondingly suck in water from the environment or discharge water stored in the aircraft fuselage.

[0019] Optionally, the detection module includes one or more combinations of sonar, satellite locator, pressure sensor, camera, laser radar and infrared detector.

[0020] Optionally, the main control module includes a main controller and a switch driver, the main controller is used to integrate data, logical operations and issue control instructions, the switch driver is connected to the main controller, and the switch driver is used to generate drive pulses according to the control instructions of the main controller; the main control module also includes a remote control and a remote control signal receiver, the remote control interacts with the remote control signal receiver, and the remote control signal receiver is connected to the main controller.

[0021] Optionally, the actuator comprises a water storage tank, a peristaltic pump and a solenoid valve; the solenoid valve is arranged at the water inlet end of the peristaltic pump, and the solenoid valve is connected to the water circuit of the peristaltic pump, the solenoid valve interacts with the switch driver, and the solenoid valve receives the driving pulse to open or close the valve; the water storage tank is arranged at the water outlet end of the peristaltic pump, and the peristaltic pump is connected to the water circuit of the water storage tank; the peristaltic pump interacts with the main controller, and the peristaltic pump receives the control instruction of the main controller to discharge the water stored in the water storage tank or suck water from the external environment into the water storage tank.

[0022] Optionally, the system also includes an energy module, which includes a battery and a voltage converter; the battery is connected to the voltage converter, and the energy module has a plurality of power output terminals, which are respectively connected to the main controller, the switch driver, the peristaltic pump and the solenoid valve to power them.

[0023] Advantages of the technical solution of the present invention: the devices in the system provided by the present invention are tightly coupled, the system architecture is clear, the control method provided by the present invention is easy to control, the aircraft can conveniently and efficiently control its own force conditions when in a water environment, and can be conveniently implemented in a water environment and in the process of switching between a water environment and an air environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0025] Figure 1 It is a system architecture diagram of a cross-media water-air dual-purpose aircraft floating control system provided in a specific implementation manner.

[0026] Figure 2 It is a control flow chart when the out-of-water sub-mode is executed in the floating control method of the cross-medium water-air dual-purpose aircraft provided in the specific implementation manner.

[0027] Figure 3 It is a control flow chart for the execution of the water entry sub-mode in the floating control method of the cross-medium water-air dual-purpose aircraft provided in the specific implementation manner.

[0028] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0031] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, "and / or" in the full text includes three solutions. Taking A and / or B as an example, it includes technical solution A, technical solution B, and technical solution that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0032] See also Figure 1-3 .

[0033] In this specific embodiment, a floating control system for a cross-medium water-air dual-purpose aircraft is provided, and the system is used to implement the floating control method for the cross-medium water-air dual-purpose aircraft; the system includes: a detection module, a main control module and an actuator,

[0034] Among them, the detection module is set on the aircraft fuselage, and is used to detect the medium environment parameters of the aircraft fuselage and the current motion state parameters of the aircraft; the main control module is used to obtain the operation intention of the external host computer or the operator and access the data of the detection module, and issue corresponding control instructions after comprehensive calculation; the actuator is used to receive the control instructions of the main control module, corresponding to the inhalation of water in the environment or the discharge of water stored in the aircraft fuselage.

[0035] In this specific implementation, the detection module includes one or more combinations of sonar, satellite locator, and pressure sensor.

[0036] In this specific embodiment, the main control module includes a main controller and a switch driver. The main controller has built-in sensor data fusion algorithm, pulse PID control algorithm, etc., which are used to fuse data, perform logical operations and issue control instructions. The switch driver is connected to the main controller, and the switch driver is used to generate drive pulses according to the control instructions of the main controller; the main control module includes a remote control and a remote control signal receiver. The remote control interacts with the remote control signal receiver, and the remote control signal receiver is connected to the main controller.

[0037] In this specific embodiment, the actuator includes a water storage tank, a peristaltic pump and a solenoid valve; the solenoid valve is arranged at the water inlet end of the peristaltic pump, and the solenoid valve is connected to the water circuit of the peristaltic pump, the solenoid valve interacts with the switch driver, and the solenoid valve receives the driving pulse to open or close the valve; the water storage tank is arranged at the water outlet end of the peristaltic pump, and the peristaltic pump is connected to the water circuit of the water storage tank; the peristaltic pump interacts with the main controller, and the peristaltic pump receives the control instruction of the main controller to discharge the water stored in the water storage tank or suck water from the external environment into the water storage tank.

[0038] In this specific embodiment, the system also includes an energy module, which includes a battery and a voltage converter; the battery is connected to the voltage converter, and the energy module has a plurality of power output terminals, which are respectively connected to the main controller, the switch driver, the peristaltic pump and the solenoid valve to power them.

[0039] In this specific embodiment, a floating control method for a dual-purpose aircraft across mediums is also provided, which comprises: obtaining the operation intention of an external host computer or an operator, and detecting the medium environment parameters in which the aircraft fuselage is currently located and the current motion state parameters of the aircraft at the same time; if the aircraft fuselage is currently in a water environment and the external host computer or the operator requires the aircraft to keep moving underwater, water in the environment is sucked in or water stored in the aircraft fuselage is discharged to change the total weight of the aircraft itself, and the aircraft fuselage is controlled to move below the water surface; if the aircraft fuselage is currently in a water environment and the external host computer or the operator requires the aircraft to move across an air environment, the water stored in the aircraft fuselage is gradually emptied. All the water is drained from the fuselage to reduce the total weight of the aircraft to the minimum, so that the aircraft gradually floats out of the water until it leaves the water environment and enters the air environment; if the aircraft body is currently in the air environment and the external host computer or operator requires the aircraft to remain in the air environment, the aircraft is kept in a state of emptying all the water stored in the fuselage, and the aircraft body is controlled to move above the water surface; if the aircraft body is currently in the air environment and the external host computer or operator requires the aircraft to step into the water environment for movement, the aircraft is controlled to land on the water surface, gradually inhale the water in the environment to gradually increase the total weight of the aircraft body, so that the aircraft is gradually immersed in the water environment until it leaves the air environment and completely enters the water environment.

[0040] In this specific embodiment, when the aircraft is completely immersed in water and completely below the water surface, the aircraft fuses sonar data, pressure data and inertial data to determine the real-time position of the aircraft; when the aircraft is airborne and completely above the water surface, the aircraft fuses inertial data and satellite positioning data to determine the real-time position of the aircraft; when the aircraft is in the process of crossing two media, water and air, the aircraft fuses inertial data, satellite positioning data, pressure data and sonar data to determine the real-time position of the aircraft. The main controller sets nodes corresponding to the sonar, pressure sensor and satellite positioning device. The corresponding nodes access and solve the sonar data, pressure data, inertial data and satellite positioning data respectively. When the aircraft is above the water surface, the satellite positioning signal attenuates less, and the main controller can successfully obtain a sufficient number of positioning satellite signals. Therefore, when the aircraft is above the water surface, the main controller will use satellite data as the main positioning basis to determine the real-time position of the aircraft; when the aircraft is completely below the water surface, the satellite signal attenuates severely, and the main controller has difficulty in obtaining enough positioning satellite data. Therefore, the main controller uses pressure data as the main positioning basis. Based on this, pressure data is used to determine the current distance of the aircraft from the horizontal plane, sonar data is used to determine the current distance of the aircraft from the bottom of the water, inertial data is used to obtain the aircraft's speed, acceleration, angular velocity, pitch angle and other parameters, and multiple data are integrated to achieve accurate depth determination of the aircraft; and when the aircraft needs to cross two different media, that is, the aircraft will be in contact with water but not completely immersed in water, the satellite positioning data still exists, and the main controller can obtain enough positioning satellite data. At the same time, pressure data and sonar data will also take effect at the same time. The integration of satellite data, inertial data, sonar data and pressure data will help improve the positioning accuracy of the main controller.

[0041] In this specific embodiment, the aircraft adjusts the rate of water intake or discharge at the current moment according to its real-time position data. The sonar, pressure sensor and satellite locator report data to the corresponding nodes set in the main controller in real time. The main controller subscribes to the data of the required nodes and uses the real-time data aligned in time and space to make real-time positioning of the aircraft. The real-time position of the aircraft obtained after the main controller calculates will serve as the basis for the floating control of the aircraft. The main controller updates the control instructions in real time according to the difference between the real-time position and the target position of the aircraft, and adjusts the control quantity or the driving signal of the switch driver in real time based on the built-in pulse PID control algorithm. The control output mapped by the pulse PID control algorithm is adjusted in time according to the real-time difference between the actual position and the target position, and the operation of the peristaltic pump and the solenoid valve is quickly, efficiently and accurately controlled to more accurately and efficiently control the floating situation of the aircraft.

[0042] In this specific embodiment, the floating control method of the cross-media ambi-water-air aircraft is specifically as follows: the detection module detects the real-time position of the aircraft, the aircraft operator operates the remote control, the remote control interacts with the remote control signal receiver, and reports the operation intention of the external host computer or the operator to the main controller. The main controller compares the real-time position of the aircraft, the water surface height position, and the operation intention of the external host computer or the operator, and determines whether to execute the air mode, the cross-media mode or the sea mode.

[0043] For example, when the real-time position of the aircraft is below the water surface, such as the aircraft body is currently in a water environment, and the external host computer or operator requires the aircraft to keep moving underwater, the main controller determines that the sea mode needs to be executed.

[0044] At this time, the main controller further compares the real-time position of the aircraft with the operating intention of the external host computer or the operator. If the external host computer or the operator requires the aircraft to keep moving underwater and lower than the real-time position of the aircraft, the main controller sends a control instruction to the solenoid valve to control the solenoid valve to open. At the same time, the main controller sends a control instruction to the switch driver to control the switch driver to send a drive pulse to control the peristaltic pump to reverse. The water in the external environment passes through the open solenoid valve and is sucked into the water storage tank by the peristaltic pump. The total weight of the aircraft fuselage increases, and the aircraft gradually dives in the water. The detection module continues to detect the real-time position of the aircraft, and the above process is repeated until the aircraft reaches the target position. If an external host computer or operator requires the aircraft to keep moving underwater and above the real-time position of the aircraft, the main controller sends a control instruction to the solenoid valve to control the solenoid valve to open. At the same time, the main controller sends a control instruction to the switch driver to control the switch driver to send a drive pulse to control the peristaltic pump to rotate forward. The water in the water storage tank passes through the opened solenoid valve and is discharged into the external environment by the peristaltic pump. The total weight of the aircraft body is reduced, and the aircraft gradually rises in the water. The detection module continues to detect the real-time position of the aircraft, and the above process is repeated until the aircraft reaches the target position.

[0045] For example, when the real-time position of the aircraft is below the water surface, and the external host computer or operator requires the aircraft to move into the air environment, the main controller determines that a sub-mode of the cross-medium mode needs to be executed: the out-of-water mode.

[0046] The detection module detects the real-time position of the aircraft. If the aircraft is still below the water surface, the main controller sends a control instruction to the solenoid valve, issues a water discharge instruction, and controls the solenoid valve to open. At the same time, the main controller sends a control instruction to the switch driver, controls the switch driver to send a drive pulse, controls the peristaltic pump to rotate forward, and the water in the water storage tank passes through the opened solenoid valve and is discharged into the external environment by the peristaltic pump. The total weight of the aircraft body is reduced, and the aircraft gradually rises in the water. The above control process continues until the water stored in the water storage tank is completely drained. When the water in the water storage tank is completely drained, the main controller again detects the real-time position of the aircraft at this time through the detection module, and after confirming that the aircraft has floated to the surface, controls the aircraft to leave the water environment and enter the air environment.

[0047] For example, when the real-time position of the aircraft is above the water surface, and the external host computer or operator requires the aircraft to move into the water environment, the main controller determines that a sub-mode of the cross-medium mode needs to be executed: the water entry mode.

[0048] The detection module detects the real-time position of the aircraft. If the aircraft has not yet contacted the water surface, the aircraft is controlled to continuously lower its altitude. The detection module detects the real-time altitude of the aircraft and compares the real-time altitude of the aircraft with a preset value. Once the detection module detects that the real-time altitude of the aircraft is less than the set value, it determines that the real-time position of the aircraft is close to the water surface. The main controller then controls the aircraft to stall and land on the water surface, and issues a sinking command to control the solenoid valve to open. At the same time, the main controller sends a control command to the switch driver to control the switch driver to send a driving pulse to control the peristaltic pump to reverse. The water in the external environment passes through the open solenoid valve and is sucked into the water storage tank by the peristaltic pump. The total weight of the aircraft fuselage increases, and the aircraft gradually submerges in the water. The detection module continuously detects the real-time position of the aircraft until the aircraft reaches the target position.

[0049] When the real-time position of the aircraft is above the water surface and the external host computer or operator requires the aircraft to keep moving in the air, the main controller determines that the air mode needs to be executed, and the main controller controls the actuator to be in a standby state.

[0050] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A floating control method for a cross-medium water-air dual-purpose aircraft, characterized in that: The method is as follows: the operation intention of an external host computer or an operator is learned, and at the same time, the medium environment parameters in which the aircraft fuselage is currently located and the current motion state parameters of the aircraft are detected; if the aircraft fuselage is currently in a water environment and the external host computer or the operator requires the aircraft to remain underwater, water in the environment is sucked in or water stored in the aircraft fuselage is discharged to change the total weight of the aircraft itself, and the aircraft fuselage is controlled to move below the water surface; if the aircraft fuselage is currently in a water environment and the external host computer or the operator requires the aircraft to move in an air environment, all the water stored in the aircraft fuselage is gradually discharged to reduce the total weight of the aircraft itself to At the lowest level, the aircraft is made to gradually surface until it leaves the water environment and enters the air environment; if the aircraft body is currently in the air environment and the external host computer or operator requires the aircraft to remain moving in the air environment, the aircraft is kept in a state of draining all water stored in the fuselage, and the aircraft body is controlled to move above the water surface; if the aircraft body is currently in the air environment and the external host computer or operator requires the aircraft to step into the water environment for movement, the aircraft is controlled to land on the water surface, gradually inhaling water in the environment to gradually increase the total weight of the aircraft body, so that the aircraft is gradually immersed in the water environment until it leaves the air environment and completely enters the water environment.

2. A floating control method for a cross-medium water-air dual-purpose aircraft as claimed in claim 1, characterized in that: If the aircraft is currently in a water environment and the external host computer or operator requires the aircraft to remain underwater and below the aircraft's real-time position, the aircraft inhales water in the environment to increase the total weight of the aircraft so that the aircraft dives below the water surface to a lower position; If the aircraft is currently in a water environment and the external host computer or operator requires the aircraft to remain in underwater motion and higher than the aircraft's real-time position, the aircraft will discharge the water stored in the fuselage to reduce the total weight of the aircraft so that the aircraft floats to a higher position above the water surface; If the aircraft body is currently in a water environment and the external host computer or operator requires the aircraft to keep moving underwater and at the same altitude as the real-time position of the aircraft, the aircraft maintains the current water storage volume unchanged so that the aircraft maintains the current altitude level in the water.

3. A floating control method for a cross-medium water-air dual-purpose aircraft as claimed in claim 2, characterized in that: When the aircraft is fully submerged in the water and completely below the surface, the aircraft fuses sonar data, pressure data, and inertial data to determine the aircraft's real-time position; When the vehicle is airborne and completely above the water, the vehicle fuses inertial data with satellite positioning data to determine the vehicle’s real-time position; When the aircraft is in the process of crossing the two media of water and air, the aircraft integrates inertial data, satellite positioning data, pressure data and sonar data to determine the real-time position of the aircraft.

4. A floating control method for a cross-medium water-air dual-purpose aircraft as claimed in claim 3, characterized in that: The aircraft adjusts the rate at which it inhales or discharges water at the current moment based on its real-time position data.

5. The floating control method for a cross-medium water-air dual-purpose aircraft according to claim 1, characterized in that: If the aircraft body is currently in a water environment and the external host computer or operator requires the aircraft to move into an air environment, the aircraft gradually discharges the water stored in the fuselage to reduce the total weight of the aircraft body. When the aircraft has discharged all the water stored in the fuselage, the real-time position of the aircraft at this time is used to confirm that the aircraft has surfaced, and then the aircraft is controlled to leave the water environment and enter the air environment.

6. The floating control method for a cross-medium water-air dual-purpose aircraft according to claim 1, characterized in that: If the aircraft body is currently in an air environment, and the external host computer or operator requires the aircraft to move into a water environment, the aircraft is controlled to gradually lower its altitude. When the aircraft lands on the water surface, it begins to inhale water from the environment to gradually increase the total weight of the aircraft body. The total weight of the aircraft body gradually increases until the aircraft is completely immersed in the water environment.

7. A floating control system for a cross-medium water-air dual-purpose aircraft, the system being used to implement the floating control method for a cross-medium water-air dual-purpose aircraft as claimed in any one of claims 1 to 6; characterized in that: The system includes: Detection module: set in the aircraft body, used to detect the medium environment parameters of the aircraft body and the current motion state parameters of the aircraft; Main control module: used to obtain the operation intention of the external host computer or operator and access the data of the detection module, and issue corresponding control instructions after comprehensive calculation; And, an actuator: used to receive control instructions from the main control module, and correspondingly suck in water from the environment or discharge water stored in the aircraft fuselage.

8. The floating control system for a cross-medium water-air dual-purpose aircraft as claimed in claim 7, characterized in that: The detection module includes one or more combinations of sonar, satellite locator, and pressure sensor; the main control module includes a main controller and a switch driver, the main controller is used to fuse data, perform logical operations, and issue control instructions, the switch driver is connected to the main controller, and the switch driver is used to generate a drive pulse according to the control instruction of the main controller; The main control module also includes a remote controller and a remote control signal receiver. The remote controller interacts with the remote control signal receiver, and the remote control signal receiver is connected to the main controller.

9. The floating control system for a cross-medium water-air dual-purpose aircraft as claimed in claim 8, characterized in that: The actuator includes a water storage tank, a peristaltic pump and a solenoid valve; the solenoid valve is arranged at the water inlet end of the peristaltic pump, and the solenoid valve is connected to the water circuit of the peristaltic pump, the solenoid valve interacts with the switch driver, and the solenoid valve receives the driving pulse to open or close the valve; the water storage tank is arranged at the water outlet end of the peristaltic pump, and the peristaltic pump is connected to the water circuit of the water storage tank; the peristaltic pump interacts with the main controller, and the peristaltic pump receives the control instruction of the main controller to discharge the water stored in the water storage tank or suck water from the external environment into the water storage tank.

10. The floating control system for a cross-medium water-air dual-purpose aircraft according to claim 7, characterized in that: The system also includes an energy module, which includes a battery and a voltage converter; the battery is connected to the voltage converter, and the energy module has a plurality of power output terminals, which are respectively connected to the main controller, the switch driver, the peristaltic pump and the solenoid valve to power them.

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