A cross-media navigation system working in cooperation with a base station

Abstract

The present invention discloses a cross-media navigation system that works in coordination with a base station, which belongs to the technical field of cross-media aircraft, and includes a cross-media aircraft and a base station located on the water; the cross-media aircraft includes a fuselage body, a multi-rotor drive mechanism, and an aircraft control system; the base station includes a bracket, an umbilical cable winch and a clamping mechanism are arranged on the bracket, an umbilical cable is wound around the umbilical cable winch, the free end of the umbilical cable is vertically downwardly connected to a magnetic terminal, and the winding head end of the umbilical cable is communicatively connected to the base station control system; an electromagnet and a control module are arranged in the magnetic terminal, and the electromagnet is electrically connected to the control module; the aircraft control system is connected to the control module, and the control module is connected to the free end of the umbilical cable. In the present invention, the multi-rotor drive mechanism based on the unmanned aerial vehicle is modified to enable the cross-media aircraft to realize the cross-media operation capability of the air-water medium in combination with the magnetic terminal and the base station.

Description

Technical Field

[0001] The present invention belongs to the technical field of cross-media aircraft, and in particular relates to a cross-media navigation system that works in coordination with a base station. Background Art

[0002] With the continuous advancement of science and technology, the application areas of drones and underwater vehicles are expanding. Traditional multi-rotor drones cannot navigate below the sea level, and underwater vehicles cannot fly in the air to achieve rapid movement. In other words, both drones and underwater vehicles lack the ability to operate across media.

[0003] Based on the above problems, the present application proposes a cross-media navigation system that works in coordination with a base station. Based on the multi-rotor drive mechanism of a UAV, the fuselage is modified to enable the cross-media aircraft to be combined with a magnetic terminal and a base station to achieve cross-media operation capability of air-water medium. Summary of the invention

[0004] The purpose of the present invention is to overcome the above-mentioned deficiencies of the prior art and to provide a cross-media navigation system that works in coordination with a base station.

[0005] To achieve the above object, the present invention adopts the following technical solution:

[0006] A cross-media navigation system working in cooperation with a base station, comprising a cross-media vehicle and a base station located on water;

[0007] The cross-medium aircraft comprises a fuselage body, a multi-rotor drive mechanism disposed on an outer side wall of the fuselage body, and an aircraft control system disposed on the fuselage body, wherein the aircraft control system is connected to the multi-rotor drive mechanism; the outer side wall of the fuselage body is a cylindrical structure, and the central axis of the outer side wall of the fuselage body is parallel to the central axis of the propeller in the multi-rotor drive mechanism;

[0008] The base station includes a bracket, an umbilical cable winch and a clamping mechanism for clamping a fuselage body are arranged on the bracket, an umbilical cable is wound around the umbilical cable winch, a free end of the umbilical cable is vertically downwardly connected to a magnetic terminal, and a winding head end of the umbilical cable is communicatively connected to a base station control system;

[0009] An electromagnet and a control module are arranged in the magnetic terminal, the electromagnet is electrically connected to the control module, and a connecting plate capable of being attracted and connected to the electromagnet is arranged at one end of the fuselage body;

[0010] The aircraft control system is wirelessly connected to the control module in the magnetic terminal, and the control module is communicatively connected to the free end of the umbilical cable;

[0011] When the cross-medium vehicle is independently underwater and the multi-rotor driving mechanism is turned off, the fuselage body is in a vertical state and the end of the fuselage body adapted to the magnetic terminal is located at the upper part;

[0012] When the cross-medium vehicle is connected to the magnetic terminal and lowered into the water and the multi-rotor driving mechanism is turned off, the fuselage body is in a horizontal state.

[0013] Preferably, the center of gravity and the geometric center of the cross-medium vehicle are located on the central axis of the fuselage body, and the connecting plate and the center of gravity of the cross-medium vehicle are arranged on both sides of the geometric center of the cross-medium vehicle;

[0014] The cross-medium vehicle is connected to the magnetic terminal to form a combined structure, wherein the geometric center and the center of gravity of the combined structure coincide with each other and are located on the central axis of the fuselage body.

[0015] Preferably, the magnetic terminal comprises an end cap and a terminal body which are coaxially fixedly connected in sequence; the free end of the umbilical cable passes through the top center of the end cap and then communicates with the control module;

[0016] The terminal body comprises a first cylinder and a second cylinder which are coaxially fixedly connected, the end of the first cylinder away from the second cylinder is fixedly connected to the end cover, and the end of the second cylinder away from the first cylinder is in a blocking structure;

[0017] The electromagnet is in an annular structure, and is sleeved outside the second cylinder and fixedly connected to the terminal body;

[0018] The control module is located inside the first cylinder, a first network card is arranged on the blocked inner end surface of the second cylinder away from the first cylinder, and the control module is connected to the first network card;

[0019] A second network card is disposed in the fuselage body, and the aircraft control system is connected to the second network card;

[0020] The first network card is connected to the second network card through wireless communication.

[0021] Preferably, the end cover is threadedly connected to the outer side wall of the first cylinder.

[0022] Preferably, the electromagnet is fixedly connected to the terminal body via a connecting piece;

[0023] The connecting member comprises a first annular connecting plate and a second annular connecting plate which are coaxially arranged, and the first annular connecting plate and the second annular connecting plate are fixedly connected by a plurality of ribs which are evenly arranged along the circumferential direction;

[0024] The second annular connecting plate is sleeved on the second cylinder and is located at the top of the electromagnet, and the second annular connecting plate is detachably connected to the electromagnet;

[0025] A third annular connecting plate is provided on the outer side wall of the first cylinder;

[0026] The first annular connecting plate is located at the bottom end of the third annular connecting plate, and the first annular connecting plate is detachably connected to the third annular connecting plate.

[0027] Preferably, a camera, an optical flow sensor, and a posture sensor are provided on the fuselage body, and the camera, the optical flow sensor, and the posture sensor are all connected to the aircraft control system.

[0028] Preferably, the clamping mechanism comprises two clamping jaws arranged in the left-right direction and two sets of clamping drive mechanisms arranged in the upper-lower direction;

[0029] The clamping drive mechanism includes a synchronous belt drive mechanism and a slide rail extending in the left and right directions, the synchronous belt drive mechanism includes a driving synchronous belt pulley, a driven synchronous belt pulley and a synchronous belt sleeved on the driving synchronous belt pulley and the driven synchronous belt pulley, and the driving synchronous belt pulley is adapted to a driving motor;

[0030] A slider is provided at each of the upper and lower ends of the clamping jaw for slidingly cooperating with the corresponding slide rail;

[0031] The slider at the lower end of one of the clamping jaws is fixedly connected to the synchronous belt in the lower clamping drive mechanism, and the slider at the upper end of the other clamping jaw is fixedly connected to the synchronous belt in the upper clamping drive mechanism.

[0032] Preferably, the outer side wall of the fuselage body is symmetrically concave to form a clamping plane adapted to match the corresponding clamping claws.

[0033] Preferably, the free end of the umbilical cable is guided by a guide mechanism and vertically downward to be connected to the magnetic terminal;

[0034] The guide mechanism includes a first guide wheel assembly and a second guide wheel assembly; the first guide wheel assembly includes a first guide wheel and a first guide wheel bracket matched with the first guide wheel, and the first guide wheel bracket is fixedly arranged on a bracket on the upper part of the umbilical cable winch; the second guide wheel assembly includes a second guide wheel and a second guide wheel bracket matched with the second guide wheel, and the second guide wheel bracket is slidably matched with the bracket in the front-rear direction, and a guide wheel driving assembly for controlling the front-rear movement of the second guide wheel assembly is arranged on the bracket;

[0035] The free end of the umbilical cable passes over the first guide wheel and the second guide wheel in sequence upwards and then vertically downwards to be connected to the magnetic terminal.

[0036] Preferably, a visual positioning system is provided on the bracket below the clamping mechanism;

[0037] The visual positioning system includes a reflective plate, on which an Apriltag code for positioning a cross-media vehicle is disposed;

[0038] One end of the reflector is rotatably matched with the bracket, and the bracket is provided with a steering gear for controlling the rotation of the reflector.

[0039] The beneficial effects of the present invention are:

[0040] (1) The multi-rotor drive mechanism based on the UAV in the present invention is modified to enable the cross-medium aircraft to combine with the magnetic terminal and the base station to achieve the cross-medium operation capability of the air-water medium;

[0041] (2) The structure and related connection settings between the magnetic terminal, umbilical cable, and fuselage body of the present invention realize the setting of mainly wireless communication when flying in the air and combining short-distance wireless communication with long-distance wired communication when sailing underwater, thereby avoiding the disadvantage that the aircraft is difficult to maintain a stable and real-time communication connection with the base station due to the attenuation of wireless signals in the underwater environment;

[0042] (3) The guiding mechanism of the present invention not only guides the free end of the umbilical cable so that it is vertically connected to the magnetic terminal downward, but also adjusts the front and rear position of the magnetic terminal, thereby facilitating the vertical alignment and installation of the magnetic terminal and the cross-medium vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0044] Figure 1 is a schematic three-dimensional diagram of the structure of the cross-media navigation system of the present invention working in cooperation with a base station;

[0045] Figure 2 It is a structural schematic diagram of a base station in the present invention;

[0046] Figure 3 yes Figure 2 A partial enlarged view of middle A;

[0047] Figure 4 is a schematic diagram of the structure of the cross-medium vehicle in the present invention;

[0048] Figure 5 It is a schematic diagram of the structure of the magnetic terminal in the present invention;

[0049] Figure 6 It is a structural cross-sectional view of the magnetic terminal in the present invention;

[0050] Figure 7 is a connection diagram of the control module in the present invention;

[0051] in:

[0052] 1-magnetic terminal, 11-electromagnet, 12-control module, 13-connecting plate, 14-end cover, 15-terminal body, 151-first cylinder, 152-second cylinder, 153-third annular connecting plate, 16-connecting piece, 161-first annular connecting plate, 162-second annular connecting plate, 163-rib plate, 17-first network card;

[0053] 2-trans-medium aircraft, 21-fuselage body, 211-groove, 212-clamping plane, 22-multi-rotor driving mechanism, 23-second network card, 24-camera;

[0054] 3-base station, 31-bracket, 32-umbilical cable winch, 321-umbilical cable, 33-clamping mechanism, 331-clamping claw, 332-slide rail, 333-active synchronous pulley, 334-driven synchronous pulley, 335-synchronous belt, 336-slider;

[0055] 4-first guide wheel, 41-first guide wheel bracket;

[0056] 5-second guide wheel, 51-second guide wheel bracket, 52-guide slider, 53-guide slide rail, 54-guide active synchronous pulley, 55-guide driven synchronous pulley, 56-guide synchronous belt;

[0057] 6-reflector, 61-April tag, 62-servo. DETAILED DESCRIPTION

[0058] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0059] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0060] In the present invention, the directions or positional relationships indicated by terms such as "upper", "lower", "bottom", "top", etc. are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention. They do not specifically refer to any part or element in the present invention and cannot be understood as limitations on the present invention.

[0061] In the present invention, terms such as "connected" and "connection" should be understood in a broad sense, indicating that the connection can be fixed, integral or detachable; it can be directly connected or indirectly connected through an intermediate medium. Relevant scientific research or technical personnel in this field can determine the specific meaning of the above terms in the present invention according to specific circumstances, and they should not be understood as limiting the present invention.

[0062] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0063] like Figure 1 As shown, a cross-media navigation system working in cooperation with a base station includes a cross-media vehicle 2 and a base station 3 located on water;

[0064] The cross-medium aircraft 2 comprises a fuselage body 21, a multi-rotor drive mechanism 22 arranged on the outer wall of the fuselage body 21, and an aircraft control system arranged on the fuselage body 21, wherein the aircraft control system is connected to the multi-rotor drive mechanism 22; the outer wall of the fuselage body 21 is a cylindrical structure, and the central axis of the outer wall of the fuselage body 21 is parallel to the central axis of the propeller in the multi-rotor drive mechanism 22; wherein the multi-rotor drive mechanism 22 is a prior art, for example, a multi-rotor drive mechanism in an existing drone can be adopted, and its specific structural composition and driving principle are not described in detail here;

[0065] like Figure 2-Figure 3 As shown, the base station 3 includes a bracket 31, on which an umbilical cable winch 32 and a clamping mechanism 33 for clamping the fuselage body 21 are arranged, an umbilical cable 321 is wound around the umbilical cable winch 32, a free end of the umbilical cable 321 is vertically downwardly connected to the magnetic terminal 1, and a winding head end of the umbilical cable 321 is communicatively connected to the base station control system;

[0066] The magnetic terminal 1 is provided with an electromagnet 11 and a control module 12, the electromagnet 11 is electrically connected to the control module 12, the control module 12 controls the on and off of the coil of the electromagnet 11, and one end of the body 21 is provided with a connecting plate 13 that can be attracted and connected to the electromagnet 11;

[0067] The vehicle control system is in wireless communication connection with the control module 12, and the control module 12 is in communication connection with the free end of the umbilical cable 321;

[0068] When the cross-medium vehicle 2 is independently underwater and the multi-rotor driving mechanism 22 is turned off, the fuselage body 21 is in a vertical state and the end of the fuselage body 21 that is adapted to the magnetic terminal 1 is located at the upper part;

[0069] When the cross-medium vehicle 2 is connected to the magnetic terminal 1 and lowered into the water and the multi-rotor driving mechanism 22 is turned off, the fuselage body 21 is in a horizontal state.

[0070] When the cross-medium aircraft 2 of the present application is flying in the air, the fuselage body 21 is in a vertical state, and the relevant detection data acquired by the aircraft controller system is transmitted to the control module 12 in the magnetic terminal 1 through wireless transmission, and then transmitted to the base station control system through the umbilical cable 321; when the cross-medium aircraft 2 of the present application is sailing underwater, the magnetic terminal 1 is fixedly connected to the fuselage body 21, the fuselage body 21 is in a horizontal state, the wireless transmission distance between the aircraft controller system and the control module 12 in the magnetic terminal 1 is very short, and the umbilical cable 321 is released following the navigation of the cross-medium aircraft 2 to realize the combination of short-distance wireless communication and long-distance wired communication of data. That is, the structure and related connection settings between the magnetic terminal 1, the umbilical cable 321, and the fuselage body 21 in the present application realize the setting of mainly wireless communication when flying in the air and the combination of short-distance wireless communication and long-distance wired communication when sailing underwater, thereby avoiding the disadvantage that the aircraft is difficult to maintain a stable and real-time communication connection with the base station 3 due to the attenuation of the wireless signal by the underwater environment.

[0071] Preferably, the center of gravity and the geometric center of the cross-medium vehicle 2 are located on the central axis of the fuselage body 21, and the connecting plate 13 and the center of gravity of the cross-medium vehicle 2 are arranged on both sides of the geometric center of the cross-medium vehicle 2;

[0072] The cross-medium vehicle 2 is connected to the magnetic terminal 1 to form a combined structure, wherein the geometric center and the center of gravity of the combined structure coincide with each other and are located on the central axis of the fuselage body 21 .

[0073] Through such settings, we can achieve:

[0074] When the cross-medium vehicle 2 is independently underwater and the multi-rotor driving mechanism 22 is turned off, the fuselage body 21 is in a vertical state and the end of the fuselage body 21 that is adapted to the magnetic terminal 1 is located at the upper part;

[0075] After the cross-medium vehicle 2 is connected to the magnetic terminal 1 and is underwater with the multi-rotor driving mechanism 22 turned off, the fuselage body 21 is in a horizontal state.

[0076] Preferably, Figure 5-Figure 6As shown, the magnetic terminal 1 includes an end cap 14 and a terminal body 15 which are coaxially fixedly connected in sequence; the free end of the umbilical cable 321 passes through the top center of the end cap 14 and then communicates with the control module 12, and the umbilical cable 321 is fixedly connected to the end cap 14;

[0077] The terminal body 15 comprises a first cylinder 151 and a second cylinder 152 which are coaxially fixedly connected. The end of the first cylinder 151 away from the second cylinder 152 is fixedly connected to the end cover 14, thereby blocking one end of the terminal body 15. The end of the second cylinder 152 away from the first cylinder 151 is in a blocking structure, thereby making the terminal body 15 sealed.

[0078] The electromagnet 11 is annular in structure, and is sleeved outside the second cylinder 152 and fixedly connected to the terminal body 15;

[0079] The control module 12 is located inside the first cylinder 151, and a first network card 17 is provided on the blocked inner end surface of the second cylinder 152 away from the first cylinder 151, and the control module 12 is connected to the first network card 17;

[0080] A second network card 23 is disposed in the fuselage body 21, and the aircraft control system is connected to the second network card 23;

[0081] like Figure 7 As shown, the first network card 17 is connected to the second network card 23 through wireless communication.

[0082] Specifically, the control module 12 includes a connected Raspberry Pi and a controller. The Raspberry Pi in the control module 12 is communicatively connected to the free end of the umbilical cable 321 and the first network card 17. The controller in the control module 12 is connected to the electromagnet 11, and the model of the controller in the control module 12 is STM32F1.

[0083] The aircraft control system includes a connected Raspberry Pi and a controller, the Raspberry Pi in the aircraft control system is communicatively connected to the second network card 23, and the controller in the aircraft control system is connected to the multi-rotor drive mechanism 22, wherein the model of the controller in the aircraft control system is STM32F4.

[0084] Specifically, the end cover 14 is threadedly connected to the outer wall of the first cylinder 151 .

[0085] Preferably, the electromagnet 11 is fixedly connected to the terminal body 15 via a connector 16;

[0086] The connecting member 16 includes a first annular connecting plate 161 and a second annular connecting plate 162 which are coaxially arranged. The first annular connecting plate 161 and the second annular connecting plate 162 are fixedly connected by a plurality of ribs 163 which are evenly arranged along the circumferential direction.

[0087] The second annular connecting plate 162 is sleeved on the second cylinder 152 and is located at the top of the electromagnet 11, and the second annular connecting plate 162 is detachably connected to the electromagnet 11;

[0088] A third annular connecting plate 153 is provided on the outer side wall of the first cylinder 151;

[0089] The first annular connecting plate 161 is located at the bottom end of the third annular connecting plate 153 , and the first annular connecting plate 161 and the third annular connecting plate 153 are detachably connected.

[0090] Specifically, the second annular connecting plate 162 is connected to the electromagnet 11 by bolts.

[0091] Specifically, the first annular connecting plate 161 and the third annular connecting plate 153 are connected by bolts.

[0092] Specifically, the end of the second cylinder 152 away from the first cylinder 151 protrudes from the corresponding end surface of the electromagnet 11;

[0093] When the electromagnet 11 is connected to the connecting plate 13 , a groove 211 matching the end of the second cylinder 152 is provided at the end of the body 21 where the connecting plate 13 is located.

[0094] Preferably, the fuselage body 21 is provided with a camera 24, an optical flow sensor, and a posture sensor, and the camera 24, the optical flow sensor, and the posture sensor are all connected to the aircraft control system. Specifically, the camera 24 is connected to a Raspberry Pi in the aircraft control system, and the optical flow sensor and the posture sensor are both connected to a controller in the aircraft control system to collect corresponding data information.

[0095] Preferably, Figure 3 As shown, the clamping mechanism 33 includes two clamping jaws 331 arranged in the left-right direction and two sets of clamping drive mechanisms arranged in the upper and lower directions;

[0096] The clamping drive mechanism includes a synchronous belt drive mechanism and a slide rail 332 extending in the left-right direction, the synchronous belt drive mechanism includes a driving synchronous belt pulley 333, a driven synchronous belt pulley 334 and a synchronous belt 335 sleeved on the driving synchronous belt pulley 333 and the driven synchronous belt pulley 334, and the driving synchronous belt pulley 333 is adapted to the driving motor;

[0097] The upper and lower ends of the clamping jaw 331 are each provided with a slider 336 for slidingly cooperating with the corresponding slide rail 332;

[0098] The slider 336 at the lower end of one of the clamping jaws 331 is fixedly connected to the synchronous belt 335 in the lower clamping drive mechanism, and the slider 336 at the upper end of the other clamping jaw is fixedly connected to the synchronous belt 335 in the upper clamping drive mechanism.

[0099] Preferably, Figure 4 As shown, the outer wall of the fuselage body 21 is symmetrically concave to form a clamping plane 212 for matching with the corresponding clamping claws 331.

[0100] Preferably, the free end of the umbilical cable 321 is guided by a guide mechanism and vertically downward to be connected to the magnetic terminal 1;

[0101] The guide mechanism includes a first guide wheel assembly and a second guide wheel assembly; the first guide wheel assembly includes a first guide wheel 4 and a first guide wheel bracket 41 matched with the first guide wheel 4, and the first guide wheel bracket 41 is fixedly arranged on a bracket 31 on the upper part of the umbilical cable winch 32; the second guide wheel assembly includes a second guide wheel 5 and a second guide wheel bracket 51 matched with the second guide wheel 5, and the second guide wheel bracket 51 is slidably matched with the bracket 31 along the front-rear direction, and a guide wheel driving assembly for controlling the front-rear movement of the second guide wheel assembly is arranged on the bracket 31;

[0102] The free end of the umbilical cable 321 passes over the first guide wheel 4 and the second guide wheel 5 in sequence upwards and then vertically downwards to be connected to the magnetic terminal 1 .

[0103] Specifically, a guide slider 52 is fixedly disposed at the bottom end of the second guide wheel bracket 51 , and a guide rail 53 extending along the front-rear direction and slidably matched with the guide slider 52 is disposed on the bracket 31 .

[0104] Specifically, the guide wheel driving assembly includes a guide active synchronous pulley 54, a guide driven synchronous pulley 55, and a guide synchronous belt 56 sleeved on the guide active synchronous pulley 54 and the guide driven synchronous pulley 55, and the guide active synchronous pulley 54 is adapted to the guide drive motor;

[0105] The guide slider 52 is fixedly connected to the guide synchronous belt 56 .

[0106] The guiding mechanism in the present application not only guides the free end of the umbilical cable 321 so that it is vertically connected to the magnetic terminal 1 downward, but also adjusts the front and rear position of the magnetic terminal 1, thereby facilitating the vertical alignment and installation of the magnetic terminal 1 and the cross-medium vehicle 2.

[0107] Preferably, a visual positioning system is provided on the bracket 31 below the clamping mechanism 33;

[0108] The visual positioning system includes a reflective plate 6, on which an Apriltag code 61 for positioning the cross-medium vehicle 2 is arranged;

[0109] One end of the reflector 6 is rotatably matched with the bracket 31 , and the bracket 31 is provided with a steering gear 62 for controlling the rotation of the reflector 6 .

[0110] A cross-media navigation system that works in cooperation with a base station, the specific implementation of which is as follows:

[0111] The cross-medium aircraft 2 flies toward the base station 3 in an aerial flight posture, and the steering gear 62 controls the reflector 6 to rotate downward from a vertical state to a horizontal state; the cross-medium aircraft 2 flies to between the two clamps 331, and the camera 24 recognizes the Apriltag code 61. When the center of the camera 24 lens is vertically facing the center of the Apriltag code 61, the cross-medium aircraft 2 enters a hovering state; the clamping mechanism 33 controls the two clamps 331 to approach and clamp the cross-medium aircraft 2. After the clamping is completed, the multi-rotor drive mechanism 22 stops running, and the steering gear 62 controls the reflector 6 to rotate upward from a horizontal state to a vertical state;

[0112] The umbilical cable winch 32 releases the umbilical cable 321 to lower the magnetic terminal 1 until the magnetic terminal 1 is magnetically connected to the top of the cross-medium vehicle 2;

[0113] The clamping mechanism 33 controls the two clamping claws 331 to release the cross-medium vehicle 2;

[0114] The umbilical cable winch 32 continues to release the umbilical cable 321, so that the combined structure of the magnetic terminal 1 and the cross-medium vehicle 2 is lowered until it is lowered underwater;

[0115] After entering underwater, the cross-medium vehicle 2 changes into a horizontal state under the action of the magnetic terminal 1 so as to be suitable for underwater navigation.

[0116] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not a limitation of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the protection scope of the present invention.

Claims

1. A cross-media navigation system working in cooperation with a base station, characterized in that: It includes a cross-medium vehicle and a base station located on water; The cross-medium aircraft comprises a fuselage body, a multi-rotor drive mechanism disposed on an outer side wall of the fuselage body, and an aircraft control system disposed on the fuselage body, wherein the aircraft control system is connected to the multi-rotor drive mechanism; the outer side wall of the fuselage body is a cylindrical structure, and the central axis of the outer side wall of the fuselage body is parallel to the central axis of the propeller in the multi-rotor drive mechanism; The base station includes a bracket, an umbilical cable winch and a clamping mechanism for clamping a fuselage body are arranged on the bracket, an umbilical cable is wound around the umbilical cable winch, a free end of the umbilical cable is vertically downwardly connected to a magnetic terminal, and a winding head end of the umbilical cable is communicatively connected to a base station control system; An electromagnet and a control module are arranged in the magnetic terminal, the electromagnet is electrically connected to the control module, and a connecting plate capable of being attracted and connected to the electromagnet is arranged at one end of the fuselage body; The aircraft control system is wirelessly connected to the control module in the magnetic terminal, and the control module is communicatively connected to the free end of the umbilical cable; When the cross-medium vehicle is independently underwater and the multi-rotor driving mechanism is turned off, the fuselage body is in a vertical state and the end of the fuselage body adapted to the magnetic terminal is located at the upper part; When the cross-medium vehicle is connected to the magnetic terminal and lowered into the water and the multi-rotor driving mechanism is turned off, the fuselage body is in a horizontal state.

2. The cross-media navigation system working in cooperation with a base station as claimed in claim 1, characterized in that: The center of gravity and geometric center of the cross-medium vehicle are located on the central axis of the fuselage body, and the connection plate and the center of gravity of the cross-medium vehicle are arranged on both sides of the geometric center of the cross-medium vehicle; The cross-medium vehicle is connected to the magnetic terminal to form a combined structure, wherein the geometric center and the center of gravity of the combined structure coincide with each other and are located on the central axis of the fuselage body.

3. The cross-media navigation system working in cooperation with a base station as claimed in claim 1, characterized in that: The magnetic terminal comprises an end cap and a terminal body which are coaxially fixedly connected in sequence; the free end of the umbilical cable passes through the top center of the end cap and is communicatively connected with the control module; The terminal body comprises a first cylinder and a second cylinder which are coaxially fixedly connected, the end of the first cylinder away from the second cylinder is fixedly connected to the end cover, and the end of the second cylinder away from the first cylinder is in a blocking structure; The electromagnet is in an annular structure, and is sleeved outside the second cylinder and fixedly connected to the terminal body; The control module is located inside the first cylinder, a first network card is arranged on the blocked inner end surface of the second cylinder away from the first cylinder, and the control module is connected to the first network card; A second network card is disposed in the fuselage body, and the aircraft control system is connected to the second network card; The first network card is connected to the second network card through wireless communication.

4. The cross-media navigation system working in cooperation with a base station as claimed in claim 3, characterized in that: The end cover is threadedly connected to the outer side wall of the first cylinder.

5. The cross-media navigation system working in cooperation with a base station as claimed in claim 3, characterized in that: The electromagnet is fixedly connected to the terminal body via a connecting piece; The connecting member comprises a first annular connecting plate and a second annular connecting plate which are coaxially arranged, and the first annular connecting plate and the second annular connecting plate are fixedly connected by a plurality of ribs which are evenly arranged along the circumferential direction; The second annular connecting plate is sleeved on the second cylinder and is located at the top of the electromagnet, and the second annular connecting plate is detachably connected to the electromagnet; A third annular connecting plate is provided on the outer side wall of the first cylinder; The first annular connecting plate is located at the bottom end of the third annular connecting plate, and the first annular connecting plate is detachably connected to the third annular connecting plate.

6. The cross-media navigation system working in cooperation with a base station as claimed in claim 1, characterized in that: The fuselage body is provided with a camera, an optical flow sensor, and a posture sensor, and the camera, the optical flow sensor, and the posture sensor are all connected to the aircraft control system.

7. The cross-media navigation system working in cooperation with a base station as claimed in claim 1, characterized in that: The clamping mechanism comprises two clamping jaws arranged in the left-right direction and two sets of clamping drive mechanisms arranged in the upper-lower direction; The clamping drive mechanism includes a synchronous belt drive mechanism and a slide rail extending in the left and right directions, the synchronous belt drive mechanism includes a driving synchronous belt pulley, a driven synchronous belt pulley and a synchronous belt sleeved on the driving synchronous belt pulley and the driven synchronous belt pulley, and the driving synchronous belt pulley is adapted to a driving motor; A slider is provided at each of the upper and lower ends of the clamping jaw for slidingly cooperating with the corresponding slide rail; The slider at the lower end of one of the clamping jaws is fixedly connected to the synchronous belt in the lower clamping drive mechanism, and the slider at the upper end of the other clamping jaw is fixedly connected to the synchronous belt in the upper clamping drive mechanism.

8. The cross-media navigation system working in cooperation with a base station as claimed in claim 7, characterized in that: The outer side wall of the fuselage body is symmetrically concave to form a clamping plane adapted to the corresponding clamping claws.

9. The cross-media navigation system working in cooperation with a base station as claimed in claim 1, characterized in that: The free end of the umbilical cable is guided by the guide mechanism and vertically downward to be connected to the magnetic terminal; The guide mechanism includes a first guide wheel assembly and a second guide wheel assembly; the first guide wheel assembly includes a first guide wheel and a first guide wheel bracket matched with the first guide wheel, and the first guide wheel bracket is fixedly arranged on a bracket on the upper part of the umbilical cable winch; the second guide wheel assembly includes a second guide wheel and a second guide wheel bracket matched with the second guide wheel, and the second guide wheel bracket is slidably matched with the bracket in the front-rear direction, and a guide wheel driving assembly for controlling the front-rear movement of the second guide wheel assembly is arranged on the bracket; The free end of the umbilical cable passes over the first guide wheel and the second guide wheel in sequence upwards and then vertically downwards to be connected to the magnetic terminal.

10. The cross-media navigation system working in cooperation with a base station as claimed in claim 1, characterized in that: A visual positioning system is provided on the bracket below the clamping mechanism; The visual positioning system includes a reflective plate, on which an Apriltag code for positioning a cross-media vehicle is disposed; One end of the reflector is rotatably matched with the bracket, and the bracket is provided with a steering gear for controlling the rotation of the reflector.

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