Control method, device, equipment and storage medium of water-air reconnaissance device

Abstract

The present application discloses a control method, device, equipment and storage medium for a water-air reconnaissance device, and relates to the technical field of water-air drones. The method comprises: an underwater carrier obtains a first reconnaissance instruction; according to the first reconnaissance instruction, the winch is controlled to release the strand, so that the water-air reconnaissance device floats up through buoyancy; if the water-air reconnaissance device is in a floating state on the water surface, a take-off instruction is sent to the reconnaissance aircraft; the reconnaissance aircraft controls the rotation speed of the rotor according to the take-off instruction, so that the first lift provided by the rotor is greater than the sum of the gravity of the reconnaissance aircraft and the tension required for the soft hook to reach a preset deformation degree, and the tension required for the soft hook to reach a preset deformation degree is less than the gravity of the buoyancy body, and under the action of the first lift, the spring mechanism is in an elongated section stuck state; after the reconnaissance aircraft is separated from the buoyancy body, the reconnaissance aircraft conducts reconnaissance on the target object, obtains reconnaissance data, and sends it to the underwater carrier. The method can reduce the energy consumed by the water-air reconnaissance aircraft during the take-off stage.

Description

Technical Field

[0001] The present application relates to the technical field of water-air drones, and in particular to a control method, device, equipment and storage medium for a water-air reconnaissance device. Background Art

[0002] Water and air reconnaissance aircraft can both sail underwater and fly in the air. Their application scenarios include but are not limited to environmental detection, life-saving and rescue, and military missions.

[0003] At present, water and air reconnaissance aircraft can use their own power to take off underwater, but when the water depth of the water and air reconnaissance aircraft is deep, the resistance of controlling the rotation of the rotor underwater is extremely large and the energy consumption is high. The water and air reconnaissance aircraft needs to consume more energy to reach the water surface and then take off.

[0004] Therefore, the current take-off method of water and air reconnaissance aircraft consumes a lot of energy. Summary of the invention

[0005] The present application provides a control method, device, equipment and storage medium for a water and air reconnaissance device, which can reduce the energy consumed by the water and air reconnaissance aircraft during the take-off phase.

[0006] In order to achieve the above objectives, this application adopts the following technical solutions:

[0007] In a first aspect, the present application provides a control method for a water-air reconnaissance device, which is applied to an underwater carrier, wherein the underwater carrier is connected to the water-air reconnaissance device via a twisted wire, wherein the water-air reconnaissance device comprises a buoyancy body and a reconnaissance machine, wherein a soft hook is provided at the bottom of the reconnaissance machine, and a rigid ring is provided at the top of the buoyancy body, wherein the rigid ring is connected to a spring mechanism, and the spring mechanism comprises an elongation segment stuck point state and a recovery segment stuck point state; the method comprises:

[0008] The underwater vehicle obtains a first reconnaissance instruction;

[0009] The underwater carrier controls the winch to release the strand according to the first reconnaissance instruction, so that the water-air reconnaissance device floats up by buoyancy;

[0010] The underwater carrier equipment determines whether the water-air reconnaissance device is in a floating state on the water surface, and obtains a first determination result;

[0011] If the first judgment result indicates that the water-air reconnaissance device is in a floating state on the water surface, the underwater carrier sends a take-off command to the reconnaissance aircraft;

[0012] The reconnaissance aircraft controls the rotation speed of the rotor of the reconnaissance aircraft according to the take-off instruction, so that the first lift provided by the rotor is greater than the sum of the gravity of the reconnaissance aircraft and the pulling force required for the flexible hook to reach a preset deformation degree, the preset deformation degree is the deformation degree of the flexible hook that can be separated from the rigid ring, the pulling force required for the flexible hook to reach the preset deformation degree is less than the gravity of the buoyancy body, and under the action of the first lift, the spring mechanism is in an extended section stuck state;

[0013] After the reconnaissance aircraft is separated from the buoyancy body, the reconnaissance aircraft conducts reconnaissance on the target object to obtain reconnaissance data;

[0014] The underwater vehicle receives the reconnaissance data returned by the reconnaissance aircraft.

[0015] Optionally, the method further includes:

[0016] The underwater carrier sends a recovery instruction to the reconnaissance aircraft;

[0017] The reconnaissance aircraft returns to the top of the buoyancy body according to the recovery instruction and the position information recorded when it leaves the buoyancy body, and makes the soft hook hook the rigid ring, and controls the rotation speed of the rotor so that the second lift provided by the rotor is less than or equal to the sum of the gravity of the reconnaissance aircraft and the pulling force required for the soft hook to reach a preset deformation degree, and after the spring mechanism in the extended section stuck state is pulled up, the rotation speed of the rotor is reduced, and the reconnaissance aircraft is docked with the buoyancy body by making the spring mechanism in the recovery section stuck state;

[0018] The underwater carrier determines whether the reconnaissance aircraft and the buoyancy body have completed docking, and obtains a second determination result;

[0019] If the second judgment result indicates that the reconnaissance aircraft has completed docking with the buoyancy body, the underwater carrier controls the winch to retract the winch line to recover the water-air reconnaissance device.

[0020] Optionally, the method further includes:

[0021] During the buoyancy of the water-air reconnaissance device, the underwater carrier detects whether there are obstacles on the buoyancy track of the water-air reconnaissance device in water, and obtains a first detection result;

[0022] If the first detection result indicates that there is an obstacle on the floating trajectory of the water-air reconnaissance device in the water, the underwater vehicle sends a first trajectory adjustment instruction to the reconnaissance aircraft;

[0023] The reconnaissance aircraft controls the rotor according to the first trajectory adjustment instruction to adjust the floating trajectory of the water-to-air reconnaissance device in the water.

[0024] Optionally, the method further includes:

[0025] During the recovery process of the water-air reconnaissance device, the underwater carrier detects whether there are obstacles on the recovery track of the water-air reconnaissance device in water, and obtains a second detection result;

[0026] If the second detection result indicates that there is an obstacle on the recovery track of the water-air reconnaissance device in water, the underwater vehicle sends a second track adjustment instruction to the reconnaissance aircraft;

[0027] The reconnaissance aircraft controls the rotor according to the second trajectory adjustment instruction to adjust the recovery trajectory of the water-to-air reconnaissance device in water.

[0028] Optionally, the underwater vehicle determines whether the water-air reconnaissance device is in a floating state on the water surface to obtain a first determination result, including:

[0029] The underwater vehicle receives status information sent by the reconnaissance aircraft, wherein the status information includes the acceleration of the water-air reconnaissance device;

[0030] If the acceleration of the water and air reconnaissance device is within a preset range, a first judgment result is obtained that the water and air reconnaissance device is in a floating state on the water surface;

[0031] If the acceleration of the water and air reconnaissance device is not within a preset range, a first judgment result is obtained that the water and air reconnaissance device is not in a floating state on the water surface.

[0032] Optionally, the underwater carrier determines whether the reconnaissance aircraft has completed docking with the buoyancy body to obtain a second determination result, including:

[0033] After the reconnaissance aircraft determines that docking with the buoyancy body is completed, the reconnaissance aircraft sends a docking completion instruction to the underwater carrier;

[0034] If the underwater carrier receives the docking completion instruction sent by the reconnaissance aircraft, a second judgment result is obtained that the reconnaissance aircraft and the buoyancy body have completed docking;

[0035] If the underwater carrier does not receive the docking completion instruction sent by the reconnaissance aircraft, a second judgment result is obtained that the reconnaissance aircraft and the buoyancy body have not completed docking.

[0036] In a second aspect, the present application provides a control device for a water-air reconnaissance device, comprising: an underwater carrier;

[0037] The underwater carrier is connected to the water-air reconnaissance device through a twisted wire, and the water-air reconnaissance device includes a buoyancy body and a reconnaissance machine. A soft hook is provided at the bottom of the reconnaissance machine, and a rigid ring is provided at the top of the buoyancy body. The rigid ring is connected to a spring mechanism, and the spring mechanism includes an elongation section card point state and a recovery section card point state.

[0038] The underwater carrier is used to obtain a first reconnaissance instruction, control the winch to release the strand according to the first reconnaissance instruction, so that the water-air reconnaissance device floats up by buoyancy, judge whether the water-air reconnaissance device is in a floating state on the water surface, obtain a first judgment result, and send a take-off instruction to the reconnaissance aircraft if the first judgment result indicates that the water-air reconnaissance device is in a floating state on the water surface;

[0039] The reconnaissance aircraft is used to control the rotation speed of the rotor of the reconnaissance aircraft according to the take-off instruction, so that the first lift provided by the rotor is greater than the sum of the gravity of the reconnaissance aircraft and the pulling force required for the flexible hook to reach a preset deformation degree, the preset degree is the deformation degree of the flexible hook that can be separated from the rigid ring, the pulling force required for the flexible hook to reach the preset deformation degree is less than the gravity of the buoyancy body, and under the action of the first lift, the spring mechanism is in an extended section stuck state; and is also used to detect the target object after separating from the buoyancy body to obtain detection data;

[0040] The underwater carrier is also used to receive the reconnaissance data returned by the reconnaissance aircraft.

[0041] Optionally, the underwater carrier is further used to send a recovery instruction to the reconnaissance aircraft, and according to the recovery instruction, the carrier returns to the top of the buoyancy body and causes the flexible hook to hook the rigid ring according to the position information recorded when the carrier leaves the buoyancy body, and controls the rotation speed of the rotor so that the second lift provided by the rotor is less than or equal to the sum of the gravity of the reconnaissance aircraft and the pulling force required for the flexible hook to reach a preset deformation degree, and after the spring mechanism in the extended section stuck state is pulled up, the rotation speed of the rotor is reduced, and the reconnaissance aircraft is docked with the buoyancy body by the spring mechanism in the recovery section stuck state;

[0042] The underwater carrier is used to determine whether the reconnaissance aircraft has completed docking with the buoyancy body to obtain a second judgment result; if the second judgment result indicates that the reconnaissance aircraft has completed docking with the buoyancy body, the winch is controlled to retract the winch to recover the water-air reconnaissance device.

[0043] In a third aspect, the present application provides a computing device, including a memory and a processor;

[0044] One or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device executes the method as described in any one of the first aspects.

[0045] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method as described in any one of the first aspects.

[0046] It can be seen from the above technical solution that the present application has at least the following beneficial effects:

[0047] The present application provides a control method for a water-air reconnaissance device, which can be applied to an underwater carrier, which is connected to the water-air reconnaissance device via a twisted wire, and the water-air reconnaissance device includes a buoyancy body and a reconnaissance aircraft, the bottom of the reconnaissance aircraft is provided with a soft hook, the top of the buoyancy body is provided with a rigid ring, the rigid ring is connected to a spring mechanism, and the spring mechanism includes an elongation segment stuck point state and a recovery segment stuck point state. In this method, after the underwater carrier obtains the first reconnaissance instruction, according to the first reconnaissance instruction, the winch is controlled to release the twisted wire, so that the water-air reconnaissance device naturally floats up through the buoyancy brought by the buoyancy body, thereby reducing the high energy consumption caused by the large resistance when the rotor is directly started underwater, thereby improving the cruising range of the reconnaissance aircraft.

[0048] When the water-air reconnaissance device reaches the water surface and is in a floating state on the water surface, the underwater carrier can send a take-off command to the reconnaissance aircraft. After receiving the take-off command, the reconnaissance aircraft can control the rotation speed of the rotor so that the first lift provided by the rotor is greater than the sum of the gravity of the reconnaissance aircraft and the tension required for the soft hook to reach a preset deformation degree. The preset degree is the deformation degree that the soft hook can be separated from the rigid ring. The tension required for the soft hook to reach the preset deformation degree is less than the gravity of the buoyancy body. Under the action of the first lift, the spring mechanism is in an extended section stuck state. At this time, the water-air reconnaissance aircraft takes off from the water surface without having to bear the large resistance in the water, thereby reducing energy consumption. After the reconnaissance aircraft takes off, the reconnaissance aircraft can conduct reconnaissance on the target object and transmit the obtained reconnaissance data back to the underwater carrier.

[0049] Therefore, this method can reduce the energy consumed by the reconnaissance aircraft during the take-off phase, increase the cruising range of the reconnaissance aircraft, and thereby improve the reconnaissance range and reconnaissance capability.

[0050] It should be understood that the description of technical features, technical solutions, beneficial effects or similar language in this application does not imply that all features and advantages can be realized in any single embodiment. On the contrary, it is understood that the description of features or beneficial effects means that specific technical features, technical solutions or beneficial effects are included in at least one embodiment. Therefore, the description of technical features, technical solutions or beneficial effects in this specification does not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions and beneficial effects described in the present embodiment can also be combined in any appropriate manner. Those skilled in the art will understand that the embodiment can be realized without one or more specific technical features, technical solutions or beneficial effects of a specific embodiment. In other embodiments, additional technical features and beneficial effects can also be identified in a specific embodiment that does not embody all embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram of an application scenario provided in an embodiment of the present application;

[0052] Figure 2 A flow chart of a control method of a water and air reconnaissance device provided in an embodiment of the present application;

[0053] Figure 3 A schematic diagram of an underwater carrier provided in an embodiment of the present application;

[0054] Figure 4 A schematic diagram of a water-air reconnaissance device provided in an embodiment of the present application;

[0055] Figure 5 A schematic diagram of a body portion of a reconnaissance aircraft provided in an embodiment of the present application;

[0056] Figure 6 A schematic diagram of a buoyancy body provided in an embodiment of the present application;

[0057] Figure 7 A schematic diagram of a reconnaissance aircraft rotor provided in an embodiment of the present application;

[0058] Figure 8 A schematic diagram of a floating trajectory provided in an embodiment of the present application;

[0059] Fig. 9 A schematic diagram of a water-air reconnaissance device provided in an embodiment of the present application in a floating state on the water surface;

[0060] Fig.10 A schematic diagram of a reconnaissance aircraft take-off process provided in an embodiment of the present application;

[0061] Fig.11 A schematic diagram of a reconnaissance aircraft recovery process provided in an embodiment of the present application;

[0062] Fig.12 A schematic diagram of a rotorcraft arm holder provided in an embodiment of the present application;

[0063] Fig.13 A schematic diagram of a recovery trajectory provided in an embodiment of the present application;

[0064] Fig.14 A schematic diagram of a computing device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0065] The terms "first", "second", "third", etc. in the specification of this application and the accompanying drawings are used to distinguish different objects rather than to limit a specific order.

[0066] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0067] Figure 1 A schematic diagram of an application scenario provided by an embodiment of the present application. In this application scenario, the water-air reconnaissance aircraft 101 can sail underwater or fly in the air. When the water-air reconnaissance aircraft 101 receives an air reconnaissance command while sailing underwater, the water-air reconnaissance aircraft 101 can start the rotor underwater to float to the surface, and after reaching the surface, fly into the air to perform a reconnaissance mission.

[0068] Due to the resistance brought by water underwater, directly starting the rotor underwater will face greater resistance, which will in turn bring greater energy consumption, reduce the cruising range of the water-to-air reconnaissance aircraft 101, and thus reduce the reconnaissance capability and range.

[0069] One solution proposes to equip the water-air reconnaissance aircraft 101 with an external device. When underwater, the external device assists the water-air reconnaissance aircraft 101 in navigating underwater. However, when the water-air reconnaissance aircraft 101 enters the air, the external device will become an additional burden, significantly affecting the endurance of the water-air reconnaissance aircraft 101. It can be seen that this method still has some problems. Another solution proposes a separate device. In this solution, in the water, the water-air reconnaissance aircraft 101 is transported to the surface by a separate device, and the separate device catapults the water-air reconnaissance aircraft 101. However, this solution makes it difficult to recover the water-air reconnaissance aircraft 101, which is usually disposable and has a high reconnaissance cost.

[0070] In view of this, an embodiment of the present application provides a control method for a water-air reconnaissance device, which mainly includes a take-off phase and a recovery phase of the reconnaissance aircraft.

[0071] During the take-off phase, the underwater carrier first releases the stranded wire, so that the water-air reconnaissance device (including the buoyancy body and the reconnaissance aircraft) naturally floats to the water surface by buoyancy, wherein a rigid ring is provided on the top of the buoyancy body, and a soft hook is provided on the bottom of the reconnaissance aircraft, and the buoyancy body and the reconnaissance aircraft are docked together through the soft hook and the rigid ring. After the water-air reconnaissance device floats to the water surface, the reconnaissance aircraft controls the rotation speed of the rotor so that the first lift provided by the rotor is greater than the sum of the gravity of the reconnaissance aircraft and the tension required for the soft hook to reach a preset deformation degree, the soft hook will deform and then detach from the rigid ring, so that the reconnaissance aircraft can detach from the buoyancy body and perform the reconnaissance mission.

[0072] During the recovery phase, the reconnaissance aircraft returns to the top of the buoyancy body according to the position information recorded when it leaves the buoyancy body, and makes the soft hook hook the rigid ring of the buoyancy body. By controlling the rotation speed of the rotor, the rigid ring is pulled up first, so that the spring mechanism in the extended section stuck state is pulled up and then rebounds to the recovery section stuck state. During this process, the second lift provided by the rotor is less than or equal to the sum of the gravity of the reconnaissance aircraft and the pulling force required for the soft hook to reach a preset deformation degree. After the underwater carrier equipment determines that the reconnaissance aircraft has completed docking with the buoyancy body, the winch is controlled to retract the winch, thereby realizing the recovery of the water and air reconnaissance device.

[0073] It can be seen that the solution provided by the embodiment of the present application can not only reduce the energy consumption of the reconnaissance aircraft, but also recycle the reconnaissance aircraft, thereby improving the endurance, reconnaissance capability and reconnaissance range of the reconnaissance aircraft and reducing the reconnaissance cost.

[0074] In order to make the technical solution of the present application clearer and easier to understand, the technical solution of the present application is described in detail below in conjunction with the accompanying drawings.

[0075] like Figure 2 As shown, this figure is a flow chart of a control method of a water-air reconnaissance device provided in an embodiment of the present application, the method comprising:

[0076] S201. The underwater vehicle obtains a first reconnaissance instruction.

[0077] like Figure 3 As shown in FIG. 1 , the figure is a schematic diagram of an underwater vehicle provided by an embodiment of the present application, wherein the underwater vehicle 310 is connected to the water-air reconnaissance device 320 via a stranded wire 330. Figure 4 As shown, this figure is a schematic diagram of a water-air reconnaissance device provided in an embodiment of the present application. The water-air reconnaissance device 320 includes a buoyancy body 321 and a reconnaissance aircraft 322.

[0078] like Figure 5 As shown, the figure is a schematic diagram of a part of the body of a reconnaissance aircraft provided in an embodiment of the present application. For a clearer description, the rotor and rotor arm of the reconnaissance aircraft 322 are omitted in the figure. As can be seen from the figure, a soft hook 340 is provided at the bottom of the reconnaissance aircraft 322, and a tension sensor is provided at the connection between the soft hook 340 and the body of the reconnaissance aircraft 322. An upper guide groove 341 and a lower guide groove 342 are provided in the upper and middle parts of the body, and the distance between the upper guide groove 341 and the lower guide groove 342 is the same as the height of the slip ring. The directions of the upper guide groove 341 and the lower guide groove 342 are opposite to each other, ensuring mutual self-locking after sliding into place.

[0079] like Figure 6 As shown, this figure is a schematic diagram of a buoyancy body provided in an embodiment of the present application. A rigid ring 350 is provided on the top of the buoyancy body 321. The rigid ring 350 is connected to a spring mechanism 360. The spring mechanism 360 includes an elongation segment stuck point state and a recovery segment stuck point state. The spring mechanism 360 includes a spring 361, an inner slider 362, an inner first slide groove 363, and an inner second slide groove 364; the inner slider 362 includes a spring fixing surface 3621 and a slider inclined surface 3622.

[0080] It should be noted that the above structural diagram is only for understanding the technical solution of the present application, and the proportions of the various parts in the diagram are merely schematic.

[0081] When underwater, the soft hook 340 of the reconnaissance aircraft 322 is interlocked with the rigid ring 350 of the buoyancy body 321, and the spring mechanism 360 is in a recovery section stuck state.

[0082] The first reconnaissance instruction may be an instruction configured by a user. For example, a user in the underwater vehicle 310 may configure the first reconnaissance instruction, and then the underwater vehicle 310 acquires the first reconnaissance instruction.

[0083] S202, the underwater carrier controls the winch to release the strand 330 according to the first reconnaissance instruction, so that the water-air reconnaissance device floats up by buoyancy.

[0084] After receiving the first reconnaissance instruction, the underwater vehicle 310 can control the winch to release the winch 330 based on the first reconnaissance instruction, so that the water and air reconnaissance device 320 floats up through buoyancy. Exemplarily, the buoyancy center of the water and air reconnaissance device 320 is above the center of gravity, thereby ensuring that the water and air reconnaissance device 320 maintains a vertical direction in the water or on the water surface, thereby facilitating the subsequent reconnaissance aircraft 322 to take off.

[0085] In some embodiments, during the natural floating process of the water-air reconnaissance device 320 by buoyancy, the underwater vehicle 310 can detect whether there are obstacles in the floating trajectory of the water-air reconnaissance device 320 in the water according to the floating trajectory of the water-air reconnaissance device 320, and obtain a first detection result. If the first detection result indicates that there are obstacles in the floating trajectory of the water-air reconnaissance device 320 in the water, the underwater vehicle 310 sends a first trajectory adjustment instruction to the reconnaissance aircraft 322. The reconnaissance aircraft 322 controls the rotor according to the first trajectory adjustment instruction, thereby adjusting the floating trajectory of the water-air reconnaissance device 320 in the water. In the embodiment of the present application, the configuration of underwater detection and obstacle avoidance equipment on the water-air reconnaissance device is minimized, so as to reduce the total weight of the reconnaissance aircraft part and reduce the energy consumption of the flight.

[0086] It should be noted that the underwater vehicle 310 can determine whether there are obstacles on the buoyancy trajectory through underwater environmental sensing methods such as sonar and laser.

[0087] like Figure 7 As shown, this figure is a schematic diagram of a reconnaissance aircraft rotor provided in an embodiment of the present application. Exemplarily, the reconnaissance aircraft 322 includes two groups of rotors, wherein the first group of rotors includes the first rotor 811, the second rotor 812, the third rotor 813 and the fourth rotor 814, and the second group of rotors includes the fifth rotor 821, the sixth rotor 822, the seventh rotor 823 and the eighth rotor 824, the first group of rotors is located above the second group of rotors, and the first group of rotors and the second group of rotors are arranged crosswise.

[0088] like Figure 8 As shown, this figure is a schematic diagram of a floating trajectory provided by an embodiment of the present application. There is a first obstacle 801 in the initial floating trajectory SF1. After the underwater vehicle 310 detects the obstacle, it can send a first trajectory adjustment instruction to the reconnaissance aircraft 322. The reconnaissance aircraft 322 can start the first set of rotors above, that is, start the fifth rotor 821, the sixth rotor 822, the seventh rotor 823 and the eighth rotor 824, so that by controlling the first set of rotors, the initial floating trajectory SF1 of the water-air reconnaissance device 320 is adjusted to the corrected floating trajectory SF2, thereby avoiding the first obstacle 801 and reducing the risk of the stranded wire 330 being entangled with the first obstacle 801.

[0089] S203, the underwater vehicle determines whether the water-air reconnaissance device is in a floating state on the water surface.

[0090] If the first judgment result is obtained that the water and air detection device 320 is in a floating state on the water surface, S204 is executed. If the first judgment result is obtained that the water and air detection device 320 is not in a floating state on the water surface, the process returns to S203, that is, the judgment is continued. The repeated judgment process can be performed according to a first preset period, for example, a judgment is performed every 10 seconds.

[0091] In some embodiments, the underwater vehicle 310 may receive status information sent by the reconnaissance aircraft 322, and the status information includes the acceleration of the water and air reconnaissance device 320. If the acceleration is within a preset range, it indicates that the water and air reconnaissance device 320 is stable, and then a first judgment result is obtained that the water and air reconnaissance device 320 is in a floating state on the water surface. If the acceleration is not within the preset range, it indicates that the water and air reconnaissance device 320 is not stable, and then a first judgment result is obtained that the water and air reconnaissance device 320 is not in a floating state on the water surface.

[0092] In other embodiments, the water and air reconnaissance device 320 may also determine whether it is in a floating state on the water surface based on its own acceleration, and then transmit the determination result (whether it is in a floating state on the water surface) to the underwater vehicle 310 .

[0093] like Fig. 9 As shown, this figure is a schematic diagram of a water-air reconnaissance device provided by an embodiment of the present application in a floating state on the water surface. When the water-air reconnaissance device 320 is in a floating state on the water surface, the plane 901 where the lowest end of the rotor of the reconnaissance aircraft 322 is located is higher than the plane 902 where the water surface is located.

[0094] S204. The underwater carrier sends a take-off command to the reconnaissance aircraft.

[0095] After the underwater vehicle 310 determines that the water-air reconnaissance device 320 is already in a floating state on the water surface, it can send a take-off command to the reconnaissance aircraft 322 .

[0096] S205. The reconnaissance aircraft controls the rotation speed of the rotor according to the take-off instruction so that the first lift provided by the rotor is greater than the sum of the gravity of the reconnaissance aircraft and the pulling force required for the flexible hook 340 to reach a preset deformation degree.

[0097] Among them, the preset deformation degree is the deformation degree that the soft hook 340 can be separated from the rigid ring 350. The pulling force required for the soft hook 340 to reach the preset deformation degree is less than the gravity of the buoyancy body 321. Under the action of the first lift force, the spring mechanism 360 is in an extended section stuck state.

[0098] See also Figure 7, the reconnaissance aircraft 322 includes a first set of rotors and a second set of rotors. The first set of rotors is connected to the body of the reconnaissance aircraft 322 through a first set of rotor arms, and the second set of rotors is connected to the body of the reconnaissance aircraft 322 through a second set of rotor arms. Taking the first rotor 811 as an example, the first rotor 811 is connected to the body of the reconnaissance aircraft 322 through a rotor arm 831. After the reconnaissance aircraft 322 controls the first rotor 811 to start, after the first rotor 811 generates thrust, it will drive the rotor arm 831 to unfold, and when the rotor arm 831 is perpendicular to the body of the reconnaissance aircraft 322, the rotor arm 831 is locked. For example, the body is subject to gravity, the thrust direction of the rotor arm is upward, and there is a limit on the ring above the rotor arm, which will be self-locking and stuck, thereby achieving locking. The locking process of other rotor arms is similar and will not be repeated here.

[0099] like Fig.10 As shown, this figure is a schematic diagram of the take-off process of a reconnaissance aircraft provided in an embodiment of the present application. After receiving the take-off command, the reconnaissance aircraft 322 will first determine whether the first set of rotor arms has been deployed and locked. If the first set of rotor arms has been deployed and locked, the second set of rotors will be directly controlled to start until the second set of rotor arms is locked. If the first set of rotor arms has not been deployed, the first set of rotors will be started first, and then the second set of rotors will be started until both the first set of rotor arms and the second set of rotor arms are locked. The present application does not specifically limit the time interval between starting the first set of rotors and the second set of rotors. After the first set of rotor arms and the second set of rotor arms are locked, the reconnaissance aircraft 322 can increase the rotation speed of the rotor, thereby increasing the first lift brought by the rotor, until the first lift is increased to a level greater than the sum of the gravity of the reconnaissance aircraft 322 and the pulling force required for the soft hook 340 to reach a preset deformation degree, thereby causing the soft hook 340 to deform, and then the soft hook 340 detaches from the rigid ring 350, thereby separating the reconnaissance aircraft 322 from the buoyancy body 321, and the reconnaissance aircraft 322 completes takeoff.

[0100] It should be noted that in the application scenario of the present application, the lift provided by the rotor of the reconnaissance aircraft 322 is not enough to pull the buoyancy body 321 out of the water surface, that is, during the take-off of the reconnaissance aircraft 322, the buoyancy body 321 is always on the water surface.

[0101] S206. After the reconnaissance aircraft leaves the buoyancy body, the reconnaissance aircraft conducts reconnaissance on the target object to obtain reconnaissance data.

[0102] The target object may refer to an object to be investigated, such as the number of ships on the water surface, weather conditions on the water, etc. After the investigation aircraft 322 is separated from the buoyancy body 321, the investigation aircraft 322 may investigate the target object and obtain investigation data, which may be images, videos, or conclusive data after analysis based on images or videos.

[0103] S207. The reconnaissance aircraft sends reconnaissance data to the underwater carrier.

[0104] The underwater vehicle 310 receives the reconnaissance data returned by the reconnaissance machine 322. After receiving the reconnaissance data returned by the reconnaissance machine 322, the underwater vehicle 310 may present the reconnaissance data to the user.

[0105] The above introduces the process of releasing the reconnaissance aircraft 322. When the reconnaissance aircraft 322 completes the reconnaissance mission or needs to return due to other reasons (such as insufficient power), the reconnaissance aircraft 322 can dock with the buoyancy body 321, and then the underwater carrier 310 controls the winch to retract the winch 330, thereby realizing the recovery of the water and air reconnaissance device 320, which is described in detail below.

[0106] S208. The underwater carrier sends a recovery instruction to the reconnaissance aircraft.

[0107] In some examples, when the reconnaissance aircraft 322 completes its reconnaissance mission or needs to be recovered for other reasons, the underwater vehicle 310 can send a recovery instruction to the reconnaissance aircraft 322.

[0108] S209. The reconnaissance aircraft returns to the top of the buoyancy body according to the recovery instruction and the position information recorded when it leaves the buoyancy body, and hooks the flexible hook onto the rigid ring. The rotation speed of the rotor is controlled so that the second lift provided by the rotor is less than or equal to the sum of the gravity of the reconnaissance aircraft and the pulling force required for the flexible hook to reach a preset deformation degree. After the spring mechanism in the extended section stuck state is pulled up, the rotation speed of the rotor is reduced, and the reconnaissance aircraft is docked with the buoyancy body by putting the spring mechanism in the recovery section stuck state.

[0109] like Fig.11 As shown, this figure is a schematic diagram of a reconnaissance aircraft recovery process provided by an embodiment of the present application. After receiving the recovery command, the reconnaissance aircraft 322 can return to the top of the buoyancy body 321 according to the position information recorded when it is separated from the buoyancy body 321 and make the soft hook 340 hook the rigid ring 350. At this time, the rotation speed of the rotor can be controlled so that the second lift provided by the rotor is less than or equal to the sum of the gravity of the reconnaissance aircraft 322 and the tension required for the soft hook 340 to reach a preset deformation degree. The purpose is to pull up the rigid ring 350, that is, to pull up the spring mechanism 360 in the extended section stuck state. After pulling up, reduce the rotation speed of the rotor so that the spring mechanism 360 is in the recovery section stuck state. In this process, the reconnaissance aircraft 322 will also be pulled downward, thereby achieving the docking of the reconnaissance aircraft 322 and the buoyancy body 321.

[0110] It should be noted that when the soft hook 340 of the reconnaissance aircraft 322 is hooked by the rigid ring 350 and the spring mechanism 360 is in the recovery section stuck state, the reconnaissance aircraft 322 can first reduce the rotation speed of the second set of rotors to gradually stop the second set of rotors, and then the second set of rotor arms can be changed from the extended state to the retracted state, and then reduce the rotation speed of the first set of rotors to gradually stop the first set of rotors, and then the first set of rotor arms can be changed from the extended state to the retracted state. Fig.12 As shown, this figure is a schematic diagram of a rotor arm holder provided in an embodiment of the present application. After the second set of rotor arms are recovered, the second set of rotor arms will be locked in the arm holder 1201.

[0111] It should be noted that the reconnaissance aircraft 322 can also first control the second set of rotors to reverse, so that the second set of rotor arms are unlocked, and then control the first set of rotors to reverse, so that the first set of rotors are unlocked.

[0112] S210. The underwater carrier determines whether the reconnaissance aircraft has completed docking with the buoyancy body.

[0113] If the second judgment result is obtained that the reconnaissance aircraft 322 and the buoyancy body 321 have completed docking, S211 is executed. If the second judgment result is obtained that the reconnaissance aircraft 322 and the buoyancy body 321 have not completed docking, the process returns to S210, that is, the judgment is continued. The repeated judgment process can be performed according to the second preset period, for example, once every 15 seconds.

[0114] In some embodiments, after the reconnaissance aircraft 322 determines that the docking with the buoyancy body 321 is completed, it sends a docking completion instruction to the underwater carrying equipment 310. If the underwater carrying equipment 310 receives the docking completion instruction sent by the reconnaissance aircraft 322, a second judgment result is obtained that the reconnaissance aircraft 322 and the buoyancy body 321 have completed docking; if the underwater carrying equipment 310 does not receive the docking completion instruction sent by the reconnaissance aircraft 322, a second judgment result is obtained that the reconnaissance aircraft 322 and the buoyancy body 321 have not completed docking.

[0115] S211. The underwater carrier controls the winch to retract the winch line to recover the water-air reconnaissance device.

[0116] After the reconnaissance aircraft 322 and the buoyancy body 321 are docked, the underwater carrier 310 can control the winch to recover the winch 330 , thereby recovering the water-air reconnaissance device 320 .

[0117] During the recovery process of the water and air reconnaissance device 320, the underwater vehicle 310 detects whether there are obstacles on the recovery trajectory of the water and air reconnaissance device 320 in the water, and obtains a second detection result; if the second detection result indicates that there are obstacles on the recovery trajectory of the water and air reconnaissance device 320 in the water, the underwater vehicle 310 sends a second trajectory adjustment instruction to the reconnaissance aircraft 322; the reconnaissance aircraft 322 controls the rotor according to the second trajectory adjustment instruction to adjust the recovery trajectory of the water and air reconnaissance device 320 in the water.

[0118] like Fig.13 As shown, this figure is a schematic diagram of a recovery trajectory provided by an embodiment of the present application. There is a second obstacle 1301 in the initial recovery trajectory HS1. After the underwater vehicle 310 detects the obstacle, a second trajectory adjustment instruction can be sent to the reconnaissance aircraft 322. The reconnaissance aircraft 322 can start the first set of rotors above, that is, start the fifth rotor 821, the sixth rotor 822, the seventh rotor 823 and the eighth rotor 824, so as to adjust the initial recovery trajectory HS1 of the water-air reconnaissance device 320 to the corrected recovery trajectory HS2 by controlling the first set of rotors, thereby avoiding the second obstacle 1301 and reducing the risk of the strand 330 being entangled with the second obstacle 1301. In order to more clearly characterize the recovery trajectory, the strand is not shown in the figure.

[0119] It should be noted that the buoyancy body 321 is provided with an antenna, and the bottom of the buoyancy body 321 is connected to the underwater carrier 310 through an antenna feeder, and can be recovered and released by the winch on the underwater carrier 310. When reconnaissance is required, the winch release line is controlled, and the water-air reconnaissance device 320 naturally floats up through buoyancy. The first set of rotors can be started to control the floating trajectory. The antenna is close to the locking position of the reconnaissance aircraft 322 after recovery. Although water has a large absorption of wireless signals, communication can still be maintained. The underwater carrier 310 body can send control instructions to the reconnaissance aircraft 322 through the antenna to control the floating trajectory. When the water-air reconnaissance device 320 reaches the water surface and the reconnaissance aircraft 322 is separated from the buoyancy body 321, the buoyancy body 321 can continue to serve as a relay for wireless communication with the aerial reconnaissance aircraft 322. When the reconnaissance aircraft 322 is docked with the buoyancy body 321, the reconnaissance aircraft 322 sends a signal through the antenna, and the underwater carrier 310 receives the signal and starts the winch for recovery. In this process, the first set of rotors of the reconnaissance aircraft 322 can still be started to control the recovery trajectory to avoid problems such as entanglement of the winch 330.

[0120] Based on the above description, in the solution provided by the embodiment of the present application, the buoyancy body 321 can be reused many times, and the release process from water to air can completely rely on buoyancy, and the reconnaissance aircraft 322 takes off after surfacing; at the same time, it is easy to recover, and the aircraft can be automatically constrained to the buoyancy body 321. The buoyancy body 321 does not need to be equipped with a power device. The pure mechanical structure can greatly reduce the waterproofing measures of the power components of the underwater equipment, and can be recovered to the underwater carrier 310 for wireless charging and reused many times.

[0121] Combination of the above Figures 1 to 13 The control method of the water and air reconnaissance device provided in the embodiment of the present application is introduced in detail. The device and equipment provided in the embodiment of the present application will be introduced in conjunction with the accompanying drawings.

[0122] The embodiment of the present application also provides a control device for a water-air reconnaissance device, including: an underwater carrier;

[0123] The underwater carrier is connected to the water-air reconnaissance device through a twisted wire, and the water-air reconnaissance device includes a buoyancy body and a reconnaissance machine. A soft hook is provided at the bottom of the reconnaissance machine, and a rigid ring is provided at the top of the buoyancy body. The rigid ring is connected to a spring mechanism, and the spring mechanism includes an elongation section card point state and a recovery section card point state.

[0124] The underwater carrier is used to obtain a first reconnaissance instruction, control the winch to release the strand according to the first reconnaissance instruction, so that the water-air reconnaissance device floats up by buoyancy, judge whether the water-air reconnaissance device is in a floating state on the water surface, obtain a first judgment result, and send a take-off instruction to the reconnaissance aircraft if the first judgment result indicates that the water-air reconnaissance device is in a floating state on the water surface;

[0125] The reconnaissance aircraft is used to control the rotation speed of the rotor of the reconnaissance aircraft according to the take-off instruction, so that the first lift provided by the rotor is greater than the sum of the gravity of the reconnaissance aircraft and the pulling force required for the soft hook to reach a preset deformation degree, the preset degree is the deformation degree of the soft hook that can be separated from the rigid ring, the pulling force required for the soft hook to reach the preset deformation degree is less than the gravity of the buoyancy body, and under the action of the first lift, the spring mechanism is in an extended section stuck state; and is also used to detect the target object after separating from the buoyancy body to obtain detection data;

[0126] The underwater carrier is also used to receive the reconnaissance data returned by the reconnaissance aircraft.

[0127] Optionally, the underwater carrier is further used to send a recovery instruction to the reconnaissance aircraft, and according to the recovery instruction, return to the top of the buoyancy body and make the flexible hook hook the rigid ring according to the position information recorded when leaving the buoyancy body, and control the rotation speed of the rotor so that the second lift provided by the rotor is less than or equal to the sum of the gravity of the reconnaissance aircraft and the pulling force required for the flexible hook to reach a preset deformation degree, and after pulling up the spring mechanism in the extended section stuck state, reduce the rotation speed of the rotor, and make the reconnaissance aircraft dock with the buoyancy body by making the spring mechanism in the recovery section stuck state;

[0128] The underwater carrier is used to determine whether the reconnaissance aircraft has completed docking with the buoyancy body to obtain a second judgment result; if the second judgment result indicates that the reconnaissance aircraft has completed docking with the buoyancy body, the winch is controlled to retract the winch to recover the water-air reconnaissance device.

[0129] Optionally, the underwater vehicle is further used to detect whether there is an obstacle on the floating track of the water-air reconnaissance device in the water during the floating process of the water-air reconnaissance device, obtain a first detection result, and send a first trajectory adjustment instruction to the reconnaissance aircraft if the first detection result indicates that there is an obstacle on the floating track of the water-air reconnaissance device in the water;

[0130] The reconnaissance aircraft is also used to control the rotor according to the first trajectory adjustment instruction to adjust the floating trajectory of the water-to-air reconnaissance device in the water.

[0131] Optionally, the underwater vehicle is further used to detect whether there is an obstacle on the recovery track of the water-air reconnaissance device in water during the recovery process of the water-air reconnaissance device, and obtain a second detection result; if the second detection result indicates that there is an obstacle on the recovery track of the water-air reconnaissance device in water, send a second track adjustment instruction to the reconnaissance aircraft;

[0132] The reconnaissance aircraft is also used to control the rotor according to the second trajectory adjustment instruction to adjust the recovery trajectory of the water-to-air reconnaissance device in water.

[0133] Optionally, the underwater carrier is specifically used to receive status information sent by the reconnaissance aircraft, wherein the status information includes the acceleration of the water-air reconnaissance device; if the acceleration of the water-air reconnaissance device is within a preset range, a first judgment result is obtained that the water-air reconnaissance device is in a floating state on the water surface; if the acceleration of the water-air reconnaissance device is not within the preset range, a first judgment result is obtained that the water-air reconnaissance device is not in a floating state on the water surface.

[0134] Optionally, the reconnaissance aircraft is further used to send a docking completion instruction to the underwater carrier after determining that docking with the buoyancy body is completed;

[0135] The underwater carrying equipment is also used to obtain a second judgment result that the reconnaissance aircraft and the buoyancy body have completed docking if the docking completion instruction sent by the reconnaissance aircraft is received; and to obtain a second judgment result that the reconnaissance aircraft and the buoyancy body have not completed docking if the docking completion instruction sent by the reconnaissance aircraft is not received.

[0136] The present application also provides a computing device. Fig.14 As shown, this figure is a schematic diagram of a computing device provided in an embodiment of the present application, and the computing device 1400 includes a bus 1401, a processor 1402, a communication interface 1403 and a memory 1404. The processor 1402, the memory 1404 and the communication interface 1403 communicate through the bus 1401.

[0137] The bus 1401 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.14 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0138] The processor 1402 may be any one or more of a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor (MP), or a digital signal processor (DSP).

[0139] The communication interface 1403 is used for communicating with the outside.

[0140] The memory 1404 may include a volatile memory, such as a random access memory (RAM). The memory 1404 may also include a non-volatile memory, such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0141] The memory 1404 stores executable codes, and the processor 1402 executes the executable codes to perform the control method of the aforementioned water-air reconnaissance device.

[0142] The embodiment of the present application also provides a computer-readable storage medium. The computer-readable storage medium can be any available medium that can be stored by a computing device or a data storage device such as a data center containing one or more available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid-state hard disk). The computer-readable storage medium includes instructions that instruct the computing device to execute the control method of the above-mentioned water-air reconnaissance device.

[0143] The embodiment of the present application further provides a computer program product, which includes one or more computer instructions. When the computer instructions are loaded and executed on a computing device, the process or function described in the embodiment of the present application is generated in whole or in part.

[0144] The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer or data center to another website, computer or data center via wired (e.g., coaxial cable, optical fiber, digital subscriber line) or wireless (e.g., infrared, wireless, microwave, etc.) means.

[0145] When the computer program product is executed by a computer, the computer executes any of the aforementioned methods for controlling the water and air reconnaissance device. The computer program product may be a software installation package, and when any of the aforementioned methods for controlling the water and air reconnaissance device is required, the computer program product may be downloaded and executed on the computer.

[0146] The descriptions of the processes or structures corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0147] The above description is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application.

Claims

1. A control method for a water-air reconnaissance device, characterized in that: Applied to underwater carrier equipment, the underwater carrier equipment is connected to a water-air reconnaissance device through a twisted wire, the water-air reconnaissance device comprises a buoyancy body and a reconnaissance machine, a soft hook is provided at the bottom of the reconnaissance machine, a rigid ring is provided at the top of the buoyancy body, the rigid ring is connected to a spring mechanism, the spring mechanism comprises an elongation section card point state and a recovery section card point state; the method comprises: The underwater vehicle obtains a first reconnaissance instruction; The underwater carrier controls the winch to release the strand according to the first reconnaissance instruction, so that the water-air reconnaissance device floats up by buoyancy; The underwater carrier equipment determines whether the water-air reconnaissance device is in a floating state on the water surface, and obtains a first determination result; If the first judgment result indicates that the water-air reconnaissance device is in a floating state on the water surface, the underwater carrier sends a take-off command to the reconnaissance aircraft; The reconnaissance aircraft controls the rotation speed of the rotor of the reconnaissance aircraft according to the take-off instruction, so that the first lift provided by the rotor is greater than the sum of the gravity of the reconnaissance aircraft and the pulling force required for the flexible hook to reach a preset deformation degree, the preset deformation degree is the deformation degree of the flexible hook that can be separated from the rigid ring, the pulling force required for the flexible hook to reach the preset deformation degree is less than the gravity of the buoyancy body, and under the action of the first lift, the spring mechanism is in an extended section stuck state; After the reconnaissance aircraft is separated from the buoyancy body, the reconnaissance aircraft conducts reconnaissance on the target object to obtain reconnaissance data; The underwater vehicle receives the reconnaissance data returned by the reconnaissance aircraft.

2. The method according to claim 1, characterized in that The method further comprises: The underwater carrier sends a recovery instruction to the reconnaissance aircraft; The reconnaissance aircraft returns to the top of the buoyancy body according to the recovery instruction and the position information recorded when it leaves the buoyancy body, and makes the soft hook hook the rigid ring, and controls the rotation speed of the rotor so that the second lift provided by the rotor is less than or equal to the sum of the gravity of the reconnaissance aircraft and the pulling force required for the soft hook to reach a preset deformation degree, and after the spring mechanism in the extended section stuck state is pulled up, the rotation speed of the rotor is reduced, and the reconnaissance aircraft is docked with the buoyancy body by making the spring mechanism in the recovery section stuck state; The underwater carrier determines whether the reconnaissance aircraft and the buoyancy body have completed docking, and obtains a second determination result; If the second judgment result indicates that the reconnaissance aircraft has completed docking with the buoyancy body, the underwater carrier controls the winch to retract the winch line to recover the water-air reconnaissance device.

3. The method according to claim 1, characterized in that The method further comprises: During the buoyancy of the water-air reconnaissance device, the underwater carrier detects whether there are obstacles on the buoyancy track of the water-air reconnaissance device in water, and obtains a first detection result; If the first detection result indicates that there is an obstacle on the floating trajectory of the water-air reconnaissance device in the water, the underwater vehicle sends a first trajectory adjustment instruction to the reconnaissance aircraft; The reconnaissance aircraft controls the rotor according to the first trajectory adjustment instruction to adjust the floating trajectory of the water-to-air reconnaissance device in the water.

4. The method according to claim 2, characterized in that: The method further comprises: During the recovery process of the water-air reconnaissance device, the underwater carrier detects whether there are obstacles on the recovery track of the water-air reconnaissance device in water, and obtains a second detection result; If the second detection result indicates that there is an obstacle on the recovery track of the water-air reconnaissance device in water, the underwater vehicle sends a second track adjustment instruction to the reconnaissance aircraft; The reconnaissance aircraft controls the rotor according to the second trajectory adjustment instruction to adjust the recovery trajectory of the water-to-air reconnaissance device in water.

5. The method according to claim 1, characterized in that The underwater vehicle determines whether the water-air reconnaissance device is in a floating state on the water surface, and obtains a first determination result, including: The underwater vehicle receives status information sent by the reconnaissance aircraft, wherein the status information includes the acceleration of the water-air reconnaissance device; If the acceleration of the water and air reconnaissance device is within a preset range, a first judgment result is obtained that the water and air reconnaissance device is in a floating state on the water surface; If the acceleration of the water and air reconnaissance device is not within a preset range, a first judgment result is obtained that the water and air reconnaissance device is not in a floating state on the water surface.

6. The method according to claim 2, characterized in that The underwater carrier determines whether the reconnaissance aircraft and the buoyancy body have completed docking, and obtains a second determination result, including: After the reconnaissance aircraft determines that docking with the buoyancy body is completed, the reconnaissance aircraft sends a docking completion instruction to the underwater carrier; If the underwater carrier receives the docking completion instruction sent by the reconnaissance aircraft, a second judgment result is obtained that the reconnaissance aircraft and the buoyancy body have completed docking; If the underwater carrier does not receive the docking completion instruction sent by the reconnaissance aircraft, a second judgment result is obtained that the reconnaissance aircraft and the buoyancy body have not completed docking.

7. A control device for a water and air reconnaissance device, characterized in that: include: Underwater vehicles; The underwater carrier is connected to the water-air reconnaissance device through a twisted wire, and the water-air reconnaissance device includes a buoyancy body and a reconnaissance machine. A soft hook is provided at the bottom of the reconnaissance machine, and a rigid ring is provided at the top of the buoyancy body. The rigid ring is connected to a spring mechanism, and the spring mechanism includes an elongation section card point state and a recovery section card point state. The underwater carrier is used to obtain a first reconnaissance instruction, control the winch to release the strand according to the first reconnaissance instruction, so that the water-air reconnaissance device floats up by buoyancy, judge whether the water-air reconnaissance device is in a floating state on the water surface, obtain a first judgment result, and send a take-off instruction to the reconnaissance aircraft if the first judgment result indicates that the water-air reconnaissance device is in a floating state on the water surface; The reconnaissance aircraft is used to control the rotation speed of the rotor of the reconnaissance aircraft according to the take-off instruction, so that the first lift provided by the rotor is greater than the sum of the gravity of the reconnaissance aircraft and the pulling force required for the flexible hook to reach a preset deformation degree, the preset deformation degree is the deformation degree of the flexible hook that can be separated from the rigid ring, the pulling force required for the flexible hook to reach the preset deformation degree is less than the gravity of the buoyancy body, and under the action of the first lift, the spring mechanism is in an extended section stuck state; and is also used to detect the target object after separating from the buoyancy body to obtain detection data; The underwater carrier is also used to receive the reconnaissance data returned by the reconnaissance aircraft.

8. The device according to claim 7, characterized in that The underwater carrier is also used to send a recovery instruction to the reconnaissance aircraft, and according to the recovery instruction, return to the top of the buoyancy body and make the soft hook hook the rigid ring according to the position information recorded when leaving the buoyancy body, and control the rotation speed of the rotor so that the second lift provided by the rotor is less than or equal to the sum of the gravity of the reconnaissance aircraft and the pulling force required for the soft hook to reach a preset deformation degree, and after the spring mechanism in the extended section stuck state is pulled up, the rotation speed of the rotor is reduced, and the reconnaissance aircraft is docked with the buoyancy body by the spring mechanism in the recovery section stuck state; The underwater carrier is used to determine whether the reconnaissance aircraft has completed docking with the buoyancy body to obtain a second judgment result; if the second judgment result indicates that the reconnaissance aircraft has completed docking with the buoyancy body, the winch is controlled to retract the winch to recover the water-air reconnaissance device.

9. A computing device, characterized in that including memory and processor; One or more computer programs are stored in the memory, and the one or more computer programs include instructions; when the instructions are executed by the processor, the computing device executes the method as claimed in any one of claims 1 to 6.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and the computer program is used to execute the method according to any one of claims 1 to 6.

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