Cross-medium aircraft, system and cross-medium attitude adjustment method

Abstract

The invention relates to a cross-medium aircraft and system and a cross-medium attitude adjusting method.The cross-medium aircraft comprises a drop-shaped centrosymmetric aircraft body with an aircraft head and an aircraft body, the aircraft head of the aircraft body is located on the front side of the aircraft body, and the aircraft body is further provided with an air power mechanism, an underwater power mechanism and a water inlet and outlet attitude adjusting mechanism; the water inlet and outlet posture adjusting mechanism comprises a watertight compartment arranged in the machine head, a flexible water storage bag located in the watertight compartment and a two-way water pump communicated with the water storage bag, one flow channel opening of the two-way water pump is communicated with the water storage bag, and the other flow channel opening of the two-way water pump is communicated to the rear end of the machine body; the bidirectional water pump adjusts the overall density of the aircraft and the position of the mass center of the aircraft in the long axis direction of the aircraft body by changing the water storage amount in the water storage bag, then the cross-medium aircraft is controlled to conduct water inlet and outlet actions, and the cross-medium aircraft is conveniently controlled to be switched between the state suitable for air flight and the state suitable for underwater flight.

Description

Technical Field

[0001] The present invention relates to the field of water-air cross-medium aircraft, and in particular to a cross-medium aircraft, a system and a cross-medium attitude adjustment method. Background Art

[0002] In order to expand the operating environment and application scope of existing aircraft and make full use of the advantages of high concealment of underwater flight and high maneuverability of air flight, aviation science and technology personnel in various countries are currently developing aircraft with water-to-air cross-medium flight capabilities. Water-to-air cross-medium aircraft have both air flight and underwater diving capabilities, and have important application value in the fields of reconnaissance, detection, search and rescue, and communications.

[0003] However, there is no mature water-to-air cross-medium aircraft successfully developed so far. Therefore, the development of water-to-air amphibious cross-medium unmanned aerial vehicles has huge potential application value and important strategic significance. However, there is currently no suitable solution for how to conveniently control the cross-medium aircraft to enter and exit the water and switch between a state suitable for air flight and a state suitable for underwater flight. Summary of the invention

[0004] In view of the problem that there has not yet been a successful development of a mature water-to-air cross-medium aircraft, the present invention provides a cross-medium aircraft, a system and a cross-medium attitude adjustment method to solve the technical problem. By changing the nose weight of the cross-medium aircraft, adjusting the overall density of the aircraft and the center of mass position of the aircraft, the cross-medium aircraft can smoothly dive from the water surface to underwater and float from underwater to the water surface, and the cross-medium aircraft can be conveniently controlled to switch between a state suitable for air flight and a state suitable for underwater flight.

[0005] In order to solve the above technical problems, the technical solution of the present invention is as follows:

[0006] A cross-medium aircraft, comprising a water drop-shaped centrally symmetrical body having a nose and a body, wherein the nose of the body is located at the front side of the body, and the body is further provided with an aerial power mechanism, an underwater power mechanism, and a water entry and exit attitude adjustment mechanism, wherein the water entry and exit attitude adjustment mechanism comprises a watertight compartment arranged inside the nose, a flexible water storage bag located inside the watertight compartment, and a two-way water pump connected to the water storage bag, wherein one flow channel of the two-way water pump is connected to the water storage bag, and the other flow channel is connected to the rear end of the body;

[0007] The bidirectional water pump adjusts the overall density of the aircraft and the position of the center of mass of the aircraft along the long axis of the fuselage by changing the water storage volume in the water storage bag. In the process of the water in the water storage bag changing from an empty state to a full state, the numerical change range of the overall density of the aircraft includes the density value of water; when the water in the water storage bag is emptied and the cross-medium aircraft floats on the water surface, the center of mass of the aircraft is located on the rear side of the metacenter.

[0008] Preferably, an empty compartment is further provided at the rear end of the fuselage, and a water-permeable hole communicating with the empty compartment is provided at the rear end of the fuselage;

[0009] When the empty compartment is filled with water and the water in the water storage bag is emptied, the overall density of the cross-medium aircraft is less than the density value of water.

[0010] Preferably, the side of the fuselage is connected to four or six fixed wings, and the trailing edges of the fixed wings are provided with controlled rotating slipstream rudders, and the rotation axis of the slipstream rudders is parallel to the wing surfaces of the fixed wings and perpendicular to the long axis of the fuselage;

[0011] When the fuselage is connected to four fixed wings, two of the fixed wings are used as wings symmetrically distributed on both sides of the fuselage, and the remaining two fixed wings are symmetrically arranged on both sides of the plane where the wings are located, forming two mutually symmetrical vertical tails;

[0012] When the fuselage is connected to six fixed wings, two of the fixed wings are used as wings symmetrically distributed on both sides of the fuselage, and the remaining four fixed wings are arranged in pairs on both sides of the plane where the wings are located. The two fixed wings in the same pair are located on the same side of the plane where the wings are located, and form a V-shaped vertical tail.

[0013] Preferably, the fixed wing is a delta wing.

[0014] Preferably, the slipstream rudder rotates in an angle range of ±30° relative to the fixed wing.

[0015] Preferably, the aerial power mechanism includes a propeller connected to each fixed wing, and the rotation axis of the propeller is parallel to the long axis of the fuselage.

[0016] Preferably, the propeller comprises a hub for controlled rotation, a limiting structure arranged at the front side of the hub, and a plurality of blades evenly arranged around the axis of the hub, each of the blades is hinged to the hub, and the hinge axis between the blade and the hub is perpendicular to the rotation axis of the hub;

[0017] When the hub rotates, the blades hinged to the hub rotate and expand under the action of centrifugal force until they are against the limiting structure; when the hub stops rotating, the blades hinged to the hub are retracted close to the rotation axis of the hub due to their own weight or fluid resistance during underwater flight.

[0018] Preferably, for the slipstream rudder and the propeller connected to the same fixed wing, the slipstream rudder is arranged in the slipstream area of ​​the propeller.

[0019] Preferably, the trans-medium aircraft also includes a rotary motor for driving each propeller to rotate and a power battery for supplying power to all the rotary motors. The power supply line between the power battery and the rotary motor is also provided with an electronic speed regulator to control the rotation speed of each propeller respectively.

[0020] Preferably, the underwater power mechanism includes an underwater propeller connected to the rear end of the fuselage, the underwater propeller is also powered by a power battery, and the electronic speed regulator is also connected to the power supply circuit between the power battery and the underwater propeller.

[0021] Preferably, the underwater power mechanism includes an underwater propeller connected to the rear end of the fuselage.

[0022] Preferably, the fixed wing of the trans-medium aircraft is also connected to a supporting structure, and the rear end of the supporting structure is located at the rear side of the underwater propeller.

[0023] Preferably, the water inlet and the water outlet of the underwater propeller are respectively located at the front end and the rear end of the underwater propeller, and a plurality of guide notches are provided at the edge of the rear end of the fuselage, and the guide notches are evenly arranged around the circumference of the fuselage.

[0024] Preferably, the cross-medium aircraft also includes a flight control device for controlling the flight attitude, the flight control device includes sensors and an onboard computer, the sensors include an attitude sensor and a positioning module, and the onboard computer controls the operation of the aerial power mechanism, the underwater power mechanism, and the water entry and exit attitude adjustment mechanism according to the information data measured by the sensors.

[0025] A cross-media aircraft system includes a ground measurement and control station and the above-mentioned cross-media aircraft, wherein the ground measurement and control station includes a terminal device with built-in control software, and the terminal device is communicatively connected to an onboard computer of the cross-media aircraft via uplinks and downlinks.

[0026] A cross-medium attitude adjustment method is applicable to the above-mentioned cross-medium aircraft, characterized in that when the cross-medium aircraft needs to dive from the water surface, the cross-medium attitude adjustment method includes:

[0027] S1: Start the two-way water pump to fill the water storage bag with water, so that the head of the machine body is immersed in water;

[0028] S2-Continue to inject water into the water storage bag until the entire cross-medium aircraft is immersed in water;

[0029] S3-controls the two-way water pump to keep running to prevent the water in the water storage bag from flowing out;

[0030] When the cross-medium aircraft needs to float up from underwater, the cross-medium attitude adjustment method includes:

[0031] A1-Start the two-way water pump to drain the water in the water storage bag, so that the machine body floats to the water surface;

[0032] A2-after the aircraft body is transformed into a nose-up posture on the water surface, the aerial power mechanism is activated to drive the trans-medium aircraft to fly upward;

[0033] A3-After the cross-medium flight flies upward and leaves the water surface, the bidirectional water pump is turned off.

[0034] Beneficial technical effects of the technical solution of the present invention:

[0035] (i) The fuselage in this scheme is provided with an aerial power mechanism and an underwater power mechanism, and is suitable for flying in the air and underwater. The fuselage includes a nose and a fuselage, and is also provided with a water entry and exit attitude adjustment mechanism for controlling the aircraft to switch between a state suitable for aerial flight and a state suitable for underwater flight. The water entry and exit attitude adjustment mechanism includes a watertight compartment arranged in the nose, a flexible water storage bag located in the watertight compartment, and a two-way water pump connected to the water storage bag. When the water storage bag is filled with water and the water in the water storage bag is pumped out by the two-way water pump, the mass distribution of the cross-medium aircraft can be changed, the overall density of the cross-medium aircraft and the position of the center of mass can be changed, and the cross-medium aircraft can be controlled to enter and exit the water.

[0036] For example, when the aircraft is floating on the water surface, water can be injected into the water storage bag to increase the mass of the nose, causing the aircraft to fall over and the nose to plunge into the water; at the same time, the overall density of the aircraft is increased so that the aircraft is immersed in the water as a whole, and the aircraft can be switched to an underwater flight state. When the aircraft is flying underwater, the water in the water storage bag is gradually pumped out to reduce the overall density of the aircraft, so that the aircraft gradually floats to the water surface; when the water in the water storage bag is emptied, the center of mass of the aircraft is located behind the stable center, and the aircraft floating on the water surface can automatically adjust to a nose-up posture, so that the aircraft is adjusted to a state that is convenient for flying into the air and suitable for flying in the air.

[0037] (ii) An empty compartment is also provided inside the fuselage, and a water-permeable hole connected to the empty compartment is provided at the rear end of the fuselage. When the trans-medium aircraft is flying in the air, the empty compartment is in an empty state, and the overall mass of the aircraft is small, which is suitable for flying in the air. When the trans-medium aircraft lands on the water surface, the rear end of the fuselage is immersed in the water, and a part of the water will enter the lower part of the empty compartment through the water-permeable hole, increasing the overall density of the trans-medium aircraft and causing the center of mass of the aircraft to gradually move toward the rear end of the aircraft, thereby facilitating the aircraft to float stably on the water surface. When the aircraft is completely underwater, the space in the empty compartment can be completely filled with water, further increasing the overall mass and overall density of the trans-medium aircraft, making the trans-medium aircraft suitable for underwater flight.

[0038] (III) Four or six fixed wings are connected to the side of the fuselage. Four fixed wings can form two wings and two vertical tails, and six fixed wings can form two wings and two V-shaped vertical tails. The trailing edge of each fixed wing is also rotatably connected to a slipstream rudder. When the trans-medium aircraft flies in the air or underwater, the airflow or water flow continuously passes through the fixed wing and the slipstream rudder. By controlling the deflection of different slipstream rudders, the airflow or water flow passing through the slipstream rudder can be used to generate a torque that pushes the trans-medium aircraft to deflect, so that the trans-medium aircraft can be conveniently controlled to perform pitch, roll, yaw and other actions.

[0039] (IV) The propeller includes a rotating hub, a limiting structure provided at the front end of the hub, and a plurality of blades arranged around the axis of the hub, and each blade is hinged to the hub. The hub of the propeller is controlled to drive the blades to rotate, and during the rotation of the blades, the free ends of the blades are moved away from the axis of rotation of the hub under the action of centrifugal force, so that the blades of the propeller are fully deployed until the blade surfaces of the blades are against the limiting structure at the front end of the hub. The expansion range of the blades is locked by utilizing the centrifugal force exerted on the blades and the obstruction of the limiting structure, so that the deployed blades generate continuous and stable airflow when rotating, driving the cross-medium aircraft to fly.

[0040] When the trans-medium aircraft lands with its nose facing up, the propeller stops rotating, and the blades will drop due to their own weight, automatically folding close to the rotation axis of the hub, reducing the space occupied, and the folded blades are not easily damaged by collision. When the trans-medium aircraft flies underwater, the blades will be subject to resistance toward the rear side of the trans-medium aircraft, causing the blades to fold backwards close to the rotation axis of the hub, optimizing the area of ​​the trans-medium aircraft facing the water flow, reducing the resistance received by the trans-medium aircraft when flying underwater, and increasing the maximum speed of the trans-medium aircraft flying underwater. In addition, after the blades are folded, the turbulence generated can also be reduced, allowing the trans-medium aircraft to fly smoothly underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of the structure of a cross-medium aircraft in an embodiment of the present invention is shown;

[0042] Figure 2 A schematic diagram of the structure of a machine body in an embodiment of the present invention is shown;

[0043] Figure 3 A schematic diagram of the structure of the fixed wing, the propeller and the slipstream rudder in an embodiment of the present invention is shown;

[0044] Figure 4 A schematic diagram of the movement of the propeller blades in an embodiment of the present invention is shown.

[0045] Markings in the accompanying drawings:

[0046] 1- fuselage; 1a- nose; 1b- fuselage; 11- diversion gap; 111- water permeable hole; 12- empty compartment; 13- support structure; 14- electronic speed governor; 15- power battery; 2- fixed wing; 21- propeller; 211- hub; 212- blade; 213- limit structure; 214- rotating motor; 22- slipstream rudder; 221- servo; 222- articulated rod; 3- underwater propeller; 4- water entry and exit attitude adjustment mechanism; 41- watertight compartment; 42- water storage bag; 43- two-way water pump; 44- pipeline. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical scheme and advantages of the present invention clearer, the following is a further detailed description of a cross-media aircraft, system and cross-media attitude adjustment method proposed by the present invention in combination with the accompanying drawings and specific embodiments. According to the following description, the advantages and features of the present invention will be clearer. It should be noted that the accompanying drawings are in a very simplified form and use non-precise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention. In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, please refer to the accompanying drawings. It should be noted that the structure, proportion, size, etc. illustrated in the drawings of this specification are only used to match the content disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no technical substantive significance. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effect that the present invention can produce and the purpose that can be achieved, should still fall within the scope of the technical content disclosed by the present invention.

[0048] The following will be combined with the attached Figures 1 to 4 The technical solutions of a cross-media aircraft, system and cross-media attitude adjustment method of the present invention are described in detail with specific embodiments.

[0049] Example

[0050] like Figures 1 to 4As shown, a cross-medium aircraft of this embodiment includes a teardrop-shaped body 1 having a nose 1a and a fuselage 1b, and the body 1 is a centrally symmetrical structure, and the nose 1a is located at the front side of the fuselage 1b. The body 1 is provided with an aerial power mechanism, an underwater power mechanism, and a water entry and exit attitude adjustment mechanism 4, the aerial power mechanism is used to drive the cross-medium aircraft to fly in the air, the underwater power mechanism is used to drive the cross-medium aircraft to fly underwater, and the water entry and exit attitude adjustment mechanism 4 is used to drive the cross-medium aircraft to enter and exit water. In this embodiment, the water entry and exit attitude adjustment mechanism 4 includes a watertight compartment 41 opened inside the nose 1a, a flexible water storage bag 42 placed in the watertight compartment 41, and a two-way water pump 43 connected to the water storage bag 42, one flow channel opening of the two-way water pump 43 is connected to the water storage bag 42, and the other flow channel opening is connected to a pipe 44, and the pipe 44 extends to the rear end of the fuselage 1b. When the rear end of the fuselage 1b is immersed in water, the two-way water pump 43 can conveniently pump water into the water storage bag 42. The watertight compartment 41 is closed, and the watertight compartment 41 and the water storage bag 42 are sealed. When water is injected into the water storage bag 42, positive pressure is generated in the water storage bag 42, compressing the air volume between the watertight compartment 41 and the water storage bag 42; when the water in the water storage bag 42 is pumped out, negative pressure is generated in the water storage bag 42, expanding the air volume between the water storage bag 42 and the watertight compartment 41. It should be noted that the various front-to-back positional relationships described in this solution all refer to the front-to-back positional relationships along the long axis direction of the body 1.

[0051] The installation position of the two-way water pump 43 in this embodiment is not limited, and it only needs to ensure that the water in the water storage bag 42 can be sucked out, and that the water can be sucked into the water storage bag 42 when the tail end of the aircraft is immersed in water. By using the above-mentioned two-way water pump 43 to adjust the water storage volume in the water storage bag 42, the overall density of the aircraft and the position of the center of mass of the aircraft along the long axis of the body 1 can be adjusted. The numerical variation range of the overall density of the aircraft includes the density value of water. When the water in the water storage bag 42 is emptied, the overall density of the aircraft is the minimum value and is less than the density value of water; when the water storage bag 42 is filled with water, the overall density of the aircraft reaches the maximum value, which is greater than the density value of water.

[0052] When the cross-medium aircraft is flying, the water storage bag 42 is in an empty state, and the overall mass of the aircraft is small, which is suitable for flying in the air. When the aircraft needs to be changed from the aerial flight state to the underwater flight state, the cross-medium aircraft is first landed on the water surface. At this time, the overall density of the aircraft is less than that of water, and it can float stably on the water surface. At this time, the center of mass of the aircraft is located at the rear side of the metacenter, so that the aircraft keeps the nose 1a facing upward when floating on the water surface, which is convenient for taking off upward and for the two-way water pump 43 to suck water from the rear end of the fuselage 1b into the water storage bag 42.

[0053] The body 1 in this solution is provided with an aerial power mechanism and an underwater power mechanism, and is suitable for flying in the air and underwater. As for the water entry and exit posture adjustment mechanism 4, when filling the water storage bag 42 with water and pumping out the water in the water storage bag 42, the mass distribution of the cross-medium aircraft can be changed, the overall density of the cross-medium aircraft and the position of the center of mass can be changed, and the cross-medium aircraft can be controlled to enter and exit the water.

[0054] For example, when the aircraft is floating on the water surface, water is added to the water storage bag 42 to increase the mass of the nose 1a, so that the aircraft falls over and the nose 1a plunges into the water; then water is continued to be added to the water storage bag 42 until the overall density of the aircraft is greater than the density of water, and the aircraft as a whole sinks into the water, and then the aircraft can be switched to an underwater flight state. When the aircraft is flying underwater, the water in the water storage bag 42 is gradually pumped out to reduce the overall density of the aircraft. When the overall density of the aircraft is less than the density of water, the aircraft can automatically float to the water surface; and when the water in the water storage bag 42 is emptied, the center of mass of the aircraft is located at the rear side of the stable center, and the aircraft floating on the water surface can automatically adjust to a posture with the nose 1a facing upward, which is convenient for the aircraft to fly upward into the air. In addition, after the water in the water storage bag 42 is emptied, the overall density of the aircraft is also small, which is suitable for flying in the air.

[0055] In addition, an empty compartment 12 is also provided at the rear end of the fuselage 1b in this embodiment, and a water-permeable hole 111 connected to the empty compartment 12 is also provided at the rear end of the fuselage 1b. When the rear end of the fuselage 1b is immersed in water, water can enter the empty compartment 12 through the water-permeable hole 111, thereby enabling the rear end of the fuselage 1b to be immersed in water, thereby improving the stability of the aircraft in maintaining the nose 1a facing upward. In addition, after water is stored in the empty compartment 12, the overall density of the aircraft can be increased to be suitable for underwater flight. When the cross-medium aircraft flies into the air, by adjusting the flight attitude of the fuselage 1b, the water in the empty compartment 12 can be completely discharged from the water-permeable hole 111, thereby reducing the overall density of the aircraft to be suitable for flying in the air. When the empty compartment 12 is filled with water and the water in the water storage bag 42 is emptied, the overall density of the cross-medium aircraft is less than the density of water, thereby ensuring that the cross-medium aircraft can smoothly float to the water surface.

[0056] Specifically, the body 1 in this solution is in the shape of a water drop, which can reduce the resistance of the aircraft flying in water and improve its speed and maneuverability. In addition, the body 1 is a central symmetrical structure, which makes it difficult for the body 1 to generate turbulent airflow when flying in the air and turbulent water flow when flying underwater, thereby improving the stability of the aircraft flying in the air or underwater.

[0057] In addition, four fixed wings 2 are installed on the side of the fuselage 1b. The four fixed wings 2 are evenly arranged around the axis of the fuselage 1. Two of the fixed wings 2 are symmetrically installed on both sides of the fuselage 1b, forming the wings of the fuselage 1; the remaining two fixed wings 2 are symmetrically distributed on both sides of the plane where the wings are located, forming two vertical tails of the fuselage 1.

[0058] The fixed wing 2 in this embodiment is a delta wing. The delta wing configuration generally has three characteristics: low supersonic flight resistance, high structural strength, and small amount of backward movement of the wing center of gravity at transonic speed. The trailing edge of the fixed wing 2 is also equipped with a controlled rotating slipstream rudder 22. The rotation axis of the slipstream rudder 22 is parallel to the wing surface of the fixed wing 2 and perpendicular to the long axis of the fuselage 1. When the cross-medium aircraft is flying in the air or underwater, the slipstream rudder 22 is controlled to deflect at a certain angle. When the airflow or water flow passes through the slipstream rudder 22, a torque that pushes the cross-medium aircraft to deflect will be generated, causing the cross-medium aircraft to perform pitch, roll, yaw and other actions. In this embodiment, the angle range of the rudder surface of the slipstream rudder 22 relative to the wing surface of the fixed wing 2 is ±30°.

[0059] In another embodiment, six fixed wings 2 can be installed on the side of the fuselage 1b, wherein two fixed wings 2 are symmetrically installed on both sides of the fuselage 1b to form the wings of the fuselage 1; the remaining four fixed wings 2 are arranged in pairs on both sides of the plane where the wings are located, and the two fixed wings 2 in the same pair are located on the same side of the plane where the wings are located, and the two fixed wings 2 in the same pair form a V-shaped vertical tail, and the two V-shaped vertical tails corresponding to the two pairs of fixed wings 2 are respectively located on both sides of the plane where the wings are located.

[0060] The aerial power mechanism in this embodiment includes a propeller 21 installed on the fixed wing 2. Each fixed wing 2 is equipped with a propeller 21 at one end away from the fuselage 1b. The rotation axis of the propeller 21 is parallel to the long axis of the fuselage 1b. When the propeller 21 rotates, it generates power to drive the cross-medium aircraft to fly. The underwater power mechanism in this embodiment uses an underwater propeller 3. The underwater propeller 3 is installed at the rear end of the fuselage 1b and is coaxially arranged with the fuselage 1b. When the underwater propeller 3 sprays water backwards, it can push the cross-medium aircraft to fly underwater. Please refer to Figures 2 to 4 , specifically introduce the aerial power mechanism and underwater power mechanism in this embodiment:

[0061] The propeller 21 of the air power mechanism includes a hub 211 for controlled rotation, blades 212 hinged to the hub 211, and a rotary motor 214 for driving the hub 211 to rotate. Each hub 211 is connected to two blades 212, and the two blades 212 are evenly arranged around the axis of the hub 211. One end of the blade 212 is hinged to the hub 211, and the other end is a free end. The hinge axis between the blade 212 and the hub 211 is perpendicular to the rotation axis of the hub 211. The front side of the hub 211 is also fixedly connected to a limiting structure 213, which is used to limit the rotation angle of the blade 212 when it rotates toward the front side of the fuselage 1b. When the aircraft needs to fly using the propeller 21, the hub 211 is driven to rotate to drive the blades 212 to rotate. During the rotation of the blades 212, the blades 212 also rotate around the hinge axis between themselves and the hub 211. The free end of the blade 212 moves away from the rotation axis of the hub 211 under the action of centrifugal force, so that the blades 212 of the propeller 21 are fully deployed until the blade surface of the blade 212 abuts against the limiting structure 213 at the front end of the hub 211. The expansion range of the blades 212 is locked by the centrifugal force on the blades 212 and the blocking effect of the limiting structure 213. The deployed blades 212 can generate a continuous and stable airflow when rotating, driving the cross-medium aircraft to fly.

[0062] When the cross-medium aircraft lands with the nose 1a facing upward, the propeller 21 stops rotating, and the blades 212 will drop due to their own weight and automatically fold close to the rotation axis of the hub 211, reducing the occupied space, and the folded blades 212 are not easy to be damaged by collision. When the cross-medium aircraft flies underwater, the blades 212 will be subject to resistance toward the rear side of the cross-medium aircraft, which will also cause the blades 212 to fold backwards close to the rotation axis of the hub 211, reducing the resistance encountered by the cross-medium aircraft when flying underwater and increasing the maximum speed of the cross-medium aircraft when flying underwater. When the cross-medium aircraft is flying underwater, the folded blades 212 are also not easily impacted by water flow, which prolongs the life of the blades 212, and can also reduce the turbulence generated by the blades 212, reduce the resistance encountered by the blades 212, and enable the cross-medium aircraft to fly smoothly underwater.

[0063] In the cross-medium aircraft, for the slipstream rudder 22 and the propeller 21 connected to the same fixed wing 2, the slipstream rudder 22 is located in the slipstream area of ​​the propeller 21, so that the slipstream rudder 22 can efficiently adjust the attitude of the cross-medium aircraft in the air. A servo 221 for driving the slipstream rudder 22 to deflect is also installed inside the fixed wing 2. A three-section articulated rod 222 is connected between the servo 221 and the slipstream rudder 22 in this embodiment, and adjacent sections of the articulated rod 222 are articulated. The first section of the articulated rod 222 is connected to the servo 221, and the servo 221 is used to drive the first section of the articulated rod 222 to rotate. The last section of the articulated rod 222 is fixedly connected to the rudder surface of the slipstream rudder 22. When the servo 221 drives the first section of the articulated rod 222 to rotate, the articulated rod 222 can drive the slipstream rudder 22 to deflect. It should be understood that, in other embodiments, the steering gear 221 can directly drive the slipstream rudder 22 to deflect via a gear set or a sprocket set.

[0064] When the trans-medium aircraft in this scheme is flying in the air, it can fly with the nose 1a vertically upward or nearly vertically upward. When the trans-medium aircraft needs to be offset in the horizontal direction, the fuselage 1b of the trans-medium aircraft can be tilted by adjusting the rotation speed of each propeller 21 respectively, so that the direction of the total lift generated by all propellers 21 is tilted, thereby driving the trans-medium aircraft to move in the horizontal direction.

[0065] Specifically, the underwater propeller 3 of the underwater power mechanism is installed at the rear end of the fuselage 1b, the water inlet of the underwater propeller 3 is arranged toward the fuselage 1b, and is separated from the rear end of the fuselage 1b by a distance, and the water outlet of the underwater propeller 3 is arranged away from the fuselage 1b. The rear end of the fuselage 1b is connected to the underwater propeller 3 through four rod structures, and the four rod structures are evenly arranged around the axis of the fuselage 1b. The rod structures extend along the long axis direction of the fuselage 1b, and the rod structures are fixedly connected to the fuselage 1b and the underwater propeller 3 or detachably connected. The underwater propeller 3 in this embodiment is a ducted water propeller propeller, but it can also be replaced by a propeller-type vector propeller or a pump-jet propeller.

[0066] When the cross-medium aircraft flies underwater, the underwater propeller 3 needs to continuously inhale water and then discharge the water. However, the underwater propeller 3 is installed at the rear end of the fuselage 1b, which causes the fuselage 1b to block the water inlet of the underwater propeller 3, which is not conducive to the underwater propeller 3 absorbing water. Therefore, in order to ensure that the underwater propeller 3 works efficiently, the rear end edge of the cross-medium aircraft is also provided with a plurality of guide gaps 11, and the plurality of guide gaps 11 are evenly arranged around the circumference of the fuselage 1b. The wall surface of the guide gap 11 is a smooth concave arc surface, and the guide gap 11 is smoothly connected to the surface of the fuselage 1b, which reduces the obstruction of the underwater propeller 3 and enables the underwater propeller 3 to work efficiently. In addition, the water-permeable hole 111 in this embodiment is provided on the wall surface of the guide gap 11.

[0067] In addition, since the rear end of the fuselage 1b is connected to the underwater propeller 3, when the cross-medium aircraft lands with the nose 1a facing upward, in order to avoid collision and damage to the underwater propeller 3, each fixed wing 2 of the cross-medium aircraft is also connected to a long strip of supporting structure 13, and the rear end of the supporting structure 13 extends backward along the long axis direction of the fuselage 1 to the rear side of the underwater propeller 3. When the cross-medium aircraft lands with the nose 1a facing upward, it can contact the landing area through the rear end of the supporting structure 13 to avoid bumping into the underwater propeller 3.

[0068] Specifically, a power battery 15 for supplying power to the underwater propeller 3 and each rotating motor 214 is also provided inside the fuselage 1b. An electronic speed regulator 14 is also installed in the power supply line between the power battery 15 and the underwater propeller 3 and the rotating motor 214 to control the rotation speed of each propeller 21 and the propulsion power of the underwater propeller 3 respectively.

[0069] Furthermore, the cross-media aircraft is equipped with a flight control device, which includes sensors and an onboard computer. The sensors include but are not limited to attitude sensors and positioning modules. The onboard computer controls the operation of the propeller 21, the slipstream rudder 22 and the bidirectional water pump 43 according to the information data measured by the sensors.

[0070] A cross-media flight system includes a ground measurement and control station and the above-mentioned cross-media aircraft. The ground measurement and control station includes a control terminal with built-in display and control software. The control terminal is connected to the onboard computer of the cross-media aircraft through uplinks and downlinks.

[0071] A cross-medium attitude adjustment method is applicable to the above-mentioned cross-medium aircraft, when the cross-medium aircraft needs to dive from the water surface:

[0072] S1-Start the two-way water pump 43 to inject water into the water storage bag 42, so that the head 1a of the body 1 is immersed in water;

[0073] S2-Continue to inject water into the water storage bag 42 until the entire cross-medium aircraft is immersed in water;

[0074] S3-control the bidirectional water pump 43 to keep running to prevent the water in the water storage bag 42 from flowing out.

[0075] When the cross-medium aircraft needs to fly out from underwater:

[0076] A1-Start the two-way water pump 43 to pump out the water in the water storage bag 42, so that the body 1 floats up and the head 1a of the body 1 points upward;

[0077] A2-After the body 1 floats to the water surface, the propeller 21 is started to drive the cross-medium aircraft to fly upward;

[0078] A3-After the cross-medium aircraft is completely in the air, the bidirectional water pump 43 is turned off.

[0079] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A cross-medium aircraft, characterized in that: It comprises a water drop-shaped central symmetrical body having a nose and a body, wherein the nose of the body is located at the front side of the body, and the body is also provided with an aerial power mechanism, an underwater power mechanism and a water entry and exit posture adjustment mechanism, wherein the water entry and exit posture adjustment mechanism comprises a watertight compartment arranged inside the nose, a flexible water storage bag located inside the watertight compartment, and a two-way water pump connected to the water storage bag, wherein one flow channel of the two-way water pump is connected to the water storage bag, and the other flow channel is connected to the rear end of the body; The bidirectional water pump adjusts the overall density of the aircraft and the position of the center of mass of the aircraft along the long axis of the fuselage by changing the water storage volume in the water storage bag. In the process of the water in the water storage bag changing from an empty state to a full state, the numerical change range of the overall density of the aircraft includes the density value of water; when the water in the water storage bag is emptied and the cross-medium aircraft floats on the water surface, the center of mass of the aircraft is located on the rear side of the metacenter.

2. A cross-medium aircraft according to claim 1, characterized in that: An empty compartment is also provided at the rear end of the fuselage, and a water permeable hole communicating with the empty compartment is provided at the rear end of the fuselage; When the empty compartment is filled with water and the water in the water storage bag is emptied, the overall density of the cross-medium aircraft is less than the density value of water.

3. A cross-medium aircraft according to claim 1, characterized in that: The side of the fuselage is connected to four or six fixed wings, and the trailing edge of the fixed wing is provided with a controlled rotating slipstream rudder, and the rotation axis of the slipstream rudder is parallel to the wing surface of the fixed wing and perpendicular to the long axis of the fuselage; When the fuselage is connected to four fixed wings, two of the fixed wings are used as wings symmetrically distributed on both sides of the fuselage, and the remaining two fixed wings are symmetrically arranged on both sides of the plane where the wings are located, forming two mutually symmetrical vertical tails; When the fuselage is connected to six fixed wings, two of the fixed wings are used as wings symmetrically distributed on both sides of the fuselage, and the remaining four fixed wings are arranged in pairs on both sides of the plane where the wings are located. The two fixed wings in the same pair are located on the same side of the plane where the wings are located, and form a V-shaped vertical tail.

4. A cross-medium aircraft as claimed in claim 3, characterized in that: The fixed wing is a delta wing.

5. A cross-medium aircraft as claimed in claim 3, characterized in that: The slipstream rudder can rotate relative to the fixed wing at a range of ±30°.

6. A cross-medium aircraft according to any one of claims 3 to 5, characterized in that: The aerial power mechanism comprises a propeller connected to each fixed wing, and the rotation axis of the propeller is parallel to the long axis of the fuselage.

7. A cross-medium aircraft according to claim 6, characterized in that: The propeller comprises a controlled rotating hub, a limiting structure arranged at the front side of the hub, and a plurality of blades evenly arranged around the axis of the hub, each of the blades being hinged to the hub, and the hinge axis between the blade and the hub being perpendicular to the rotation axis of the hub; When the hub rotates, the blades hinged to the hub rotate and expand under the action of centrifugal force until they are against the limiting structure; when the hub stops rotating, the blades hinged to the hub are retracted close to the rotation axis of the hub due to their own weight or fluid resistance during underwater flight.

8. The cross-medium aircraft according to claim 6, characterized in that: For the slipstream rudder and the propeller connected to the same fixed wing, the slipstream rudder is arranged in the slipstream area of ​​the propeller.

9. The cross-medium aircraft according to claim 6, characterized in that: The cross-medium aircraft also includes a rotating motor for driving each propeller to rotate and a power battery for supplying power to all the rotating motors. The power supply line between the power battery and the rotating motor is also provided with an electronic speed regulator to control the rotation speed of each propeller respectively.

10. A cross-medium aircraft according to claim 9, characterized in that: The underwater power mechanism includes an underwater propeller connected to the rear end of the fuselage, the underwater propeller is also powered by a power battery, and the electronic speed regulator is also connected to the power supply circuit between the power battery and the underwater propeller.

11. A cross-medium aircraft according to any one of claims 3 to 5, characterized in that: The underwater power mechanism comprises an underwater propeller connected to the rear end of the fuselage.

12. A cross-medium aircraft according to claim 11, characterized in that: The fixed wing of the trans-medium aircraft is also connected to a supporting structure, and the rear end of the supporting structure is located at the rear side of the underwater propeller.

13. The cross-medium aircraft according to claim 11, characterized in that: The water inlet and the water outlet of the underwater propeller are respectively located at the front end and the rear end of the underwater propeller, and a plurality of guide notches are opened at the edge of the rear end of the fuselage, and the guide notches are evenly arranged around the circumference of the fuselage.

14. A cross-medium aircraft according to any one of claims 1 to 13, characterized in that: The cross-medium aircraft also includes a flight control device for controlling the flight attitude. The flight control device includes sensors and an onboard computer. The sensors include an attitude sensor and a positioning module. The onboard computer controls the operation of an aerial power mechanism, an underwater power mechanism, and an entry and exit water attitude adjustment mechanism according to information data measured by the sensors.

15. A cross-medium aircraft system, characterized in that: It comprises a ground measurement and control station and the cross-media aircraft as claimed in claim 14, wherein the ground measurement and control station comprises a terminal device with built-in control software, and the terminal device is communicatively connected with an onboard computer of the cross-media aircraft via uplinks and downlinks.

16. A cross-medium attitude adjustment method, applicable to the cross-medium aircraft according to claim 14, characterized in that: When the cross-medium aircraft needs to dive from the water surface, the cross-medium attitude adjustment method includes: S1: Start the two-way water pump to fill the water storage bag with water, so that the head of the machine body is immersed in water; S2-Continue to inject water into the water storage bag until the entire cross-medium aircraft is immersed in water; S3-controls the two-way water pump to keep running to prevent the water in the water storage bag from flowing out; When the cross-medium aircraft needs to float up from underwater, the cross-medium attitude adjustment method includes: A1-Start the two-way water pump to drain the water in the water storage bag, so that the machine body floats to the water surface; A2-after the aircraft body is transformed into a nose-up posture on the water surface, the aerial power mechanism is activated to drive the trans-medium aircraft to fly upward; A3-After the cross-medium flight flies upward and leaves the water surface, the bidirectional water pump is turned off.

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