Deep and far sea culture sea and air inspection cross-medium aircraft and inspection method

Abstract

The invention discloses a deep and far sea culture sea and air inspection cross-medium aircraft and an inspection method. The main body structure of the aircraft is in a dish shape; comprising a plurality of first ducts, and the axial directions of the first ducts are consistent with the thickness direction of the main body structure; the number of the air propellers is consistent with that of the first ducts; the air propellers are mounted in the first duct through the first rotary driving mechanisms; the first liquid propeller is used for driving the main body structure to advance underwater, and the underwater advancing direction of the main body structure is consistent with the cross section direction of the main body structure; wherein the edge of the main body structure is firstly in contact with the water surface in the water entering and exiting process of the aircraft, the air propeller and the first liquid propeller work cooperatively in the water exiting process of the aircraft, power is provided for the aircraft from the air and the water respectively, and when the aircraft sails in the water, the air propeller assists the aircraft in adjusting the posture; therefore, the states of multiple culture devices and fishes in different areas can be effectively and flexibly inspected, and the investment of state monitoring equipment is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of cross-media vehicles, and in particular to a cross-media vehicle for deep-sea aquaculture and aerial inspection. Background Art

[0002] In recent decades, global aquaculture production has grown steadily, with more and more fish and other commercially valuable edible aquatic organisms entering different countries and regions and circulating in the international market. The growing demand for such products has stimulated the development and expansion of aquaculture production systems in all water bodies. At present, a large proportion of marine aquaculture is in the coastal waters, with limited space and over-intensive production. The development of offshore fishery aquaculture is an important measure to alleviate the pressure on the coastal aquaculture environment, protect the marine ecological environment, and provide healthy and safe food.

[0003] Deep-sea aquaculture mainly includes deep-sea aquaculture platforms that use mooring systems to fix floating cages and deep-sea fences that use offshore islands, reefs or piles. These aquaculture methods are characterized by the aquaculture area being far from the coastline, the aquaculture water body being large, typhoons being frequent, and the waves being high and the currents being rapid. Therefore, they face many unknown challenges. The most frequent accident is the escape of fish schools after the nets are damaged. These challenges have neither been clearly identified nor rigorously studied. Therefore, fish farmers do not have full confidence in moving to the deep-sea for fish farming.

[0004] The current monitoring method for large-scale deep-sea aquaculture equipment is to equip each aquaculture equipment with special status monitoring equipment, which can monitor the aquaculture equipment and fish behavior to a certain extent. However, the number of pre-buried sensors is large, the cost is high and it is difficult to migrate. Summary of the invention

[0005] In response to the shortcomings in the above-mentioned existing production technologies, the applicant provides a cross-media vehicle and inspection method for deep-sea aquaculture sea and air inspection, which can effectively and flexibly inspect multiple aquaculture equipment and fish conditions in different areas, so as to ensure the safe and stable on-site operation of the aquaculture equipment and reduce the investment in status monitoring equipment.

[0006] The technical solution adopted by the present invention is as follows:

[0007] A cross-medium vehicle for deep-sea aquaculture sea and air inspection, comprising

[0008] A main structure, wherein the main structure is in a dish shape;

[0009] A plurality of first ducts are arranged on the main structure, wherein the axial direction of the first ducts is consistent with the thickness direction of the main structure;

[0010] air movers, the number of which is the same as the number of the first ducts;

[0011] A plurality of first rotary drive mechanisms, each air propeller is installed in the first duct through a first rotary drive mechanism, and the first rotary drive mechanism is used to change the thrust direction of the air propeller;

[0012] A first liquid propeller is provided on the main structure and is used to drive the main structure to move underwater, and the direction in which the main structure moves underwater is consistent with the cross-sectional direction of the main structure;

[0013] Among them, when the aircraft enters and exits the water, the edge of the main structure first contacts the water surface, and when the aircraft exits the water, the air propeller and the first liquid propeller work together to provide power to the aircraft from the air and water respectively. When the aircraft is sailing in the water, the air propeller assists the aircraft in adjusting its attitude.

[0014] As a further improvement of the above technical solution:

[0015] It also includes a first liquid propeller and a second liquid propeller disposed at both ends of the main structure.

[0016] When the first liquid propeller drives the main structure to move underwater, the second liquid propeller has the same thrust direction as the first liquid propeller, providing power for the main structure to move underwater.

[0017] The number of the first ducts is four and they are arranged in an array with the center of the main structure as the center.

[0018] The first rotary drive mechanism drives the propeller shaft of the air propeller to swing within a swinging plane. When the first liquid propeller drives the main structure to navigate underwater, the thrust direction of the first liquid propeller is parallel to the swinging plane.

[0019] The air propeller is a retaining ring type air rotor.

[0020] The main structure is provided with a second duct and a third duct which are consistent with the axial direction of the first duct;

[0021] It also includes a second rotation drive mechanism, the first liquid propeller is installed in the second duct through the second rotation drive mechanism, and the second rotation drive mechanism is used to change the thrust direction of the first liquid propeller;

[0022] It also includes a third rotation drive mechanism, through which the second liquid propeller is installed in the third duct, and the third rotation drive mechanism is used to change the thrust direction of the second liquid propeller.

[0023] It also includes a guide channel that runs through the second duct and the edge of the main structure, and the direction of the guide channel is consistent with the thrust direction of the first liquid propeller when driving the main structure to navigate underwater.

[0024] It also includes a guide surface located on the side wall of the third duct. When the second liquid propeller and the first liquid propeller drive the main structure to move underwater, the thrust direction of the second liquid propeller and the first liquid propeller is the same, and the guide surface is used to guide the water flow behind the second liquid propeller.

[0025] The longitudinal section of the main structure is elliptical, and the ratio of the major axis to the minor axis of the ellipse is 5-15.

[0026] A patrol method for a deep-sea aquaculture sea and air patrol cross-medium vehicle comprises the following steps:

[0027] When the aircraft is in the air, it is driven by multiple air propellers to navigate and monitor the status of the aquaculture equipment above the water surface;

[0028] The aircraft is located in the water. When the aircraft is monitoring around the aquaculture equipment, it is driven to navigate by the first liquid propeller and the second liquid propeller. The first liquid propeller and the second liquid propeller are respectively located at the front and rear positions of the navigation direction, and the air propeller assists the aircraft in adjusting its attitude.

[0029] The aircraft is located in the water. When the aircraft closely monitors the net and the cultured organisms inside the net, the aircraft sticks to the net of the culture equipment and moves with the net.

[0030] When the aircraft moves on the net of the aquaculture equipment, the propeller shafts of the first liquid propeller and the second liquid propeller are perpendicular to the net, and the propeller shaft of the air propeller is parallel to the net. The first liquid propeller and the second liquid propeller generate thrust, so that the guard ring of the air propeller contacts the net, and the aircraft is driven to move on the net through the rotation of the guard ring and the friction generated by the net.

[0031] The beneficial effects of the present invention are as follows:

[0032] The present invention has a compact and reasonable structure and is easy to operate. An air propeller and a first liquid propeller are arranged on the disc-shaped main structure. The thrust direction of the air propeller is controlled by the first rotary drive mechanism, so that the aircraft can navigate in the two media of air and water and smoothly transform in the process of switching between the two media of water and air. Therefore, it is possible to effectively and flexibly inspect multiple breeding equipment and fish conditions in different areas, so as to ensure the safe and stable on-site operation of the breeding equipment and reduce the investment in status monitoring equipment.

[0033] At the same time, the present invention also has the following advantages:

[0034] By arranging the first liquid propeller and the second liquid propeller on both sides of the multiple air propellers, respectively, along the two ends of the underwater moving direction of the vehicle, a hybrid drive of water and air multi-rotors is formed, achieving rapid entry into water and stepped exit from water, thereby improving the flexibility and convenience of the vehicle's navigation in different media.

[0035] By arranging the second duct and the third duct as well as the second rotation drive mechanism and the third rotation drive mechanism on the main structure, the thrust direction of the first liquid propeller and the second liquid propeller is changed. Combined with the change of the thrust direction of the air propeller and the change of the thrust direction of the first liquid propeller and the second liquid propeller, the aircraft can be moved on the net of the breeding equipment. When monitoring the net, the aircraft and the net can be followed to improve the accuracy of monitoring.

[0036] The vehicle has multi-scale inspection capabilities. It can not only roughly inspect the status of deep-sea aquaculture in the air, but also navigate flexibly in the water and get close to the nets to conduct detailed inspections of the status of the nets. It has both efficiency and accuracy. It can be used as a routine inspection tool or as an emergency exploration tool in sudden situations. It has three functions: aerial, underwater and close to the net.

[0037] The propellers of the aircraft are fully rotating and can change the direction of propulsion. Combined with the overall layout of each propeller, it can realize a variety of collaborative working modes, making the aircraft suitable for tasks that require precise operations in complex environments, with greater adaptability and flexibility. The full-rotation propulsion system not only significantly improves the maneuverability and control accuracy of the aircraft, but also enables the aircraft to perform well in cross-media conversion, precise operation and complex task execution. Through the change of direction and adjustment of the full-rotation propulsion device, as well as the combination of underwater propellers and air rotors, the space for the aircraft to navigate and operate efficiently in a variety of scenarios has been completely expanded. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a top view of the present invention.

[0039] Figure 2 for Figure 1 A partial enlarged view of point A in the middle.

[0040] Figure 3 It is a side view of the present invention.

[0041] Figure 4 for Figure 3 A partial enlarged view of point B in the middle.

[0042] Figure 5 It is a schematic diagram of the aircraft of the present invention when it is navigating in the air.

[0043] Figure 6 It is a schematic diagram of the aircraft of the present invention before entering the water.

[0044] Figure 7 It is a schematic diagram of the aircraft of the present invention when sailing in water.

[0045] Figure 8 It is a schematic diagram of the aircraft of the present invention walking on the net.

[0046] Fig. 9 This is a schematic diagram of the aircraft of the present invention attached to a net and walking (from another perspective).

[0047] Fig.10 It is a schematic diagram of the aircraft of the present invention when it leaves the water.

[0048] Fig.11 It is a schematic diagram of the steering of the aircraft of the present invention.

[0049] Fig.12 This is when the first liquid propeller and the second liquid propeller of the present invention are two groups.

[0050] Among them: 1. Main structure; 2. First duct; 3. Air propeller; 31. First rotation drive mechanism; 4. Second duct; 5. First liquid propeller; 51. Second rotation drive mechanism; 6. Guide channel; 7. Third duct; 71. Guide surface; 8. Second liquid propeller; 81. Third rotation drive mechanism. DETAILED DESCRIPTION

[0051] This application aims to solve the problem that each aquaculture equipment is equipped with a special status monitoring equipment in the prior art, and the number of pre-buried sensors is large, expensive, and difficult to migrate. A cross-media aircraft and inspection method for deep-sea aquaculture sea and air inspection is proposed. The detection equipment is set on the aircraft to not only roughly inspect the aquaculture status of deep-sea aquaculture equipment in the air, but also finely check the aquaculture equipment and fish status in the water. Effective and flexible inspections ensure the safe and stable operation of aquaculture equipment in place, and reduce the number and investment of status monitoring equipment. The following is a detailed description in conjunction with the drawings and specific implementation methods of the specification.

[0052] Embodiment 1:

[0053] like Figure 1 As shown, the deep-sea aquaculture sea and air patrol cross-medium vehicle of this embodiment includes a main structure 1, a plurality of first ducts 2, an air propeller 3, a plurality of first rotation drive mechanisms 31 and a first liquid propeller 5.

[0054] The main structure 1 is in a dish shape;

[0055] A plurality of first ducts 2 are arranged on the main structure 1, and the axial direction of the first ducts 2 is consistent with the thickness direction of the main structure 1;

[0056] air propellers 3, the number of which is the same as the number of the first ducts 2;

[0057] A plurality of first rotary drive mechanisms 31, each air propeller 3 is installed in the first duct 2 via a first rotary drive mechanism 31, and the first rotary drive mechanism 31 is used to change the thrust direction of the air propeller 3;

[0058] A first liquid propeller 5 is provided on the main structure 1 and is used to drive the main structure 1 to move underwater. The direction in which the main structure 1 moves underwater is consistent with the cross-sectional direction of the main structure 1.

[0059] Among them, when the aircraft enters and exits the water, the edge of the main structure 1 first contacts the water surface, and when the aircraft exits the water, the air propeller 3 and the first liquid propeller 5 work together to provide power to the aircraft from the air and water respectively. When the aircraft is sailing in the water, the air propeller 3 assists the aircraft in adjusting its posture.

[0060] Specifically, the disc-shaped structure is as follows Figure 1 , Figure 3 As shown, the cross section of the main structure 1 is elliptical or circular. Figure 1 As shown, the cross section is an ellipse; the first duct 2 is arranged along the cross-sectional direction of the main structure 1, and the first duct 2 penetrates the main structure 1 along the thickness direction of the main structure 1.

[0061] like Figure 3 As shown, the longitudinal section of the main structure 1 is elliptical, and the ratio of the major axis to the minor axis of the ellipse is 5-15. It is ensured that the edge of the main structure 1 contacts the water surface with small resistance. The present invention presents a flat sliced ​​ellipse, the overall structure is compact, and has the advantages of both aerodynamics and hydrodynamics.

[0062] In addition, the main structure 1 is made of high-strength lightweight materials (such as carbon fiber composite materials), which not only ensures the stability and durability of the aircraft when flying in the air and sailing underwater, but also can effectively cope with corrosion and wear in the marine environment.

[0063] The air propeller 3 is an air rotor, and the first liquid propeller 5 is an underwater propeller. The air propeller 3 is installed in the first duct 2 to guide the airflow generated by the air propeller 3. Each air propeller 3 can independently adjust the rotation angle and rotation speed. The rotor structure of the air propeller 3 is made of a light but strong carbon fiber material to ensure its stability at high speeds and to resist corrosion in the marine environment. The first liquid propeller 5 is made of corrosion-resistant materials (such as titanium alloy or stainless steel) and can be used in seawater for a long time without being corroded.

[0064] The mounting portion of the first rotary drive mechanism 31 is fixedly connected to the first duct 2, and the driving portion of the first rotary drive mechanism 31 is connected to the mounting portion of the air propeller 3. The air propeller 3 is provided with a driving motor that independently drives the air propeller 3 to work. The first rotary drive mechanism 31 drives the air propeller 3 to swing as a whole, so as to change the thrust direction of the air propeller 3. Each air propeller 3 is equipped with an independent servo motor control system, which can adjust the angle and speed of the propeller shaft of each air propeller 3 in real time according to the flight control algorithm, thereby realizing precise attitude control.

[0065] When the thrust direction of the air propeller 3 is consistent with the axial direction of the first duct 2, the air propeller 3 is located in the first duct 2. Figure 5 When the thrust direction of the air propeller 3 is perpendicular to the axial direction of the first duct 2, the air propeller 3 is partially located outside the main structure 1, as shown in FIG. Figure 8 shown.

[0066] like Figure 7 As shown, the direction of the main structure 1 sailing underwater is consistent with the cross-sectional direction of the main structure 1, that is, the edge of the main structure 1 faces forward, so that the resistance encountered by the main structure 1 in the water is minimized. During the underwater navigation of the main structure 1, the first liquid propeller 5 is located behind the navigation direction.

[0067] The deep-sea aquaculture sea and air patrol cross-media aircraft of this embodiment navigates in the air, switches between the air and water, and navigates in the water as follows:

[0068] like Figure 5 As shown, when the aircraft is flying in the air, the thrust of the air propeller 3 is downward, providing lift for the main structure 1. The air propeller 3 provides strong lift and thrust when flying in the air. By controlling the thrust direction and rotation speed of the air propeller 3, it is used to perform various flight actions such as rising, descending, turning and hovering to change the navigation posture;

[0069] like Figure 6 As shown, before entering the water, the aircraft adjusts its attitude to sail towards the water surface in an inclined or vertical direction, so that the main structure 1 has a certain initial velocity before entering the water, and then turns off the air propeller 3, so that the edge of the main structure 1 contacts the water surface first, and enters the water by inertia;

[0070] like Figure 7 As shown, when the vehicle is sailing in the water, the first liquid propeller 5 is started to drive the main structure 1 to sail underwater, and the air propeller 3 is started to assist in adjusting the posture of the main structure 1 through speed control and thrust direction control, as shown in FIG. Fig.11 As shown, the steering of the main structure 1 can be achieved by controlling the speed of each air propeller 3 to be different;

[0071] like Fig.10As shown, before the aircraft leaves the water, it adjusts its posture to sail towards the water surface in an inclined or vertical direction. Driven by the first liquid propeller 5, the edge of the main structure 1 first contacts the water surface, and then the air propeller 3 exposed to the water surface adjusts the thrust direction according to the current posture to provide lift and jointly drive the aircraft to sail across the medium with the first liquid propeller 5. The air propeller 3 and the first liquid propeller 5 work together, and when the first liquid propeller 5 is located above the water surface, it is closed, and the aircraft completely enters the air.

[0072] The above aircraft navigates in the air, switches between air and water, and navigates in water. When navigating underwater, the first liquid propeller 5 provides the main propulsion force, while the air propeller 3 assists in maintaining the posture; when flying in the air, the air propeller 3 becomes the main power source; when switching from water to air, the first liquid propeller 5 and the air propeller 3 provide power to the aircraft from the air and water respectively; when switching from air to water, the aircraft of this embodiment can directly cut into the water quickly and smoothly. The cooperation between the air propeller 3 and the first liquid propeller 5 realizes the best performance at different stages, ensuring that the aircraft can maintain a high degree of stability and controllability in any environment.

[0073] Due to the difference of more than 800 times in water vapor density, direct and rapid entry into the water will generate a considerable impact load at the moment of entry, endangering the structural safety of the aircraft itself and the fish and net observation sensors it carries. The hull of the aircraft adopts a streamlined slice design, and even the front end of the water entry adopts a sharp blade-like design, which can cut into the water like a blade, reducing the resistance and impact when entering the water. Thereby significantly reducing the impact load on the main structure 1 during the aircraft entry into the water, and the entry into the water can be completed at a higher speed. At the same time, the aircraft of this embodiment takes into account the narrow transition waters in deep-sea aquaculture, and the precise entry position of the aircraft is required. The aircraft of this embodiment can meet the requirements of the precise entry position, solving the problem that the existing aircraft's step-by-step gliding entry and exit method is not suitable for deep-sea aquaculture waters.

[0074] In addition, monitoring equipment is provided on the main structure 1, and when the aircraft is sailing in the air or in the water, the breeding equipment and the status of fish can be monitored through the monitoring equipment.

[0075] Monitoring equipment includes: HD cameras, infrared cameras and water quality monitoring sensors. HD cameras are used to capture the activities of fish in the aquaculture net in real time; infrared cameras provide clear images in low light or at night; water quality monitoring sensors detect key indicators such as water temperature, pH value, dissolved oxygen, etc. in real time. The data collected by the monitoring equipment can help aquaculture managers understand the changes in the aquaculture environment in real time, identify problems in time and take measures.

[0076] In addition, the aircraft also includes a navigation control system and an attitude monitoring system. The attitude monitoring system can monitor the attitude and movement of the aircraft in real time. The navigation control system is the core control unit of the aircraft and is responsible for managing all flight actions and attitude adjustments. The navigation control system automatically controls the working state of the air propeller 3 and the first liquid propeller 5 by processing data from various monitoring sensor systems to ensure that the aircraft can maintain a stable attitude and heading in various environments.

[0077] An air propeller 3 and a first liquid propeller 5 are arranged on the disc-shaped main structure 1, and the thrust direction of the air propeller 3 is controlled by the first rotary drive mechanism 31, so that the vehicle can navigate in both air and water media and smoothly transform in the process of switching between water and air media. This enables effective and flexible inspection of multiple aquaculture equipment and fish conditions in different areas, so as to ensure the safe and stable on-site operation of the aquaculture equipment and reduce the investment in status monitoring equipment.

[0078] Embodiment 2:

[0079] like Figure 1-Figure 4 As shown, based on the first embodiment, the deep-sea aquaculture sea and air inspection cross-medium vehicle of this embodiment further includes a first liquid propeller 5 and a second liquid propeller 8 arranged at both ends of the main structure 1.

[0080] When the first liquid propeller 5 drives the main structure 1 to move underwater, the thrust direction of the second liquid propeller 8 is the same as that of the first liquid propeller 5, providing power for the main structure 1 to move underwater.

[0081] Specifically, the first rotary drive mechanism 31 changes the thrust direction of the air propeller 3 by swinging the propeller shaft of the air propeller 3 at a certain angle, and the swinging surface of the propeller shaft of the air propeller 3 is a plane; the two ends of the main structure 1 are the two ends of the underwater traveling direction.

[0082] like Figure 7 As shown, when the vehicle is sailing in the water, when the thrust directions of the first liquid propeller 5 and the second liquid propeller 8 are the same and consistent with the cross-sectional direction of the main structure 1, they are used to drive the main structure 1 to move underwater.

[0083] The first rotation driving mechanism 31 of this embodiment can be driven by a motor or hydraulically. The driving structure is a prior art and will not be described in detail here.

[0084] like Figure 1 As shown, the number of the first ducts 2 is four and they are arranged in an array with the center of the main structure 1 as the center.

[0085] Specifically, the distribution of the four first ducts 2 is symmetrical about a diameter of the cross section of the main structure 1. When the cross section of the main structure 1 is elliptical, the four first ducts 2 are symmetrical about the short axis and the long axis of the ellipse, and the second duct 4 and the third duct 7 are symmetrical about the short axis of the ellipse.

[0086] In addition, the first liquid propeller 5 and the second liquid propeller 8 can be a group, in which case the first liquid propeller 5 and the second liquid propeller 8 are located on the major axis of the ellipse; when the first liquid propeller 5 and the second liquid propeller 8 are two groups, the two groups are symmetrical about the major axis of the ellipse, such as Fig.12 shown.

[0087] As shown in the figure Figure 7 , Fig.11 As shown, the first rotary drive mechanism 31 drives the propeller shaft of the air propeller 3 to swing within the swing plane. When the first liquid propeller 5 drives the main structure 1 to navigate underwater, the thrust direction of the first liquid propeller 5 is parallel to the swing plane.

[0088] Specifically, the swing angle of the propeller shaft of the air propeller 3 is 360°, and the swing posture of each air propeller 3 can be independently controlled.

[0089] A plurality of pressure sensors are arranged on the main structure 1 along the underwater navigation direction, which are used to detect the position of the main structure 1 above and below the water surface, and then detect the position of the first liquid propeller 5, the second liquid propeller 8 and the air propeller 3 relative to the water surface; an angle sensor is also arranged on the main structure 1, which is used to detect the pitch attitude of the main structure 1. Specifically, the angle sensor can be a gyroscope.

[0090] When the pressure sensor detects that the second liquid propeller 8 is discharging water, the second liquid propeller 8 is turned off; when the pressure sensor detects that the first liquid propeller 5 is discharging water, the first liquid propeller 5 is turned off;

[0091] When the pressure sensor detects the position of the air propeller 3 relative to the water surface, the air propeller 3 located on the water surface is started to work and perform power driving in the air.

[0092] During the entry into water, the second liquid propeller 8 and the first liquid propeller 5 are respectively located in front and rear of the navigation direction, and the two cooperate with each other to provide thrust in time, so that the aircraft can quickly enter the water navigation state, and finally improve the smooth water entry performance of the aircraft.

[0093] When the aircraft is sailing underwater, the first liquid propeller 5 and the second liquid propeller 8 provide power simultaneously. The first liquid propeller 5 is the main propeller, and the second liquid propeller 8 is the auxiliary propeller, which are used to increase the underwater sailing power of the aircraft.

[0094] When the aircraft needs to adjust its attitude while navigating underwater, the pitch angle and roll angle can be adjusted by controlling the rotation speed of the four air propellers 3 located in the first duct 2. The thrust direction of the air propellers 3 can also be changed by using the first rotary drive mechanism 31 to make the thrust direction perpendicular to the axis of the first duct 2. The air propellers 3 are partially located outside the first duct 2. By controlling the rotation speed of the air propellers 3, the steering of the aircraft can be achieved. Fig.11 shown.

[0095] like Fig.10 As shown, before the aircraft leaves the water, it adjusts its posture to sail towards the water surface in an inclined or vertical direction. Driven by the first liquid propeller 5 and the second liquid propeller 8, the edge of the main structure 1 first contacts the water surface. When the second liquid propeller 8 emerges from the water surface, it is closed. Then, the air propeller 3 that emerges from the water surface adjusts the thrust direction according to the current posture and provides lift together with the first liquid propeller 5 to drive the aircraft to sail across the medium. The air propeller 3 and the first liquid propeller 5 work together. When the first liquid propeller 5 is above the water surface, it is closed and the aircraft completely enters the air.

[0096] like Figure 1 As shown, the overall configuration of the first liquid propeller 5 and the second liquid propeller 8 and the plurality of air propellers 3 on the main structure 1 ensures that the air propellers 3 and the liquid propellers are not in the same horizontal plane during the tangential water exit of the vehicle, and a stepped water exit is achieved in the cross-medium process from seawater to air. This water exit process can dynamically enable the air propeller 3 to pull the vehicle up, and the stepped rotor water exit and working design avoids the influence of waves at the two-phase interface on the air propeller 3, rapidly accelerates the air propeller 3, and thereby instantly increases the pulling force of the vehicle. These designs enable the present embodiment to directly, quickly and smoothly exit the water.

[0097] By arranging the first liquid propeller 5 and the second liquid propeller 8 on both sides of the multiple air propellers 3 and at both ends of the underwater moving direction of the vehicle, a hybrid drive of water and air multi-rotors is formed, achieving rapid entry into water and stepped exit from water, thereby improving the flexibility and convenience of the vehicle in navigating in different media.

[0098] The aircraft of this embodiment can not only roughly inspect the deep-sea aquaculture status in the air, but also conduct a detailed inspection of the status of nets in the water. It is a multi-scale inspection tool that combines speed and accuracy.

[0099] The second liquid propeller 8 is the same as the first liquid propeller 5, and the air propeller 3 is an air rotor. Figure 1 The aircraft in the present embodiment shown is a six-rotor sea-air cross-medium navigation equipment, which may be an unmanned aircraft.

[0100] like Figure 5As shown, when flying in the air, the four air propellers 3 are parallel to the aircraft body, and the flight posture can be controlled by the rotation direction and speed. Figure 7 As shown, when sailing in the water, two underwater propellers push the vehicle forward, and the air propeller 3 can rotate slowly to help maintain the boat's posture.

[0101] Embodiment three:

[0102] On the basis of the second embodiment, the deep-sea aquaculture sea and air patrol cross-media vehicle of this embodiment adds a more detailed patrol function, which can conduct close and accurate observation of the aquaculture organisms, aquaculture equipment nets or other structures.

[0103] Among them, the air propeller 3 is a retaining ring type air rotor.

[0104] The main structure 1 is provided with a second duct 4 and a third duct 7 which are aligned with the axial direction of the first duct 2;

[0105] It also includes a second rotary drive mechanism 51, through which the first liquid propeller 5 is installed in the second duct 4, and the second rotary drive mechanism 51 is used to change the thrust direction of the first liquid propeller 5;

[0106] It also includes a third rotation drive mechanism 81 , through which the second liquid propeller 8 is installed in the third duct 7 , and the third rotation drive mechanism 81 is used to change the thrust direction of the second liquid propeller 8 .

[0107] like Figure 1 , Figure 8 As shown, when the thrust directions of the first liquid propeller 5 and the second liquid propeller 8 are consistent with the directions of the corresponding ducts, the second duct 4 and the third duct 7 are used to guide the water flow and increase the thrust; in addition, the second duct 4 and the third duct 7 are symmetrical about a diameter of the cross-section of the main structure 1, ensuring that the thrust generated by the first liquid propeller 5 and the second liquid propeller 8 along the duct direction maintains the balance of the main structure 1.

[0108] The second rotary drive mechanism 51 and the third rotary drive mechanism 81 have the same structure and function as the first rotary drive mechanism 31. When the first liquid propeller 5 and the second liquid propeller 8 are driven to change the thrust direction, the swinging surfaces of the propeller shafts of the two propellers are planes and are parallel to the swinging surface of the propeller shaft of the air propeller 3. Figure 8 , Fig.10 shown.

[0109] When the pressure sensor detects that the first liquid propeller 5 and the second liquid propeller 8 are in the air, the second rotation drive mechanism 51 drives the first liquid propeller 5 to rotate in the second duct 4, and the third rotation drive mechanism 81 drives the second liquid propeller 8 to rotate in the third duct 7.

[0110] like Figure 5 As shown, when the aircraft is sailing in the air, the first liquid propeller 5 and the second liquid propeller 8 are located in the second duct 4 and the third duct 7, making the overall shape of the main structure 1 more complete and the surface streamlined, reducing the resistance of sailing in the air. The second duct 4 and the third duct 7 serve to accommodate the first liquid propeller 5 and the second liquid propeller 8.

[0111] The first rotary drive mechanism 31, the second rotary drive mechanism 51 and the third rotary drive mechanism 81 of this embodiment can be driven by a motor or a hydraulic drive, and the drive structure is a prior art and will not be described in detail here. Preferably, the swing angle of the first liquid propeller 5 and the second liquid propeller 8 is 360°.

[0112] When the aircraft is conducting underwater inspection operations and needs to conduct a detailed inspection of the net of the aquaculture equipment and / or the organisms inside the aquaculture equipment, the underwater navigation method in the second embodiment is used to adjust the aircraft to a state where the cross section of the main structure 1 is parallel to the net, and the first rotary drive mechanism 31 is started to change the thrust direction of the air propeller 3 so that the thrust direction is perpendicular to the axis of the first duct 2, the second rotary drive mechanism 51 is started to change the thrust direction of the first liquid propeller 5 so that the thrust direction of the first liquid propeller 5 is consistent with the axial direction of the second duct 4, and the third rotary drive mechanism 81 is started to change the thrust direction of the second liquid propeller 8 so that the thrust direction of the second liquid propeller 8 is consistent with the axial direction of the third duct 7. At the same time, the thrust directions of the first liquid propeller 5 and the second liquid propeller 8 are the same;

[0113] Then start the first liquid propeller 5 and the second liquid propeller 8 to generate thrust in the same direction, and stick the air propeller 3 on the net. Figure 8 As shown, at this time, the air propeller 3 plays a role in supporting the main structure 1. At the same time, the air propeller 3 is started to rotate the outer retaining ring to contact and rub with the net. The friction force drives the main structure 1 to crawl on the net, so that the aircraft sticks to the net of the breeding equipment and walks;

[0114] When the aircraft is attached to the net of the aquaculture equipment and walking, the monitoring equipment monitors the net or the organisms inside the net. The specific monitoring equipment is located in the middle of the aircraft facing the net. Since the net moves with the aircraft, the relative distance between the monitoring equipment and the net remains unchanged, which improves the accuracy of net monitoring.

[0115] During the above inspection operation, the gravity and buoyancy of the vehicle are in a balanced state, which can be achieved by adjusting the water volume in the ballast water tank within the main structure 1.

[0116] The four groups of air thrusters 3 of the aircraft of this embodiment have rounded edges and rotate at high speed in the air as a whole. The outer main structure 1 forms a first duct 2 to increase the thrust of the aircraft. After the air thrusters 3 are turned 90 degrees in the water, they can be used as wheels when they are attached to nets or other structures, changing fluid reverse thrust into rolling friction to move forward, and thus easily realizing the state observation of the aquaculture equipment structure during the movement, not only avoiding the risk of collision with the equipment under the action of waves and currents, but also being able to stably observe the state of the nets.

[0117] The propellers of the aircraft in this embodiment adopt a fully rotating method, which can change the propulsion direction. Combined with the overall layout of each propeller, it can realize a variety of collaborative working modes, making the aircraft suitable for tasks that require precise operations in complex environments, and has greater adaptability and flexibility. The full-rotation propulsion system not only significantly improves the maneuverability and control accuracy of the aircraft, but also enables the aircraft to perform well in cross-media conversion, precise operation and complex task execution. Through the change of direction and adjustment of the full-rotation propulsion device, as well as the combination of underwater propellers and air rotors, the space for navigation and efficient operation of the aircraft in various scene conditions is completely expanded.

[0118] Further, if Figure 1 As shown, it also includes a guide channel 6 that runs through the second duct 4 and the edge of the main structure 1. The direction of the guide channel 6 is consistent with the thrust direction of the first liquid propeller 5 when driving the main structure 1 to navigate underwater.

[0119] like Figure 3 , Figure 4 As shown, it also includes a guide surface 71 located on the side wall of the third duct 7. When the second liquid propeller 8 and the first liquid propeller 5 drive the main structure 1 to move underwater, the thrust direction of the second liquid propeller 8 is the same as that of the first liquid propeller 5. The guide surface 71 is used to guide the water flow behind the second liquid propeller 8.

[0120] Specifically, the guide surface 71 is located on the wall of the third duct 7 between the first liquid propeller 5 and the second liquid propeller 8. Figure 4 shown.

[0121] The second duct 4 and the third duct 7 are cylindrical channels. The setting of the guide surface 71 and the guide channel 6 can ensure the integrity of the second duct 4 and the third duct 7 as much as possible, thereby ensuring that a sufficiently large thrust is generated to make the air propeller 3 stick to the net, while making the surface of the main structure 1 more streamlined to reduce the resistance to navigation.

[0122] By arranging the second duct 4 and the third duct 7 and the second rotary drive mechanism 51 and the third rotary drive mechanism 81 on the main structure 1, the thrust direction of the first liquid propeller 5 and the second liquid propeller 8 is changed. Combined with the change of the thrust direction of the air propeller 3 and the change of the thrust direction of the first liquid propeller 5 and the second liquid propeller 8, the aircraft can walk on the net of the breeding equipment. When monitoring the net, the aircraft and the net can be followed to improve the accuracy of monitoring.

[0123] The aircraft of this embodiment has multi-scale inspection capabilities. It can not only roughly inspect the status of deep-sea aquaculture in the air, but also can flexibly navigate in the water and closely inspect the status of the nets. It has both efficiency and accuracy. It can be used as a routine inspection tool or as an emergency exploration tool in sudden situations. It has three functions: aerial, underwater and close to the net.

[0124] Embodiment 4:

[0125] The inspection method of the cross-medium vehicle for deep-sea aquaculture sea and air inspection based on the first, second and third embodiments of the present invention comprises the following steps:

[0126] like Figure 5-Figure 11 As shown, when the aircraft is in the air, it is driven by multiple air propellers 3 to monitor the status of the aquaculture equipment above the water surface.

[0127] Before entering the water, the aircraft adjusts its posture to sail towards the water surface in an inclined or vertical direction, so that the main structure 1 has a certain initial velocity before entering the water. Then, the air propeller 3 is turned off, so that the edge of the main structure 1 contacts the water surface first, and enters the water by inertia, or the air propeller 3 is adjusted to maintain the entering posture.

[0128] The aircraft is located in the water. When the aircraft is monitoring around the aquaculture equipment, it is driven to navigate by the first liquid propeller 5 and the second liquid propeller 8. The first liquid propeller 5 and the second liquid propeller 8 are respectively located in the front and rear positions of the navigation direction, and the air propeller 3 assists the aircraft in adjusting its attitude.

[0129] The drone is located in the water. When the drone closely monitors the net and the cultured organisms inside the net, the drone sticks to the net of the culture equipment and moves with the net.

[0130] When the aircraft moves on the net of the aquaculture equipment, the propeller shafts of the first liquid propeller 5 and the second liquid propeller 8 are perpendicular to the net, and the propeller shaft of the air propeller 3 is parallel to the net. The first liquid propeller 5 and the second liquid propeller 8 generate thrust, so that the guard ring of the air propeller 3 contacts the net, and the aircraft is driven to move on the net through the rotation of the guard ring and the friction generated by the net.

[0131] When the aircraft enters the air from the water, the first liquid propeller 5, the second liquid propeller 8 and the plurality of air propellers 3 work together to provide power to the aircraft from the air and the water respectively.

[0132] Embodiment five:

[0133] The inspection method of the cross-medium vehicle for deep-sea aquaculture sea and air inspection in this embodiment is described in more detail on the basis of the fourth embodiment. The method includes the following navigation working modes:

[0134] 1. When operations are required, the aircraft first flies to the target sea area, takes aerial photos and observations, and is in the aerial navigation mode. Figure 5 shown.

[0135] During the air navigation phase, the aircraft relies on four air thrusters 3 to achieve power and attitude control. Each air thruster 3 can independently adjust its rotation speed and rotation angle, thereby providing the aircraft with highly flexible navigation power. The air thrusters 3 achieve a 360° full rotation function through the first rotary drive mechanism 31, allowing the aircraft to rotate freely on the vertical and horizontal axes, achieving all-round motion control in three-dimensional space without relying on additional rudders or control surfaces. By adjusting the rotation speed of the air thrusters 3, the aircraft can control its own lifting and forward speed.

[0136] For example, when the aircraft needs to rise quickly, all air thrusters 3 will accelerate synchronously to provide strong vertical lift; when hovering is required, the rotation speed of air thrusters 3 will be appropriately reduced to maintain sufficient lift to offset gravity; the propeller shaft angle of air thrusters 3 can be adjusted in real time to change the thrust direction and accurately control the navigation path, including horizontal movement, sharp turns or hovering in the air.

[0137] In order to ensure the stability of the aircraft in the air, the system has a built-in advanced attitude monitoring system, including high-precision gyroscopes and accelerometers, which can monitor attitude changes in real time and make rapid adjustments through feedback navigation control systems. It also includes multiple pressure sensors on the main structure 1 to detect the position of the main structure 1 above and below the water surface. The gyroscope monitors the rotation speed and direction of the aircraft. When a change in attitude is detected, the navigation control system will immediately adjust the angle and speed of the rotor of the relevant air propeller 3 to restore the predetermined attitude. The accelerometer monitors the acceleration change of the aircraft. Especially when the navigation path changes suddenly or the external environment such as wind interference occurs, the data of the accelerometer can help the system make timely adjustments to ensure that the aircraft remains stable.

[0138] The functions of the four air thrusters 3 are particularly important when fast navigation or difficult navigation maneuvers are required. For example, the aircraft can achieve a quick sharp turn by accelerating the inner air thruster 3 and decelerating the outer air thruster 3, or achieve a quick climb or descent by synchronously adjusting the angles of the four air thrusters 3. When the course needs to be changed quickly, the air thrusters 3 can achieve a quick turn of the aircraft by changing the direction and magnitude of the thrust. In the hovering state, the aircraft can maintain stability by fine-tuning the speed and angle of the air thrusters 3, and can quickly enter the descent mode as needed. The speed of the air thrusters 3 is gradually reduced to ensure that the aircraft smoothly descends to the target altitude.

[0139] The attitude monitoring system is combined with the navigation control system, and uses the flight control algorithm to automatically adjust the flight attitude of the aircraft when it approaches the water surface to ensure the best angle of entry into the water. The attitude monitoring system also includes a sea surface monitoring sensor to sense the sea surface conditions in real time, which can respond within milliseconds. It combines gyroscopes and accelerometers to monitor the attitude of the aircraft in real time, and feeds back to the navigation control system of the aircraft to calculate the attitude adjustment plan to obtain the best entry path into the water.

[0140] 2. When the aircraft completes the air navigation mission and is ready to enter the water, the system will enter the cross-media conversion mode, such as Figure 6 shown.

[0141] At this time, the air propeller 3 will make fine angle adjustments based on the data provided by the gyroscope and accelerometer in the attitude monitoring system to ensure that the aircraft can enter the water at the best attitude and angle. The aircraft will gradually lower its altitude and approach the water surface. The air propeller 3 will slow down to reduce vertical lift and ensure that the aircraft's descent speed is stable and controllable.

[0142] When approaching the water surface, the angle of the air propeller 3 will be adjusted to the most favorable posture for entering the water, ensuring that the aircraft can enter the water with the least impact force. The navigation control system uses the data obtained by the attitude monitoring system to correct the angle of the aircraft in real time to avoid excessive tilt or deviation when entering the water.

[0143] Before entering the water, the air propeller 3 further decelerates to keep the aircraft in a low-speed state when it contacts the water surface, so as to reduce the impact load when entering the water. Through this fine control, the aircraft can maintain an efficient and stable flight state in the air and smoothly transition to water navigation when necessary. This design not only improves the versatility of the aircraft, but also ensures that it can switch freely between different media and maintain excellent performance. Of course, before entering the water, the air propeller 3 can be decelerated to zero and is located inside the first duct 2. The first liquid propeller 5 and the second liquid propeller 8 are respectively located inside the second duct 4 and the third duct 7.

[0144] The aircraft is able to achieve a fast and smooth transition from air to water. During the process of the aircraft cutting into the water, due to the huge difference in density between water and air (about 800 times), the aircraft will experience significant impact loads when it touches the water surface. To effectively meet this challenge, the aircraft adopts a streamlined slice design, which significantly reduces the resistance and impact force when entering the water, thereby reducing the load on the aircraft body and internal equipment at the moment of entering the water.

[0145] Before the aircraft touches the water surface and begins to cut into the water, the air propeller 3 continues to provide thrust and attitude control to ensure that the aircraft remains stable and gradually enters the water. During this process, the aircraft's attitude control system will make fine adjustments based on real-time sensor data to maintain the aircraft's optimal entry angle into the water and reduce violent shaking or tilting when entering the water. The aircraft gradually lowers its altitude and cuts into the water, entering the water with the smallest force area. The streamlined design and attitude control system work together to make this process smooth and seamless.

[0146] When the aircraft enters the water, the thrust of the air propeller 3 gradually weakens to avoid unnecessary resistance or overload in the water, and reaches a certain depth by inertia. At this time, the second liquid propeller 8 and the first liquid propeller 5 can be started continuously and instantly to take over the propulsion task and provide sufficient power for the aircraft to continue underwater navigation. The air propeller 3 rotates slowly and remains in a state of contraction inside the first duct 2, which can control the attitude of the aircraft. The start-up of the liquid propeller and the coordinated control of the air propeller 3 ensure the continuity and stability of the aircraft after the medium conversion, thereby avoiding any possible pause or loss of control.

[0147] The vehicle attitude monitoring system also includes sensors that detect changes in the depth of the vehicle's location and the surrounding water flow. The navigation control system makes real-time adjustments based on sensor data to ensure that the vehicle can complete the medium transition in the best attitude and smoothly transition to the underwater navigation state. The entire process is precisely controlled by the automation system to ensure that the vehicle maintains optimal operating performance during the process of cutting into the water. Through these designs, the vehicle can achieve smooth medium transitions while flying at high speeds and quickly transition to the underwater navigation state after entering the water. This design not only improves the operational flexibility and versatility of the vehicle, but also significantly enhances its adaptability in complex environments, enabling it to operate efficiently in a variety of tasks.

[0148] 3. Underwater navigation mode, such as Figure 7 shown.

[0149] During underwater navigation, the aircraft of the present invention provides the main propulsion force through the second liquid propeller 8 and the first liquid propeller 5. The two underwater propellers are driven by high-efficiency electric motors and can flexibly adjust the thrust according to navigation requirements, thereby ensuring the flexibility and stability of the aircraft in the water. In different underwater environments, whether facing calm water or complex turbulence, the propeller can adjust the speed to provide appropriate thrust to keep the aircraft moving forward steadily. During this process, the axis of the underwater propeller is parallel to the aircraft.

[0150] At the same time, the air propeller 3 of the aircraft also plays an important role in the underwater stage. Although the air propeller 3 is no longer the main propulsion device, they will rotate slowly at a lower speed to help maintain the attitude balance of the aircraft. When the aircraft needs to change direction laterally, the air propeller 3 can also change its thrust direction by turning to achieve the purpose of changing direction laterally. It should be noted that in addition to horizontal navigation, the aircraft can also tilt or sail upright. The assistance of the air propeller 3 can achieve the aircraft to maintain a predetermined heading and attitude underwater, and to a certain extent avoid tilting or offset caused by changes in water flow or other external factors. Especially in complex underwater environments, such as areas with strong currents or dense obstacles, the attitude adjustment function of the air propeller 3 is particularly critical, which can effectively reduce the attitude fluctuations of the aircraft and ensure its stable operation.

[0151] The attitude monitoring system of the aircraft will continuously monitor the state of the aircraft underwater, including parameters such as depth, speed, and attitude. By analyzing these data in real time, the navigation control system can quickly make adjustments to ensure that the aircraft always remains in the best navigation state. For example, when the sensors of the attitude monitoring system detect a sudden change in the underwater flow rate, the system will automatically adjust the working state of the underwater propeller and air thruster 3 to cope with environmental changes and ensure the stability and safety of the aircraft. In general, the air thruster 3 is in a relatively slow role of assisting in maintaining the attitude.

[0152] In addition, the structural design of the aircraft also fully considers the special needs of underwater navigation. The streamlined shape and hydrodynamic optimization design of the hull can effectively reduce the resistance in the water and improve the propulsion efficiency. In long-term underwater navigation, this design can not only reduce energy consumption, but also extend the endurance of the aircraft and improve its mission execution capability.

[0153] In general, the aircraft of the present invention exhibits excellent flexibility and stability during the underwater navigation stage through the first liquid propeller 5, the second liquid propeller 8 and the air propeller 3. Whether it is traveling in a complex underwater environment or in a task that requires precise attitude control, the design can ensure that the aircraft can complete the task smoothly and safely. This multifunctional underwater navigation capability makes the aircraft of the present invention have a wide range of application prospects in various underwater tasks.

[0154] 3. Close to the patrol mode of net clothes, such as Figure 8 , Fig. 9 shown.

[0155] When performing patrol missions for deep-sea aquaculture, the unmanned aerial vehicle of the present invention has the ability to conduct precise patrols close to nets or other structures. When the aircraft approaches the target net area, its four air propellers 3 will rotate 90 degrees, so that the rotor plane is perpendicular to the aircraft body, forming a wheel-like structure. This design allows the air propeller 3 to transform its role in the water from propulsion to driving support, allowing the aircraft to attach to the surface of the net and move along its trajectory.

[0156] At this stage, the first liquid propeller 5 and the second liquid propeller 8 of the aircraft begin to provide thrust perpendicular to the hull, so that the aircraft can stably adhere to the surface of the net or other structures. The thrust size and direction of the propeller are adjusted by a precise control system to ensure that the aircraft can fit closely to the surface of the net and avoid random displacement caused by water flow or surge. This thrust control method allows the aircraft to maintain a high degree of stability during patrols, ensuring accurate observation and monitoring of the net and its structures. The aircraft can be attached to target structures such as nets in any posture, which can be above, to the side, below, etc., to meet inspection work in various scenarios.

[0157] After the air propeller 3 rotates to a vertical position, it can act as a wheel to roll forward. The slow rotation of the air propeller 3 can also provide power for the aircraft to maintain stable driving on the surface of the net. During patrolling, the design of the air propeller 3 being transformed into a wheel significantly improves the operating efficiency of the aircraft, enabling it to maintain a stable patrol speed in complex sea conditions and effectively utilize energy.

[0158] When the aircraft is traveling on the surface of the net, it slides along the surface of the net by means of friction propulsion through the slow rotation of the air propeller 3 and the thrust positive pressure control of the underwater propeller. This propulsion method not only avoids the relative collision between the aircraft and the net, but also enables the aircraft to patrol the outline of the net more accurately to ensure that no details are missed. This is crucial for the status monitoring of aquaculture equipment, especially when the net is damaged or the fish school is abnormally active, the aircraft can respond quickly and provide accurate positioning information. When the aircraft needs to turn, it relies on the speed difference between the four air propellers 3 to achieve the turning.

[0159] During the patrol phase close to nets or other structures, a robust friction propulsion mode is successfully achieved through the rotation function conversion of the air propeller 3 and the precise thrust control of the underwater propeller. This design not only enhances the patrol capability of the vehicle in complex sea conditions, but also improves the monitoring efficiency of deep-sea aquaculture equipment, ensuring the efficient execution of patrol tasks and the safety and stability of the patrol process.

[0160] 4. Water discharge stage mode, such as Fig.10 shown.

[0161] After completing the underwater mission, the vehicle will go through a series of precise control steps to achieve a smooth and rapid exit from the water.

[0162] First, the aircraft adjusts its posture to be in a plumb state, that is, the hull is perpendicular to the water surface and one side is facing upward. This posture helps reduce the water resistance of the aircraft during the ascent, allowing it to escape from the water more efficiently.

[0163] When the aircraft enters the plumb state, the first liquid propeller 5 and the second liquid propeller 8 begin to increase horsepower, provide strong upward thrust, and push the aircraft to gradually rise to the water surface. During this process, the four air propellers 3 keep running slowly, helping the aircraft to stabilize its posture and provide a small amount of additional lifting force, mainly to ensure that the aircraft maintains balance and reduces shaking during the ascent.

[0164] As the craft approaches the water surface, under the combined effects of thrust and inertia, the second liquid propeller 8 and two groups of air propellers 3 located at the front end of the hull leave the water surface first. After leaving the water, the two groups of air propellers 3 quickly accelerate their rotation, providing a strong lifting force, further pushing the craft up. At this time, the first liquid propeller 5 continues to operate at full capacity, combined with the lifting force of the air propeller 3, to ensure that the craft can smoothly leave the water surface. After the first two groups of air propellers 3 are completely out of the water and operating stably, the other two groups of air propellers 3 located behind the stern of the hull also leave the water in turn and begin to accelerate their rotation. As all four air propellers 3 leave the water surface and enter a normal working state, the overall lifting force of the craft is significantly enhanced, quickly pulling the craft completely from the water into the air.

[0165] After the aircraft completely leaves the water surface, the control system gradually reduces the power of the underwater propeller and starts to adjust the rotation speed and angle of the air propeller 3, gradually leveling the aircraft from the plumb state to the horizontal flight attitude.

[0166] At this point, the aircraft has smoothly switched to air navigation mode, ready to continue patrol missions or return to base. This series of water operations ensures that the aircraft can efficiently and smoothly complete the transition from water to air in complex sea conditions through precise coordinated control. By reasonably allocating thrust and adjusting attitude in different modes, the aircraft of the present invention can complete the water operation in the shortest time while maintaining a high degree of stability and safety. This design greatly improves the adaptability and mission execution efficiency of the aircraft, making its application in deep-sea aquaculture patrols more extensive and flexible.

[0167] The propellers are fully rotating and can change the direction of propulsion. Combined with the overall layout of each propeller, a variety of collaborative working modes can be achieved, making the aircraft suitable for tasks that require precise operations in complex environments, with greater adaptability and flexibility. The full-rotation propulsion system not only significantly improves the maneuverability and control accuracy of the aircraft, but also enables the aircraft to perform well in cross-media conversion, precise operations, and complex mission execution. Through the change of direction and adjustment of the full-rotation propulsion device, as well as the combination of underwater propellers and air rotors, the space for the aircraft to navigate and operate efficiently in a variety of scenarios has been completely expanded.

[0168] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A cross-medium vehicle for deep-sea aquaculture sea and air inspection, characterized by: include A main structure (1), wherein the main structure (1) is in a dish shape; A plurality of first ducts (2) are arranged on the main structure (1), wherein the axial direction of the first ducts (2) is consistent with the thickness direction of the main structure (1); air movers (3), the number of which is the same as the number of the first ducts (2); a plurality of first rotary drive mechanisms (31), each air propeller (3) being installed in the first duct (2) via a first rotary drive mechanism (31), the first rotary drive mechanism (31) being used to change the thrust direction of the air propeller (3); A first liquid propeller (5) is arranged on the main structure (1) and is used to drive the main structure (1) to move underwater, wherein the direction of the main structure (1) moving underwater is consistent with the cross-sectional direction of the main structure (1); In the process of the aircraft entering and exiting the water, the edge of the main structure (1) first contacts the water surface, and in the process of the aircraft exiting the water, the air propeller (3) and the first liquid propeller (5) work together to provide power to the aircraft from the air and the water respectively. When the aircraft is sailing in the water, the air propeller (3) assists the aircraft in adjusting its posture.

2. The deep-sea aquaculture sea and air inspection cross-media vehicle as claimed in claim 1, characterized in that: It also includes a first liquid propeller (5) and a second liquid propeller (8) arranged at two ends of the main structure (1). When the first liquid propeller (5) drives the main structure (1) to move underwater, the second liquid propeller (8) has the same thrust direction as the first liquid propeller (5), thereby providing power for the main structure (1) to move underwater.

3. The deep-sea aquaculture sea and air inspection cross-medium vehicle as claimed in claim 1, characterized in that: The number of the first ducts (2) is four and they are arranged in an array with the center of the main structure (1) as the center.

4. The deep-sea aquaculture sea and air inspection cross-medium vehicle as claimed in claim 1, characterized in that: The first rotary drive mechanism (31) drives the propeller shaft of the air propeller (3) to swing within a swinging plane, and when the first liquid propeller (5) drives the main structure (1) to navigate underwater, the thrust direction of the first liquid propeller (5) is parallel to the swinging plane.

5. The deep-sea aquaculture sea and air inspection cross-medium vehicle as claimed in claim 1, characterized in that: The air propeller (3) is a retaining ring type air rotor.

6. The deep-sea aquaculture sea and air inspection cross-media vehicle as claimed in claim 2, characterized in that: The main structure (1) is provided with a second duct (4) and a third duct (7) which are axially consistent with the first duct (2); It also includes a second rotary drive mechanism (51), the first liquid propeller (5) is installed in the second duct (4) through the second rotary drive mechanism (51), and the second rotary drive mechanism (51) is used to change the thrust direction of the first liquid propeller (5); It also includes a third rotary drive mechanism (81), and the second liquid propeller (8) is installed in the third duct (7) through the third rotary drive mechanism (81), and the third rotary drive mechanism (81) is used to change the thrust direction of the second liquid propeller (8).

7. The deep-sea aquaculture sea and air inspection cross-medium vehicle as claimed in claim 6, characterized in that: It also includes a guide channel (6) that runs through the second duct (4) and the edge of the main structure (1), and the direction of the guide channel (6) is consistent with the thrust direction of the first liquid propeller (5) when driving the main structure (1) to navigate underwater.

8. The deep-sea aquaculture sea and air inspection cross-media vehicle as claimed in claim 6, characterized in that: It also includes a guide surface (71) located on the side wall of the third duct (7). When the second liquid propeller (8) and the first liquid propeller (5) drive the main structure (1) to move underwater, the thrust direction of the second liquid propeller (8) and the first liquid propeller (5) is the same, and the guide surface (71) is used to guide the water flow behind the second liquid propeller (8).

9. The deep-sea aquaculture sea and air inspection cross-media vehicle as claimed in claim 1, characterized in that: The longitudinal section of the main structure (1) is elliptical, and the ratio of the major axis to the minor axis of the ellipse is 5-15.

10. A patrol method for deep-sea aquaculture sea and air patrol cross-medium aircraft, characterized by: The following steps are involved: When the aircraft is in the air, it is driven by a plurality of air propellers (3) to navigate and monitor the status of the aquaculture equipment above the water surface; The aircraft is located in the water. When the aircraft is monitoring around the aquaculture equipment, it is driven to navigate by a first liquid propeller (5) and a second liquid propeller (8). The first liquid propeller (5) and the second liquid propeller (8) are respectively located in front and rear positions of the navigation direction, and the air propeller (3) assists the aircraft in adjusting its posture. The aircraft is located in the water. When the aircraft closely monitors the net and the cultured organisms inside the net, the aircraft sticks to the net of the culture equipment and moves with the net. When the aircraft moves on the net of the aquaculture equipment, the propeller shafts of the first liquid propeller (5) and the second liquid propeller (8) are perpendicular to the net, and the propeller shaft of the air propeller (3) is parallel to the net. The first liquid propeller (5) and the second liquid propeller (8) generate thrust, so that the guard ring of the air propeller (3) contacts the net, and the aircraft is driven to move on the net through the friction force generated by the rotation of the guard ring and the net.

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