Cross-medium aircraft

Abstract

The invention provides a cross-medium aircraft. The cross-medium aircraft comprises a fuselage, a main wing unit, an empennage unit, a main wing unfolding unit and a limiting unit, the machine body is provided with a guide rail along the central axis; the main wing unit comprises a fixed wing and two movable wings, the fixed wing is fixedly mounted on the fuselage, and the movable wings are rotationally mounted on the fuselage; each main wing unfolding unit comprises an elastic piece, a sliding block and two connecting rods, and the two ends of each elastic piece are connected with the corresponding sliding block and the fuselage correspondingly. The slide block is slidably mounted in the guide rail; two ends of the connecting rod are respectively hinged with the movable wing and the slider; the limiting unit comprises a first limiting block and a second limiting block; the first limiting block is used for limiting the sliding block, and the elastic piece is configured to accumulate elastic potential energy when the sliding block is limited by the first limiting block; the second limiting block is used for limiting the sliding block when the sliding block slides to the position between the second limiting block and the fixed wing. Rapid unfolding of the movable wing is achieved through a simple mechanical structure, the reliability is improved, the unfolding mode is simple, and the cost is reduced.

Description

Technical Field

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

[0002] A cross-medium aircraft is a type of equipment that has both aerial and underwater navigation functions, and it belongs to the category of both aircraft and aircraft. This equipment also has the characteristics of rapid aerial maneuvers and stealth underwater navigation due to its functions. On the one hand, in the air flight state, the speed is fast and the resistance is small, which has an absolute speed advantage and is more energy-efficient than underwater navigation. Compared with underwater aircraft with the same energy reserves, it has a longer movement radius and a shorter maneuvering time. To a certain extent, the expansion of the equipment's operating radius also means more diverse uses; on the other hand, compared with traditional aircraft, it has the advantages of underwater concealment and intermittent flight to extend the operating time. When an aircraft is operating over water, in order to ensure its own lift, it needs to continuously use energy to drive the propeller or other power equipment to output kinetic energy. The aircraft's hovering time greatly restricts the aircraft's operating mission scenarios.

[0003] The swept-back folding wings used in the prior art trans-medium aircraft are complex and costly to deploy. Furthermore, the design of the deployment mechanism generally relies on the rotation of a motor. In some special cases, the motor system may rotate slowly or fail, which may easily lead to failure of the trans-medium aircraft. Summary of the invention

[0004] In view of this, the present invention proposes a trans-medium aircraft to solve the technical problems that the existing swept-back folding wings proposed in the above background technology are complicated to deploy and costly; and the design of the deployment mechanism generally relies on the rotation of the motor. In some special cases, the motor system has a slow rotation speed or fails, which can easily lead to the failure of the trans-medium aircraft.

[0005] The technical solution of the present invention is achieved in this way:

[0006] The present invention provides a cross-medium aircraft, comprising a fuselage, a main wing unit, a tail unit, a main wing deployment unit and a limit unit, wherein:

[0007] The fuselage is provided with a guide rail along the central axis direction;

[0008] The main wing unit comprises a fixed wing and two movable wings, wherein the fixed wing is fixedly mounted on the fuselage, and the movable wing is rotatably mounted on the fuselage, and the two movable wings are located on both sides of the fixed wing;

[0009] The main wing deployment unit comprises an elastic member, a slider and two connecting rods, the two ends of the elastic member are respectively connected to the slider and the fuselage; the slider is slidably installed in the guide rail; the two connecting rods are respectively hinged to the two movable wings, and one end of the connecting rod away from the movable wing is hinged to the slider;

[0010] The limiting unit includes a first limiting block and a second limiting block installed on the guide rail; the first limiting block is used to limit the slider, and the elastic member is configured to accumulate elastic potential energy when the slider is limited by the first limiting block; the second limiting block is used to limit the slider when the slider slides between the second limiting block and the fixed wing.

[0011] On the basis of the above technical solution, preferably, the limiting unit also includes a pushing member, one end of which is hinged to the fuselage, and the other end is hinged to the first limiting block through a first rotating axis; the first limiting block is hinged to the guide rail through a second rotating axis.

[0012] Based on the above technical solution, preferably, when the pushing member pushes the first limit block until the slider is locked, the elastic potential energy of the elastic member is maximum, and the line connecting the first rotation axis and the second rotation axis is perpendicular to the central axis of the fuselage.

[0013] On the basis of the above technical solution, preferably, the limiting unit also includes a guide sleeve and a reset member, the guide sleeve is installed on the side of the guide rail, the reset member is installed in the guide sleeve and is located below the second limiting block, for resetting the second limiting block.

[0014] On the basis of the above technical solution, preferably, a guiding slope is provided on the second limit block, and an end of the guiding slope close to the tail wing unit is lower than an end close to the fixed wing;

[0015] The limiting unit further includes an electromagnet, which is located at the bottom of the guide sleeve and is used to apply a downward suction force to the second limiting block to release the limiting of the second limiting block.

[0016] On the basis of the above technical solution, preferably, the tail unit includes a main tail and two auxiliary tails, the main tail is fixedly connected to the fuselage, the two auxiliary tails are rotatably mounted on the fuselage and symmetrically arranged on both sides of the main tail, and the rotation direction of the auxiliary tail is perpendicular to the rotation direction of the movable wing;

[0017] The cross-medium aircraft also includes two auxiliary front wings located at the front part of the fuselage. The two auxiliary front wings are symmetrically mounted on both sides of the fuselage, and the rotation direction of the auxiliary front wings is parallel to the rotation direction of the auxiliary tail wing.

[0018] On the basis of the above technical solution, preferably, the tail wing unit also includes a folding motor, a winding wheel and a connecting rope, the folding motor is installed in the fuselage and is drive-connected to the winding wheel, the connecting rope is wound around the winding wheel, and one end of the connecting rope is connected to the slider.

[0019] On the basis of the above technical solution, preferably, the first limit block is provided with an abutting surface for abutting against the sliding block, the abutting surface is arranged close to one side of the tail wing unit, and the abutting surface is an arc-shaped surface.

[0020] On the basis of the above technical solution, preferably, the main wing unit also includes two bearings, the bearings are mounted on the fuselage, the movable wing is mounted on the bearings, and when the main wing unit is in an unfolded state, the movable wing abuts against the side of the fixed wing.

[0021] On the basis of the above technical solution, preferably, it also includes a dual-purpose propeller and a blade motor, wherein the dual-purpose propeller is installed at the front of the fuselage for realizing underwater navigation and aerial flight, and the blade motor is located inside the fuselage and is drivingly connected to the dual-purpose propeller.

[0022] The cross-medium aircraft of the present invention has the following beneficial effects compared with the prior art:

[0023] (1) The slider is limited by the first limit block, and the elastic member is configured to accumulate elastic potential energy when the slider is limited by the first limit block. When the first limit block releases the limit on the slider, the elastic potential energy of the elastic member is released, thereby pushing the slider to move in a direction away from the tail unit, so as to push the two movable wings to be quickly unfolded. The movable wings are quickly unfolded by using a simple mechanical structure, which improves reliability, and the unfolding method is simple, reducing costs. In addition, when the slider slides between the second limit block and the fixed wing, the slider is limited by the second limit block to prevent the movable wings from being folded by external force after being unfolded to the full extent, thereby improving reliability and stability.

[0024] (2) One end of the pushing member is hinged to the fuselage, and the other end is hinged to the first limit block through a first rotating shaft; the first limit block is hinged to the guide rail through a second rotating shaft; the pushing member contracts in length, driving the first limit block to rotate around the second rotating shaft, so that the slider is limited by the first limit block and pulls the elastic member to contract to accumulate elastic potential energy. When the limit is released, it is only necessary to extend the pushing member to drive the first limit block to rotate in the opposite direction. The structure is simple and the slider can be released instantly, so as to achieve rapid movement of the slider and rapid deployment of the movable wing.

[0025] (3) The guide sleeve is installed on the side of the guide rail, and the reset member is installed in the guide sleeve and is located below the second limit block. When the slider slides to between the first limit block and the fixed wing, the reset member pushes the second limit block to move upward for reset, so that the second limit block limits the slider when the movable wing is unfolded. The structure is simple, and the movable wing can be prevented from folding backward when encountering greater resistance during flight, resulting in insufficient lift of the aircraft, thereby improving reliability.

[0026] (4) A guiding slope is provided on the second limit block, and the end of the guiding slope close to the tail wing unit is lower than the end close to the fixed wing; when the slider passes through the second limit block, it first contacts the guiding slope, compresses the reset member to make the second limit block move downward, and when it slides to between the second limit block and the fixed wing, the second limit block moves upward under the action of the reset member; in order to release the limit of the second limit block, the electromagnet applies a downward suction force to the second limit block, overcomes the supporting force of the reset member through the magnetic field force, and realizes the unlocking of the second limit block, which has a simple structure and low cost;

[0027] (5) Two auxiliary tail wings are rotatably mounted on the fuselage and symmetrically arranged on both sides of the main tail wing, and the rotation direction of the auxiliary tail wings is perpendicular to the rotation direction of the movable wings; two auxiliary front wings are symmetrically mounted on both sides of the fuselage, and the rotation direction of the auxiliary front wings is parallel to the rotation direction of the auxiliary tail wings. By controlling the angle of attack of the auxiliary tail wings and the auxiliary front wings, the cross-medium aircraft can realize actions such as floating, diving, horizontal movement, level flight, pull-up and dive. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 is a three-dimensional diagram of a cross-medium aircraft in an embodiment of the present invention;

[0030] Figure 2 is a top view of the cross-medium aircraft in an embodiment of the present invention with its movable wings folded;

[0031] Figure 3 is a top view of the cross-medium aircraft in an embodiment of the present invention with its movable wings deployed;

[0032] Figure 4 is a front view of a main wing unit in an embodiment of the present invention;

[0033] Figure 5 is a three-dimensional diagram of a main wing unit in an embodiment of the present invention;

[0034] Figure 6 It is a schematic diagram of the structure of the first limit block in a locked state in an embodiment of the present invention;

[0035] Figure 7 It is a schematic structural diagram of a first limit block and a push member in an embodiment of the present invention;

[0036] Figure 8 It is a schematic diagram of the structure of the pusher in the folded state of the movable wing in the embodiment of the present invention;

[0037] Fig. 9 It is a schematic diagram of the structure of the pusher in the unfolded state of the movable wing in an embodiment of the present invention;

[0038] Fig.10 It is a schematic structural diagram of a second limit block, a guide sleeve and a reset member in an embodiment of the present invention;

[0039] Fig.11 It is a schematic diagram of the state and force during diving in an embodiment of the present invention;

[0040] Fig.12 A schematic diagram of the floating state and force in an embodiment of the present invention;

[0041] Fig.13 Schematic diagram of the state and force during translation in an embodiment of the present invention;

[0042] Fig.14 Schematic diagram of the control process of diving in an embodiment of the present invention;

[0043] Fig.15 It is a flowchart of the control process of floating up in an embodiment of the present invention.

[0044] Description of reference numerals: 100 - fuselage, 200 - main wing unit, 300 - tail unit, 400 - main wing deployment unit, 500 - limit unit;

[0045] 110-middle part, 111-guide rail, 120-front cabin, 121-auxiliary front wing, 122-dual-purpose propeller, 130-tail cabin;

[0046] 210-fixed wing, 220-movable wing, 230-bearing;

[0047] 310-main tail, 320-auxiliary tail;

[0048] 410-elastic member, 420-slider, 430-connecting rod;

[0049] 510 - first limiting block, 511 - first rotating shaft, 512 - second rotating shaft, 513 - abutting surface, 520 - second limiting block, 521 - guiding inclined surface, 530 - pushing member, 540 - guiding sleeve, 550 - resetting member. DETAILED DESCRIPTION

[0050] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0051] Reference Figure 1-15 As shown, an embodiment of the present invention provides a cross-medium aircraft, including a fuselage 100, a main wing unit 200, a tail unit 300, a main wing deployment unit 400 and a limit unit 500, wherein:

[0052] The fuselage 100 is provided with a guide rail 111 along the central axis direction; the fuselage 100 includes a head cabin 120, a middle piece 110 and a tail cabin 130, the middle piece 110 connects the head cabin 120 and the tail cabin 130 respectively, and the guide rail 111 is provided on the middle piece 110, and the guide rail 111 may be a groove provided on the top of the middle piece 110;

[0053] The main wing unit 200 includes a fixed wing 210, two movable wings 220 and two bearings 230. The fixed wing 210 is fixedly mounted on the fuselage 100, and the movable wing 220 is rotatably mounted on the fuselage 100. The two movable wings 220 are located on both sides of the fixed wing 210. The bearings 230 are mounted on the rear plane of the bow cabin 120, and the movable wings 220 are mounted on the bearings 230, so as to realize the rotatable installation of the movable wings 220 and reduce the resistance of the movable wings 220 to rotation.

[0054] The main wing deployment unit 400 includes an elastic member 410, a slider 420 and two connecting rods 430. The elastic member 410 can be a spring. The two ends of the elastic member 410 are respectively connected to the slider 420 and the tail compartment 130 of the fuselage 100; the slider 420 is slidably installed in the guide rail 111; the two connecting rods 430 are respectively hinged to the two movable wings 220, and one end of the connecting rod 430 away from the movable wing 220 is hinged to the slider 420; the slider 420 includes a connecting part and a sliding part, the two ends of the top surface of the connecting part are respectively hinged to the two connecting rods 430, the sliding part is vertically connected to the connecting part, and the sliding part is slidably installed in the guide rail 111;

[0055] The limiting unit 500 includes a first limiting block 510 and a second limiting block 520 installed on the guide rail 111; the first limiting block 510 is used to limit the slider 420, and the elastic member 410 is configured to accumulate elastic potential energy when the slider 420 is limited by the first limiting block 510; the second limiting block 520 is used to limit the slider 420 when the slider 420 slides between the second limiting block 520 and the fixed wing 210.

[0056] When the slider 420 is limited by the first limit block 510, the elastic potential energy of the elastic member 410 is released, thereby pushing the slider 420 to move away from the tail wing unit 300 to push the two movable wings 220 to quickly unfold. When the spring continuously changes to restore its original length, it pushes the slider 420 to continuously move forward to unfold the movable wings 220. Before the elastic potential energy is completely released, the inner walls of the two movable wings 220 will be close to the outer sides of the fixed wings 210, and the movable wings 220 are positively limited. At this time, the second limit block 520 slides between the second limit block 520 and the fixed wing 210 during the slider 420, and the second limit block 520 limits the slider 420.

[0057] The cross-medium aircraft proposed in this embodiment utilizes a simple mechanical structure to realize the rapid deployment of the movable wings 220, thereby improving reliability, and the deployment method is simple, thereby reducing costs. In addition, when the slider 420 slides to between the second limit block 520 and the fixed wing 210, the slider 420 is limited by the second limit block 520 to prevent the movable wings 220 from being folded due to external force after being deployed into place, thereby improving reliability and stability.

[0058] In some embodiments, the limiting unit 500 further includes a pusher 530, one end of which is hinged to the tail compartment 130 of the fuselage 100, and the other end of which is hinged to the first limiting block 510 through a first rotating shaft 511; the first limiting block 510 is hinged to the guide rail 111 through a second rotating shaft 512. In this embodiment, the pusher 530 can be an electric push rod, and the pusher 530 shrinks its length to drive the first limiting block 510 to rotate around the second rotating shaft 512, so that the slider 420 is limited by the first limiting block 510 and pulls the elastic member 410 to shrink and accumulate elastic potential energy. When the limit is released, it is only necessary to extend the pusher 530 to drive the first limiting block 510 to rotate in the opposite direction. The structure is simple, and the slider 420 can be released instantly to achieve rapid movement of the slider 420, so as to achieve rapid deployment of the movable wing 220.

[0059] In some embodiments, when the pusher 530 pushes the first limit block 510 until the slider 420 is locked, the elastic potential energy of the elastic member 410 is the largest, and the line connecting the first rotation axis 511 and the second rotation axis 512 is perpendicular to the central axis of the fuselage 100. When the slider 420 is locked by the first limit block 510, the electric push rod is at the shortest extension. At this time, the line connecting the first rotation axis 511 and the second rotation axis 512 on the first limit block 510 is perpendicular to the central axis of the fuselage 100. At this time, the inner side of the first limit block 510 blocks the elastic member 410, and the elastic member 410 is kept in a state with a large elastic potential energy. At this time, the axis of the pusher 530 is not parallel to the central axis of the fuselage 100; when the first limit block 510 is unlocked, the pusher 530 can make the slider 420 move quickly, thereby realizing the rapid deployment of the movable wing 220.

[0060] In some embodiments, the limiting unit 500 further includes a guide sleeve 540 and a reset member 550. The guide sleeve 540 is installed on the side of the guide rail 111. The reset member 550 is installed in the guide sleeve 540 and is located below the second limiting block 520, and is used to reset the second limiting block 520. In this embodiment, the reset member 550 can be a spring. When the slider 420 slides between the first limiting block 510 and the fixed wing 210, the reset member 550 pushes the second limiting block 520 to move upward for reset, so that the second limiting block 520 limits the slider 420 when the movable wing 220 is unfolded. The structure is simple, and the movable wing 220 can be prevented from folding backward when encountering large resistance during flight, resulting in insufficient lift of the aircraft, thereby improving reliability.

[0061] In some embodiments, a guiding slope 521 is provided on the second limiting block 520, and an end of the guiding slope 521 close to the tail wing unit 300 is lower than an end close to the fixed wing 210; the limiting unit 500 also includes an electromagnet, which is located at the bottom of the guide sleeve 540 and is used to apply a downward suction force to the second limiting block 520 to release the limiting of the second limiting block 520. When the slider 420 passes through the second limit block 520, it first contacts the guide slope 521, compresses the reset member 550 to move the second limit block 520 downward, and when it slides between the second limit block 520 and the fixed wing 210, the second limit block 520 moves upward under the action of the reset member 550, thereby realizing the reverse limit of the slider 420 in the unfolded state; in order to release the limit of the second limit block 520, the electromagnet applies a downward suction force to the second limit block 520, overcomes the elastic supporting force of the reset member 550 through the magnetic field force, and realizes the unlocking of the second limit block 520, with a simple structure and low cost.

[0062] In some embodiments, the tail unit 300 includes a main tail 310 and two auxiliary tails 320, the main tail 310 is fixedly connected to the fuselage 100, the main tail 310 is mounted on the tail cabin 130, and two tail servos are provided in the tail cabin 130 to control the rotation of the two auxiliary tails 320, the two auxiliary tails 320 are rotatably mounted on the fuselage 100 and symmetrically arranged on both sides of the main tail 310, and the rotation direction of the auxiliary tail 320 is perpendicular to the rotation direction of the movable wing 220; the cross-medium aircraft also includes two auxiliary canards 121 located at the front of the fuselage 100, the two auxiliary canards 121 are symmetrically rotatably mounted on both sides of the bow cabin 120, and the rotation direction of the auxiliary canards 121 is parallel to the rotation direction of the auxiliary tail 320, and two front servos are also designed in the bow cabin 120 to control the rotation of the two auxiliary canards 121. By controlling the attack angle of the auxiliary tail wing 320 and the auxiliary front wing 121, the cross-medium aircraft can realize the actions of floating, diving, translation, level flight, lifting and diving, among which, the principles of floating and pulling, diving and diving, translation and level flight are consistent, and the same control method can be used. The possible differences in angle control are not discussed in this patent. The following is a specific example of the principle of diving, floating and translation:

[0063] For diving, a rotational torque is required to make the aircraft sink to the head and rise to the tail under water. At this time, for the aircraft with a pair of auxiliary front wings 121 and a pair of auxiliary tail wings 320, this patent designs a method of reversing the auxiliary wings, such as Fig.11 As shown. Combined with Bernoulli's principle, during normal navigation, water flows through the airfoil section, and the pressure difference caused by the flow velocity difference gives the aircraft an upward lift. When diving, the auxiliary front wing 121 is rotated as shown in the figure. Fig.11 The viewing angle of the aircraft rotates counterclockwise by a certain angle, and the auxiliary tail wing 320 rotates clockwise. At this time, when the water flows from left to right as shown in the figure, the water resistance of the auxiliary front wing 121 becomes larger, and it is perpendicular to the wing downward. The auxiliary tail wing 320 is affected by the incoming flow and generates a lift. The lift angle is perpendicular to the wing upward as shown in the figure. Therefore, in this situation, the auxiliary front wing 121 and the auxiliary tail wing 320 jointly generate a force couple that causes the aircraft to rotate in the water as shown in the figure, achieving the diving movement required by this patent;

[0064] For floating, Fig.12 As shown, the auxiliary front wing 121 rotates clockwise and the auxiliary tail wing 320 rotates counterclockwise during the floating process, which is exactly the opposite of the diving movement requirement. At this time, the auxiliary front wing 121 is a lift, and the auxiliary tail wing 320 generates a downward pressure. The auxiliary front wing 121 and the auxiliary tail wing 320 cooperate to generate a clockwise rotating force couple to complete the floating action posture adjustment;

[0065] For translation, Fig.13 As shown, the auxiliary front wing 121 and the auxiliary tail wing 320 are reset, and the auxiliary front wing 121 and the auxiliary tail wing 320 remain parallel to the main wing unit 200, and there is no force couple on the fuselage 100, so that translation is achieved.

[0066] In some embodiments, the tail unit 300 further includes a folding motor, a winding wheel and a connecting rope, wherein the folding motor is installed in the tail compartment 130 of the fuselage 100 and is drivingly connected to the winding wheel, and the connecting rope is wound around the winding wheel, and one end of the connecting rope is connected to the slider 420. The winding wheel is driven by the folding motor to rotate, so as to realize the winding of the nylon rope, and the nylon rope pulls the slider 420, compressing the spring while completing the folding of the movable wing 220. Before the folding is completed, the first limit block 510 remains in an open state (i.e., there is no obstruction to the slider 420), and after the folding is completed, it is reset to realize the limit of the slider 420 by the first limit block 510.

[0067] In some embodiments, the first limit block 510 is provided with an abutting surface 513 for abutting against the slider 420, and the abutting surface 513 is arranged near one side of the tail unit 300, and the abutting surface 513 is an arc-shaped surface. After the pusher 530 pushes, the first limit block 510 will rotate relative to the top of the push rod around the first rotation axis 511, and at the same time, the first limit block 510 also rotates around the second rotation axis. When the first limit block 510 further pushes the slider 420 to compress the spring, the contact area between the abutting surface 513 and the slider 420 gradually decreases. At this time, the pusher 530 will also rotate. When the first limit block 510 is fully rotated to the position, the abutting surface 513 no longer has a blocking effect on the slider 420, and the slider 420 moves forward quickly under the action of the elastic member 410 to complete the wing deployment.

[0068] In some embodiments, when the main wing unit 200 is in the unfolded state, the movable wing 220 abuts against the side of the fixed wing 210. After the movable wing 220 is fully unfolded, the inner walls of the two movable wings 220 will be close to the outer side of the fixed wing 210, and the movable wing 220 is positively limited, thereby improving the reliability and stability of the device.

[0069] In some embodiments, the trans-medium aircraft further includes a dual-purpose propeller 122 and a blade motor, wherein the dual-purpose propeller 122 is installed in front of the front cabin of the fuselage 100, and the dual-purpose propeller 122 can simultaneously meet the requirements of underwater navigation and air flight, and the blade motor is located inside the fuselage 100 and is drivingly connected to the dual-purpose propeller 122. The dual-purpose propeller 122 is driven to rotate by the blade motor to realize the power input of the trans-medium aircraft.

[0070] In some embodiments, a control system is integrated in the bow cabin 120, and the control system includes a variety of sensors, mainly including micro-accelerometers, magnetic sensors, hydrophones, flight control gyroscopes, altitude sensors, depth sensors, and pressure sensors and humidity sensors are arranged outside the cabin. The following is an explanation of the control process of the control system of the card medium aircraft regarding diving and surfacing:

[0071] For the control process of diving, such as Fig.14 As shown, the following steps are included:

[0072] Step S11: the upper computer issues a diving command to control the front servo to drive the auxiliary front wing 121 to press forward, and the rear servo to drive the tail servo to press backward;

[0073] Step S12: judging whether the forward tilt angle of the fuselage 100 is greater than 10 degrees according to the input gyro attitude signal, if so, proceeding to step S13, otherwise sending a control signal to the upper computer to increase the rotation angle of the servo;

[0074] Step S13: judging whether the fuselage 100 descends too fast according to the input height change signal, if so, sending a signal to reduce the steering gear rotation angle to the upper computer, otherwise, proceeding to step S14;

[0075] Step S14: Maintain the servo rotation height;

[0076] Step S15: judging whether the distance between the fuselage 100 and the water surface is less than 10 cm according to the input height signal, if so, controlling the movable wings 220 to fold, otherwise returning to step S14;

[0077] Step S16: judging whether the depth reaches the set depth according to the input depth signal, if so, issuing a translation command and returning the front servo and the rear servo, otherwise entering step S17;

[0078] Step S17: According to the input depth change signal, determine whether the fuselage 100 descends too slowly. If so, send a control signal to the upper computer to increase the steering gear rotation angle. Otherwise, maintain the posture and dive and return to step S16.

[0079] For the floating control process, such as Fig.15 As shown, the following steps are included:

[0080] Step S21: the upper computer issues a floating command, controls the front servo to drive the auxiliary front wing 121 to press backward, the rear servo to drive the tail servo to press forward, and the folding motor reverses to release the nylon rope;

[0081] Step S21: judging whether the tail tilt angle of the fuselage 100 is greater than 10 degrees according to the input gyro attitude signal, if so, proceeding to step S13, otherwise sending a control signal to the upper computer to reduce the rotation angle of the steering gear;

[0082] Step S23: judging whether the fuselage 100 floats up too fast according to the input altitude change signal, if so, sending a signal to increase the steering gear rotation angle to the upper computer, otherwise, proceeding to step S24;

[0083] Step S24: Maintain the steering gear rotation height;

[0084] Step S25: judging whether the fuselage 100 is above the water surface according to the inputted height signal, if so, controlling the movable wings 220 to unfold, otherwise returning to step S24;

[0085] Step S26: judging whether the depth reaches the set height according to the input height signal, if so, issuing a translation command and returning the front servo and the rear servo, otherwise proceeding to step S27;

[0086] Step S27: According to the input altitude change signal, determine whether the fuselage 100 is climbing too fast. If so, send a control signal to the upper computer to reduce the steering gear rotation angle. Otherwise, maintain the attitude and climb and return to step S26.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A cross-medium aircraft, characterized in that: It includes a fuselage, a main wing unit, a tail unit, a main wing deployment unit and a limit unit, wherein: The fuselage is provided with a guide rail along the central axis direction; The main wing unit comprises a fixed wing and two movable wings, wherein the fixed wing is fixedly mounted on the fuselage, and the movable wing is rotatably mounted on the fuselage, and the two movable wings are located on both sides of the fixed wing; The main wing deployment unit comprises an elastic member, a slider and two connecting rods, the two ends of the elastic member are respectively connected to the slider and the fuselage; the slider is slidably installed in the guide rail; the two connecting rods are respectively hinged to the two movable wings, and one end of the connecting rod away from the movable wing is hinged to the slider; The limiting unit includes a first limiting block and a second limiting block installed on the guide rail; the first limiting block is used to limit the slider, and the elastic member is configured to accumulate elastic potential energy when the slider is limited by the first limiting block; the second limiting block is used to limit the slider when the slider slides between the second limiting block and the fixed wing.

2. The cross-medium aircraft according to claim 1, characterized in that: The limiting unit further comprises a pushing member, one end of which is hinged to the body, and the other end of which is hinged to the first limiting block via a first rotating shaft; the first limiting block is hinged to the guide rail via a second rotating shaft.

3. The cross-medium aircraft according to claim 2, characterized in that: When the pushing member pushes the first limiting block until the sliding block is locked, the elastic potential energy of the elastic member is maximum, and a line connecting the first rotating axis and the second rotating axis is perpendicular to the central axis of the fuselage.

4. The cross-medium aircraft according to claim 1, characterized in that: The limiting unit further includes a guide sleeve and a reset member, wherein the guide sleeve is installed on the side of the guide rail, and the reset member is installed in the guide sleeve and is located below the second limiting block for resetting the second limiting block.

5. The cross-medium aircraft according to claim 4, characterized in that: The second limit block is provided with a guiding inclined surface, and an end of the guiding inclined surface close to the tail wing unit is lower than an end close to the fixed wing; The limiting unit further includes an electromagnet, which is located at the bottom of the guide sleeve and is used to apply a downward suction force to the second limiting block to release the limiting of the second limiting block.

6. The cross-medium aircraft according to claim 1, characterized in that: The tail unit includes a main tail and two auxiliary tails, wherein the main tail is fixedly connected to the fuselage, and the two auxiliary tails are rotatably mounted on the fuselage and symmetrically arranged on both sides of the main tail, and the rotation direction of the auxiliary tail is perpendicular to the rotation direction of the movable wing; The cross-medium aircraft also includes two auxiliary front wings located at the front part of the fuselage. The two auxiliary front wings are symmetrically mounted on both sides of the fuselage, and the rotation direction of the auxiliary front wings is parallel to the rotation direction of the auxiliary tail wing.

7. The cross-medium aircraft according to claim 6, characterized in that: The tail unit also includes a folding motor, a winding wheel and a connecting rope. The folding motor is installed in the fuselage and is drivingly connected to the winding wheel. The connecting rope is wound around the winding wheel, and one end of the connecting rope is connected to the slider.

8. The cross-medium aircraft according to claim 1, characterized in that: The first limit block is provided with an abutting surface for abutting against the sliding block, the abutting surface is arranged close to one side of the tail wing unit, and the abutting surface is an arc-shaped surface.

9. The cross-medium aircraft according to any one of claims 1 to 8, characterized in that: The main wing unit further comprises two bearings, the bearings are mounted on the fuselage, the movable wing is mounted on the bearings, and when the main wing unit is in an unfolded state, the movable wing abuts against the side surface of the fixed wing.

10. The cross-medium aircraft according to any one of claims 1 to 8, characterized in that: It also includes a dual-purpose propeller and a blade motor. The dual-purpose propeller is installed at the front of the fuselage for achieving underwater navigation and aerial flight. The blade motor is located inside the fuselage and is drivingly connected to the dual-purpose propeller.

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