Water-air amphibious bionic flapping-wing air vehicle and sea-air object detection system

Abstract

The invention provides a water-air amphibious bionic flapping-wing air vehicle and a sea-air object detection system. The aircraft comprises a bionic flapping wing aircraft body, an energy device, a communication device, a detection device, a recognition device, a motion control device, a motor driving device and a chemical engine, two chemical reaction chambers are arranged in the chemical engine, and when the aircraft enters the air from water, high-temperature and high-pressure gas is generated through chemical reaction to form strong reverse thrust. The aircraft can be quickly discharged out of water, the concealment of the aircraft is improved, and the aircraft is not affected by water surface obstacles and stormy waves. When a sea and air object detection system formed by networking of the water and air amphibious bionic flapping wing aircrafts is used for executing a detection task, the aircrafts provide flight power through cooperative work of the flapping wings and the chemical engines according to a received control instruction, flexible sneaking underwater is achieved through the flapping wings, and the flapping wings and the chemical engines can be used for controlling the aircrafts. And the aircraft rapidly enters an air flight state by virtue of the thrust of the chemical engine during water outgoing, so that the maneuverability and adaptability of the aircraft are improved.

Description

Technical Field

[0001] The invention belongs to the technical field of unmanned aerial vehicles, and in particular relates to a water-air amphibious bionic flapping-wing aircraft and a sea-air object detection system. Background Art

[0002] At present, water-air amphibious cross-medium aircraft are roughly divided into three categories: water-based UAVs, submarine-launched UAVs, and submersible UAVs.

[0003] Common floating structure water drones generally take off by taxiing and land by floating, and their operating range is the water surface and air medium; their power sources are diverse, using two lithium batteries and one solar cell, propelled by two counter-rotating propellers in the air, floating on the water surface without power, and taking off by booster motors to achieve take-off acceleration. However, the floating structure increases the flight resistance in the air and affects maneuverability; taxiing takeoff and landing requires a longer runway, which is greatly restricted by the site and is limited in narrow waters or emergency operations; the take-off and landing process is greatly disturbed by waves, and the structural impact resistance and wave interference control are required to be high, and the overload design of the body and water interaction area and sensitive components must be considered when landing on the water surface.

[0004] Submarine-launched drones usually adopt a variant structural design (lateral folding wings), are launched from submarine launch tubes (dry launch), take off with rocket assistance, splash into the water, and are guided and controlled in real time by submarines or other amphibious combat personnel after launch. The operating range is airspace, and they do not have the ability to navigate underwater. The power source is mostly aviation fuel or batteries, and the propulsion methods include jet propulsion (small turbojet engine), propeller propulsion (using electric motors to drive propeller propulsion), etc. However, although dry launch can reduce the difficulty of launch, it is easy to expose submarine targets; the launch and recovery process is complicated and technically difficult, and the wet launch is affected by wave interference, affecting the stability of takeoff on the water surface; the overall structure is complex, the control system requirements are high, and the operating range is limited, and it cannot navigate on the water surface or underwater.

[0005] Submersible drones, such as MIT's booby-like micro-amphibious unmanned aerial vehicle, adopt a variant structural design of variable-sweep wing. When flying in the air, the wing is fully extended to provide lift. The air-to-water transition adopts the booby-like splashdown method. After entering the water, the buoyancy and gravity are approximately equal to achieve balance. The operating range is underwater and in the air. The power is mostly electric energy, and the propulsion methods include propeller propulsion and flapping wing propulsion. The problems with this type of submersible drone are: the wing configuration change may increase the weight and complexity of the structure. The water-air transition and air-water transition process imitate biological methods, but how to achieve stable and reliable transition and improve transition efficiency still face many complex technical problems, and most of the current research is at the prototype stage. For example, the booby-like prototype only verifies the feasibility of splashdown entry into the water, and the overall technology is not yet mature. Summary of the invention

[0006] The purpose of the present invention is to solve the problems that the existing water-to-air cross-medium aircraft have poor maneuverability and concealment, and the existing power system causes the water-to-air cross-medium aircraft to be unable to cross water surface or underwater obstacles and is overly affected by sea surface wind and waves, and to provide a water-to-air amphibious bionic flapping-wing aircraft and a sea and air object detection system.

[0007] To achieve the above purpose, the technical solution provided by the present invention is:

[0008] A chemical engine comprises a water pump, a first movable slide, a second movable slide, an igniter, a nozzle and an engine housing coaxially connected to the nozzle; a water storage chamber and a first reaction chamber coaxially connected are provided in the engine housing, the water storage chamber is close to the nozzle, and the capacity of the water storage chamber is greater than the capacity of the first reaction chamber;

[0009] The side wall of the first reaction chamber is made of a ventilated material, and a second reaction chamber coaxial with the first reaction chamber is arranged outside the first reaction chamber; the second reaction chamber is an annular chamber, and calcium carbide is stored in the second reaction chamber;

[0010] The water pump is used to inject water into the second reaction chamber and the water storage chamber;

[0011] The first movable slide plate and the second movable slide plate are respectively installed in the water storage chamber and the first reaction chamber in a sealed manner. In an initial state, the first movable slide plate and the second movable slide plate are close to the connection between the water storage chamber and the first reaction chamber, and there is a gap between the two. The cavity section in the water storage chamber and between the nozzle and the first movable slide plate is pre-filled with oxygen.

[0012] A plurality of first one-way valves are installed on the first movable slide, which are used to allow oxygen to pass through the first movable slide and enter the first reaction chamber under the pressure of water pump injecting water into the water storage chamber;

[0013] The second movable slide plate is used to slide along the first reaction chamber under the driving action of oxygen and water to evacuate the impurity gas in the first reaction chamber, and to discharge the impurity gas from the second one-way valve installed at the end of the first reaction chamber;

[0014] The igniter is installed on the inner wall of the first reaction chamber and is used to ignite the oxygen entering the first reaction chamber and the gas reaction products of the second reaction chamber;

[0015] The nozzle is used to make the water in the water storage chamber ejected from the nozzle under the impetus of the high-temperature and high-pressure gas generated by the chemical reaction in the first reaction chamber to generate a reverse driving force; and a third one-way valve is installed in the nozzle.

[0016] Furthermore, the engine housing comprises a cone, a first column and a second column which are coaxially connected in sequence, and the diameter of the second column is larger than the diameter of the first column; the nozzle is coaxially connected to the small end of the cone; the water storage chamber comprises a conical hole coaxially opened in the cone and a column hole opened in the first column;

[0017] The first reaction chamber and the second reaction chamber are located in the second column; and the water pump is installed on the outer wall of the second column.

[0018] Furthermore, a first water injection hole is opened on the side wall of the first column, and a plurality of second water injection holes are evenly distributed on the side wall of the second column.

[0019] Furthermore, three first one-way valves are evenly distributed on the first movable slide, and the three first one-way valves are arranged radially along the first movable slide.

[0020] A water-air amphibious bionic flapping-wing aircraft, comprising a bionic flapping-wing aircraft body, an energy device, a communication device, a detection device, an identification device, a motion control device, a motor drive device, and a chemical engine according to any one of claims 1 to 3;

[0021] The chemical engine is arranged at the tail of the bionic flapping-wing aircraft along the axial direction of the bionic flapping-wing aircraft body, and the nozzle of the nozzle faces the rear of the bionic flapping-wing aircraft; the chemical engine is used to provide water power when the bionic flapping-wing aircraft enters the air from water;

[0022] The electric drive engine is used for the flight power of the water-air amphibious bionic flapping-wing aircraft when it dives underwater and cruises in the air;

[0023] The communication device is used to transmit data with the marine communication relay buoy and the communication relay satellite;

[0024] The detection device is arranged at the front section of the bionic flapping-wing aircraft body and is used to image underwater targets or aerial targets;

[0025] The identification device is arranged at the front section of the bionic flapping-wing aircraft body and is used to identify underwater hydroacoustic signals;

[0026] The energy device is used to provide the bionic flapping-wing aircraft with flying power, and the energy device includes a lithium polymer battery, a lithium sulfur battery and a solar cell film, and the solar cell film is attached to the top surface of the bionic flapping-wing aircraft body;

[0027] The motion control device is used to control the underwater and air movement of the water-air amphibious bionic flapping-wing aircraft, and is used to control the flapping wing folding of the bionic flapping-wing aircraft body according to the received water-air amphibious bionic flapping-wing aircraft exiting water instruction, and control the starting of the chemical engine.

[0028] A sea and air object detection system, comprising a movable base station, a communication relay satellite, a plurality of marine communication relay buoys, and a plurality of water-air amphibious bionic flapping-wing aircraft as claimed in claim 4;

[0029] The movable base station is used to issue corresponding control instructions according to the audio, video and data signals received from the water-air amphibious bionic flapping-wing aircraft, the marine communication relay buoy and the communication relay satellite;

[0030] The marine communication relay buoy is used to receive audio, video, data and other information sent by the water-air amphibious bionic flapping-wing aircraft, the communication relay satellite and other marine communication relay buoys, and to transmit control instructions issued by the movable base station;

[0031] The communication relay satellite is used to receive audio, video, data and other information sent by the water-air amphibious bionic flapping-wing aircraft and the marine communication relay buoy, and is used to transmit control instructions issued by the movable base station;

[0032] The water-air amphibious bionic flapping-wing aircraft, the movable base station, the marine communication relay buoy and the communication relay satellite are all equipped with microwave communication equipment.

[0033] The advantages of the present invention are:

[0034] 1. The present invention provides a chemical engine, which injects water to make oxygen react with calcium carbide to generate acetylene gas, which then burns with oxygen to generate high-temperature and high-pressure gas to push the water in the water storage chamber to spray out, forming a powerful reverse propulsion force with high efficiency and rapid response. When applied to water-air amphibious bionic flapping-wing aircraft, it can realize the water exit process more quickly and efficiently, thereby improving the maneuverability of the water-air amphibious bionic flapping-wing aircraft when exiting the water.

[0035] 2. The water-air amphibious bionic flapping-wing aircraft of the present invention uses flapping wings and chemical engines to work together to provide flight power during flight. During the water exit process, the aircraft first folds the flapping wings on both sides to reduce the resistance of water, and at the same time starts the chemical engine to adjust the direction of the aircraft nose to be obliquely upward, and uses the powerful thrust of the chemical engine to exit the water, and then unfolds the flapping wings to fly in the air. This way of flapping wings and engines working together can achieve flexible sneaking underwater by using flapping wings, and quickly enter the air flight state with the help of the thrust of the chemical engine when exiting the water, thereby improving the overall maneuverability and adaptability of the aircraft.

[0036] 3. The chemical engine in the present invention provides powerful power at the moment of emerging from the water, so that the water-air amphibious bionic flapping-wing aircraft can quickly emerge from the water and enter the air flight state, reducing the time spent on the water surface, reducing the probability of being discovered, and enhancing concealment; while the traditional UAV takes a long time to take off and land on the water surface, which easily exposes the target.

[0037] 4. The water-air amphibious bionic flapping-wing aircraft of the present invention is not affected by water surface obstacles and wind and waves. When leaving the water, it relies on the powerful thrust of the chemical engine to leave the water, which can reduce the influence of sea surface wind and waves on its water leaving process to a large extent, improve the aircraft's operating ability in complex sea conditions, and avoid the problem that traditional amphibious micro-aircraft use propellers to take off on the water surface and are restricted by water surface or underwater obstacles. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] The above and / or other features and advantages of the present invention will become more easily understood through the following description with reference to the accompanying drawings, which are not drawn to scale and some features are exaggerated or reduced to show details of specific components. In the accompanying drawings:

[0039] Figure 1 is an overall schematic diagram of the chemical engine of the present invention;

[0040] Figure 2 is a three-dimensional cross-sectional view of the upper half of the chemical engine of the present invention after being cut;

[0041] Figure 3 is a three-dimensional cross-sectional view of the lower half of the chemical engine of the present invention after being cut;

[0042] Figure 4 is a side view of a first reaction chamber and a second reaction chamber;

[0043] Figure 5 It is a composition diagram of the sea and air object detection system of the present invention;

[0044] Figure 6 The present invention is a schematic diagram of the process of the water-air amphibious bionic flapping-wing aircraft entering and exiting water.

[0045] In the figure: 1-nozzle, 2-engine housing, 201-water storage chamber, 202-first reaction chamber, 203-second reaction chamber, 3-water pump, 301-first water injection port, 302-second water injection port, 4-first movable slide, 5-second movable slide, 6-igniter, 7-first one-way valve. DETAILED DESCRIPTION

[0046] The present invention will be described in detail below with reference to the accompanying drawings by means of exemplary embodiments of the present invention. It should be noted that the following detailed description of the present invention is only for the purpose of illustration, and is not intended to limit the present invention.

[0047] Reference Figure 1-Figure 4 A chemical engine comprises a nozzle 1, an engine housing 2, a water pump 3, a first movable slide 4, a second movable slide 5, an igniter 6, a first one-way valve 7, a second one-way valve and a third one-way valve. The engine housing 2 comprises a cone, a first cylinder and a second cylinder which are coaxially connected in sequence, and the diameter of the second cylinder is larger than the diameter of the first cylinder. The engine housing 2 has a water storage chamber 201 and a first reaction chamber 202 which are coaxially arranged and connected. The water storage chamber 201 is close to the nozzle 1, and the capacity of the water storage chamber 201 is larger than the capacity of the first reaction chamber 202. The side wall of the first reaction chamber 202 is made of a breathable material (only allowing gas to pass through), and a second reaction chamber 203 which is coaxial with the first reaction chamber 202 is provided on the outside of the first reaction chamber. The second reaction chamber 203 is an annular chamber, and calcium carbide is stored in the second reaction chamber.

[0048] The water pump 3 is installed outside the second cylindrical side wall of the engine housing, and is used to inject water into the second reaction chamber 203 and the water storage chamber 1. The first movable slide 4 and the second movable slide 5 are respectively sealed and installed in the water storage chamber 1 and the first reaction chamber 201. In the initial state, the first movable slide 4 and the second movable slide 5 are close to the connection between the water storage chamber 1 and the first reaction chamber 201, and there is a gap between the two. The cavity section in the water storage chamber 1 and between the nozzle and the first movable slide is pre-filled with oxygen.

[0049] A plurality of first one-way valves 7 (only allowing gas to pass through) are installed on the first movable slide 4, so as to allow oxygen to pass through the first movable slide 4 and enter the first reaction chamber 202 under the push of the water pump 3 injecting water into the water storage chamber 1.

[0050] The second movable slide plate 5 is used to slide along the first reaction chamber 201 under the driving force of oxygen and water to evacuate the impurity gas in the first reaction chamber, and discharge the impurity gas from the second one-way valve (not shown in the figure) installed in the mounting hole at the end of the first reaction chamber, so as to ensure the stability of the combustion environment, make the combustion reaction in the first reaction chamber sufficient, and avoid uncontrollable situations such as explosion. Specifically, the second one-way valve is arranged at the center of the second column end of the second engine housing.

[0051] The nozzle 1 is coaxially mounted at the conical mouth of the engine housing 2, and is used to eject the water in the water storage chamber from the nozzle 1 under the impetus of the high-temperature and high-pressure gas generated by the chemical reaction in the first reaction chamber, so as to generate a reverse propulsion force. A third one-way valve (not shown in the figure) is installed in the nozzle to prevent external water from entering the engine when used underwater.

[0052] Specifically, the water storage chamber 201 in the engine housing includes a conical hole coaxially opened in the vertebral body thereof and a column hole opened in the first column thereof. The conical design at the end of the water storage chamber can increase the jet power of the water in the water storage chamber ejected from the nozzle, and can form a stable power parallel to the axis of the engine housing. The first water injection hole 301 is opened on the side wall of the first column, and a plurality of second water injection holes 302 are opened on the side wall of the second column. In this embodiment, four second water injection holes are evenly arranged, so that water is evenly injected into the second reaction chamber, ensuring that calcium carbide and water in the second reaction chamber fully react.

[0053] Specifically, three first one-way valves 7 are evenly distributed on the first movable slide 4, and the three first one-way valves 7 are arranged radially along the first movable slide.

[0054] Working principle of chemical engine:

[0055] Start the water pump 3 to fill the water storage chamber 201 with water. The oxygen pre-filled in the water storage chamber passes through the first one-way valve 8 on the first movable slide 4 under the squeezing effect of the injected water flow and enters the gap between the first movable slide 4 and the second movable slide 5. The oxygen pressure pushes the second movable slide 5 to slide into the first reaction chamber 202 until it fits with the inner wall surface of the end of the first reaction chamber. During the sliding process, the second movable slide 5 pushes the impurity gas in the first reaction chamber 202 to be emptied, so that the gas impurities are discharged through the second one-way valve set at the center of the tail end of the second column of the engine housing 2.

[0056] The amount of water injected is calculated in advance based on the volume of the water storage chamber and the driving force required for the second movable slide to empty the impurities in the first reaction chamber. When the water storage chamber is filled with water, it proves that the impurities in the first reaction chamber are emptied, the first water injection port 301 arranged on the side wall of the water storage chamber is closed, and the second water injection port 302 arranged on the side wall of the second reaction chamber is opened to inject water into the second reaction chamber 203.

[0057] After entering the second reaction chamber, water reacts with calcium carbide in the second reaction chamber to produce C2H2 gas. The reaction formula is:

[0058] CaC2+2H2O→Ca(OH)2+C2H2#

[0059] The C2H2 gas generated in the second reaction chamber enters the first reaction chamber through the side wall of the first reaction chamber. When the reaction in the second reaction chamber is completed, the igniter 6 ignites to ignite the mixed gas of C2H2 and O2 in the first reaction chamber. The reaction formula is:

[0060] C2H2+2O2→2H2O+2CO2

[0061] The chemical reaction in the first reaction chamber produces high-temperature and high-pressure gas, which pushes the first movable slide 4 to move toward the nozzle 1. The first movable slide 4 pushes the water in the water storage chamber 201 to flush open the third one-way valve set in the nozzle 1 and spray out from the nozzle, forming an outward jet force, and the jet force pushes the engine housing to move in the reverse direction.

[0062] The embodiment of the present invention also provides a water-air amphibious bionic flapping-wing aircraft, including a bionic flapping-wing aircraft body, an energy device, a communication device, a detection device, an identification device, a motion control device, a motor drive device and a chemical engine. The chemical engine is arranged at the tail of the bionic flapping-wing aircraft along the axial direction of the bionic flapping-wing aircraft body, and the nozzle of the nozzle faces the rear of the bionic flapping-wing aircraft. The chemical engine can provide the water-air amphibious bionic flapping-wing aircraft with water-out power when entering the air from water. The electric drive engine is used for the flight power of the water-air amphibious bionic flapping-wing aircraft when it sneaks underwater and cruises in the air; the communication device is used for data transmission with the marine communication relay buoy and the communication relay satellite. The detection device is arranged at the front section of the bionic flapping-wing aircraft body, and is used to image underwater targets or aerial targets. The identification device is arranged at the front section of the bionic flapping-wing aircraft body, and is used to distinguish underwater hydroacoustic signals. The energy device is used to provide the bionic flapping-wing aircraft with flying power in the air, and the energy device includes a lithium polymer battery, a lithium sulfur battery and a solar cell film, and the solar cell film is attached to the top surface of the bionic flapping-wing aircraft body. The motion control device is used to control the underwater and air movement of the water-air amphibious bionic flapping-wing aircraft, and is used to control the flapping wing of the bionic flapping-wing aircraft body to be folded according to the water-air amphibious bionic flapping-wing aircraft exit instruction received, and control the start of the chemical engine.

[0063] Reference Figure 5 The present invention also provides a sea and air object detection system, including a movable base station, a maritime communication relay buoy, a plurality of communication relay satellites and a plurality of the above-mentioned water-air amphibious bionic flapping-wing aircraft. The movable base station is used to issue corresponding control instructions according to the audio, video and data information received from the water-air amphibious bionic flapping-wing aircraft, the maritime communication relay buoy and the communication relay satellite, and the control instructions include underwater movement instructions, water exit instructions, air movement instructions and water entry instructions. The maritime communication relay buoy is used to receive audio, video, data and other information sent by the water-air amphibious bionic flapping-wing aircraft, the communication relay satellite and other maritime communication relay buoys, and is used to transmit the control instructions issued by the movable base station. The communication relay satellite is used to receive audio, video, data and other information sent by the water-air amphibious bionic flapping-wing aircraft and the maritime communication relay buoy, and is used to transmit the control instructions issued by the movable base station.

[0064] The water-air amphibious bionic flapping-wing aircraft, movable control station, marine communication relay buoy and communication relay satellite are all equipped with microwave communication equipment.

[0065] Reference Figure 6 , a method for detecting sea and air objects, comprising the following steps:

[0066] Step 1: launching a number of the water-air amphibious bionic flapping-wing aircraft to the sea area to be detected, and the water-air amphibious bionic flapping-wing aircraft dives into the sea;

[0067] Step 2: Aerial target detection and underwater target detection:

[0068] The aerial target detection comprises the following steps:

[0069] Step a, the water-air amphibious bionic flapping-wing aircraft unfolds its flapping wings and moves toward a position close to the water surface according to the received air detection control command;

[0070] Step b, at the time of exiting the water, the water-air amphibious bionic flapping-wing aircraft folds the flapping wings on both sides, controls the chemical engine to start working, and the water-air amphibious bionic flapping-wing aircraft exits the water;

[0071] Step c, the water-air amphibious bionic flapping-wing aircraft collects and identifies images of aerial targets, and sends image information to a communication relay satellite; when an aerial target is identified to be abnormal, the water-air amphibious bionic flapping-wing aircraft sends a target abnormality signal to the communication relay satellite, and the communication relay satellite communicates with the movable base station and transmits the received aerial target information to the movable base station;

[0072] Step d, the aerial detection mission is completed, and the water-air amphibious bionic flapping-wing aircraft dives into the water;

[0073] The process of underwater target detection is as follows:

[0074] The water-air amphibious bionic flapping-wing aircraft unfolds its flapping wings to cruise in the water according to the received underwater detection control instructions, and at the same time collects and identifies images of underwater targets, and sends the image information to the offshore communication relay buoy; when an abnormal underwater target is identified, a target abnormality signal is sent to the offshore buoy; the offshore buoy communicates with the movable base station and transmits the received signal to the movable base station.

[0075] Finally, it should be noted that the features mentioned and / or shown in the above description of the exemplary embodiments of the present invention may be combined in the same or similar manner into one or more other embodiments, combined with the features in other embodiments or substituted for the corresponding features in other implementations. The technical solutions obtained by these combinations or substitutions shall also be deemed to be included in the protection scope of the present invention.

Claims

1. A chemical engine, characterized in that: The invention comprises a water pump, a first movable slide plate, a second movable slide plate, an igniter, a nozzle and an engine housing coaxially connected to the nozzle; a water storage chamber and a first reaction chamber coaxially connected are arranged in the engine housing, the water storage chamber is close to the nozzle, and the capacity of the water storage chamber is greater than the capacity of the first reaction chamber; The side wall of the first reaction chamber is made of a ventilated material, and a second reaction chamber coaxial with the first reaction chamber is arranged outside the first reaction chamber; the second reaction chamber is an annular chamber, and calcium carbide is stored in the second reaction chamber; The water pump is used to inject water into the second reaction chamber and the water storage chamber; The first movable slide plate and the second movable slide plate are respectively installed in the water storage chamber and the first reaction chamber in a sealed manner. In an initial state, the first movable slide plate and the second movable slide plate are close to the connection between the water storage chamber and the first reaction chamber, and there is a gap between the two. The cavity section in the water storage chamber and between the nozzle and the first movable slide plate is pre-filled with oxygen. The first movable slide is provided with a plurality of first one-way valves for allowing oxygen to pass through the first movable slide and enter the first reaction chamber when the water pump injects water into the water storage chamber; The second movable slide plate is used to slide along the first reaction chamber under the driving action of oxygen and water to evacuate the impurity gas in the first reaction chamber, and to discharge the impurity gas from the second one-way valve installed at the end of the first reaction chamber; The igniter is installed on the inner wall of the first reaction chamber and is used to ignite the oxygen entering the first reaction chamber and the gas reaction products of the second reaction chamber; The nozzle is used to make the water in the water storage chamber ejected from the nozzle under the impetus of the high-temperature and high-pressure gas generated by the chemical reaction in the first reaction chamber to generate a reverse driving force; and a third one-way valve is installed in the nozzle.

2. The chemical engine according to claim 1, characterized in that: The engine housing comprises a cone, a first cylinder and a second cylinder which are coaxially connected in sequence, wherein the diameter of the second cylinder is greater than the diameter of the first cylinder; The nozzle is coaxially connected to the small end of the cone; The water storage chamber includes a conical hole coaxially opened in the vertebral body and a column hole opened in the first column body; The first reaction chamber and the second reaction chamber are located in the second column; The water pump is installed on the outer wall of the second cylinder.

3. The chemical engine according to claim 2, characterized in that: The first column side wall is provided with a first water injection hole, and the second column side wall is evenly distributed with a plurality of second water injection holes.

4. The chemical engine according to claim 2, characterized in that: The first movable slide plate is evenly distributed with three first one-way valves, and the three first one-way valves are arranged radially along the first movable slide plate.

5. A water-air amphibious bionic flapping-wing aircraft, characterized in that: It comprises a bionic flapping-wing aircraft body, an energy device, a communication device, a detection device, an identification device, a motion control device, a motor drive device and a chemical engine as claimed in any one of claims 1 to 4; The chemical engine is arranged at the tail of the bionic flapping-wing aircraft along the axial direction of the bionic flapping-wing aircraft body, and the nozzle of the nozzle faces the rear of the bionic flapping-wing aircraft; the chemical engine is used to provide water power when the bionic flapping-wing aircraft enters the air from water; The electric drive engine is used for the flight power of the water-air amphibious bionic flapping-wing aircraft when it dives underwater and cruises in the air; The communication device is used to transmit data with the marine communication relay buoy and the communication relay satellite; The detection device is arranged at the front section of the bionic flapping-wing aircraft body and is used to image underwater targets or aerial targets; The identification device is arranged at the front section of the bionic flapping-wing aircraft body and is used to identify underwater hydroacoustic signals; The energy device is used to provide the bionic flapping-wing aircraft with flying power, and the energy device includes a lithium polymer battery, a lithium sulfur battery and a solar cell film, and the solar cell film is attached to the top surface of the bionic flapping-wing aircraft body; The motion control device is used to control the underwater and air movement of the water-air amphibious bionic flapping-wing aircraft, and is used to control the flapping wing folding of the bionic flapping-wing aircraft body according to the received water-air amphibious bionic flapping-wing aircraft exiting water instruction, and control the starting of the chemical engine.

6. A sea and air object detection system, characterized in that: It comprises a movable base station, a communication relay satellite, a number of marine communication relay buoys and a number of water-air amphibious bionic flapping-wing aircraft as described in claim 5; The movable base station is used to issue corresponding control instructions according to the audio, video and data signals received from the water-air amphibious bionic flapping-wing aircraft, the marine communication relay buoy and the communication relay satellite; The marine communication relay buoy is used to receive audio, video, data and other information sent by the water-air amphibious bionic flapping-wing aircraft, the communication relay satellite and other marine communication relay buoys, and to transmit control instructions issued by the movable base station; The communication relay satellite is used to receive audio, video, data and other information sent by the water-air amphibious bionic flapping-wing aircraft and the marine communication relay buoy, and is used to transmit control instructions issued by the movable base station; The water-air amphibious bionic flapping-wing aircraft, the movable base station, the marine communication relay buoy and the communication relay satellite are all equipped with microwave communication equipment.

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