A water-and-air amphibious biomimetic flapping-wing aircraft and a sea-and-air object detection system

Abstract

This invention provides an amphibious bionic flapping-wing aircraft and a sea-and-air object detection system. The aircraft includes a bionic flapping-wing airframe, an energy unit, a communication unit, a detection unit, an identification unit, a motion control unit, an electric motor drive unit, and a chemical engine. The chemical engine contains two chemical reaction chambers. When the aircraft enters the air from the water, a chemical reaction generates high-temperature, high-pressure gas, creating a powerful reverse thrust, enabling the aircraft to quickly emerge from the water. This improves the aircraft's stealth capabilities and makes it unaffected by surface obstacles and waves. The sea-and-air object detection system, constructed using a network of amphibious bionic flapping-wing aircraft, utilizes the flapping wings and chemical engine in tandem to provide flight power during detection missions. This allows for flexible underwater movement using the flapping wings and rapid aerial flight using the chemical engine thrust upon emerging from the water, enhancing the aircraft's maneuverability and adaptability.

Description

Technical Field

[0001] This invention belongs to the field of unmanned aerial vehicle (UAV) technology, specifically relating to an amphibious bionic flapping-wing aircraft and a sea and air object detection system. Background Technology

[0002] Currently, amphibious cross-medium aircraft can be broadly classified into three categories: surface drones, submarine-launched drones, and submersible drones.

[0003] Common float-type unmanned aerial vehicles (UAVs) typically take off via a runway and land by drifting, operating in the water surface and air. They are powered by various sources, including two lithium batteries and one solar cell. In the air, they are propelled by two counter-rotating propellers, while on the water they float unpowered. Takeoff is accelerated by a booster motor. However, the float-type structure increases drag during flight, affecting maneuverability; runway takeoff and landing require long runways, severely limiting their effectiveness in confined spaces or emergency operations; and takeoff and landing are highly susceptible to wave interference, demanding high structural impact resistance and wave interference control. Furthermore, water landings require careful design to account for the interaction area between the airframe and water, as well as the overload of sensitive components.

[0004] Submarine-launched unmanned aerial vehicles (UAVs) typically employ a variant structural design (laterally folding wings), launching from a submarine's launch tube (dry launch). They utilize rocket-assisted takeoff and splash down into the water. After takeoff, they are guided and controlled in real-time by submarines or other land-based personnel. Their operational area is airspace, and they lack underwater navigation capabilities. Power sources are mostly aviation fuel or batteries, with propulsion methods including jet propulsion (small turbojet engines) and propeller propulsion (using electric motors to drive propellers). However, while dry launch reduces launch difficulty, it easily exposes submarine targets; the launch and recovery process is complex and technically challenging; and wet launch is affected by wave interference, impacting surface takeoff stability. The overall structure is complex, requiring sophisticated control systems, and the operational area is limited, preventing surface or underwater navigation.

[0005] Submersible drones, such as MIT's gannet-inspired micro-amphibious unmanned aerial vehicle, employ a variant structure design with variable-sweep wings. During flight, the wings are fully deployed to provide lift. The air-to-water transition uses a splash-drop entry method similar to that of a gannet, achieving equilibrium through near-equal buoyancy and gravity upon entry. The operational range is both underwater and airspace. Power is primarily electric, with propeller propulsion and flapping-wing propulsion. The challenges of this type of submersible drone include: the variable wing design may increase structural weight and complexity; while the water-to-air and air-to-water transitions mimic biological processes, achieving stable and reliable transitions and improving efficiency remain complex technical challenges. Furthermore, current research is largely at the prototype stage; for example, the gannet-inspired prototype only verified the feasibility of splash-drop entry, and the overall technology is not yet mature. Summary of the Invention

[0006] The purpose of this invention is to solve the problems of poor maneuverability and stealth of existing amphibious cross-medium aircraft, as well as the problems that existing power systems prevent amphibious cross-medium aircraft from crossing water or underwater obstacles and are too affected by sea waves. The invention provides an amphibious biomimetic flapping-wing aircraft and a sea and air object detection system.

[0007] To achieve the above objectives, the technical solution provided by this invention is:

[0008] A chemical engine includes 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; the engine housing has a water storage chamber and a first reaction chamber coaxially connected, the water storage chamber being close to the nozzle, and the capacity of the water storage chamber being greater than the capacity of the first reaction chamber;

[0009] The sidewall of the first reaction chamber is made of a breathable material, and a second reaction chamber coaxial with the first reaction chamber is provided outside the first reaction chamber; the second reaction chamber is an annular chamber, and calcium carbide is stored inside 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 sealed and installed in the water storage chamber and the first reaction chamber. In the 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 them; the water storage chamber and the cavity between the nozzle and the first movable slide plate are pre-filled with oxygen.

[0012] The first movable slide plate is equipped with several first one-way valves, which are used to allow oxygen to pass through the first movable slide plate and enter the first reaction chamber under the push of the 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 propulsion of oxygen and water to vent 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 gaseous reaction products in the second reaction chamber.

[0015] The nozzle is used to eject water from the water storage chamber under the impetus of high-temperature and high-pressure gas generated by the chemical reaction in the first reaction chamber, so as to generate a reverse thrust; and the nozzle is equipped with a third one-way valve.

[0016] Furthermore, the engine housing includes a cone, a first column, and a second column connected coaxially in sequence, the diameter of the second column being larger than the diameter of the first column; the nozzle is coaxially connected to the small end of the cone; the water storage chamber includes 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 inside the second column; the water pump is installed on the outer wall of the second column.

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

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

[0020] A water-and-air amphibious biomimetic flapping-wing aircraft includes a biomimetic flapping-wing aircraft body, an energy device, a communication device, a detection device, an identification device, a motion control device, an electric motor drive device, and a chemical engine as described in any one of claims 1-3;

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

[0022] The electric drive engine is used for the flight power of the amphibious bionic flapping-wing aircraft when it is underwater diving and aerial cruising.

[0023] The communication device is used to transmit data with maritime communication relay buoys and communication relay satellites;

[0024] The detection device is located at the front of the biomimetic flapping-wing aircraft and is used to image underwater or aerial targets.

[0025] The identification device is located at the front of the bionic flapping-wing aircraft and is used to identify underwater acoustic signals.

[0026] The energy device is used to provide the flight power of the bionic flapping-wing aircraft, 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.

[0027] The motion control device is used to control the movement of the amphibious bionic flapping-wing aircraft underwater and in the air, and to control the flapping wings of the bionic flapping-wing aircraft to retract according to the received command for the amphibious bionic flapping-wing aircraft to exit the water, and to control the start of the chemical engine.

[0028] A sea and air object detection system includes a mobile base station, a communication relay satellite, several maritime communication relay buoys, and several amphibious bionic flapping-wing aircraft as described in claim 4;

[0029] The mobile base station is used to issue corresponding control commands based on the audio, video and data signals received from the 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 amphibious bionic flapping-wing aircraft, communication relay satellite and other marine communication relay buoys, and to transmit control commands issued by the mobile base station.

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

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

[0033] The advantages of this invention are:

[0034] 1. This invention provides a chemical engine that uses water injection to react oxygen with calcium carbide to produce acetylene gas, which then burns with oxygen to produce high-temperature, high-pressure gas that propels water out of the water storage chamber, forming a powerful reverse thrust. It is highly efficient and responds quickly. When applied to amphibious bionic flapping-wing aircraft, it enables a faster and more efficient water exit process, improving the maneuverability of the amphibious bionic flapping-wing aircraft when exiting the water.

[0035] 2. The amphibious biomimetic flapping-wing aircraft of this invention utilizes the coordinated operation of flapping wings and a chemical engine to provide flight propulsion during flight. Upon exiting the water, the aircraft first retracts its flapping wings to reduce water resistance, while simultaneously activating the chemical engine. The aircraft's nose is then adjusted to face upwards, utilizing the powerful thrust of the chemical engine to exit the water. Afterwards, the flapping wings are deployed for aerial flight. This coordinated operation of the flapping wings and engine allows for agile underwater movement using the flapping wings, and upon exiting the water, the thrust of the chemical engine enables rapid entry into aerial flight, thus improving the overall maneuverability and adaptability of the aircraft.

[0036] 3. In this invention, the chemical engine provides powerful propulsion the moment it emerges from the water, enabling the amphibious bionic flapping-wing aircraft to quickly emerge from the water and enter flight mode, reducing the time spent on the water surface, lowering the probability of being detected, and enhancing stealth; while traditional UAVs have a longer take-off and landing process on the water surface, making them more likely to expose their targets.

[0037] 4. The amphibious biomimetic flapping-wing aircraft of this invention is not affected by water surface obstacles and waves. When it emerges from the water, it relies on the powerful thrust of the chemical engine, which can greatly reduce the impact of sea waves on its emergence process, improve the aircraft's operational capability in complex sea conditions, and avoid the problem of traditional amphibious micro aircraft using propellers to take off from the water surface being limited by water surface or underwater obstacles. Attached Figure Description

[0038] The above and / or other features and advantages of the present invention will become more readily understood from the following description with reference to the accompanying drawings, which are not drawn to scale and some features are enlarged or reduced to show details of specific parts.

[0039] Figure 1 This is a schematic diagram of the overall chemical engine in this invention;

[0040] Figure 2 This is a three-dimensional sectional view of the upper half of the chemical engine in this invention after it has been cut open.

[0041] Figure 3 This is a three-dimensional sectional view of the lower half of the chemical engine in this invention after it has been cut open.

[0042] Figure 4 These are side views of the first and second reaction chambers;

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

[0044] Figure 6 This is a schematic diagram of the water entry and exit process of the amphibious bionic flapping-wing aircraft of the present invention.

[0045] In the diagram: 1-nozzle, 2-engine housing, 201-water storage chamber, 202-first reaction chamber, 203-second reaction chamber, 3-water pump, 301-first water inlet, 302-second water inlet, 4-first movable slide plate, 5-second movable slide plate, 6-igniter, 7-first check valve. Detailed Implementation

[0046] The present invention will now be described in detail with reference to the accompanying drawings and exemplary embodiments thereof. It should be noted that the following detailed description of the present invention is for illustrative purposes only and is not intended to limit the scope of the invention.

[0047] Reference Figures 1-4 A chemical engine includes a nozzle 1, an engine housing 2, a water pump 3, a first movable slide plate 4, a second movable slide plate 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 includes a cone, a first column, and a second column coaxially connected in sequence, with the diameter of the second column being larger than the diameter of the first column. The engine housing 2 has a water storage chamber 201 and a first reaction chamber 202 coaxially arranged and connected within it. The water storage chamber 201 is close to the nozzle 1, and its capacity is greater than that of the first reaction chamber 202. The sidewall of the first reaction chamber 202 is made of a breathable material (allowing only gas to pass through), and a second reaction chamber 203, coaxial with the first reaction chamber 202, is located outside the first reaction chamber. The second reaction chamber 203 is an annular chamber containing calcium carbide.

[0048] A water pump 3 is installed outside the second column side wall of the engine housing for injecting water into the second reaction chamber 203 and the water storage chamber 1. A first movable slide plate 4 and a second movable slide plate 5 are respectively sealed and installed inside the water storage chamber 1 and the first reaction chamber 201. Initially, the first movable slide plate 4 and the second movable slide plate 5 are close to the connection between the water storage chamber 1 and the first reaction chamber 201, with a gap between them. The section inside the water storage chamber 1 located between the nozzle and the first movable slide plate is pre-filled with oxygen.

[0049] A number of first one-way valves 7 (which only allow gas to pass through) are installed on the first movable slide plate 4 to allow oxygen to pass through the first movable slide plate 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 propulsion of oxygen and water to vent impurity gases in the first reaction chamber and allow the impurity gases to be discharged from the second one-way valve (not shown in the figure) installed in the mounting hole at the end of the first reaction chamber. This ensures the stability of the combustion environment, allows the combustion reaction in the first reaction chamber to be complete, and avoids uncontrollable situations such as explosions. Specifically, the second one-way valve is located at the center of the end of the second column of the second engine housing.

[0051] The nozzle 1 is coaxially mounted at the conical opening of the engine housing 2. It is used to propel water from the water reservoir out of the nozzle 1 under the influence of high-temperature, high-pressure gas generated by the chemical reaction in the first reaction chamber, thereby generating a reverse thrust. A third one-way valve (not shown in the figure) is installed inside the nozzle to prevent external water from entering the engine during underwater operation.

[0052] Specifically, the water storage chamber 201 inside the engine housing includes a conical hole coaxially formed within its cone-shaped body and a cylindrical hole formed within its first column. The conical design at the end of the water storage chamber increases the jet power of water ejected from the nozzle and generates stable power parallel to the engine housing axis. A first water injection hole 301 is formed on the side wall of the first column, and multiple second water injection holes 302 are formed on the side wall of the second column. In this embodiment, four second water injection holes are evenly distributed to ensure that water is evenly injected into the second reaction chamber, thus ensuring sufficient reaction between calcium carbide and water in the second reaction chamber.

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

[0054] The working principle of a chemical engine:

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

[0056] The water injection volume is calculated in advance based on the volume of the water storage chamber and the driving force required for the second movable slide plate to empty the impurities in the first reaction chamber. After the water storage chamber is filled with water, indicating that the impurities in the first reaction chamber have been emptied, the first water inlet 301 located on the side wall of the water storage chamber is closed, and the second water inlet 302 located on the side wall of the second reaction chamber is opened to inject water into the second reaction chamber 203.

[0057] After water enters the second reaction chamber, it reacts with calcium carbide located inside the chamber to produce C2H2 gas. The reaction equation is as follows:

[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. After the reaction in the second reaction chamber is complete, igniter 6 is activated, igniting the C2H2 and O2 mixture in the first reaction chamber. The reaction equation is:

[0060] C2H2 + 2O2 → 2H2O + 2CO2

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

[0062] This invention also provides an amphibious bionic flapping-wing aircraft, comprising a bionic flapping-wing aircraft fuselage, an energy device, a communication device, a detection device, an identification device, a motion control device, an electric drive device, and a chemical engine. The chemical engine is axially positioned at the tail of the bionic flapping-wing aircraft fuselage, with its nozzle facing the rear of the aircraft. The chemical engine provides the propulsion for the amphibious bionic flapping-wing aircraft when it enters the air from the water. The electric drive engine provides the flight power for the amphibious bionic flapping-wing aircraft during underwater submersion and aerial cruising. The communication device is used for data transmission with maritime communication relay buoys and communication relay satellites. The detection device is located at the front of the bionic flapping-wing aircraft fuselage and is used for imaging underwater or aerial targets. The identification device is located at the front of the bionic flapping-wing aircraft fuselage and is used for identifying underwater acoustic signals. The energy device provides propulsion for the biomimetic flapping-wing aircraft, and includes a lithium polymer battery, a lithium-sulfur battery, and a thin-film solar cell, with the thin-film solar cell attached to the top surface of the aircraft. The motion control device controls the underwater and aerial movement of the amphibious biomimetic flapping-wing aircraft, and controls the retraction of the flapping wings based on received commands to exit the water, and controls the activation of the chemical engine.

[0063] Reference Figure 5 This invention also provides a sea-air object detection system, including a mobile base station, a marine communication relay buoy, several communication relay satellites, and several of the aforementioned amphibious bionic flapping-wing aircraft. The mobile base station is used to issue corresponding control commands based on audio, video, and data signals received from the amphibious bionic flapping-wing aircraft, the marine communication relay buoy, and the communication relay satellites. These control commands include underwater movement commands, water exit commands, aerial movement commands, and water entry commands. The marine communication relay buoy is used to receive audio, video, and data information transmitted by the amphibious bionic flapping-wing aircraft, the communication relay satellites, and other marine communication relay buoys, and to transmit the control commands issued by the mobile base station. The communication relay satellites are used to receive audio, video, and data information transmitted by the amphibious bionic flapping-wing aircraft and the marine communication relay buoys, and to transmit the control commands issued by the mobile base station.

[0064] The amphibious bionic flapping-wing aircraft, mobile 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 includes the following steps:

[0066] Step 1: Deploy several of the aforementioned amphibious bionic flapping-wing aircraft to the sea area to be detected, and the amphibious bionic flapping-wing aircraft submerge into the sea.

[0067] Step 2: Detection of aerial and underwater targets:

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

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

[0070] Step b: At the moment of exiting the water, the amphibious bionic flapping-wing aircraft retracts its two flapping wings, controls the start of the chemical engine, and the amphibious bionic flapping-wing aircraft exits the water.

[0071] Step c: The amphibious bionic flapping-wing aircraft performs image acquisition and identification of aerial targets and sends the image information to the communication relay satellite; when an abnormality is detected in the aerial target, the amphibious bionic flapping-wing aircraft sends a target abnormality signal to the communication relay satellite, and the communication relay satellite communicates with the mobile base station and transmits the received aerial target information to the mobile base station.

[0072] Step d: The aerial reconnaissance mission ends, and the amphibious bionic flapping-wing aircraft submerges in the water;

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

[0074] The amphibious biomimetic flapping-wing aircraft unfolds its flapping wings to cruise underwater based on the received underwater detection and control commands, while simultaneously acquiring and identifying underwater targets and sending the image information to a maritime communication relay buoy; when an underwater target anomaly is detected, it sends a target anomaly signal to the maritime buoy; the maritime buoy communicates with a mobile base station and transmits the received signal to the mobile base station.

[0075] Finally, it should be noted that the features mentioned and / or shown in the above description of exemplary embodiments of the present invention can be combined in the same or similar manner with one or more other embodiments, combined with features in other embodiments, or substituted for corresponding features in other embodiments. These combined or substituted technical solutions should also be considered to be included within the scope of protection of the present invention.

Claims

1. A chemical engine characterized in that, The engine comprises a water pump, a first movable slide, a second movable slide, an igniter, a nozzle and an engine housing coaxially connected with the nozzle; the engine housing is internally provided with a water storage chamber and a first reaction chamber coaxially connected; the water storage chamber is close to the nozzle, and the capacity of the water storage chamber is greater than that of the first reaction chamber; The side wall of the first reaction chamber is made of a ventilation material, and the first reaction chamber is externally provided with a second reaction chamber coaxial with the first reaction chamber; the second reaction chamber is an annular chamber, and the second reaction chamber is internally stored with calcium carbide; The water pump is used for injecting water into the second reaction chamber and the water storage chamber; The first movable slide and the second movable slide are respectively sealedly installed in the water storage chamber and the first reaction chamber; in an initial state, the first movable slide and the second movable slide are close to the connecting part of the water storage chamber and the first reaction chamber, and a gap exists between the first movable slide and the second movable slide; the cavity section of the water storage chamber and located between the nozzle and the first movable slide is pre-filled with oxygen; The first movable slide is installed with a plurality of first one-way valves allowing gas to flow from the water storage chamber to the first reaction chamber only; The gap between the first movable slide and the second movable slide, the first one-way valve and the water pump are configured to: when the water pump injects water into the water storage chamber, the water in the water storage chamber extrudes the oxygen, the oxygen passes through the first one-way valve and enters the gap, so as to push the second movable slide to slide towards the end of the first reaction chamber by using the oxygen pressure, in the process, the second movable slide discharges the impurity gas in the first reaction chamber through the second one-way valve arranged at the end of the first reaction chamber; The igniter is installed on the inner wall of the first reaction chamber and is used for igniting the oxygen entering the first reaction chamber and the acetylene gas entering from the second reaction chamber; The nozzle is internally provided with a third one-way valve; the nozzle and the first movable slide are configured to: when the high-temperature and high-pressure gas in the first reaction chamber acts on the nozzle and the first movable slide, the nozzle and the first movable slide can move towards the nozzle, so as to push the water in the water storage chamber to open the third one-way valve arranged in the nozzle and to be sprayed from the nozzle, so as to generate a reverse pushing force.

2. The chemical engine of claim 1, wherein The engine housing comprises a cone, a first cylinder and a second cylinder coaxially connected in sequence, and the diameter of the second cylinder is greater than that of the first cylinder; The nozzle is coaxially connected with the small end of the cone; The water storage chamber comprises a cone hole coaxially arranged in the cone and a cylinder hole arranged in the first cylinder; The first reaction chamber and the second reaction chamber are located in the second cylinder; The water pump is installed on the outer wall of the second cylinder.

3. The chemical engine of claim 2, wherein The first cylinder is provided with a first water injection hole in the side wall, and the second cylinder is uniformly provided with a plurality of second water injection holes in the side wall.

4. The chemical engine of claim 2, wherein The first movable slide is uniformly provided with three first one-way valves, and the three first one-way valves are arranged in the radial direction of the first movable slide.

5. A water-air amphibious biomimetic ornithopter, characterized in that, The chemical engine 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 driving device and the chemical engine of any one of claims 1-4. The chemical engine is arranged on the tail of the biomimetic ornithopter body along the axial direction of the biomimetic ornithopter body, and the nozzle of the chemical engine is directed to the rear of the biomimetic ornithopter body; The motor driving device is connected with the wings of the biomimetic ornithopter body, and is used to provide main flight power for the underwater diving and air cruising of the biomimetic ornithopter body; The chemical engine is connected with the motion control device, and is used to provide water power when the biomimetic ornithopter body performs the water-to-air action; the motor driving device is used to provide flight power when the amphibious biomimetic ornithopter body performs underwater diving and air cruising; The communication device is used to transmit data with the marine communication relay buoy and the communication relay satellite; The detection device is arranged on the front of the biomimetic ornithopter body, and is used to image underwater targets or air targets; The identification device is arranged on the front of the biomimetic ornithopter body, and is used to identify underwater acoustic signals; The energy device is used to provide air flight power for the biomimetic ornithopter body, 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 biomimetic ornithopter body; The motion control device is used to control the underwater and air motion of the amphibious biomimetic ornithopter body, and is used to control the wings of the biomimetic ornithopter body to be folded according to the received water-to-air biomimetic ornithopter body water exit instruction, and to control the chemical engine to be started.

6. A sea and air object detection system, characterized in that The system includes a movable base station, a communication relay satellite, a plurality of marine communication relay buoys and the amphibious biomimetic ornithopter body of claim 5; The movable base station is used to send corresponding control instructions according to the received audio, video and data signals sent by the amphibious biomimetic ornithopter body, 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 amphibious biomimetic ornithopter body, the communication relay satellite and other marine communication relay buoys, and is used to transmit the control instructions sent by the movable base station; The communication relay satellite is used to receive audio, video, data and other information sent by the amphibious biomimetic ornithopter body and the marine communication relay buoy, and is used to transmit the control instructions sent by the movable base station; The amphibious biomimetic ornithopter body, the movable base station, the marine communication relay buoy and the communication relay satellite are all provided with microwave communication equipment.

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