Cross-medium aircraft with buoy adjusting assembly and control method

Abstract

The invention discloses a cross-medium aircraft with a buoy adjusting assembly and a control method. The cross-medium aircraft comprises a navigation body. The wing component comprises more than two pairs of wings which are arranged in pairs, and each wing is telescopically mounted on the navigation main body; the adjusting assemblies are installed on at least one pair of wings arranged in pairs, each adjusting assembly comprises an adjusting device, a medium filling device and a buoy, each adjusting device comprises a rotary adjusting piece fixedly installed on the corresponding wing, and the medium filling devices and the buoys are connected to the rotary adjusting pieces and are rotatably installed on the wings through the rotary adjusting pieces; and the medium filling device is communicated with the buoy and is used for controlling the buoy to expand or contract. According to the cross-medium aircraft with the buoy adjusting assembly and the control method, the attitude of the buoy can be adjusted, so that the navigation stability and the aerodynamic stability of the cross-medium aircraft are guaranteed.

Description

Technical Field

[0001] The present application belongs to the field of aircraft technology, and in particular, relates to a cross-medium aircraft with a buoy adjustment component and a control method. Background Art

[0002] A cross-medium vehicle is a device that can navigate in different media, and can freely navigate underwater, on the surface of the water, and in the air. When a cross-medium vehicle navigates on the surface of the water, part of it is underwater, and the other part is in the air medium above the water surface. In this state, it is easily disturbed by surface waves and eddies, causing the cross-medium vehicle to be unstable, shake, or even out of control.

[0003] At present, in order to reduce the resistance of a cross-medium vehicle when sailing on the water surface, buoys are usually arranged on the wings of the cross-medium vehicle, and the buoys can support the wings to ensure the lateral stability of the cross-medium vehicle. However, the existing buoys are usually protruding from the surface of the cross-medium vehicle. When the cross-medium vehicle sails underwater or in the air, the protruding buoy device will generate resistance, which will affect the navigation stability and aerodynamic stability of the cross-medium vehicle. Summary of the invention

[0004] The present application provides a cross-medium vehicle with a buoy adjustment component and a control method, which can adjust the posture of the buoy to ensure the navigation stability and aerodynamic stability of the cross-medium vehicle.

[0005] The present application provides a cross-medium vehicle with a buoy adjustment assembly, which includes: a navigation body; a wing assembly, including more than two pairs of wings arranged in pairs, each wing can be retractably installed on the navigation body; an adjustment assembly, at least one pair of two wings arranged in pairs are equipped with an adjustment assembly, the adjustment assembly includes an adjustment device, a medium filling device and a buoy, the adjustment device includes a rotating adjustment member fixedly installed on the wing, the medium filling device and the buoy are both connected to the rotating adjustment member and rotatably installed on the wing through the rotating adjustment member, so as to rotate until the buoy protrudes or retracts at the bottom of the wing, and the medium filling device is connected to the buoy for controlling the expansion or contraction of the buoy.

[0006] A cross-medium vehicle with a float adjustment assembly as described above, wherein the adjustment assembly is installed at the bottom of the corresponding wing, the extension direction of the adjustment device is parallel to the extension direction of the corresponding wing, the extension direction of the medium filling device is perpendicular to the extension direction of the adjustment device, and the float is connected to the end of the medium filling device away from the adjustment device.

[0007] A cross-medium vehicle with a buoy adjustment assembly as described above, wherein the adjustment device also includes a telescopic adjustment member, the telescopic adjustment member includes a telescopic rod and a telescopic body, the extension direction of the telescopic rod is parallel to the extension direction of the wing, the telescopic rod is telescopically installed on the telescopic body along its own extension direction, the medium filling device is connected to the telescopic rod, and the telescopic body is connected to the rotating adjustment member.

[0008] As above, a cross-medium vehicle with a buoy adjustment assembly, wherein the adjustment assembly also includes a connecting block, the connecting block has a connecting hole and a snap-in groove, the connecting block is mounted on the telescopic rod through its connecting hole, the medium filling device is fixedly connected to the connecting block, and the connecting block can be snap-fitted with the telescopic body through the snap-in groove.

[0009] The cross-medium vehicle with a buoy adjustment assembly as described above, wherein the rotating adjustment member includes a drive motor and a rocker arm, the extension direction of the rocker arm is perpendicular to the extension direction of the wing, and the drive motor and the telescopic body are connected to the rocker arm at intervals along the extension direction of the rocker arm.

[0010] A cross-medium vehicle with a float adjustment assembly as described above, wherein the medium filling device includes a first cylinder and a second cylinder having the same extension direction and being connected, the first cylinder having an inlet, the second cylinder having an outlet, the outlet being arranged in communication with the float, and the second cylinder being slidably mounted on the first cylinder along its own extension direction.

[0011] A cross-medium vehicle with a buoy adjustment assembly as described above, wherein the medium filling device also includes an inflation tube, the first end of the inflation tube is connected to the inlet, and the second end is provided with a partition plug, which is slidably installed in the second cylinder along the extension direction of the second cylinder and divides the internal space of the second cylinder into a first air chamber and a second air chamber, the second end of the inflation tube is also connected to the second air chamber, and the second air chamber is connected to the first air chamber.

[0012] The cross-medium vehicle with a buoy adjustment assembly as described above, wherein the adjustment assembly further comprises an air pump, which is installed on the telescopic adjustment member at intervals from the medium filling device, and is connected to the inlet via a connecting air pipe.

[0013] A cross-medium vehicle with a buoy adjustment assembly as described above, wherein the wing assembly includes a pair of front wings and a pair of rear wings, the bottom of the two rear wings are equipped with adjustment assemblies, and the bottom of each rear wing is provided with a recessed accommodating cavity, which is used to accommodate the adjustment assembly in a retracted state.

[0014] On the other hand, the present application also provides a control method for a cross-medium vehicle having a buoy adjustment assembly, which includes: If it is determined according to the navigation state that the cross-medium vehicle is in an underwater navigation state or an air navigation state, the regulating components of the cross-medium vehicle are controlled to be retracted as a whole to the bottom of the wing and the floats of the cross-medium vehicle are controlled to be retracted; If it is determined according to the navigation state that the cross-medium vehicle is in a state of navigation on the water surface, the regulating component of the cross-medium vehicle is controlled to protrude as a whole from the bottom of the wing and the float of the cross-medium vehicle is controlled to expand; Detecting the actual navigation attitude of the cross-medium vehicle when it is in a surface navigation state, and determining the deviation direction and deviation angle of the actual navigation attitude; The telescopic length and telescopic speed of the adjustment device of the cross-medium vehicle are adjusted according to the offset direction and offset angle of the actual navigation posture, so that the actual navigation posture meets the navigation requirements of the surface navigation state.

[0015] The control method of the cross-medium vehicle with the buoy adjustment assembly as described above, wherein the step of detecting the actual navigation posture of the cross-medium vehicle when it is in a surface navigation state and determining the deviation direction and deviation angle of the actual navigation posture specifically includes: Set target navigation attitude; Detect actual navigation attitude; Calculate the difference between the actual navigation attitude and the target navigation attitude; According to the difference, the deviation direction and deviation angle of the actual navigation attitude are determined.

[0016] The control method of the cross-medium craft with the buoy adjustment assembly as described above, wherein the step of adjusting the telescopic length and telescopic speed of the adjustment device of the cross-medium craft according to the detection result of the actual navigation posture specifically includes: Set up preset control algorithms; According to the detection result of the actual navigation posture, a preset control algorithm is used to generate a preset control signal of the telescopic length and telescopic speed; The telescopic length and telescopic speed are controlled by a preset control signal, and the real-time navigation posture of the cross-medium vehicle is detected at the same time; The real-time navigation attitude is set as a feedback signal, and a preset control algorithm is used in combination with the feedback signal to generate a real-time control signal; The telescopic length and telescopic speed are adjusted in real time using real-time control signals, so that the actual navigation posture meets the navigation requirements of the surface navigation state.

[0017] The control method of the cross-medium vehicle with the buoy adjustment assembly as described above, wherein, after the step of determining the offset direction and the offset angle of the actual navigation attitude according to the difference, further comprises: If the deviation direction of the actual navigation attitude is a left rolling deviation, the left adjustment device is controlled to extend and / or the right adjustment device is controlled to shorten; If the deviation direction of the actual navigation attitude is a rightward rolling deviation, the left adjustment device is controlled to be shortened and / or the right adjustment device is controlled to be extended.

[0018] The control method of the cross-medium vehicle with the buoy adjustment assembly as described above, wherein the step of controlling the adjustment assembly to be retracted as a whole at the bottom of the wing and controlling the buoy to be retracted, specifically includes: Controlling the pumping device of the cross-medium vehicle to extract the gas in the float to shrink the float; Controlling the second cylinder of the medium filling device to shrink inside the first cylinder; The telescopic rod of the telescopic adjustment member of the control adjustment device is retracted into the telescopic body; The rotary adjusting member of the control adjusting device drives the telescopic adjusting member to rotate until the medium filling device is parallel to the wing and the adjusting assembly is entirely retracted into the accommodating cavity at the bottom of the wing.

[0019] The control method of the cross-medium vehicle with the buoy regulating assembly as described above, wherein the step of controlling the regulating assembly to protrude from the bottom of the wing as a whole and controlling the buoy to expand, specifically includes: The rotary adjusting member of the control adjusting device drives the telescopic adjusting member to rotate until the medium filling device is perpendicular to the wing and the adjusting assembly is completely separated from the receiving cavity at the bottom of the wing; A telescopic rod of a telescopic adjusting member of the control adjusting device extends out from the telescopic body; The second cylinder of the control medium filling device extends out from the first cylinder; The gas pumping device of the cross-medium vehicle is controlled to pump gas into the float to expand the float.

[0020] The cross-medium vehicle with a buoy adjustment assembly of the present application includes a navigation body, a wing assembly and an adjustment assembly. Each wing arranged in pairs of the wing assembly can be retractably mounted on the navigation body. Among the multiple pairs of wings, at least one pair of two wings is equipped with an adjustment assembly. When the cross-medium vehicle undergoes a rolling deviation during navigation on the water surface, the buoys of the adjustment assembly on the wings can contact the water surface and generate a supporting force for the cross-medium vehicle.

[0021] The rotating adjustment part of the adjustment device of the adjustment assembly is fixedly connected to the wing, and the medium filling device and the float are both connected to the rotating adjustment part and are rotatably mounted on the wing through the rotating adjustment part. When the cross-medium vehicle is sailing underwater or in the air, the rotating adjustment part can be rotated to shrink the medium filling device and the float to the bottom of the wing, and the medium filling device can extract the filling medium in the float to shrink the float, thereby reducing the resistance effect of the adjustment assembly and ensuring the navigation stability of the cross-medium vehicle when sailing underwater and the aerodynamic stability when sailing in the air. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 A bottom view of a cross-medium vehicle having a buoy adjustment assembly according to an embodiment of the present application; Figure 2 An axonometric diagram of a cross-medium vehicle having a buoy adjustment assembly according to an embodiment of the present application; Figure 3 A schematic diagram of a cross-medium vehicle with a buoy regulating assembly according to an embodiment of the present application, in which the regulating assembly is in an extended state; Figure 4 It is a schematic diagram of a cross-medium vehicle with a buoy regulating assembly in an embodiment of the present application, in which the regulating assembly is in a retracted state; Figure 5 This is a schematic diagram of the cooperation between the regulating assembly of the cross-medium vehicle with the buoy regulating assembly and the wing when the regulating assembly is in the extended state according to an embodiment of the present application; Figure 6 This is a schematic diagram of the cooperation between the regulating assembly of the cross-medium vehicle with the buoy regulating assembly and the wing when the regulating assembly is in a retracted state according to an embodiment of the present application; Figure 7 A schematic diagram of a medium filling device of a cross-medium vehicle with a buoy adjustment assembly according to an embodiment of the present application in a deployed state; Figure 8 It is a schematic diagram of a medium filling device of a cross-medium vehicle with a buoy adjustment assembly according to an embodiment of the present application in a retracted state; Fig. 9 A flowchart of a control method of a cross-medium vehicle having a buoy regulating component of a cross-medium vehicle having a buoy regulating component according to an embodiment of the present application; Fig.10 A flowchart of the steps of determining the offset direction and offset angle of a control method of a cross-medium vessel with a buoy adjustment component of the cross-medium vessel with a buoy adjustment component according to an embodiment of the present application; Fig.11 The present invention is a flow chart of the steps of adjusting the telescopic length and telescopic speed of the control method of the cross-medium vehicle with the buoy adjustment assembly according to the embodiment of the present application.

[0024] Description of Figure Numbers: 100, navigation body; 200, wing assembly; 210, wing; 220, front wing; 230, rear wing; 231, accommodating chamber; 300, adjustment assembly; 10. Adjustment device; 11. Rotation adjustment member; 111. Drive motor; 112. Rocker arm; 12. Telescopic adjustment member; 121. Telescopic rod; 122. Telescopic body; 20. Medium filling device; 21. First cylinder; 211. Inlet; 22. Second cylinder; 221. Outlet; 222. First air chamber; 223. Second air chamber; 224. Connecting channel; 225. Buffer; 23. Inflatable tube; 24. Separation plug; 30. Float; 40. Connecting block; 41. Connecting hole; 42. Snap-in groove; 50. Pump air member; 51. Connecting air pipe. DETAILED DESCRIPTION

[0025] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0026] like Figures 1 to 8 As shown, an embodiment of the present application provides a cross-medium vehicle with a buoy adjustment assembly, which includes a navigation body 100; a wing assembly 200, including more than two pairs of wings 210 arranged in pairs, each wing 210 can be retractably installed on the navigation body 100; an adjustment assembly 300, at least one pair of two wings 210 arranged in pairs are installed with an adjustment assembly 300, the adjustment assembly 300 includes an adjustment device 10, a medium filling device 20 and a buoy 30, the adjustment device 10 includes a rotating adjustment member 11 fixedly mounted on the wing 210, the medium filling device 20 and the buoy 30 are both connected to the rotating adjustment member 11 and rotatably mounted on the wing 210 through the rotating adjustment member 11, so as to rotate until the buoy 30 protrudes or retracts at the bottom of the wing 210, and the medium filling device 20 is connected to the buoy 30 for controlling the expansion or contraction of the buoy 30.

[0027] It should be noted that the cross-media vehicle has an underwater navigation state, a surface navigation state and an air navigation state. When in the underwater navigation state, the cross-media vehicle is immersed in water as a whole; when in the surface navigation state, part of the cross-media vehicle is immersed in water and the other part is in the air medium; in the air navigation state, the cross-media vehicle is out of the water and sails in the air as a whole.

[0028] In specific implementation, the cross-media vehicle with a buoy adjustment assembly of the embodiment of the present application includes a navigation body 100, a wing assembly 200 and an adjustment assembly 300. The wing assembly 200 has at least two pairs of wings 210 arranged in pairs. Each wing 210 can be retractably installed on the navigation body 100. At least one pair of two wings 210 arranged in pairs is equipped with an adjustment assembly 300. When the cross-media vehicle has a rolling deviation during navigation on the water surface, the buoy 30 of the adjustment assembly 300 on the wing 210 can contact the water surface and generate support force for the cross-media vehicle. Among them, each pair of wings 210 is respectively arranged on the left and right sides of the cross-medium vehicle. When the cross-medium vehicle rolls toward the left, the buoy 30 of the left wing 210 can generate an upward support force on the wing 210, thereby preventing the cross-medium vehicle from continuing to deviate toward the left. Similarly, the buoy 30 on the right side can prevent the cross-medium vehicle from continuing to deviate toward the right. Therefore, the arrangement of the buoys 30 on the wings 210 on both sides ensures the balance and stability of the cross-medium vehicle when sailing on the water surface.

[0029] The rotating adjustment member 11 of the adjustment device 10 of the adjustment assembly 300 is fixedly connected to the wing 210, and the medium filling device 20 and the float 30 are both connected to the rotating adjustment member 11 and are rotatably mounted on the wing 210 through the rotating adjustment member 11. When the cross-medium vehicle is sailing underwater or in the air, the rotating adjustment member 11 can be rotated to shrink the medium filling device 20 and the float 30 to the bottom of the wing 210, and the medium filling device 20 can extract the filling medium in the float 30 to shrink the float 30, thereby reducing the resistance effect of the adjustment assembly 300 and ensuring the navigation stability of the cross-medium vehicle when sailing underwater and the aerodynamic stability when sailing in the air.

[0030] Furthermore, when the cross-medium vehicle is sailing underwater, the wing 210 can be retracted to the bottom of the navigation body 100 to reduce the resistance of the wing 210, thereby further improving the navigation stability of the cross-medium vehicle when sailing underwater.

[0031] like Figure 1 , Figure 5 and Figure 6 As shown, an embodiment of the present application is a cross-medium vehicle with a buoy adjustment assembly, wherein the adjustment assembly 300 is installed at the bottom of the corresponding wing 210, the extension direction of the adjustment device 10 is parallel to the extension direction of the corresponding wing 210, the extension direction of the medium filling device 20 is perpendicular to the extension direction of the adjustment device 10, and the buoy 30 is connected to the end of the medium filling device 20 away from the adjustment device 10.

[0032] In specific implementation, the overall extension direction of the adjustment device 10 is parallel to the extension direction of the corresponding wing 210. It is installed at the bottom of the wing 210 and will not protrude from the wing 210, thereby reducing the resistance of the wing 210. When the cross-medium vehicle is in an underwater or air navigation state, the adjustment device 10 can drive the medium filling device 20 vertically connected thereto and the buoy 30 provided at the end of the medium filling device 20 to rotate, so that the medium filling device 20 and the buoy 30 can rotate with the adjustment device 10 as the rotation axis, and rotate until the plane formed by the adjustment device 10, the medium filling device 20 and the buoy 30 is parallel to the plane where the wing 210 is located, thereby minimizing the resistance of the adjustment assembly 300.

[0033] When the cross-medium vehicle is in a surface navigation state, the adjustment device 10 can drive the medium filling device 20 and the pontoon 30 to rotate until the plane where the adjustment component 300 as a whole is located is perpendicular to the plane where the wing 210 is located. There can be a sufficient distance between the pontoon 30 located at the end of the medium filling device 20 away from the adjustment device 10 and the wing 210, thereby ensuring the supporting effect of the pontoon 30 on the wing 210.

[0034] Optionally, the media filling device 20 can be connected to the adjusting device 10 at an angle, and the float 30 is connected to the end of the media filling device 20 away from the adjusting device 10, and the inclined media filling device 20 and the float 30 are both within the coverage range of the wing 210. When the adjusting device 10 drives the media filling device 20 and the float 30 to rotate, the media filling device 20 and the float 30 will not protrude from the coverage range of the wing 210, thereby not generating additional resistance and not interfering with other components of the cross-media vehicle.

[0035] like Figure 1 and Figure 2 As shown, in the embodiment of the present application, the wing assembly 200 includes a pair of front wings 220 and a pair of rear wings 230, and the bottom of the two rear wings 230 are both installed with adjustment assemblies 300, and the bottom of each rear wing 230 is provided with a recessed accommodating cavity 231. After the adjustment device 10 drives the medium filling device 20 and the float 30 to rotate to be parallel to the rear wing 230, the adjustment assembly 300 can be accommodated in the recessed accommodating cavity 231 as a whole, so that the adjustment assembly 300 is in a retracted state, avoiding the adjustment assembly 300 from protruding excessively from the bottom surface of the rear wing 230 and generating resistance to the overall navigation.

[0036] like Figures 3 to 6As shown, an embodiment of the present application is a cross-medium vehicle with a buoy adjustment assembly, wherein the adjustment device 10 also includes a telescopic adjustment member 12, the telescopic adjustment member 12 includes a telescopic rod 121 and a telescopic body 122, the extension direction of the telescopic rod 121 is parallel to the extension direction of the wing 210, the telescopic rod 121 is telescopically installed on the telescopic body 122 along its own extension direction, the medium filling device 20 is connected to the telescopic rod 121, and the telescopic body 122 is connected to the rotating adjustment member 11.

[0037] The extension direction of the telescopic rod 121 of the telescopic adjustment member 12 and the extension direction of the telescopic body 122 are both parallel to the extension direction of the wing 210, and the telescopic rod 121 is telescopically installed on the telescopic body 122 along its own extension direction. Therefore, the extension and retraction of the telescopic rod 121 can drive the medium filling device 20 and the buoy 30 connected to the medium filling device 20 to move together, and the moving direction of the buoy 30 is the same as the extension and retraction direction of the telescopic rod 121, that is, the buoy 30 can move in a direction close to or away from the navigation body 100, thereby changing the support torque for the wing 210 on which it is located, so that the support torque meets the adjustment requirements of the roll angle of the cross-medium aircraft.

[0038] In specific implementation, when the cross-medium vessel rolls toward one side, the telescopic length of the telescopic rod 121 can be controlled according to the size of the roll angle. When the roll angle is large, the telescopic rod 121 can be extended to make the buoy 30 move away from the navigation body 100, thereby generating a larger supporting torque, thereby adjusting the roll angle of the cross-medium vessel to within the target range; when the roll angle is small, the telescopic rod 121 can be shortened to make the buoy 30 move closer to the navigation body 100, thereby generating a smaller supporting torque, thereby adjusting the roll angle of the cross-medium vessel to within the target range.

[0039] In an optional embodiment, when adjusting the roll angle of the cross-medium vessel, the telescopic length of the telescopic rod 121 can be controlled to adjust the support torque of the pontoon 30 on its side, and the rotation angle of the rotating adjustment member 11 can be controlled to adjust the support height of the pontoon 30. By combining the support torque and the support height, the roll angle of the cross-medium vessel can meet the requirements.

[0040] like Figures 3 to 6 As shown, an embodiment of the present application is a cross-medium vehicle with a buoy adjustment assembly, wherein the adjustment assembly 300 also includes a connecting block 40, the connecting block 40 has a connecting hole 41 and a snap-in groove 42, the connecting block 40 is mounted on the telescopic rod 121 through its connecting hole 41, the medium filling device 20 is fixedly connected to the connecting block 40, and the connecting block 40 can be snap-fitted with the telescopic body 122 through the snap-in groove 42.

[0041] During specific implementation, the connecting block 40 of the adjustment component 300 is fixedly connected to the medium filling device 20, and the connecting block 40 is installed on the telescopic rod 121 through its connecting hole 41, specifically, it is installed on the telescopic rod 121 through a hinge structure. When the telescopic rod 121 is extended or retracted, it can drive the connecting block 40 to move along the telescopic direction, so that the medium filling device 20 and the buoy 30 connected to the connecting block 40 move along the telescopic direction, thereby realizing the adjustment of the supporting torque, which is convenient for adjusting the roll angle of the cross-medium vehicle.

[0042] When the telescopic rod 121 is extended and retracted to drive the connecting block 40 to move to a position opposite to the telescopic body 122, the telescopic body 122 can be snapped into the snap-in groove 42, thereby achieving fixation between the connecting block 40 and the telescopic body 122. When the rotating adjustment member 11 drives the telescopic adjustment member 12 to rotate as a whole, the telescopic body 122 can drive the connecting block 40 fixed thereto to rotate together, so that the medium filling device 20 and the buoy 30 rotate to be perpendicular to the wing 210 or shrink into the accommodating cavity 231, so that the cross-medium vehicle can adapt to different navigation conditions.

[0043] By setting the connecting block 40, the medium filling device 20 and the float 30 can realize translational movement and rotational movement, ensuring the convenience of the cross-medium vehicle in attitude adjustment and navigation state switching, and making the overall structure of the adjustment component 300 simple without the need for complex structural settings, thereby achieving the lightweight requirements of the cross-medium vehicle and reducing the overall manufacturing cost.

[0044] Specifically, the snap-fit ​​groove 42 of the connecting block 40 is arranged in the connecting hole 41. After the telescopic body 122 partially extends into the connecting hole 41, the raised portion on the outer peripheral surface of the telescopic body 122 is snap-fitted with the snap-fit ​​groove 42, so that the telescopic body 122 can drive the connecting block 40 to rotate.

[0045] Optionally, the snap-in groove 42 of the connecting block 40 can be opened on its end face facing the telescopic body 122, and the end face of the telescopic body 122 can also be provided with a protruding portion adapted to the snap-in groove 42, so that the synchronous rotation of the two can be achieved through the docking cooperation between the end faces of the connecting block 40 and the telescopic body 122.

[0046] like Figures 3 to 6 As shown, an embodiment of the present application is a cross-medium vehicle with a buoy adjustment assembly, wherein the rotating adjustment member 11 includes a drive motor 111 and a rocker arm 112, the extension direction of the rocker arm 112 is perpendicular to the extension direction of the wing 210, and the drive motor 111 and the telescopic body 122 are connected to the rocker arm 112 at intervals along the extension direction of the rocker arm 112.

[0047] In specific implementation, the driving motor 111 and the telescopic body 122 are connected to the rocker arm 112 at intervals along the extension direction of the rocker arm 112. When the driving motor 111 drives the rocker arm 112 to rotate, the rocker arm 112 can drive the telescopic body 122 to rotate with the driving motor 111 as the axis, thereby driving the connecting block 40, the medium filling device 20 and the buoy 30 connected to the telescopic body 122 to rotate with the driving motor 111 as the axis, thereby realizing the contraction and expansion of the medium filling device 20 and the buoy 30. Therefore, the driving motor 111 provides driving force for the overall rotation of the adjustment component 300, and the setting of the rocker arm 112 increases the overall rotation radius and the vertical height of the buoy 30 relative to the wing, so that the cross-medium vehicle can be used in a more severe navigation environment and improves the navigation ability of the cross-medium vehicle on the water surface.

[0048] Optionally, the driving end of the driving motor 111 is directly connected to the end of the telescopic body 122, thereby directly driving the telescopic body 122 to rotate, so as to drive the medium filling device 20 and the float 30 to rotate. Such a setting simplifies the overall structure of the adjustment assembly 300, meets the lightweight requirements of the cross-medium vehicle, and reduces the overall manufacturing cost.

[0049] like Figure 7 and Figure 8 As shown, an embodiment of the present application is a cross-medium vehicle with a buoy adjustment assembly, wherein the medium filling device 20 includes a first cylinder 21 and a second cylinder 22 that have the same extension direction and are connected, the first cylinder 21 has an inlet 211, the second cylinder 22 has an outlet 221, the outlet 221 is arranged to be connected to the buoy 30, and the second cylinder 22 is slidably installed on the first cylinder 21 along its own extension direction.

[0050] In the embodiment of the present application, the regulating assembly 300 further includes a pumping member 50 , which is installed on the telescopic regulating member 12 at intervals from the medium filling device 20 , and is connected to the inlet 211 via a connecting air pipe 51 .

[0051] During specific implementation, the air pump 50 can pump gas into the inlet 211 of the first cylinder 21 through the connecting air pipe 51. After the gas enters the first cylinder 21 from the inlet 211, it passes through the connected first cylinder 21 and the second cylinder 22 in sequence, reaches the outlet 221 of the second cylinder 22, and enters the float 30 to expand the float 30, thereby completing the inflation process of the float 30; during the deflation and contraction process of the float 30, the air pump 50 extracts the gas in the float 30, and the flow direction of the gas is opposite to the flow direction of the gas during the inflation process.

[0052] Among them, the second cylinder 22 is slidably installed on the first cylinder 21 along its own extension direction. When the float 30 is inflated, the second cylinder 22 slides outward from the inside of the first cylinder 21, which can increase the overall length of the medium filling device 20, so that there is a sufficient distance between the float 30 connected to the second cylinder 22 and the wing 210, thereby ensuring the draft height of the float 30 and achieving the supporting effect of the float 30; when the float 30 is deflated and contracted, the second cylinder 22 slides toward the inside of the first cylinder 21, so that the overall length of the medium filling device 20 is shortened. The shorter the length of the medium filling device 20 and the contracted float 30 have a smaller overall volume, which is convenient for contraction in the accommodating cavity 231, thereby reducing the overall resistance.

[0053] Specifically, the air pump 50 is connected to the side of the connection block 40 away from the telescopic body 122, and the medium filling device 20 is connected to the side of the connection block 40 parallel to the extension direction of the telescopic adjustment member 12, so that the extension direction of the medium filling device 20 can be perpendicular to the telescopic adjustment member 12. The air pump 50 and the medium filling device 20 are both connected to the connection block 40, so that they can move together with the connection block 40, and thus move together with the telescopic rod 121, avoiding the relative movement between the air pump 50 and the medium filling device 20, resulting in the phenomenon of the connection air pipe 51 connecting the two being broken, thereby ensuring the air supply stability of the air pump 50 to the buoy 30 and improving the overall attitude adjustment stability of the cross-medium vehicle.

[0054] like Figure 7 and Figure 8 As shown, an embodiment of the present application is a cross-medium vehicle with a buoy adjustment assembly, wherein the medium filling device 20 also includes an inflation tube 23, a first end of the inflation tube 23 is connected to the inlet 211, and a second end is provided with a partition plug 24, the partition plug 24 is slidably installed in the second cylinder 22 along the extension direction of the second cylinder 22, and divides the internal space of the second cylinder 22 into a first air chamber 222 and a second air chamber 223, the second end of the inflation tube 23 is also connected to the second air chamber 223, and the second air chamber 223 is connected to the first air chamber 222.

[0055] In specific implementation, the first end of the inflation tube 23 is connected to the inlet 211, and the second end is provided with a partition plug 24. The partition plug 24 divides the internal space of the second cylinder 22 into a first air chamber 222 and a second air chamber 223. When the pumping member 50 delivers gas to the inlet 211, the gas can flow from the first end of the inflation tube 23 to the second end and be discharged into the second air chamber 223. Since the second air chamber 223 is connected to the first air chamber 222, the air pressure inside the two is equal. When severe waves appear on the water surface, pressure will be generated on the buoy 30. After being subjected to pressure, the buoy 30 will drive the second cylinder 22 to slide in the first cylinder 21. At this time, since the inflation tube 23 and the partition plug 24 are connected to the first cylinder 21, the gas in the second cylinder 22 is relatively stable. For fixation, the partition plug 24 will slide relative to the inner surface of the second cylinder 22, thereby changing the volume of the internal space of the first air chamber 222 and the second air chamber 223, resulting in changes in the effective action area of ​​the first air chamber 222 and the second air chamber 223, and then resulting in different forces. The side with larger force will push the partition plug 24 until the forces in the first air chamber 222 and the second air chamber 223 are restored to be equal. At this time, the relative positions of the first cylinder 21 and the second cylinder 22 are restored to their initial states, realizing the recovery of the roll angle of the cross-medium vehicle, so that the attitude of the cross-medium vehicle can be maintained under complex water surface conditions, further ensuring the navigation stability of the cross-medium vehicle.

[0056] Specifically, the first air chamber 222 and the second air chamber 223 are connected through a connecting channel 224, and the connecting channel 224 is opened on the side wall of the second cylinder 22. The opening of the first end of the connecting channel 224 is close to the top of the second cylinder 22, and the opening of the second end is close to the bottom of the second cylinder 22. When any relative sliding occurs between the second cylinder 22 and the partition plug 24, the connecting channel 224 can realize the connection between the first air chamber 222 and the second air chamber 223.

[0057] Specifically, a buffer 225 is further provided in the first air chamber 222 , and the buffer 225 includes but is not limited to an air cushion structure, which can prevent a violent collision between the top of the second cylinder 22 and the partition plug 24 , thereby preventing the partition plug 24 from being damaged, thereby improving the structural stability of the overall medium filling device 20 .

[0058] like Figures 9 to 11 As shown, the embodiment of the present application also provides a control method for a cross-medium vehicle having a buoy adjustment assembly, which includes: S100, judging whether the cross-medium vehicle is in an underwater navigation state or an air navigation state according to the navigation state, controlling the regulating assembly 300 of the cross-medium vehicle to be entirely retracted to the bottom of the wing 210 and controlling the buoy 30 of the cross-medium vehicle to be retracted; When the cross-medium aircraft is immersed in water as a whole, it is determined that the cross-medium aircraft is in an underwater navigation state. When the cross-medium aircraft is separated from the water surface as a whole and is completely sailing in the air, it is determined that the cross-medium aircraft is in an air navigation state. In the underwater navigation state or the air navigation state, the buoy 30 needs to be in a retracted state to reduce the volume of the buoy 30, and the adjustment component 300 is retracted as a whole to the bottom of the wing 210 to avoid the adjustment component 300 from being too large and generating a large resistance, thereby not affecting the navigation posture of the cross-medium aircraft in the underwater navigation state and the air navigation state, and ensuring the navigation stability of the cross-medium aircraft underwater and the aerodynamic stability in the air. S200, judging that the cross-medium vessel is in a state of sailing on the water surface according to the sailing state, controlling the regulating assembly 300 of the cross-medium vessel to protrude as a whole from the bottom of the wing 210 and controlling the buoy 30 of the cross-medium vessel to expand; When the bottom of the cross-medium vehicle is submerged in water and the top is above the water surface, the cross-medium vehicle is judged to be in a state of sailing on the water surface. At this time, the control adjustment component 300 protrudes from the bottom of the wing 210 as a whole, and the buoy 30 is inflated, so that the buoy 30 can be supported on the water surface. The buoy 30 supports the wings 210 on both sides, and the cross-medium vehicle can sail on the water surface in a relatively balanced manner, thereby ensuring the stability of the navigation attitude of the cross-medium vehicle and reducing the probability of shaking and loss of control. S210, detecting the actual navigation posture of the cross-medium vehicle when it is in a surface navigation state, and determining the deviation direction and deviation angle of the actual navigation posture; S220, adjusting the telescopic length and telescopic speed of the adjustment device 10 of the cross-medium vehicle according to the offset direction and offset angle of the actual navigation posture, until the actual navigation posture meets the navigation requirements of the surface navigation state.

[0059] During specific implementation, the control method of the embodiment of the present application first determines the navigation state of the cross-media vehicle. When the cross-media vehicle is in a surface navigation state, the telescopic length and telescopic speed of the adjustment device 10 can be adjusted according to the detected actual navigation posture. By changing the telescopic length of the adjustment device 10, the supporting position of the buoy 30 can be changed, thereby adjusting the supporting torque; by changing the telescopic speed of the adjustment device 10, the adjustment speed of the navigation posture adjustment speed can be achieved, so that the actual navigation posture can be adjusted at a faster speed, and there will be no reverse deviation, thereby further improving the navigation stability of the cross-media vehicle.

[0060] Specifically, in the step of adjusting the telescopic length and telescopic speed of the adjustment device 10 of the cross-medium vehicle, the telescopic length and telescopic speed are first determined according to the offset direction and the size of the offset angle, wherein the telescopic speed is positively correlated with the size of the offset angle; then the telescopic rod 121 of the adjustment device 10 is controlled to telescope within the determined telescopic length range at the determined telescopic speed, so as to drive the buoy 30 to reach the target position and support the wing 210 on one side.

[0061] like Fig.10 As shown, the control method of the cross-medium vehicle with the buoy adjustment assembly of the embodiment of the present application, wherein the steps of detecting the actual navigation posture of the cross-medium vehicle when it is in the surface navigation state and determining the deviation direction and deviation angle of the actual navigation posture specifically include: S211, setting a target navigation attitude, where the target navigation attitude includes a target roll angle and a target roll angular velocity; S212, detecting the actual navigation posture; Among them, the actual navigation attitude of the cross-media vehicle needs to be detected by using an attitude sensor IMU (Inertial Measurement Unit) to detect the actual navigation attitude information of the cross-media vehicle, specifically the actual roll angle and actual roll angular velocity of the cross-media vehicle. After processing and filtering the collected data, the actual navigation attitude of the cross-media vehicle under the surface navigation state can be obtained; S213, calculating the difference between the actual navigation attitude and the target navigation attitude; S214: Determine the deviation direction and deviation angle of the actual navigation attitude according to the difference.

[0062] In specific implementation, after the actual roll angle and the actual roll angular velocity are detected, they are compared with the set target roll angle and target roll angular velocity respectively, and the offset direction and offset angle are obtained according to the difference, so as to facilitate attitude adjustment according to the offset direction and offset angle, thereby ensuring the accuracy and stability of the attitude adjustment of the cross-medium vehicle.

[0063] Specifically, in the steps of calculating the difference between the actual navigation attitude and the target navigation attitude, and determining the offset direction and offset angle of the actual navigation attitude based on the difference, it is necessary to first set the target roll angle of the target navigation attitude, and then set one offset direction of the cross-medium vehicle as a positive offset, and the other offset direction as a reverse offset, and then determine whether the actual roll angle of the actual navigation attitude is a positive offset or a reverse offset relative to the target roll angle of the target navigation attitude. After determining the offset direction, the angle difference between the actual roll angle and the target roll angle is calculated to obtain a specific offset angle.

[0064] like Fig.11 As shown, the control method of the cross-medium craft with the buoy adjustment assembly according to the embodiment of the present application, wherein, in the step of adjusting the telescopic length and telescopic speed of the adjustment device 10 of the cross-medium craft according to the detection result of the actual sailing posture, specifically includes: S221, setting a preset control algorithm; wherein the preset control algorithm includes a PID (proportional, integral, differential) control algorithm, which can achieve stability and accuracy of overall regulation and has a feedback path to correct the response of the system and perform regulation control; S222, according to the detection result of the actual navigation posture, using a preset control algorithm to generate a preset control signal of the telescopic length and telescopic speed; wherein the preset control signal includes a PWM (Pulse Width Modulation) signal for controlling the regulating device 10, and when the DC driving module of the regulating device 10 receives the signal, it can generate and output a DC voltage signal to drive the regulating device 10 to telescope, so as to drive the buoy 30 to reach the target position and support the wing 210 on one side; S223, using a preset control signal to control the telescopic length and telescopic speed, and detecting the real-time navigation posture of the cross-medium vehicle; S224, setting the real-time navigation attitude as a feedback signal, and using a preset control algorithm in combination with the feedback signal to generate a real-time control signal; wherein the feedback signal can enter the input end through the feedback path of the PID control algorithm, and is combined with the preset control signal to jointly generate the real-time control signal, and the PID control algorithm can make corresponding adjustments to the real-time control signal with the feedback signal when making adjustments, thereby improving the accuracy of the adjustments; S225, using real-time control signals to adjust the telescopic length and telescopic speed in real time until the actual navigation posture meets the navigation requirements of the surface navigation state.

[0065] In specific implementation, the PID control algorithm includes a control path and a feedback path. The preset control signal controls the adjustment device 10 through the control path, so that the navigation attitude of the cross-media vehicle is gradually adjusted to the target navigation attitude. During the adjustment process, the real-time navigation attitude of the cross-media vehicle is fed back to the input end through the feedback loop, and combined with the preset control signal to form a real-time control signal, thereby adjusting the attitude of the cross-media vehicle more accurately, so that the final navigation attitude of the cross-media vehicle is closer to the target navigation attitude.

[0066] Optionally, after setting the preset control algorithm, the target navigation attitude can be set as input into the preset control algorithm, and then the actual navigation attitude can be measured using an attitude sensor. After the measured actual navigation attitude is input into the preset control algorithm, the preset control algorithm generates a preset control signal based on the difference between the actual navigation attitude and the target navigation attitude, and uses the preset control signal and the feedback signal obtained by subsequent measurements for adjustment.

[0067] The control method of the cross-medium vehicle with the buoy adjustment assembly of the embodiment of the present application, after the step of determining the offset direction and offset angle of the actual navigation attitude according to the difference, further includes: If the deviation direction of the actual navigation attitude is a left rolling deviation, the left adjustment device 10 is controlled to extend and / or the right adjustment device 10 is controlled to shorten; If the deviation direction of the actual navigation attitude is a rightward rolling deviation, the left adjustment device 10 is controlled to be shortened and / or the right adjustment device 10 is controlled to be extended.

[0068] In specific implementation, when it is judged that the offset direction of the actual navigation attitude is a left rolling offset, extending the left-side adjusting device 10 can increase the supporting torque on the left side, and shortening the right-side adjusting device 10 can reduce the supporting torque on the right side, thereby causing the overall attitude of the cross-medium vehicle to deflect to the right until it is adjusted to the target navigation attitude; when it is judged that the offset direction of the actual navigation attitude is a right rolling offset, shortening the left-side adjusting device 10 can reduce the supporting torque on the left side, and extending the right-side adjusting device 10 can increase the supporting torque on the right side, thereby causing the overall attitude of the cross-medium vehicle to deflect to the left until it is adjusted to the target navigation attitude.

[0069] The control method of the cross-medium vehicle with the buoy adjustment assembly of the embodiment of the present application, wherein the step of controlling the adjustment assembly 300 to be entirely retracted at the bottom of the wing 210 and controlling the buoy 30 to be retracted specifically includes: Controlling the pumping member 50 of the cross-medium vehicle to extract the gas in the buoy 30 to shrink the buoy 30; The second cylinder 22 of the control medium filling device 20 is contracted into the first cylinder 21; The telescopic rod 121 of the telescopic adjustment member 12 of the control adjustment device 10 is retracted into the telescopic body 122; The rotary adjusting member 11 of the control adjusting device 10 drives the telescopic adjusting member 12 to rotate until the medium filling device 20 is parallel to the wing 210 and the adjusting assembly 300 is entirely retracted into the accommodating cavity 231 at the bottom of the wing 210 .

[0070] During specific implementation, after the pumping member 50 extracts the gas in the float 30, the float 30 shrinks and its volume decreases, so that the float 30 can shrink into the accommodating chamber 231; the second cylinder 22 shrinks into the first cylinder 21, so that the overall length of the medium filling device 20 is shortened, and the whole can be accommodated in the accommodating chamber 231; the telescopic rod 121 shrinks into the telescopic body 122, which can shorten the overall length of the telescopic adjustment member 12; finally, the rotating adjustment member 11 is controlled to drive the telescopic adjustment member 12 to rotate, so that the entire adjustment component 300 can be retracted into the accommodating chamber 231, thereby avoiding the adjustment component 300 protruding excessively from the wing 210, reducing the resistance encountered by the cross-medium vehicle in underwater navigation and air navigation, and improving navigation stability and aerodynamic stability.

[0071] The control method of the cross-medium craft with the buoy adjustment assembly of the embodiment of the present application, wherein the step of controlling the adjustment assembly 300 to protrude from the bottom of the wing 210 as a whole and controlling the buoy 30 to expand, specifically includes: The rotary adjusting member 11 of the control adjusting device 10 drives the telescopic adjusting member 12 to rotate until the medium filling device 20 is perpendicular to the wing 210 and the adjusting assembly 300 is completely separated from the accommodating cavity 231 at the bottom of the wing 210; The telescopic rod 121 of the telescopic adjustment member 12 of the control adjustment device 10 extends out from the telescopic body 122; The second cylinder 22 of the control medium filling device 20 extends out from the first cylinder 21; The pumping unit 50 of the cross-medium vehicle is controlled to pump gas into the buoy 30 to inflate the buoy 30 .

[0072] During specific implementation, the rotating adjustment member 11 drives the telescopic adjustment member 12 to rotate, so that the adjustment assembly 300 is completely separated from the accommodating cavity 231 at the bottom of the wing 210, and the medium filling device 20 can be perpendicular to the wing 210. At this time, there is a sufficient distance between the buoy 30 connected to the medium filling device 20 and the wing 210, and the buoy 30 can provide sufficient supporting force after inflation; and the telescopic rod 121 extending from the telescopic body 122 and the second cylinder 22 extending from the first cylinder 21 can respectively increase the supporting torque and supporting height of the buoy, thereby further improving the supporting effect of the buoy 30 on the wing 210.

[0073] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0074] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A cross-medium vehicle having a buoy adjustment assembly, characterized in that: include: Navigation Subject (100); A wing assembly (200) comprising two or more pairs of wings (210) arranged in pairs, each of the wings (210) being retractably mounted on the navigation body (100); An adjustment component (300), wherein at least one pair of two wings (210) are both equipped with the adjustment component (300), wherein the adjustment component (300) comprises an adjustment device (10), a medium filling device (20) and a float (30), wherein the adjustment device (10) comprises a rotating adjustment member (11) fixedly mounted on the wing (210), wherein the medium filling device (20) and the float (30) are both connected to the rotating adjustment member (11) and rotatably mounted on the wing (210) via the rotating adjustment member (11) so as to rotate until the float (30) protrudes or retracts at the bottom of the wing (210), and the medium filling device (20) is connected to the float (30) and is used to control the expansion or contraction of the float (30).

2. The cross-medium vehicle with a buoy adjustment assembly according to claim 1, characterized in that: The adjustment assembly (300) is installed at the bottom of the corresponding wing (210), the extension direction of the adjustment device (10) is parallel to the extension direction of the corresponding wing (210), the extension direction of the medium filling device (20) is perpendicular to the extension direction of the adjustment device (10), and the buoy (30) is connected to the end of the medium filling device (20) away from the adjustment device (10).

3. The cross-medium vehicle with a buoy adjustment assembly according to claim 1 or 2, characterized in that: The adjustment device (10) further comprises a telescopic adjustment member (12), wherein the telescopic adjustment member (12) comprises a telescopic rod (121) and a telescopic body (122), wherein the extension direction of the telescopic rod (121) is parallel to the extension direction of the wing (210), and the telescopic rod (121) is telescopically mounted on the telescopic body (122) along its own extension direction, the medium filling device (20) is connected to the telescopic rod (121), and the telescopic body (122) is connected to the rotary adjustment member (11).

4. The cross-medium vehicle with a buoy adjustment assembly according to claim 3, characterized in that: The adjustment assembly (300) further comprises a connection block (40), the connection block (40) having a connection hole (41) and a snap-fit ​​groove (42), the connection block (40) being sleeved and mounted on the telescopic rod (121) via the connection hole (41), the medium filling device (20) being fixedly connected to the connection block (40), and the connection block (40) being capable of snap-fitting with the telescopic body (122) via the snap-fit ​​groove (42).

5. The cross-medium vehicle with a buoy adjustment assembly according to claim 3, characterized in that: The rotary adjustment member (11) comprises a drive motor (111) and a rocker arm (112); the extension direction of the rocker arm (112) is perpendicular to the extension direction of the wing (210); the drive motor (111) and the telescopic body (122) are connected to the rocker arm (112) at intervals along the extension direction of the rocker arm (112).

6. The cross-medium vehicle with a buoy adjustment assembly according to claim 3, characterized in that: The medium filling device (20) comprises a first cylinder (21) and a second cylinder (22) which extend in the same direction and are connected to each other. The first cylinder (21) has an inlet (211), and the second cylinder (22) has an outlet (221). The outlet (221) is arranged to communicate with the float (30). The second cylinder (22) is slidably mounted on the first cylinder (21) along its own extension direction.

7. The cross-medium vehicle with a buoy adjustment assembly according to claim 6, characterized in that: The medium filling device (20) further comprises an air filling tube (23), wherein a first end of the air filling tube (23) is connected to the inlet (211), and a second end is provided with a partition plug (24), wherein the partition plug (24) is slidably installed in the second cylinder (22) along the extension direction of the second cylinder (22), and divides the internal space of the second cylinder (22) into a first air chamber (222) and a second air chamber (223), and the second end of the air filling tube (23) is also connected to the second air chamber (223), and the second air chamber (223) is connected to the first air chamber (222).

8. The cross-medium vehicle with a buoy adjustment assembly according to claim 6, characterized in that: The regulating assembly (300) further comprises a pumping member (50), wherein the pumping member (50) and the medium filling device (20) are installed on the telescopic regulating member (12) at a distance, and the pumping member (50) is connected to the inlet (211) via a connecting air pipe (51).

9. The cross-medium vehicle with a buoy adjustment assembly according to claim 1, characterized in that: The wing assembly (200) comprises a pair of front wings (220) and a pair of rear wings (230); the bottom of the two rear wings (230) is provided with the adjustment assembly (300); and the bottom of each rear wing (230) is provided with a recessed accommodation cavity (231); the accommodation cavity (231) is used to accommodate the adjustment assembly (300) in a retracted state.

10. A control method for a cross-medium vehicle having a buoy adjustment assembly, characterized in that: include: Judging whether the cross-medium vehicle is in an underwater navigation state or an aerial navigation state according to the navigation state, controlling the regulating component (300) of the cross-medium vehicle to be entirely retracted at the bottom of the wing (210) and controlling the float (30) of the cross-medium vehicle to be retracted; When judging that the cross-medium vehicle is in a surface navigation state according to the navigation state, controlling the regulating component (300) of the cross-medium vehicle to protrude as a whole from the bottom of the wing (210) and controlling the buoy (30) of the cross-medium vehicle to expand; Detecting the actual navigation posture of the cross-medium vehicle when it is in the surface navigation state, and determining the deviation direction and deviation angle of the actual navigation posture; The telescopic length and telescopic speed of the adjustment device (10) of the cross-medium vehicle are adjusted according to the offset direction and the offset angle of the actual navigation posture, until the actual navigation posture meets the navigation requirements of the surface navigation state.

11. The control method of a cross-medium vehicle having a buoy adjustment assembly according to claim 10, characterized in that: The step of detecting the actual navigation posture of the cross-media vehicle when it is in the surface navigation state and determining the offset direction and offset angle of the actual navigation posture specifically includes: Set target navigation attitude; detecting the actual navigation attitude; Calculating the difference between the actual navigation attitude and the target navigation attitude; According to the difference, the deviation direction and the deviation angle of the actual navigation attitude are determined.

12. The control method of a cross-medium vehicle having a buoy adjustment assembly according to claim 10, characterized in that: The step of adjusting the telescopic length and telescopic speed of the adjusting device (10) of the cross-medium vehicle according to the detection result of the actual navigation posture specifically includes: Set up preset control algorithms; According to the detection result of the actual navigation posture, using the preset control algorithm to generate the preset control signal of the telescopic length and the telescopic speed; The preset control signal is used to control the telescopic length and the telescopic speed, and at the same time, the real-time navigation posture of the cross-medium vehicle is detected; The real-time navigation attitude is set as a feedback signal, and a real-time control signal is generated by combining the preset control algorithm with the feedback signal; The real-time control signal is used to adjust the telescopic length and the telescopic speed in real time until the actual navigation posture meets the navigation requirements of the surface navigation state.

13. The control method of a cross-medium vehicle having a buoy adjustment assembly according to claim 11, characterized in that: After the step of determining the offset direction and the offset angle of the actual navigation attitude according to the difference, the method further includes: If the deviation direction of the actual navigation attitude is a leftward rolling deviation, the adjustment device (10) on the left side is controlled to extend and / or the adjustment device (10) on the right side is controlled to shorten; If the deviation direction of the actual navigation attitude is a rightward rolling deviation, the adjustment device (10) on the left side is controlled to be shortened and / or the adjustment device (10) on the right side is controlled to be extended.

14. The control method of a cross-medium vehicle having a buoy adjustment assembly according to claim 10, characterized in that: The steps of controlling the adjustment assembly (300) to be entirely retracted at the bottom of the wing (210) and controlling the buoy (30) to be retracted specifically include: Controlling the pumping element (50) of the cross-medium vehicle to extract gas from the buoy (30) to shrink the buoy (30); The second cylinder (22) of the control medium filling device (20) is contracted into the first cylinder (21); Controlling the telescopic rod (121) of the telescopic adjustment member (12) of the adjustment device (10) to be retracted into the telescopic body (122); The rotary adjustment member (11) of the adjustment device (10) is controlled to drive the telescopic adjustment member (12) to rotate until the medium filling device (20) is parallel to the wing (210) and the adjustment assembly (300) is entirely retracted into the accommodating cavity (231) at the bottom of the wing (210).

15. The control method of a cross-medium vehicle having a buoy adjustment assembly according to claim 10, characterized in that: The steps of controlling the regulating assembly (300) to protrude as a whole from the bottom of the wing (210) and controlling the buoy (30) to expand specifically include: Controlling the rotary adjustment member (11) of the adjustment device (10) to drive the telescopic adjustment member (12) to rotate until the medium filling device (20) is perpendicular to the wing (210) and the adjustment assembly (300) is completely separated from the accommodating cavity (231) at the bottom of the wing (210); A telescopic rod (121) of a telescopic adjustment member (12) controlling the adjustment device (10) extends out from the telescopic body (122); Controlling the second cylinder (22) of the medium filling device (20) to extend from the first cylinder (21); The pumping element (50) of the cross-medium vehicle is controlled to pump gas into the buoy (30), so that the buoy (30) is expanded.

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