Cross-media vehicle with buoyancy adjustment assembly and control method

Abstract

The present application discloses a cross-media vehicle with a buoy adjustment assembly and a control method. The cross-media vehicle includes a navigation main body; a wing assembly, including more than two pairs of wings arranged in pairs, and each wing is telescopically installed on the navigation main body; an adjustment assembly, at least one pair of two wings arranged in pairs are both installed with an adjustment assembly, the adjustment assembly includes an adjustment device, a medium filling device and a buoy, the adjustment device includes a rotary adjustment member fixedly installed on the wing, the medium filling device and the buoy are both connected to the rotary adjustment member and rotatably installed on the wing through the rotary adjustment member, so as to rotate to make the buoy protrude or retract from the bottom of the wing, and the medium filling device is communicated with the buoy for controlling the expansion or contraction of the buoy. The cross-media vehicle with a buoy adjustment assembly and the control method of the present application can adjust the attitude of the buoy to ensure the navigation stability and aerodynamic stability of the cross-media vehicle.

Description

Technical Field

[0001] This application belongs to the technical field of vehicles, and particularly relates to a trans-medium vehicle with a buoy adjustment assembly and a control method therefor. Background Art

[0002] A trans-medium vehicle is a device capable of navigating in different media and can freely navigate underwater, on the water surface, and in the air. When the trans-medium vehicle is navigating on the water surface, a part is underwater and the other part is in the air medium above the water surface. In this state, it is easily disturbed by water surface waves and vortices, resulting in unstable attitude, shaking, and even out-of-control of the trans-medium vehicle.

[0003] Currently, in order to reduce the resistance suffered by the trans-medium vehicle when navigating on the water surface, buoys are usually provided on the wings of the trans-medium vehicle. The buoys can support the wings to ensure the lateral stability of the trans-medium vehicle. However, the existing buoys are usually arranged protruding from the surface of the trans-medium vehicle. When the trans-medium vehicle is navigating underwater or in the air, the protruding buoy device will generate resistance, affecting the navigation stability and aerodynamic stability of the trans-medium vehicle. Summary of the Invention

[0004] This application provides a trans-medium vehicle with a buoy adjustment assembly and a control method therefor, which can adjust the attitude of the buoy to ensure the navigation stability and aerodynamic stability of the trans-medium vehicle.

[0005] This application provides a trans-medium vehicle with a buoy adjustment assembly, which includes: a navigation main body; a wing assembly including two or more pairs of wings arranged in pairs, each wing being telescopically installed on the navigation main body; an adjustment assembly, with at least one pair of two wings arranged in pairs being installed with an adjustment assembly. The adjustment assembly includes an adjustment device, a medium filling device, and a buoy. The adjustment device includes a rotary adjustment member fixedly installed on the wing. The medium filling device and the buoy are both connected to the rotary adjustment member and rotatably installed on the wing through the rotary adjustment member to rotate to make the buoy protrude or retract from the bottom of the wing. The medium filling device is communicated with the buoy and is used to control the expansion or contraction of the buoy.

[0006] For the above-mentioned trans-medium vehicle with a buoy adjustment assembly, the adjustment assembly is installed at the bottom of the corresponding wing. The extending direction of the adjustment device is parallel to the extending direction of the corresponding wing. The extending direction of the medium filling device is perpendicular to the extending direction of the adjustment device. The buoy is connected to the end of the medium filling device away from the adjustment device.

[0007] The above-mentioned trans-medium vehicle with a buoy adjustment assembly, wherein the adjustment device further includes a telescopic adjustment member, the telescopic adjustment member includes a telescopic rod and a telescopic body, the extending direction of the telescopic rod is parallel to the extending direction of the wing, the telescopic rod is telescopically installed on the telescopic body along its own extending direction, the medium filling device is connected to the telescopic rod, and the telescopic body is connected to the rotation adjustment member.

[0008] The above-mentioned trans-medium vehicle with a buoy adjustment assembly, wherein the adjustment assembly further includes a connection block, the connection block has a connection hole and a clamping groove, the connection block is sleeved and installed on the telescopic rod through its connection hole, the medium filling device is fixedly connected to the connection block, and the connection block can be clamped and matched with the telescopic body through the clamping groove.

[0009] The above-mentioned trans-medium vehicle with a buoy adjustment assembly, wherein the rotation adjustment member includes a driving motor and a rocker arm, the extending direction of the rocker arm is perpendicular to the extending direction of the wing, and the driving motor and the telescopic body are connected to the rocker arm at intervals along the extending direction of the rocker arm.

[0010] The above-mentioned trans-medium vehicle with a buoy adjustment assembly, wherein the medium filling device includes a first cylinder body and a second cylinder body with the same extending direction and being communicated with each other, the first cylinder body has an inlet, the second cylinder body has an outlet, the outlet is communicated with the buoy, and the second cylinder body is slidably installed on the first cylinder body along its own extending direction.

[0011] The above-mentioned trans-medium vehicle with a buoy adjustment assembly, wherein the medium filling device further includes an air charging pipe, the first end of the air charging pipe is connected to the inlet, the second end is provided with a partition plug, the partition plug is slidably installed in the second cylinder body along the extending direction of the second cylinder body, and divides the internal space of the second cylinder body into a first air chamber and a second air chamber, the second end of the air charging pipe is also communicated with the second air chamber, and the second air chamber is communicated with the first air chamber.

[0012] The above-mentioned trans-medium vehicle with a buoy adjustment assembly, wherein the adjustment assembly further includes a gas pumping member, the gas pumping member is installed on the telescopic adjustment member at intervals with the medium filling device, and the gas pumping member is connected to the inlet through a connecting air pipe.

[0013] The above-mentioned trans-medium vehicle with a buoy adjustment assembly, wherein the wing assembly includes a pair of front wings and a pair of rear wings, adjustment assemblies are installed at the bottoms of both rear wings, and a recessed accommodation cavity is provided at the bottom of each rear wing for accommodating the adjustment assembly in a contracted state.

[0014] On the other hand, the present application also provides a control method for a trans-medium vehicle with a buoy adjustment assembly, which includes:

[0015] Judge whether the amphibious vehicle is in the underwater navigation state or the air navigation state according to the navigation state, and then control the adjustment assembly of the amphibious vehicle to shrink entirely under the wing bottom and control the pontoons of the amphibious vehicle to shrink;

[0016] Judge whether the amphibious vehicle is in the water surface navigation state according to the navigation state, and then control the adjustment assembly of the amphibious vehicle to protrude entirely from under the wing bottom and control the pontoons of the amphibious vehicle to expand;

[0017] Detect the actual navigation attitude of the amphibious vehicle when it is in the water surface navigation state, and determine the deviation direction and deviation angle of the actual navigation attitude;

[0018] Adjust the telescopic length and telescopic speed of the adjustment device of the amphibious vehicle according to the deviation direction and deviation angle of the actual navigation attitude until the actual navigation attitude meets the navigation requirements of the water surface navigation state.

[0019] The control method of the amphibious vehicle with a pontoon adjustment assembly as above, wherein, in the step of detecting the actual navigation attitude of the amphibious vehicle when it is in the water surface navigation state and determining the deviation direction and deviation angle of the actual navigation attitude, it specifically includes:

[0020] Set the target navigation attitude;

[0021] Detect the actual navigation attitude;

[0022] Calculate the difference between the actual navigation attitude and the target navigation attitude;

[0023] Determine the deviation direction and deviation angle of the actual navigation attitude according to the difference.

[0024] The control method of the amphibious vehicle with a pontoon adjustment assembly as above, wherein, in the step of adjusting the telescopic length and telescopic speed of the adjustment device of the amphibious vehicle according to the detection result of the actual navigation attitude, it specifically includes:

[0025] Set a preset control algorithm;

[0026] Generate a preset control signal for the telescopic length and telescopic speed by using the preset control algorithm according to the detection result of the actual navigation attitude;

[0027] Control the telescopic length and telescopic speed by using the preset control signal, and at the same time detect the real-time navigation attitude of the amphibious vehicle;

[0028] Set the real-time navigation attitude as the feedback signal, and generate a real-time control signal by using the preset control algorithm in combination with the feedback signal;

[0029] Perform real-time adjustment on the telescopic length and telescopic speed by using the real-time control signal until the actual navigation attitude meets the navigation requirements of the water surface navigation state.

[0030] The control method of the cross-media vehicle with a buoy adjustment assembly as described above, wherein, after the step of determining the deviation direction and deviation angle of the actual navigation attitude according to the difference value, the method further includes:

[0031] If the deviation direction of the actual navigation attitude is a left roll deviation, then control the left adjustment device to extend and / or the right adjustment device to shorten;

[0032] If the deviation direction of the actual navigation attitude is a right roll deviation, then control the left adjustment device to shorten and / or the right adjustment device to extend.

[0033] The control method of the cross-media vehicle with a buoy adjustment assembly as described above, wherein, in the step of controlling the overall contraction of the adjustment assembly to the bottom of the wing and controlling the contraction of the buoy, specifically includes:

[0034] Control the air pumping component of the cross-media vehicle to extract the gas in the buoy, so that the buoy contracts;

[0035] Control the second cylinder body of the medium filling device to contract into the first cylinder body;

[0036] Control the telescopic rod of the telescopic adjustment member of the adjustment device to contract into the telescopic main body;

[0037] Control the rotary adjustment member of the adjustment device to drive the telescopic adjustment member to rotate until the medium filling device is parallel to the wing and the overall adjustment assembly contracts into the accommodation cavity at the bottom of the wing.

[0038] The control method of the cross-media vehicle with a buoy adjustment assembly as described above, wherein, in the step of controlling the overall protrusion of the adjustment assembly from the bottom of the wing and controlling the expansion of the buoy, specifically includes:

[0039] Control the rotary adjustment member of the adjustment device to drive the telescopic adjustment member to rotate until the medium filling device is perpendicular to the wing and the overall adjustment assembly disengages from the accommodation cavity at the bottom of the wing;

[0040] Control the telescopic rod of the telescopic adjustment member of the adjustment device to extend from the telescopic main body;

[0041] Control the second cylinder body of the medium filling device to extend from the first cylinder body;

[0042] Control the air pumping component of the cross-media vehicle to pump gas into the buoy, so that the buoy expands.

[0043] The cross-media vehicle with a buoy adjustment component of the present application includes a vehicle body, wing components, and an adjustment component. Each of the paired wings of the wing components can be telescopically installed on the vehicle body. Among multiple pairs of wings, at least one pair of two wings of the paired wings are both installed with an adjustment component. When the cross-media vehicle rolls and deflects during water surface navigation, the buoy of the adjustment component on the wing can contact the water surface and generate a supporting force on the cross-media vehicle.

[0044] The rotary adjustment part of the adjustment device of the adjustment component is fixedly connected to the wing. The medium filling device and the buoy are both connected to the rotary adjustment part and are rotatably installed on the wing through the rotary adjustment part. When the cross-media vehicle sails underwater or in the air, the rotary adjustment part can rotate to contract the medium filling device and the buoy at the bottom of the wing. Moreover, the medium filling device can extract the filling medium in the buoy to contract the buoy, thereby reducing the resistance influence of the adjustment component and ensuring the navigation stability of the cross-media vehicle during underwater navigation and the aerodynamic stability during air navigation. Description of the Drawings

[0045] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required to be used in the embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0046] Figure 1 It is a bottom view of the cross-media vehicle with a buoy adjustment component according to an embodiment of the present application;

[0047] Figure 2 It is an axonometric view of the cross-media vehicle with a buoy adjustment component according to an embodiment of the present application;

[0048] Figure 3 It is a schematic diagram of the adjustment component of the cross-media vehicle with a buoy adjustment component according to an embodiment of the present application in an extended state;

[0049] Figure 4 It is a schematic diagram of the adjustment component of the cross-media vehicle with a buoy adjustment component according to an embodiment of the present application in a contracted state;

[0050] Figure 5 It is a schematic diagram of the cooperation between the adjustment component of the cross-media vehicle with a buoy adjustment component according to an embodiment of the present application in an extended state and the wing;

[0051] Figure 6 It is a schematic diagram of the cooperation between the adjustment component of the cross-media vehicle with a buoy adjustment component according to an embodiment of the present application in a contracted state and the wing;

[0052] Figure 7Schematic diagram of the medium filling device of the cross-media vehicle with a buoy adjustment component in the deployed state according to an embodiment of the present application;

[0053] Figure 8 Schematic diagram of the medium filling device of the cross-media vehicle with a buoy adjustment component in the retracted state according to an embodiment of the present application;

[0054] Figure 9 Flow chart of the control method of the cross-media vehicle with a buoy adjustment component according to an embodiment of the present application;

[0055] Figure 10 Flow chart of the step of determining the offset direction and offset angle of the control method of the cross-media vehicle with a buoy adjustment component according to an embodiment of the present application;

[0056] Figure 11 Flow chart of the step of adjusting the telescopic length and telescopic speed of the control method of the cross-media vehicle with a buoy adjustment component according to an embodiment of the present application.

[0057] Explanation of the reference numerals in the drawings:

[0058] 100, navigation body; 200, wing assembly; 210, wing; 220, front wing; 230, rear wing; 231, accommodation cavity; 300, adjustment component;

[0059] 10, adjustment device; 11, rotary 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, communication channel; 225, buffer member; 23, inflation pipe; 24, partition plug; 30, buoy; 40, connecting block; 41, connecting hole; 42, clamping groove; 50, air pumping member; 51, connecting air pipe. Detailed implementation manners

[0060] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the objectives, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to 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 limiting the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only intended to provide a better understanding of the present application by showing examples of the present application.

[0061] As Figures 1 to 8As shown in the figure, an embodiment of the present application provides a trans-medium vehicle with a buoyancy adjustment assembly, which includes a vehicle body 100; a wing assembly 200, including two or more pairs of wings 210 arranged in pairs, and each wing 210 is telescopically mounted on the vehicle body 100; an adjustment assembly 300, at least one pair of two wings 210 arranged in pairs are each provided with an adjustment assembly 300, and the adjustment assembly 300 includes an adjustment device 10, a medium filling device 20 and a buoy 30. The adjustment device 10 includes a rotary adjustment member 11 fixedly mounted on the wing 210. Both the medium filling device 20 and the buoy 30 are connected to the rotary adjustment member 11 and are rotatably mounted on the wing 210 through the rotary adjustment member 11 so as to rotate to make the buoy 30 protrude or retract from the bottom of the wing 210. The medium filling device 20 is communicated with the buoy 30 and is used to control the expansion or contraction of the buoy 30.

[0062] It should be noted that the trans-medium vehicle has an underwater navigation state, a water surface navigation state and an air navigation state. When in the underwater navigation state, the whole trans-medium vehicle is immersed in water; when in the water surface navigation state, a part of the trans-medium vehicle is immersed in water and the other part is in the air medium; when in the air navigation state, the trans-medium vehicle detaches from the water surface and sails in the air as a whole.

[0063] Specifically in implementation, the trans-medium vehicle with a buoyancy adjustment assembly according to the embodiment of the present application includes a vehicle 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, and each wing 210 is telescopically mounted on the vehicle body 100. At least one pair of two wings 210 arranged in pairs are each provided with an adjustment assembly 300. When the trans-medium vehicle rolls and deflects during water surface navigation, the buoy 30 of the adjustment assembly 300 on the wing 210 can contact the water surface and generate a supporting force on the trans-medium vehicle. Among them, each pair of wings 210 are respectively arranged on the left and right sides of the trans-medium vehicle. When the trans-medium vehicle rolls and deflects towards the left, the buoy 30 of the left wing 210 can generate an upward supporting force on this wing 210, thereby preventing the trans-medium vehicle from continuing to deflect towards the left. Similarly, the buoy 30 on the right can prevent the trans-medium vehicle from continuing to deflect towards the right. Therefore, the arrangement of the buoys 30 on the wings 210 on both sides ensures the balance and stability of the trans-medium vehicle during water surface navigation.

[0064] The rotary adjusting member 11 of the adjusting device 10 of the adjusting assembly 300 is fixedly connected to the wing 210. The medium filling device 20 and the buoy 30 are both connected to the rotary adjusting member 11 and are rotatably mounted on the wing 210 through the rotary adjusting member 11. When the cross-media vehicle sails underwater or in the air, the rotary adjusting member 11 can rotate, so that the medium filling device 20 and the buoy 30 are retracted to the bottom of the wing 210, and the medium filling device 20 can extract the filling medium in the buoy 30 to make the buoy 30 contract, thereby reducing the resistance influence of the adjusting assembly 300 and ensuring the navigation stability of the cross-media vehicle when sailing underwater and the aerodynamic stability when sailing in the air.

[0065] Moreover, when the cross-media vehicle sails underwater, the wing 210 can be retracted to the bottom of the navigation body 100 to reduce the resistance of the wing 210, further improving the navigation stability of the cross-media vehicle when sailing underwater.

[0066] Such as Figure 1 、 Figure 5 and Figure 6 As shown in

[0067] Specifically, the overall extending direction of the adjusting device 10 is parallel to the extending direction of the corresponding wing 210. It is installed at the bottom of the wing 210 and does not protrude from the wing 210, thereby reducing the resistance received by the wing 210. When the cross-media vehicle is in the underwater navigation or air navigation state, the adjusting 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 adjusting device 10 as the rotation axis until the plane jointly formed by the adjusting 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 adjusting assembly 300.

[0068] When the cross-media vehicle is in the surface navigation state, the adjusting device 10 can drive the medium filling device 20 and the buoy 30 to rotate until the plane where the whole adjusting assembly 300 is located is perpendicular to the plane where the wing 210 is located, and there can be enough distance between the buoy 30 provided at the end of the medium filling device 20 away from the adjusting device 10 and the wing 210, thereby ensuring the supporting effect of the buoy 30 on the wing 210.

[0069] Optionally, the media filling device 20 can be tilt - connected to the adjusting device 10. The buoy 30 is connected to one end of the media filling device 20 far from the adjusting device 10. Both the tilt - arranged media filling device 20 and the buoy 30 are within the coverage range of the wing 210. When the adjusting device 10 drives the media filling device 20 and the buoy 30 to rotate, the media filling device 20 and the buoy 30 will not protrude beyond the coverage range of the wing 210, thus no additional resistance will be generated, nor will it interfere with other components of the trans - medium vehicle.

[0070] As 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. Adjusting assemblies 300 are installed at the bottoms of both rear wings 230, and a recessed receiving cavity 231 is provided at the bottom of each rear wing 230. After the adjusting device 10 drives the media filling device 20 and the buoy 30 to rotate to be parallel to the rear wing 230, the whole adjusting assembly 300 can be received in the recessed receiving cavity 231, so that the adjusting assembly 300 is in a contracted state, avoiding the situation that the adjusting assembly 300 protrudes excessively from the bottom surface of the rear wing 230 and generating resistance to the overall navigation.

[0071] As Figures 3 to 6 As shown, for the trans - medium vehicle with a buoy adjusting assembly in the embodiment of the present application, wherein the adjusting device 10 further includes a telescopic adjusting member 12. The telescopic adjusting member 12 includes a telescopic rod 121 and a telescopic body 122. The extending direction of the telescopic rod 121 is parallel to the extending direction of the wing 210. The telescopic rod 121 is telescopically installed on the telescopic body 122 along its own extending direction. The media filling device 20 is connected to the telescopic rod 121, and the telescopic body 122 is connected to the rotary adjusting member 11.

[0072] The extending directions of both the telescopic rod 121 and the telescopic body 122 of the telescopic adjusting member 12 are parallel to the extending direction of the wing 210, and the telescopic rod 121 is telescopically installed on the telescopic body 122 along its own extending direction. Therefore, the telescopic movement of the telescopic rod 121 can drive the media filling device 20 and the buoy 30 connected to the media filling device 20 to move together, and the moving direction of the buoy 30 is the same as the telescopic direction of the telescopic rod 121, that is, the buoy 30 can move along the direction of approaching or departing from the navigation body 100, thereby changing the support moment for the wing 210 where it is located, so that the support moment meets the adjustment requirements of the roll angle of the trans - medium vehicle.

[0073] During specific implementation, when the cross-media vehicle rolls and deflects towards one side, the telescopic length of the telescopic rod 121 can be controlled according to the magnitude of the roll angle. When the roll angle is large, the telescopic rod 121 can be extended to move the buoy 30 away from the navigation body 100, generating a large support moment, thereby adjusting the roll angle of the cross-media vehicle within the target range. When the roll angle is small, the telescopic rod 121 can be shortened to move the buoy 30 closer to the navigation body 100, generating a small support moment, thereby adjusting the roll angle of the cross-media vehicle within the target range.

[0074] In an alternative embodiment, when adjusting the roll angle of the cross-media vehicle, the telescopic length of the telescopic rod 121 can be controlled to adjust the support moment of the buoy 30 on its side, and the rotation angle of the rotation adjustment member 11 can be controlled to adjust the support height of the buoy 30. By combining the support moment and the support height, the roll angle of the cross-media vehicle can meet the requirements.

[0075] As Figures 3 to 6 shown, the cross-media vehicle with a buoy adjustment assembly according to an embodiment of the present application, wherein the adjustment assembly 300 further includes a connection block 40. The connection block 40 has a connection hole 41 and a clamping groove 42. The connection block 40 is sleeved and installed on the telescopic rod 121 through its connection hole 41, and the medium filling device 20 is fixedly connected to the connection block 40. The connection block 40 can be clamped and matched with the telescopic body 122 through the clamping groove 42.

[0076] During specific implementation, the connection block 40 of the adjustment assembly 300 is fixedly connected to the medium filling device 20, and the connection block 40 is sleeved and installed on the telescopic rod 121 through its connection hole 41, specifically installed on the telescopic rod 121 through a hinge structure. When the telescopic rod 121 expands and contracts, it can drive the connection block 40 to move together in the telescopic direction, so that the medium filling device 20 and the buoy 30 connected to the connection block 40 move in the telescopic direction, realizing the adjustment of the support moment and facilitating the adjustment of the roll angle of the cross-media vehicle.

[0077] When the telescopic rod 121 expands and contracts to drive the connection block 40 to move to a position opposite to the telescopic body 122, the telescopic body 122 can be clamped in the clamping groove 42, thereby realizing the fixation between the connection block 40 and the telescopic body 122. When the rotation adjustment member 11 drives the entire telescopic adjustment member 12 to rotate, the telescopic body 122 can drive the connection block 40 fixed to it to rotate together, so that the medium filling device 20 and the buoy 30 rotate perpendicular to the wing 210 or retract into the accommodation cavity 231, enabling the cross-media vehicle to adapt to different navigation states.

[0078] By setting the connecting block 40, the medium filling device 20 and the buoy 30 can achieve translational and rotational motions, ensuring the convenience of the cross-media vehicle in attitude adjustment and navigation state switching. Moreover, the overall structure of the adjustment component 300 is simple, without the need for complex structural settings, meeting the lightweight requirements of the cross-media vehicle and reducing the overall manufacturing cost.

[0079] Specifically, the clamping groove 42 of the connecting block 40 is provided in the connecting hole 41. After the telescopic main body 122 partially extends into the connecting hole 41, the protruding part on the outer peripheral surface of the telescopic main body 122 is clamped with the clamping groove 42, so that the telescopic main body 122 can drive the connecting block 40 to rotate.

[0080] Optionally, the clamping groove 42 of the connecting block 40 can be opened on the end surface facing the telescopic main body 122, and the end surface of the telescopic main body 122 can also be provided with a protruding part adapted to the clamping groove 42. Therefore, through the docking cooperation between the connecting block 40 and the end surface of the telescopic main body 122, the synchronous rotation of the two can be realized.

[0081] As Figures 3 to 6 shown, the cross-media vehicle with a buoy adjustment component according to an embodiment of the present application, wherein the rotation adjustment member 11 includes a driving motor 111 and a rocker arm 112. The extending direction of the rocker arm 112 is perpendicular to the extending direction of the wing 210, and the driving motor 111 and the telescopic main body 122 are connected to the rocker arm 112 at intervals along the extending direction of the rocker arm 112.

[0082] During specific implementation, the driving motor 111 and the telescopic main body 122 are connected to the rocker arm 112 at intervals along the extending 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 main body 122 to rotate around 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 main body 122 to rotate around the driving motor 111 as the axis, realizing the contraction and expansion of the medium filling device 20 and the buoy 30. Therefore, the driving motor 111 provides the driving force for the overall rotation of the adjustment component 300. The setting of the rocker arm 112 increases the overall rotation radius, increases the vertical height of the buoy 30 relative to the wing, enables the cross-media vehicle to be applied to more severe navigation environments, and improves the navigation ability of the cross-media vehicle during water navigation.

[0083] Optionally, the driving end of the driving motor 111 is directly connected to the end of the telescopic main body 122, so as to directly drive the telescopic main body 122 to rotate, driving the medium filling device 20 and the buoy 30 to rotate. Such a setting simplifies the overall structure of the adjustment component 300, meets the lightweight requirements of the cross-media vehicle, and reduces the overall manufacturing cost.

[0084] As Figure 7 and Figure 8 shown, the cross-media vehicle with a buoy adjustment assembly according to an embodiment of the present application, wherein the medium filling device 20 includes a first cylinder 21 and a second cylinder 22 that are connected and have the same extension direction. The first cylinder 21 has an inlet 211, the second cylinder 22 has an outlet 221, the outlet 221 is communicatively arranged with the buoy 30, and the second cylinder 22 is slidably mounted on the first cylinder 21 along its own extension direction.

[0085] In an embodiment of the present application, the adjustment assembly 300 further includes a gas pumping member 50. The gas pumping member 50 is spaced from the medium filling device 20 and mounted on the telescopic adjustment member 12. The gas pumping member 50 is connected to the inlet 211 through a connecting air pipe 51.

[0086] Specifically, during implementation, the gas pumping member 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 successively passes through the connected first cylinder 21 and second cylinder 22, reaches the outlet 221 of the second cylinder 22, and enters the buoy 30 to inflate the buoy 30, thereby completing the inflation process of the buoy 30; during the deflation and contraction process of the buoy 30, the gas pumping member 50 extracts the gas in the buoy 30, and the flow direction of the gas is opposite to the flow direction of the gas during the inflation process.

[0087] Among them, the second cylinder 22 is slidably mounted on the first cylinder 21 along its own extension direction. When the buoy 30 inflates, 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 enough distance between the buoy 30 connected to the second cylinder 22 and the wing 210, thereby ensuring the draft height of the buoy 30 and realizing the supporting effect of the buoy 30; when the buoy 30 deflates and contracts, the second cylinder 22 slides toward the inside of the first cylinder 21, shortening the overall length of the medium filling device 20. The medium filling device 20 with a shorter length and the contracted buoy 30 have a smaller overall volume, which is convenient to be contracted into the accommodation cavity 231, reducing the overall resistance.

[0088] Specifically, the air pumping member 50 is connected to the side of the connecting block 40 away from the telescopic main body 122, and the medium filling device 20 is connected to the side of the connecting block 40 parallel to the extending direction of the telescopic adjusting member 12, so that the extending direction of the medium filling device 20 can be perpendicular to the telescopic adjusting member 12. The arrangements that both the air pumping member 50 and the medium filling device 20 are connected to the connecting block 40 enable them to move together with the connecting block 40, and thus move together with the telescopic rod 121, avoiding the relative movement between the air pumping member 50 and the medium filling device 20, which may cause the connecting air pipe 51 between them to break, thereby ensuring the air supply stability of the air pumping member 50 to the buoy 30 and improving the attitude adjustment stability of the overall trans-medium vehicle.

[0089] As Figure 7 and Figure 8 shown, for the trans-medium vehicle with a buoy adjustment assembly according to an embodiment of the present application, the medium filling device 20 further includes an air filling pipe 23. The first end of the air filling pipe 23 is connected to the inlet 211, and a partition plug 24 is provided at the second end. The partition plug 24 is slidably installed in the second cylinder 22 along the extending 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 air filling pipe 23 is also connected to the second air chamber 223, and the second air chamber 223 is connected to the first air chamber 222.

[0090] During specific implementation, the first end of the air filling pipe 23 is connected to the inlet 211, and a partition plug 24 is provided at the second end. 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 air pumping member 50 conveys gas to the inlet 211, the gas can flow from the first end of the air filling pipe 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 pressures inside the two are equal. When there are violent waves on the water surface, pressure will be exerted on the buoy 30. After the buoy 30 is subjected to the pressure, it will drive the second cylinder 22 to slide in the first cylinder 21. At this time, since the air filling pipe 23 and the partition plug 24 are relatively fixed to the first cylinder 21, the partition plug 24 will slide relative to the inner surface of the second cylinder 22, thereby changing the volumes of the internal spaces of the first air chamber 222 and the second air chamber 223, resulting in a change in the effective acting areas of the first air chamber 222 and the second air chamber 223, and further resulting in different acting forces. The side with the larger acting force will push the partition plug 24 until the acting forces in the first air chamber 222 and the second air chamber 223 are restored to be equal. At this time, the relative position of the first cylinder 21 and the second cylinder 22 returns to the initial state, realizing the recovery of the roll angle of the trans-medium vehicle, enabling the trans-medium vehicle to maintain its attitude under complex water surface conditions, and further ensuring the navigation stability of the trans-medium vehicle.

[0091] Specifically, the first air chamber 222 and the second air chamber 223 are communicated through a communication channel 224. The communication channel 224 is opened on the side wall of the second cylinder 22. The opening at the first end of the communication channel 224 is close to the top of the second cylinder 22, and the opening at 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 communication channel 224 can realize the communication between the first air chamber 222 and the second air chamber 223.

[0092] Specifically, a buffer member 225 is further provided in the first air chamber 222. The buffer member 225 includes, but is not limited to, an air cushion structure, which can prevent violent impact between the top of the second cylinder 22 and the partition plug 24, resulting in damage to the partition plug 24, and improves the structural stability of the overall medium filling device 20.

[0093] As Figures 9 to 11 shown, the embodiment of the present application further provides a control method for a trans-medium vehicle with a buoy adjustment assembly, which includes:

[0094] S100. Judge whether the trans-medium vehicle is in an underwater navigation state or an air navigation state according to the navigation state, and then control the adjustment assembly 300 of the trans-medium vehicle to shrink integrally under the bottom of the wing 210 and control the buoy 30 of the trans-medium vehicle to shrink;

[0095] Among them, when the trans-medium vehicle is completely submerged in water, it is judged that the trans-medium vehicle is in an underwater navigation state. When the trans-medium vehicle is completely out of the water and flying in the air, it is judged that the trans-medium vehicle is in an air navigation state. In the underwater navigation state or the air navigation state, the buoy 30 needs to be in a shrunk state to reduce the volume of the buoy 30, and the adjustment assembly 300 is controlled to shrink integrally under the bottom of the wing 210, so as to avoid too large volume of the adjustment assembly 300 and generate large resistance, so as not to affect the navigation attitude of the trans-medium vehicle in the underwater navigation state and the air navigation state, and ensure the navigation stability of the trans-medium vehicle underwater and the aerodynamic stability in the air;

[0096] S200. Judge whether the trans-medium vehicle is in a water surface navigation state according to the navigation state, and then control the adjustment assembly 300 of the trans-medium vehicle to protrude integrally under the bottom of the wing 210 and control the buoy 30 of the trans-medium vehicle to expand;

[0097] Wherein, when the bottom of the cross-media vehicle is immersed in water and the top is above the water surface, the water surface navigation state of the cross-media vehicle is determined. At this time, the control and adjustment assembly 300 protrudes entirely from the bottom of the wing 210, and the buoy 30 is inflated. In this way, the buoy 30 can be supported on the water surface. The buoy 30 is supported at the wings 210 on both the left and right sides, and the cross-media vehicle can navigate relatively balanced on the water surface, ensuring the stability of the navigation attitude of the cross-media vehicle and reducing the probability of shaking and out-of-control phenomena.

[0098] S210. Detect the actual navigation attitude of the cross-media vehicle when it is in the water surface navigation state, and determine the deviation direction and deviation angle of the actual navigation attitude.

[0099] S220. Adjust the telescopic length and telescopic speed of the adjustment device 10 of the cross-media vehicle according to the deviation direction and deviation angle of the actual navigation attitude until the actual navigation attitude meets the navigation requirements of the water surface navigation state.

[0100] Specifically, when implementing, the control method of the embodiment of the present application first judges the navigation state of the cross-media vehicle. When the cross-media vehicle is in the water surface navigation state, it can adjust the telescopic length and telescopic speed of the adjustment device 10 according to the detected actual navigation attitude. By changing the telescopic length of the adjustment device 10, the support position of the buoy 30 can be changed, thereby adjusting the support moment. By changing the telescopic speed of the adjustment device 10, the adjustment speed of the navigation attitude can be adjusted, so that the actual navigation attitude can be adjusted at a faster speed and there will be no reverse deviation, further improving the navigation stability of the cross-media vehicle.

[0101] Specifically, in the step of adjusting the telescopic length and telescopic speed of the adjustment device 10 of the cross-media vehicle, first determine the telescopic length and telescopic speed according to the deviation direction and the magnitude of the deviation angle, wherein the telescopic speed is positively correlated with the magnitude of the deviation angle. Then control the telescopic rod 121 of the adjustment device 10 to telescopic within the determined telescopic length range at the determined telescopic speed to drive the buoy 30 to reach the target position and support one side of the wing 210.

[0102] Such as Figure 10 As shown, for the control method of the cross-media vehicle with a buoy adjustment assembly in the embodiment of the present application, wherein, in the step of detecting the actual navigation attitude of the cross-media vehicle when it is in the water surface navigation state and determining the deviation direction and deviation angle of the actual navigation attitude, it specifically includes:

[0103] S211. Set a target navigation attitude, and the target navigation attitude includes a target roll angle and a target roll angular velocity.

[0104] S212. Detect the actual navigation attitude.

[0105] Among them, to detect the actual navigation attitude of the cross-media vehicle, an attitude sensor IMU (Inertial Measurement Unit) is required to detect the actual navigation attitude information of the cross-media vehicle, specifically the actual roll angle and the 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 in the water navigation state can be obtained;

[0106] S213. Calculate the difference between the actual navigation attitude and the target navigation attitude;

[0107] S214. Determine the deviation direction and deviation angle of the actual navigation attitude according to the difference.

[0108] In specific implementation, after detecting the actual roll angle and the actual roll angular velocity, they are respectively compared with the set target roll angle and target roll angular velocity. The deviation direction and deviation angle are obtained according to the difference, so as to facilitate attitude adjustment according to the deviation direction and deviation angle, ensuring the accuracy and stability of the attitude adjustment of the cross-media vehicle.

[0109] Specifically, in the steps of calculating the difference between the actual navigation attitude and the target navigation attitude and determining the deviation direction and deviation angle of the actual navigation attitude according to the difference, it is necessary to first set the target roll angle of the target navigation attitude, then set one deviation direction of the cross-media vehicle as the positive deviation and the other deviation direction as the negative deviation. Subsequently, it is judged whether the actual roll angle of the actual navigation attitude is a positive deviation or a negative deviation relative to the target roll angle of the target navigation attitude. After judging the deviation direction, the angle difference between the actual roll angle and the target roll angle is calculated to obtain the specific deviation angle.

[0110] As Figure 11 shown, in the method for controlling a cross-media vehicle with a buoy adjustment assembly according to an embodiment of the present application, among them, in the step of adjusting the telescopic length and telescopic speed of the adjustment device 10 of the cross-media vehicle according to the detection result of the actual navigation attitude, it specifically includes:

[0111] S221. Set a preset control algorithm; among them, the preset control algorithm includes a PID (Proportion, Integral, Differential) control algorithm. Using the PID control algorithm can achieve the stability and accuracy of the overall adjustment, and has a feedback path to correct the response of the system and perform adjustment control;

[0112] S222. According to the detection result of the actual navigation attitude, use a preset control algorithm to generate preset control signals for the telescopic length and telescopic speed; wherein, the preset control signals include the PWM (Pulse Width Modulation) signal of the control and adjustment device 10. When the DC drive module of the adjustment device 10 receives this signal, it can generate and output a DC voltage signal to drive the adjustment device 10 to expand and contract, so as to drive the buoy 30 to reach the target position and support one side of the wing 210;

[0113] S223. Use the preset control signals to control the telescopic length and telescopic speed, and at the same time detect the real-time navigation attitude of the trans-medium vehicle;

[0114] S224. Set the real-time navigation attitude as the feedback signal, and use the preset control algorithm combined with the feedback signal to generate real-time control signals; wherein, the feedback signal can enter the input end through the feedback path of the PID control algorithm, and jointly generate real-time control signals with the preset control signals. When the PID control algorithm performs adjustment, it can perform corresponding adjustment on the real-time control signals with feedback signals, improving the accuracy of the adjustment;

[0115] S225. Use the real-time control signals to perform real-time adjustment on the telescopic length and telescopic speed until the actual navigation attitude meets the navigation requirements of the water surface navigation state.

[0116] Specifically in implementation, the PID control algorithm includes a control path and a feedback path. The preset control signals control the adjustment device 10 through the control path, so that the navigation attitude of the trans-medium vehicle is gradually adjusted to the target navigation attitude. During the adjustment process, the real-time navigation attitude of the trans-medium vehicle is fed back to the input end through the feedback loop and combined with the preset control signals to form real-time control signals, thereby performing more accurate adjustment on the attitude of the trans-medium vehicle and making the final navigation attitude of the trans-medium vehicle closer to the target navigation attitude.

[0117] Optionally, after setting the preset control algorithm, the set target navigation attitude can be input into the preset control algorithm, and then an attitude sensor is used to measure the actual navigation attitude. After inputting the measured actual navigation attitude into the preset control algorithm, the preset control algorithm generates preset control signals according to the difference between the actual navigation attitude and the target navigation attitude, and uses the preset control signals and the subsequent measured feedback signals for adjustment.

[0118] For the control method of the trans-medium vehicle with a buoy adjustment component in the embodiment of the present application, wherein, after the step of determining the deviation direction and deviation angle of the actual navigation attitude according to the difference value, it further includes:

[0119] If the offset direction of the actual navigation attitude is a left roll offset, then control the left adjustment device 10 to extend and / or the right adjustment device 10 to shorten;

[0120] If the offset direction of the actual navigation attitude is a right roll offset, then control the left adjustment device 10 to shorten and / or the right adjustment device 10 to extend.

[0121] During specific implementation, when it is determined that the offset direction of the actual navigation attitude is a left roll offset, extending the left adjustment device 10 can increase the left support torque, and shortening the right adjustment device 10 can reduce the right support torque, so that the overall attitude of the trans-medium vehicle deflects to the right until it is adjusted to the target navigation attitude; when it is determined that the offset direction of the actual navigation attitude is a right roll offset, shortening the left adjustment device 10 can reduce the left support torque, and extending the right adjustment device 10 can increase the right support torque, so that the overall attitude of the trans-medium vehicle deflects to the left until it is adjusted to the target navigation attitude.

[0122] In the control method of the trans-medium vehicle with a buoy adjustment assembly according to an embodiment of the present application, in the step of controlling the adjustment assembly 300 to shrink as a whole under the bottom of the wing 210 and controlling the buoy 30 to shrink, it specifically includes:

[0123] Control the air pumping member 50 of the trans-medium vehicle to extract the gas in the buoy 30, so that the buoy 30 shrinks;

[0124] Control the second cylinder body 22 of the medium filling device 20 to shrink into the first cylinder body 21;

[0125] Control the telescopic rod 121 of the telescopic adjustment member 12 of the adjustment device 10 to shrink into the telescopic main body 122;

[0126] Control 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 parallel to the wing 210 and the adjustment assembly 300 shrinks as a whole into the accommodation cavity 231 under the bottom of the wing 210.

[0127] During specific implementation, after the air pumping member 50 extracts the gas in the buoy 30, the buoy 30 shrinks and its volume decreases, enabling the buoy 30 to shrink into the accommodation cavity 231; the second cylinder body 22 shrinks into the first cylinder body 21, shortening the overall length of the medium filling device 20 so that the whole can be accommodated in the accommodation cavity 231; the telescopic rod 121 shrinks into the telescopic main body 122, which can shorten the overall length of the telescopic adjustment member 12; finally, control the rotary adjustment member 11 to drive the telescopic adjustment member 12 to rotate, so that the adjustment assembly 300 can shrink as a whole into the accommodation cavity 231, avoiding the adjustment assembly 300 protruding excessively from the wing 210, reducing the resistance suffered by the trans-medium vehicle in the underwater navigation state and the air navigation state, and improving the navigation stability and aerodynamic stability.

[0128] The control method of a trans-medium vehicle with a buoy adjustment assembly according to an embodiment of the present application. In the step of controlling the adjustment assembly 300 to protrude entirely from the bottom of the wing 210 and controlling the buoy 30 to expand, it specifically includes:

[0129] 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 entire adjustment assembly 300 disengages from the accommodation cavity 231 at the bottom of the wing 210;

[0130] Controlling the telescopic rod 121 of the telescopic adjustment member 12 of the adjustment device 10 to extend out of the telescopic main body 122;

[0131] Controlling the second cylinder body 22 of the medium filling device 20 to extend out of the first cylinder body 21;

[0132] Controlling the air pumping member 50 of the trans-medium vehicle to pump gas into the buoy 30 to make the buoy 30 expand.

[0133] In specific implementation, the rotary adjustment member 11 drives the telescopic adjustment member 12 to rotate, so that the entire adjustment assembly 300 disengages from the accommodation 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 enough 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 inflating and expanding; and the extension of the telescopic rod 121 out of the telescopic main body 122 and the extension of the second cylinder body 22 out of the first cylinder body 21 can respectively increase the supporting moment and supporting height of the buoy, further improving the supporting effect of the buoy 30 on the wing 210.

[0134] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, the elements defined by the statement "including..." do not exclude the existence of additional identical elements in the process, method, article or device including the said elements.

[0135] As described above, this is only the specific implementation manner of the present application. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein. It should be understood that the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present 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), at least one pair of two wings (210) are both equipped with the adjustment component (300), the adjustment component (300) is installed at the bottom of the corresponding wing (210), the adjustment component (300) comprises an adjustment device (10), a medium filling device (20) and a buoy (30), 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), the buoy (30) is connected to the end of the medium filling device (20) away from the adjustment device (10), the adjustment device (10) comprises a rotating adjustment member (11) and a telescopic adjustment member (12) fixedly installed on the wing (210), the medium filling device (20 ) and the buoy (30) are both connected to the rotating adjustment member (11) and are rotatably mounted on the wing (210) through the rotating adjustment member (11) so as to be rotated until the buoy (30) protrudes or retracts at the bottom of the wing (210). The medium filling device (20) is connected to the buoy (30) and is used to control the expansion or contraction of the buoy (30). 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 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 rotating adjustment member (11).

2. The cross-medium vehicle with a buoy adjustment assembly according to claim 1, 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).

3. The cross-medium vehicle with a buoy adjustment assembly according to claim 1, 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).

4. The cross-medium vehicle with a buoy adjustment assembly according to claim 1, 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.

5. The cross-medium vehicle with a buoy adjustment assembly according to claim 4, characterized in that: The medium filling device (20) further comprises an inflation tube (23), wherein 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), 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 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).

6. The cross-medium vehicle with a buoy adjustment assembly according to claim 4, 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).

7. 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.

8. A control method for a cross-medium vehicle having a buoy adjustment assembly, characterized in that: include: According to the navigation state, it is determined that the cross-medium vehicle is in an underwater navigation state or an air navigation state, and then the rotating adjustment member (11) of the adjustment device (10) of the cross-medium vehicle is controlled to drive the medium filling device (20) and the buoy (30) vertically connected thereto to rotate with the adjustment device (10) as a rotation axis until the adjustment assembly (300) is entirely retracted to the bottom of the wing (210), and the buoy (30) of the cross-medium vehicle is controlled to retract; If it is determined that the cross-medium vessel is in a surface navigation state according to the navigation state, the regulating device (10) of the cross-medium vessel is controlled to drive the medium filling device (20) and the buoy (30) vertically connected thereto to rotate with the regulating device (10) as a rotation axis until the regulating assembly (300) as a whole protrudes from the bottom of the wing (210), and the buoy (30) of the cross-medium vessel is controlled 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 telescopic adjustment member (12) 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, so as to drive the medium filling device (20) and the buoy (30) connected to the telescopic adjustment member (12) to move in a direction approaching or away from the navigation body (100), until the actual navigation posture satisfies the navigation requirements of the surface navigation state.

9. The control method of a cross-medium vehicle having a buoy adjustment assembly according to claim 8, 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.

10. The control method of a cross-medium vehicle having a buoy adjustment assembly according to claim 8, 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.

11. The control method of a cross-medium vehicle having a buoy adjustment assembly according to claim 9, 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.

12. The control method of a cross-medium vehicle having a buoy adjustment assembly according to claim 8, 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).

13. The control method of a cross-medium vehicle having a buoy adjustment assembly according to claim 8, 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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