Stable control method of cross-medium unmanned aerial vehicle carrier

Abstract

The invention relates to a stable control method of a cross-medium unmanned aerial vehicle carrier, a main body structure of the carrier comprises a launching tube body, a head cover is arranged at one end of the launching tube body, a tail cabin is arranged at the other end of the launching tube body, the carrier further comprises a plurality of fins distributed on the periphery of the launching tube body, and the number of the fins is larger than or equal to three. One end of each wing panel is a connecting end hinged to the main body structure, the connecting ends are located in the tail cabin direction along the axis of the main body structure, and when the wing panels are folded, the whole carrier is of a rotating body configuration, and the method comprises the following steps that before the unmanned aerial vehicle is launched by the carrier, a driving mechanism drives the wing panels to swing, so that the multiple wing panels are synchronously unfolded; the plurality of fins are integrally sectioned by taking the axis of the main body structure as the center; and the unmanned aerial vehicle is launched under the condition that the plurality of fins which are integrally sectioned are located on the water surface and assist in keeping the pointing direction of the launching pipe body. Therefore, the stability of the carrier on the water surface is improved, and the marine environment applicability of the cross-medium unmanned aerial vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of marine equipment, and in particular to a stable control method for a cross-medium UAV carrier. Background Art

[0002] Cross-medium drones can switch from underwater to air, so they have the advantages of underwater concealment and aerial flexibility. Existing cross-medium methods are divided into two categories. One is that the aircraft takes off directly from underwater. The advantage of this method is that there is no need to add additional components, and the take-off process is simple, but the disadvantage is that the body structure needs to be waterproof and able to withstand a certain water pressure, which will increase the weight and complexity of the structure and affect the overall performance of the system; the other method requires the design of a special drone carrier, whose main function is to provide waterproof and pressure resistance, achieve stable movement in the water, and after reaching the water surface, use catapult to transport the aircraft into the air to complete the water-to-air state switch. The advantage of this type of method is that there is less modification to the aircraft, strong versatility, and high overall system performance. Its disadvantage is the addition of the catapult link.

[0003] Judging from the development trend of cross-media UAVs at home and abroad, the second type is currently more widely used. Existing public UAV carriers mostly adopt a torpedo-shaped rotating body streamline configuration, which can improve the stability of the UAV carrier during underwater movement and reduce resistance. However, its limitation is that when the carrier reaches the water surface, it is easily swayed or even overturned by the force of ocean waves, making it difficult to meet the take-off requirements of the aircraft in severe sea conditions, thus limiting the applicability of cross-media UAVs to the marine environment. Summary of the invention

[0004] In view of the shortcomings in the above-mentioned existing production technology, the applicant provides a stable control method for a cross-medium UAV carrier, thereby improving the stability of the carrier when it is on the water surface and improving the applicability of the cross-medium UAV in the marine environment.

[0005] The technical solution adopted by the present invention is as follows:

[0006] A stable control method for a cross-medium UAV carrier, wherein the main structure of the carrier comprises a launch tube body, a head cover is arranged at one end of the launch tube body, a tail cabin is arranged at the other end of the launch tube body, and a plurality of winglets are distributed around the launch tube body, the number of the winglets is greater than or equal to three, one end of the winglet is a connecting end hinged to the main structure, the connecting end is located in the tail cabin direction along the axis of the main structure, when the winglets are folded, the carrier as a whole is in a rotating body configuration, and the method comprises the following steps:

[0007] Before the carrier launches the UAV, the driving mechanism drives the wing to swing, so that the multiple wing are synchronously unfolded, and the multiple wing are in a petal shape with the main structure axis as the center;

[0008] The drone is launched when the multiple fins, which are in the shape of petals as a whole, are located on the water surface and the fins assist in maintaining the direction of the launch tube.

[0009] As a further improvement of the above technical solution:

[0010] When the carrier is approaching the water surface during the floating process, the driving mechanism drives the wing to swing, so that the wing is unfolded until the angle between the wing and the axis of the main structure is a first angle, and the first angle is less than or equal to 90°, so that the carrier decelerates to a balance speed during the floating process and then floats on the water surface at a uniform speed.

[0011] When the UAV is launched, the driving mechanism drives the wing to swing, so that the wing is expanded from a first angle to a second angle between the wing and the axis of the main structure, and the second angle is greater than 90° and less than or equal to 180°.

[0012] During the buoyancy of the carrier, a distance sensor on the carrier detects the distance between the carrier and the water surface. When the distance is a trigger distance, the drive mechanism drives the wing to swing, so that the wing is unfolded to form a first angle with the axis of the main structure.

[0013] The driving mechanism comprises a slider slidably mounted on the main structure, the slider being elastically connected to the main structure via an elastic body, and a piston cylinder having two ends respectively hinged to the slider and the wing;

[0014] The locking structure is used to limit the slider to the first position, so that the elastic body is in a compressed state, and the piston cylinder with the piston rod in a contracted state closes the wing;

[0015] When the carrier is approaching the water surface during the buoyancy process, after the locking structure releases the limit of the slider, the slider moves to the second position along the axial direction of the main structure under the elastic force of the elastic body and the impact of water, so that the wing and the axis of the main structure form a first angle;

[0016] The piston rod of the piston cylinder is extended so that the included angle between the wing and the axis of the main structure is a second included angle.

[0017] A first limit block is arranged at the second position, and the first limit block is fixed on the main structure and is used for limiting the extreme moving position of the sliding block.

[0018] It also includes a second limit block installed on the main structure. When the slider contacts the second limit block during sliding, the second limit block is compressed. After the slider passes over the second limit block, the second limit block is reset to limit the slider between the first limit block and the second limit block.

[0019] A sliding shaft is arranged at the end of the launch tube body, the sliding shaft is connected to the tail cabin, the sliding block is slidably connected to the sliding shaft, and the connecting end is hinged to the tail cabin.

[0020] When the winglets are folded, the axial direction of the winglets is consistent with the axial direction of the main structure. The side of the winglets facing the launch tube body is the inner surface, and the inner surface has an extended width along the direction perpendicular to the axial direction of the main structure. The side of the winglets away from the launch tube body is the outer surface, and the outer surface is consistent with the configuration of the rotating body. During the expansion of the winglets, the inner surface of each winglet is at an equal angle to the axial direction of the main structure and the angle gradually increases.

[0021] The main body of the fin is made of buoyancy material, and the axial length of the fin is consistent with the length of the launch tube body.

[0022] The beneficial effects of the present invention are as follows:

[0023] The present invention has a compact and reasonable structure and is easy to operate. Before launching the UAV, the wing flaps located on the outer periphery of the launch tube body are unfolded so that one end of the wing flap corresponding to the hood is away from the hood. The unfolded wing flaps increase the contact area between the tail cabin end of the carrier and the water body on the surface of the water, increase the moment of inertia of the carrier in the rolling direction, improve the anti-rolling performance of the carrier, suppress the swing of the carrier, increase the stability of the carrier in a wave environment, greatly extend the launch window period of the UAV, and improve the applicability of the cross-medium UAV to the marine environment.

[0024] At the same time, the present invention also has the following advantages:

[0025] When the vehicle approaches the water surface during the buoyancy process, the wings are deployed to increase the resistance encountered by the vehicle, reduce the buoyancy speed of the vehicle, and prevent the vehicle from becoming airborne when leaving the water.

[0026] The wing is made of buoyancy material to provide buoyancy for the carrier. The more regular part of the carrier with the rotational body configuration structure is used as the area for arranging the wing. The inner surface of the wing has an extended width to ensure that the unfolded wing has a sufficiently large contact area with the water. Combined with the control of the first angle, the carrier with unfolded wings is overall in the shape of an umbrella with a large mouth facing the hood, thereby increasing the inertia in the rolling direction and maintaining the stability of the carrier's posture.

[0027] By launching the drone, the wings are driven to swing in the direction opposite to the launching direction, so as to increase the force between the wings and the water body in a dynamic process, thereby offsetting the recoil force generated by the carrier during the launching of the drone and greatly reducing the sinking amount of the carrier.

[0028] The elastic drive is used to assist in opening the fins, and the fins are quickly pushed open to the first angle by the impact force of water. The structure of the drive mechanism is simple, which saves motion drive components and ensures the response speed of the drive mechanism.

[0029] The driving mechanism is arranged on the sliding shaft between the launch tube body and the tail cabin to simplify the overall layout of the driving mechanism. The connecting end is hinged to the tail cabin so that when the wing is unfolded to the second angle, the length of the launch tube body above the water surface is increased. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic diagram of the structure of the present invention (when the wing is folded).

[0031] Figure 2 It is a schematic diagram of the structure of the driving mechanism of the present invention (when the wings are folded).

[0032] Figure 3 It is a schematic diagram of the structure of the present invention (when the wing is unfolded to the first angle).

[0033] Figure 4 It is the front view of the present invention (when the wing is unfolded to the first angle).

[0034] Figure 5 for Figure 4 A partial enlarged view of point A in the middle.

[0035] Figure 6 It is the front view of the present invention (when the wing is unfolded to the second angle).

[0036] Figure 7 for Figure 6 A partial enlarged view of point B in the middle.

[0037] Figure 8 It is a schematic diagram of the limiting structure of the slider of the present invention.

[0038] Fig. 9 This is the attitude angle change of the surface-configured UAV carrier.

[0039] Fig.10 The attitude angle change of the underwater configured UAV carrier.

[0040] Fig.11 is the sinking amount of the UAV during the launch process under different conditions.

[0041] in:

[0042] 1. Main structure; 11. Nose cover; 12. Launch tube body; 121. Sliding shaft; 13. Tail cabin;

[0043] 2. Wing; 21. Connection end; 22. Inner surface; 23. Outer surface;

[0044] 3. Driving mechanism; 31. Piston cylinder; 32. Sliding block; 321. First limiting block; 322. Second limiting block; 33. Elastic body. DETAILED DESCRIPTION

[0045] The specific implementation of the present invention will be described below in conjunction with the accompanying drawings.

[0046] Embodiment 1:

[0047] like Figure 1-Figure 5 As shown, the stable control method of the cross-medium UAV carrier of this embodiment, the main structure 1 of the carrier includes a launch tube body 12, a head cover 11 is arranged at one end of the launch tube body 12, and a tail cabin 13 is arranged at the other end of the launch tube body 12, and also includes a plurality of winglets 2 distributed on the outer periphery of the launch tube body 12, the number of the winglets 2 is greater than or equal to three, one end of the winglet 2 is a connecting end 21 hinged to the main structure 1, and the connecting end 21 is located in the direction of the tail cabin 13 along the axis of the main structure 1. When the winglets 2 are folded, the carrier as a whole is in a rotating body configuration, and the method includes the following steps:

[0048] Before the carrier launches the UAV, the driving mechanism 3 drives the wing 2 to swing, so that the multiple wing 2 are synchronously unfolded, and the multiple wing 2 is in a petal shape with the axis of the main structure 1 as the center;

[0049] When the plurality of fins 2 in a petal-shaped overall shape are located on the water surface and the fins 2 assist in maintaining the direction of the launch tube body 12 , the drone is launched.

[0050] The hood 11 is installed at the mouth of the launch tube 12 to seal the mouth. The hood 11 will be thrown away before the UAV is launched. The tail cabin 13 maintains the streamlined shape of the carrier and plays a role of pressure resistance and sealing. It contains a power unit, a control module, a communication module, etc. The launch tube 12 has the functions of pressure resistance and watertightness. The interior is used to load the folding-wing UAV, which is launched vertically. The hood 11, launch tube 12, and tail cabin 13 of the UAV carrier together form a complete sealed shell to protect the internal folding-wing UAV and related electrical systems from water and water pressure. The UAV carrier has a certain positive buoyancy underwater.

[0051] Specifically, the fins 2 are evenly distributed around the axis of the main structure 1. When the fins 2, which are in a petal shape as a whole, are located on the water surface, the head cover 11 is located above the water surface.

[0052] The stable control method of the cross-medium UAV carrier of the present embodiment is as follows: before launching the UAV, the wing 2 located on the outer periphery of the launch tube body 12 is unfolded, so that the end of the wing 2 corresponding to the hood 11 is away from the hood 11. The unfolded wing 2 increases the contact area between the end of the tail cabin 13 of the carrier and the water body on the water surface, increases the moment of inertia of the carrier in the rolling direction, improves the anti-rolling performance of the carrier, suppresses the swing of the carrier, increases the stability of the carrier in a wave environment, greatly extends the launch window of the UAV, and improves the applicability of the cross-medium UAV to the marine environment.

[0053] The driving mechanism 3 is located on the main structure 1 and is in transmission connection with the wing 2. For example, the driving mechanism 3 can be driven by a motor to drive the wing 2 to rotate around the hinge shaft at the connection end 21, thereby realizing the swing of the wing 2, and the angle can be set according to specific needs.

[0054] Embodiment 2:

[0055] On the basis of the first embodiment, the stability of the carrier during the process of exiting the water and launching the UAV is further increased, such as Figure 1-Figure 7 As shown, during the floating process of the carrier of this embodiment, when approaching the water surface, the driving mechanism 3 drives the wing 2 to swing, so that the wing 2 is unfolded until the angle between the wing 2 and the axis of the main structure 1 is a first angle, and the first angle is less than or equal to 90°, so that during the floating process, the carrier is decelerated to a balance speed and then floats on the water surface at a uniform speed.

[0056] Specifically, the value of the first angle can be selected from 40°-50°. Figure 4 The value of the first angle is 45°; the equilibrium speed is generally controlled to be less than or equal to 0.01 meters per second. The numerical design of the equilibrium speed can be achieved by controlling the drag coefficient of the carrier when the wing 2 is in a folded state, and the drag coefficient of the carrier when the wing 2 is in the first angle state.

[0057] When the vehicle is approaching the water surface during the buoyancy process, the wing flaps 2 are deployed to increase the resistance of the vehicle, reduce the buoyancy speed of the vehicle, and prevent the vehicle from becoming airborne when leaving the water.

[0058] Regarding the specific configuration and installation method of the wing 2, in this embodiment, as Figure 1-Figure 3 As shown, when the wing 2 is folded, the axial direction of the wing 2 is consistent with the axial direction of the main structure 1, the side of the wing 2 facing the launch tube body 12 is the inner surface 22, and the inner surface 22 has an extended width along the direction perpendicular to the axial direction of the main structure 1, and the side of the wing 2 away from the launch tube body 12 is the outer surface 23, and the outer surface 23 is consistent with the rotational body configuration. During the expansion of the wing 2, the inner surface 22 of each wing 2 is equal to the axial angle of the main structure 1 and gradually increases.

[0059] The main body of the fin 2 is made of buoyancy material, and the axial length of the fin 2 is consistent with the length of the launch tube body 12 .

[0060] The wing 2 is made of buoyancy material to provide buoyancy for the carrier. The more regular part of the carrier with the rotational body configuration structure is used as the area for arranging the wing 2. The inner surface 22 of the wing 2 has an extended width, which ensures that the unfolded wing 2 has a sufficiently large contact area with the water. Combined with the control of the first angle, the carrier with the unfolded wing 2 is overall in the shape of an umbrella with its large mouth facing the hood 11, thereby increasing the inertia in the rolling direction and maintaining the stability of the carrier's posture.

[0061] In this embodiment, the beneficial effects of the present invention are further described by using the CFD method. Figure 1 The carrier when the middle wing 2 is folded and Figure 4 The motion posture of the vehicle (i.e., the underwater and surface configurations of the UAV vehicle) when the wing 2 is unfolded to the first angle in a wave environment is simulated and calculated, wherein the wave parameters are specifically: the upper limit of the third-level sea condition (wave height 1.25m) and regular waves. The changes in the counterweight parameters of the vehicle under the two configurations are shown in Table 1. Except for the significant increase in the inertia in the rolling direction, other parameters basically have no significant changes.

[0062] Table 1 Changes in weighing parameters of the vehicle in underwater and surface configurations

[0063]

[0064] The change of the attitude angle of the UAV carrier is shown in Fig. 9 and Fig.10 It can be seen that the wing 2 deployment control scheme proposed in the present invention has a pitch angle and a yaw angle that vary in the range of -10 to 10°, and a relatively stable motion posture, which meets the constraints of the UAV launch window; if no control measures are taken, that is, the UAV carrier maintains an underwater configuration, its pitch angle varies in the range of 0 to 50°, and the yaw angle is close to 90°, and a UAV launch window cannot be provided.

[0065] Furthermore, while launching the UAV, the driving mechanism 3 drives the wing 2 to swing, so that the wing 2 is unfolded from the first angle to the second angle between the wing 2 and the axis of the main structure 1, and the second angle is greater than 90° and less than or equal to 180°.

[0066] Specifically, the value of the second angle can be selected from 100°-135°. Figure 6 The value of the second angle is 110°, so that the carrier can float stably on the water after launching the drone.

[0067] This embodiment simulates the sinking amount for three situations: launching a UAV when the wing 2 is at the first angle, launching a UAV when the wing 2 is at the second angle, and launching a UAV during the dynamic process of the wing 2 expanding from the first angle to the second angle. Fig.11 As shown, the drone is launched when t is equal to 0, and the launch ends when t is equal to 0.1s. The time period for the wing 2 to expand from the first angle to the second angle is from t is equal to 0 to t is equal to 1s. It can be clearly seen from the figure that the synchronous swinging of the wing 2 while launching the drone can greatly reduce the sinking amount of the drone.

[0068] By launching the UAV, the wing 2 is driven to swing in the direction opposite to the launching direction, so as to increase the force between the wing 2 and the water body in a dynamic process, offset the recoil force generated by the carrier during the launch of the UAV, and greatly reduce the sinking amount of the carrier.

[0069] When the carrier of this embodiment launches the UAV, the wing 2 is swung downward quickly through the driving mechanism 3, which can effectively reduce the sinking amount of the carrier when the UAV is launched and prevent the nozzle of the launch tube body 12 from being immersed in water. The value of the second angle is set so that the carrier can always float on the water surface after launching the UAV, which is beneficial to the recovery of the carrier and also enables the carrier to have the potential for expanding the communication relay function.

[0070] Furthermore, the action of the driving mechanism 3 is controlled by the control system of the carrier itself. During the floating process of the carrier, the distance sensor on the carrier detects the distance between the carrier and the water surface. When the distance is the trigger distance, the driving mechanism 3 drives the wing 2 to swing, so that the wing 2 is unfolded to form a first angle with the axis of the main structure 1.

[0071] Specifically, the trigger distance can be determined through experiments when the carrier's floating depth, first angle and carrier structure are different. In addition, since the carrier speed decays very quickly after the wing 2 is deployed, carriers with different masses can usually achieve speed stability within 0.5m, so setting the trigger distance to 1m can meet the requirements.

[0072] Embodiment three:

[0073] After the UAV is launched, when the carrier is allowed to float on the horizontal surface, the driving mechanism 3 can only be used to expand the wing 2 and adjust the expansion angle, and there is no need to drive the wing 2 to fold. In view of this functional requirement, the stable control method of the cross-medium UAV carrier of this embodiment optimizes the structure of the driving mechanism 3 on the basis of the above embodiment, and the scheme is as follows:

[0074] like Figure 2-Figure 8 As shown, the driving mechanism 3 includes a slider 32 slidably mounted on the main structure 1, the slider 32 is elastically connected to the main structure 1 through an elastic body 33, and also includes a piston cylinder 31 with two ends respectively hinged to the slider 32 and the wing 2;

[0075] The locking structure is used to limit the slider 32 to the first position, so that the elastic body 33 is in a compressed state, and the piston cylinder 31 with the piston rod in a contracted state retracts the wing 2;

[0076] When the carrier is approaching the water surface during the buoyancy process, after the locking structure releases the limit of the slider 32, under the elastic force of the elastic body 33 and the impact of water, the slider 32 moves to the second position along the axial direction of the main structure 1, so that the angle between the wing 2 and the axis of the main structure 1 is the first angle;

[0077] When the UAV is launched, the piston rod of the piston cylinder 31 is extended, so that the angle between the wing 2 and the axis of the main structure 1 is at a second angle.

[0078] The control module of the vehicle is electrically connected to the locking structure and the piston cylinder 31; the elastic body 33 is a spring, and the number and distribution of the springs are related to the overall structure of the main structure 1; the locking structure is an action component with an automatic start function, such as a bolt installed on the main structure 1 and driven by a cylinder to move. When the bolt is inserted into the socket on the slider 32, the slider 32 is limited. When the bolt is driven by the cylinder to move out of the socket, the limit on the slider 32 is released. The piston cylinder 31 is a cylinder or a hydraulic cylinder.

[0079] The wing 2 is opened with the assistance of elastic drive, and the wing 2 is quickly pushed open to the first angle by the impact force of water. The structure of the driving mechanism 3 is simple, which saves motion driving components and ensures the response speed of the driving mechanism 3.

[0080] like Figure 5 , Figure 7 , Figure 8 As shown, a first limit block 321 is provided at the second position. The first limit block 321 is fixed on the main structure 1 and is used to limit the extreme movement position of the slider 32 .

[0081] It also includes a second limit block 322 installed on the main structure 1. When the slider 32 contacts the second limit block 322 during sliding, the second limit block 322 is compressed. After the slider 32 passes over the second limit block 322, the second limit block 322 is reset to limit the slider 32 between the first limit block 321 and the second limit block 322.

[0082] The structure of the second limit block 322 is wedge-shaped. After the inclined surface on the second limit block 322 contacts the slider 32, the return spring in the second limit block 322 is compressed. After the inclined surface flips, the slider 32 slides toward the first limit block 321 along the inclined surface. When the slider 32 passes over the second limit block 322, the second limit block 322 is reset under the action of the return spring, and the slider 32 is limited between the first limit block 321 and the second limit block 322.

[0083] like Figure 2 , Figure 5 , Figure 7 As shown, a sliding shaft 121 is provided at the end of the launch tube body 12 , the sliding shaft 121 is connected to the tail cabin 13 , the slider 32 is slidably connected to the sliding shaft 121 , and the connecting end 21 is hinged to the tail cabin 13 .

[0084] The cross section of the sliding shaft 121 is smaller than the cross sections of the launch tube body 12 and the tail cabin 13 . When the wing 2 is folded, the elastic body 33 is compressed, the slider 32 is close to the tail cabin 13 , and the piston cylinder 31 is stored on one side of the sliding shaft 121 between the launch tube body 12 and the tail cabin 13 .

[0085] The driving mechanism 3 is arranged on the sliding shaft 121 between the launch tube body 12 and the tail cabin 13 to simplify the overall layout of the driving mechanism 3. The connecting end 21 is hinged to the tail cabin 13 so that when the wing 2 is unfolded to the second angle, the length of the launch tube body 12 above the water surface is increased.

[0086] The vehicle of this embodiment has an underwater configuration and two surface configurations. The actual operation process includes the following stages:

[0087] 1. During the underwater movement stage, the carrier floats up without power under the action of positive buoyancy, and the wing 2 is folded and locked by the locking structure in the driving mechanism 3, that is, the angle between the wing 2 and the launch tube body 12 is 0°. The carrier is in a rotating body configuration, which can reduce the resistance it encounters during the underwater movement stage, increase the floating speed of the carrier, and stabilize its posture.

[0088] 2. In the deceleration stage approaching the water surface, when the carrier is floating up, when the distance sensor on the carrier detects that the distance between the carrier and the water surface is the trigger distance, the control system of the carrier sends a signal to the drive mechanism 3, and the locking structure is actuated, so that the wing 2 is deployed to the first angle position under the action of the elastic body 33 and water, and the overall deployment configuration is in a petal shape, which increases the water resistance of the carrier to achieve the effect of final deceleration.

[0089] During the deceleration phase when approaching the water surface, when the vehicle reaches the water surface, its movement speed is relatively high. If it directly leaves the water, it will fall into the water again after taking off, which will have an adverse effect on the drone inside the vehicle. Therefore, when the vehicle reaches the water surface, the wing 2 in the folded state is released. At this time, the slider 32 will move upward along the sliding shaft 121 under the action of the elastic body 33, and the wing 2 will unfold to a small angle. Then, the wing 2 will continue to unfold outward under the push of the incoming flow until the slider 32 reaches Figure 5 In the position shown in (second position), the sliding shaft 121 is provided with a first limit block 321 and a second limit block 322, and the slider 32 is fixed at this specific position between the first limit block 321 and the second limit block 322, so that the expansion angle of the wing 2 will not change.

[0090] 3. During the floating stage on the water surface, the wing 2 can increase the moment of inertia of the carrier in the rolling direction after being unfolded, thereby improving the anti-rolling performance of the carrier. At the same time, when the carrier sways in a wave environment, the water resistance of the wing 2 can suppress the swing of the carrier, reduce the swing amplitude of the UAV carrier, and thus increase the stability of the UAV carrier.

[0091] Fourth, in the prior art, during the launch phase of the UAV, due to the miniaturized and lightweight design of the carrier, the carrier will sink significantly under the action of the recoil force, and the launch nozzle will be immersed in the water. In the present invention, when the UAV is launched, the piston cylinder 31 will quickly extend to the longest state, and the four wings 2 will quickly swing downward. The hydrodynamic retardation of the wings 2 in the water is used to offset the recoil force, greatly reducing the sinking of the carrier, which is conducive to the stability of the posture.

[0092] Using the stable control method for the cross-medium UAV carrier of this embodiment, the specific workflow for launching the UAV includes the following steps:

[0093] Step 1: The drone carrier is carried by platforms such as UUVs and submarines;

[0094] Step 2: After receiving the command, the UAV carrier separates from the platform and begins to float up under its own buoyancy;

[0095] Step 3: Floating to the vicinity of the water surface, the UAV carrier begins to switch from underwater to surface configuration, the wing 2 is unfolded to the first angle, the carrier begins to decelerate, until it completely floats out of the water, and the UAV carrier begins to enter the surface floating stage;

[0096] Step 4: After the UAV carrier receives the launch command, the power device starts, and the wing 2 is rapidly swung downward to the second angle under the action of the driving mechanism 3;

[0097] Step 5: The UAV is launched into the air, and the launch tube of the carrier is not immersed in water. The UAV carrier continues to float and can serve as a communication relay station between aerial UAVs and underwater UUVs, submarines and other platforms to achieve cross-media data communication functions;

[0098] Step 6: Based on the actual situation, the UAV carrier can be recovered.

[0099] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any form of modification may be made within the scope of protection of the present invention.

Claims

1. A stable control method for a cross-medium UAV carrier, characterized by: The main structure (1) of the carrier comprises a launch tube body (12), one end of the launch tube body (12) is provided with a head cover (11), the other end of the launch tube body (12) is provided with a tail cabin (13), and also comprises a plurality of fins (2) distributed on the outer periphery of the launch tube body (12), the number of the fins (2) is greater than or equal to three, one end of the fins (2) is a connecting end (21) hinged to the main structure (1), the connecting end (21) is located in the direction of the tail cabin (13) along the axis of the main structure (1), when the fins (2) are folded, the carrier as a whole is in a rotational body configuration, and the method comprises the following steps: Before the carrier launches the UAV, the driving mechanism (3) drives the wing (2) to swing, so that the plurality of wing (2) are synchronously unfolded, and the plurality of wing (2) are in a petal-shaped overall shape with the axis of the main structure (1) as the center; The drone is launched when the plurality of fins (2) which are in a petal-shaped overall state are located on the water surface and the fins (2) assist in maintaining the direction of the launch tube body (12).

2. The stable control method for a cross-medium UAV carrier according to claim 1, characterized in that: When the carrier approaches the water surface during the floating process, the driving mechanism (3) drives the wing (2) to swing, so that the wing (2) is unfolded until the angle between the wing (2) and the axis of the main structure (1) is a first angle, and the first angle is less than or equal to 90 degrees, so that the carrier decelerates to a balance speed during the floating process and then floats on the water surface at a uniform speed.

3. The stable control method for a cross-medium UAV carrier according to claim 2, characterized in that: When launching the UAV, the driving mechanism (3) drives the wing (2) to swing, so that the wing (2) is unfolded from a first angle to a second angle between the wing (2) and the axis of the main structure (1), and the second angle is greater than 90° and less than or equal to 180°.

4. The stable control method for a cross-medium UAV carrier according to claim 3, characterized in that: During the buoyancy of the vehicle, a distance sensor on the vehicle detects the distance between the vehicle and the water surface. When the distance is a trigger distance, the drive mechanism (3) drives the wing (2) to swing, so that the wing (2) is unfolded to form a first angle with the axis of the main structure (1).

5. The stable control method for a cross-medium UAV carrier according to claim 3, characterized in that: The driving mechanism (3) comprises a slider (32) slidably mounted on the main structure (1), the slider (32) being elastically connected to the main structure (1) via an elastic body (33), and also comprises a piston cylinder (31) whose two ends are respectively hinged to the slider (32) and the wing (2); The slider (32) is limited to the first position by using a locking structure, so that the elastic body (33) is in a compressed state, and the piston cylinder (31) with the piston rod in a contracted state retracts the wing (2); When the carrier is approaching the water surface during the buoyancy process, after the locking structure releases the limit on the slider (32), the slider (32) moves to the second position along the axial direction of the main structure (1) under the elastic force of the elastic body (33) and the impact of water, so that the wing (2) and the axis of the main structure (1) form a first angle; The piston rod of the piston cylinder (31) is extended so that the included angle between the wing (2) and the axis of the main structure (1) is at a second included angle.

6. The stable control method for a cross-medium UAV carrier according to claim 5, characterized in that: A first limit block (321) is provided at the second position, and the first limit block (321) is fixed on the main structure (1) and is used to limit the extreme moving position of the sliding block (32).

7. The stable control method for a cross-medium UAV carrier according to claim 6, characterized in that: The invention also comprises a second limit block (322) installed on the main structure (1); when the slider (32) contacts the second limit block (322) during sliding, the second limit block (322) is compressed; when the slider (32) passes over the second limit block (322), the second limit block (322) is reset, and the slider (32) is limited between the first limit block (321) and the second limit block (322).

8. The stable control method for a cross-medium UAV carrier according to claim 5, characterized in that: A sliding shaft (121) is provided at the end of the launch tube body (12), the sliding shaft (121) is connected to the tail cabin (13), the sliding block (32) is slidably connected to the sliding shaft (121), and the connecting end (21) is hinged to the tail cabin (13).

9. The stable control method for a cross-medium UAV carrier according to claim 1, characterized in that: When the wing (2) is folded, the axial direction of the wing (2) is consistent with the axial direction of the main structure (1); the side of the wing (2) facing the launch tube body (12) is an inner surface (22); the inner surface (22) has an extended width along a direction perpendicular to the axial direction of the main structure (1); the side of the wing (2) away from the launch tube body (12) is an outer surface (23); the outer surface (23) is consistent with the configuration of the rotating body; during the unfolding process of the wing (2), the inner surface (22) of each wing (2) and the axial direction of the main structure (1) are equal and gradually increase.

10. The stable control method for a cross-medium UAV carrier according to claim 9, characterized in that: The main body of the wing (2) is made of buoyancy material, and the axial length of the wing (2) is consistent with the length of the launch tube body (12).

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