Stable control method for cross-medium unmanned vehicle

Abstract

The present application relates to a kind of across medium unmanned aerial vehicle carrier's stable control method, the main structure of the carrier includes launch tube body, the one end of the launch tube body is provided with head cover, the other end of the launch tube body is provided with tail cabin, it further includes multiple wings distributed in the periphery of the launch tube body, wing number is greater than or equal to three, one end of wing is the connecting end articulated with main structure, connecting end is located in the direction of tail cabin along the axis of main structure, when wing is retracted, the overall configuration of the carrier is spin into body, the method includes the following steps: before the carrier launches the unmanned aerial vehicle, drive mechanism drives wing swing, so that multiple wings are synchronously unfolded, and multiple wings are overall in the form of split with the axis of main structure as center;When multiple wings in the form of split are located in water surface position, the orientation of the launch tube body is assisted by wing, and the unmanned aerial vehicle is launched, thereby improve the stability of the carrier when being located in water surface, improve the ocean environment applicability of cross medium unmanned aerial vehicle.

Description

Technical Field

[0001] This invention relates to the field of marine equipment technology, and in particular to a method for stabilizing and controlling a cross-medium unmanned aerial vehicle (UAV) carrier. Background Technology

[0002] Cross-medium drones can switch between underwater and aerial states, thus possessing the advantages of both underwater stealth and aerial agility. Existing cross-medium methods fall into two categories. One involves the aircraft taking off directly from underwater. The advantage of this method is that it requires no additional components and the takeoff process is simple. However, the disadvantage is that the airframe structure needs a waterproof design and must withstand a certain water pressure, which adds to the structural weight and complexity, affecting the overall system performance. The other method requires a specially designed drone carrier. Its main function is to provide waterproof and pressure-resistant capabilities, enabling stable movement in the water. After reaching the surface, it uses a catapult to transport the aircraft into the air, completing the water-to-air transition. The advantage of this method is that it requires less aircraft modification, has high versatility, and offers higher overall system performance. Its disadvantage is the added catapult component.

[0003] Judging from the development trend of cross-medium UAVs at home and abroad, the second type of application is currently more common. Most of the existing publicly available UAV carriers adopt a streamlined configuration similar to a torpedo. This configuration can improve the stability of the UAV carrier during the underwater movement phase and reduce drag. However, its limitation is that when the carrier reaches the water surface, it is easily affected by ocean wave forces and may even sway or capsize, making it difficult to meet the take-off requirements of aircraft in harsh sea conditions. Therefore, it limits the marine environment applicability of cross-medium UAVs. Summary of the Invention

[0004] In response to the shortcomings of the existing production technology, the applicant provides a stable control method for a cross-medium unmanned aerial vehicle (UAV) carrier, thereby improving the stability of the carrier when it is located on the water surface and enhancing the adaptability of the cross-medium UAV to the marine environment.

[0005] The technical solution adopted in this invention is as follows:

[0006] A method for stabilizing and controlling a cross-medium unmanned aerial vehicle (UAV) carrier, wherein the main structure of the carrier includes a launch tube, a nose cone at one end of the launch tube, a tail section at the other end of the launch tube, and multiple winglets distributed around the periphery of the launch tube, with the number of winglets being three or more. One end of each winglet is a hinged connection end to the main structure, located along the tail section direction along the axis of the main structure. When the winglets are retracted, the carrier as a whole takes on a rotating body configuration. The method includes the following steps:

[0007] Before the carrier launches the UAV, the drive mechanism drives the wing flaps to swing, so that multiple wing flaps unfold synchronously, and the multiple wing flaps are divided into petals as a whole with the main structure axis as the center.

[0008] The drone is launched with multiple lobed blades positioned on the water surface, and the blades help maintain the direction of the launch tube.

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

[0010] During the ascent of the carrier, as it approaches the water surface, the drive mechanism drives the wing to swing, causing the wing to unfold until the angle between the wing and the axis of the main structure forms a first angle, which is less than or equal to 90°. This allows the carrier to decelerate to a balance speed and then float on the water surface at a constant speed during the ascent.

[0011] Simultaneously with the launch of the drone, the drive mechanism drives the wing to swing, causing the wing to unfold from the first included angle to the second included angle between the wing and the axis of the main structure, which is greater than 90° and less than or equal to 180°.

[0012] During the ascent 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 drive mechanism drives the wing to swing, so that the wing unfolds to form a first angle with the axis of the main structure.

[0013] The drive mechanism includes a slider that is slidably mounted on the main structure, the slider being elastically connected to the main structure through an elastic body, and a piston cylinder with its two ends respectively hinged to the slider and the vane;

[0014] A 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 retracts the vane.

[0015] During the ascent of the carrier, when it approaches the water surface, the locking structure releases the limit on the slider. Under the elastic force of the elastic body and the impact of the water, the slider moves along the axial direction of the main structure to the second position, so that the angle between the wing and the axis of the main structure is the first angle.

[0016] The piston rod of the piston cylinder extends, making the angle between the vane and the axis of the main structure form a second angle.

[0017] A first limiting block is provided at the second position. The first limiting block is fixed to the main structure and is used to limit the extreme movement position of the slider.

[0018] It also includes a second limiting block installed on the main structure. When the slider slides, it comes into contact with the second limiting block, which compresses the second limiting block. After the slider passes the second limiting block, the second limiting block resets, limiting the slider between the first limiting block and the second limiting block.

[0019] A sliding shaft is provided at the end of the launch tube body, the sliding shaft is connected to the tail section, the slider is slidably connected to the sliding shaft, and the connecting end is hinged to the tail section.

[0020] When the winglets retract, 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 is the inner surface, which 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 is the outer surface, which matches the spin-forming body configuration. During the winglet deployment process, the angle between the inner surface of each winglet and the axial direction of the main structure is equal and gradually increases.

[0021] The main body of the wing is made of buoyancy material, and the axial length of the wing is the same as the length of the launch tube.

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

[0023] This invention features a compact and reasonable structure and is easy to operate. By deploying winglets located on the outer periphery of the launch tube before launching the UAV, the end of the winglet corresponding to the head cover is moved away from the head cover. The deployed winglets increase the contact area between the tail end of the launch vehicle and the water surface, increase the moment of inertia in the roll direction of the launch vehicle, improve the roll resistance of the launch vehicle, suppress the swaying of the launch vehicle, increase the stability of the launch vehicle in wave environments, significantly extend the launch window of the UAV, and improve the marine environment applicability of cross-medium UAVs.

[0024] Furthermore, the present invention also has the following advantages:

[0025] During the ascent of the launch vehicle, as it approaches the water surface, the deflectors deploy to increase the drag on the launch vehicle, reduce its ascent speed, and prevent it from taking off when it emerges from the water.

[0026] The winglets are made of buoyancy material to provide buoyancy for the vehicle. The more regular part of the vehicle with the rotating body structure is used as the area for winglet arrangement. The inner surface of the winglets has an extended width to ensure that the deployed winglets have a sufficiently large contact area with the water. Combined with the control of the first included angle, the overall shape of the vehicle with deployed winglets is umbrella-shaped with the large opening facing the head cover, which increases the moment of inertia in the roll direction and maintains the attitude stability of the vehicle.

[0027] By launching the drone while simultaneously driving the winglets to swing in the opposite direction to the launch direction, the dynamic process increases the interaction force between the winglets and the water, counteracting the recoil force generated by the launch vehicle during the drone launch and greatly reducing the vehicle's descent.

[0028] The winglets are opened by elastic drive, and the impact force of the water quickly pushes the winglets to the first angle. The drive mechanism has a simple structure, saves on the drive components, and ensures the response speed of the drive mechanism.

[0029] The drive mechanism is mounted on a sliding shaft between the launch tube and the tail section, simplifying the overall layout of the drive mechanism. The connecting end is hinged to the tail section, which increases the length of the launch tube above the water surface when the winglets are deployed to the second angle. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the structure of the present invention (when the winglets are retracted).

[0031] Figure 2 This is a schematic diagram of the drive mechanism of the present invention (when the winglets are retracted).

[0032] Figure 3 This is a schematic diagram of the structure of the present invention (when the winglets are deployed to the first included angle).

[0033] Figure 4 This is the front view of the present invention (when the winglets are deployed to the first included angle).

[0034] Figure 5 for Figure 4 Enlarged view of a portion of point A in the middle.

[0035] Figure 6 This is the front view of the invention (when the winglets are deployed to the second included angle).

[0036] Figure 7 for Figure 6 Enlarged view of section B in the middle.

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

[0038] Figure 9 This refers to the attitude angle changes of a surface-mounted UAV carrier.

[0039] Figure 10 This refers to the attitude angle changes of an underwater configuration UAV carrier.

[0040] Figure 11 This represents the depth of the drone launch process under different conditions.

[0041] in:

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

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

[0044] 3. Drive mechanism; 31. Piston cylinder; 32. Slider; 321. First limit block; 322. Second limit block; 33. Elastic body. Detailed Implementation

[0045] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0046] Example 1:

[0047] like Figures 1-5 As shown, the stabilization control method for a cross-medium unmanned aerial vehicle (UAV) carrier in this embodiment includes a main structure 1 of the carrier, comprising a launch tube 12, a head cover 11 at one end of the launch tube 12, and a tail section 13 at the other end of the launch tube 12. It also includes multiple winglets 2 distributed around the outer periphery of the launch tube 12, with at least three winglets 2. One end of each winglet 2 is a hinged connection end 21 to the main structure 1, located along the axis of the tail section 13. When the winglets 2 are retracted, the carrier as a whole takes on a spiral configuration. The method includes the following steps:

[0048] Before the carrier launches the drone, the drive mechanism 3 drives the wing 2 to swing, so that multiple wing 2s unfold synchronously, and the multiple wing 2s are divided into petals as a whole with the axis of the main structure 1 as the center.

[0049] With multiple winglets 2 arranged in a segmented shape positioned on the water surface, and the winglets 2 assisting in maintaining the orientation of the launch tube 12, the drone is launched.

[0050] The nose cone 11 is installed at the opening of the launch tube 12, serving to seal the opening. The nose cone 11 is jettisoned before launch. The tail section 13 maintains the streamlined shape of the carrier and also serves as a pressure-resistant and sealed component, containing the power unit, control module, and communication module. The launch tube 12 is pressure-resistant and watertight, housing the folding-wing UAV, which is launched vertically. The nose cone 11, launch tube 12, and tail section 13 together form a complete sealed shell, protecting the internal folding-wing UAV and related electrical systems from water and water pressure. The UAV carrier has a certain degree of positive buoyancy underwater.

[0051] Specifically, the winglets 2 are evenly distributed around the axis of the main structure 1. When the winglets 2, which are shaped like segments, are located at the water surface, the head cover 11 is located above the water surface.

[0052] The stabilization control method for the cross-medium UAV carrier in this embodiment deploys the winglets 2 located on the outer periphery of the launch tube 12 before launching the UAV, so that the end of the winglet 2 corresponding to the head cover 11 is far away from the head cover 11. The deployed winglets 2 increase the contact area between the tail section 13 of the carrier and the water surface, increase the moment of inertia of the carrier in the roll direction, improve the carrier's anti-roll performance, suppress the carrier's swaying, increase the stability of the carrier in the wave environment, significantly extend the launch window of the UAV, and improve the marine environment applicability of the cross-medium UAV.

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

[0054] Example 2:

[0055] Based on Example 1, further improvements are made to the stability of the launch vehicle during its emergence from the water and the launch of the drone, such as... Figures 1-7 As shown, during the ascent of the carrier in this embodiment, when it approaches the water surface, the drive mechanism 3 drives the wing 2 to swing, so that the wing 2 unfolds to form a first angle with the axis of the main structure 1. The first angle is less than or equal to 90°, so that during the ascent of the carrier, it decelerates to the equilibrium speed and floats on the water surface at a constant speed.

[0056] Specifically, the value of the first included angle can be selected from 40°-50°. Figure 4 The value of the first included angle is 45°; the balance speed is generally controlled to be less than or equal to 0.01 meters per second. The value of the balance speed can be designed by controlling the drag coefficient of the vehicle when the wing 2 is in the retracted state and the drag coefficient of the vehicle when the wing 2 is in the first included angle state.

[0057] During the ascent of the launch vehicle, as it approaches the water surface, the deploying wing 2 increases the drag on the launch vehicle, reduces its ascent speed, and prevents it from taking off when it emerges from the water.

[0058] Regarding the specific configuration and installation method of the winglet 2, in this embodiment, as follows: Figures 1-3 As shown, when the wing 2 is retracted, 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 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. The side of the wing 2 away from the launch tube 12 is the outer surface 23, and the outer surface 23 matches the spin-forming body configuration. During the deployment of the wing 2, the angle between the inner surface 22 of each wing 2 and the axial direction of the main structure 1 is equal and gradually increases.

[0059] The main body of the wing 2 is made of buoyancy material, and the axial length of the wing 2 is the same as the length of the launch tube 12.

[0060] The wing 2 is made of buoyancy material to provide buoyancy for the vehicle. The more regular part of the vehicle with the rotating body 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 deployed wing 2 has a sufficiently large contact area with the water. Combined with the control of the first included angle, the vehicle with the deployed wing 2 is made into an umbrella shape with the large opening facing the head cover 11, which increases the moment of inertia in the roll direction and maintains the attitude stability of the vehicle.

[0061] This embodiment further illustrates the beneficial effects of the present invention using CFD methods, specifically addressing... Figure 1 The vehicle when the middle wing 2 is retracted and Figure 4 The motion attitude of the carrier (i.e., the underwater and surface configurations of the UAV carrier) when the wing 2 is deployed to the first included angle was simulated in a wave environment. The specific wave parameters are: the upper limit of sea state 3 (wave height 1.25m) and regular waves. The changes in the load parameters of the carrier under the two configurations are shown in Table 1. Except for the significant increase in the moment of inertia in the roll direction, the other parameters are basically not significantly changed.

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

[0063]

[0064] The changes in the attitude angle of the UAV carrier are shown in the figure. Figure 9 and Figure 10 It can be seen that the wing 2 deployment control scheme proposed in this invention has a pitch angle and yaw angle that vary in the range of -10 to 10°, and the motion attitude is relatively stable, which meets the constraints of the UAV launch window. If no control means are adopted, that is, if the UAV carrier maintains the underwater configuration, its pitch angle varies in the range of 0 to 50° and the yaw angle is close to 90°, which cannot provide the UAV launch window.

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

[0066] Specifically, the value of the second included angle can be selected from 100° to 135°. Figure 6 The second included angle is 110°, which allows the launch vehicle to float stably on the water surface after the drone is launched.

[0067] This embodiment simulates and calculates the sinking amount for three scenarios: launching the drone when the winglet 2 is at a first angle, launching the drone at a second angle, and launching the drone during the dynamic process of the winglet 2 unfolding from the first angle to the second angle. Figure 11 As shown in the figure, the drone launch begins at time t=0 and ends at time t=0.1s. The time interval for wing 2 to unfold from the first included angle to the second included angle is from time t=0 to time t=1s. It can be clearly seen in the figure that the synchronous swinging of wing 2 during the launch of the drone can greatly reduce the drone's descent.

[0068] By launching the drone, the wing 2 is driven to swing in the opposite direction to the launch direction, thereby increasing the force between the wing 2 and the water in a dynamic process, counteracting the recoil force generated by the carrier during the launch of the drone, and greatly reducing the sinking of the carrier.

[0069] In this embodiment, when the UAV is launched, the carrier uses the drive mechanism 3 to make the wing 2 swing rapidly downward, which can effectively reduce the sinking of the carrier when the UAV is launched and prevent the nozzle of the launch tube 12 from being submerged in water. The value of the second included angle is set so that the carrier can always float on the water surface after the UAV is launched, which is conducive to the recovery of the carrier. At the same time, it also gives the carrier the potential to expand its communication relay function.

[0070] Furthermore, the drive mechanism 3 is controlled by the carrier's own control system. During the carrier's ascent, the distance sensor on the carrier detects the distance between the carrier and the water surface. When the distance is the trigger distance, the drive mechanism 3 drives the wing 2 to swing, so that the wing 2 unfolds 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 launch vehicle's ascent depth, first included angle, and launch vehicle structure are different. In addition, since the launch vehicle's speed decays very quickly after the wing 2 is deployed, launch vehicles of different masses can usually achieve speed stability within 0.5m. Therefore, setting the trigger distance to 1m is sufficient to meet the requirements.

[0072] Example 3:

[0073] Once the UAV is launched and the carrier is allowed to float horizontally, the drive mechanism 3 can be used solely for deploying and adjusting the deployment angle of the winglets 2, without needing to retract them. To address this functional requirement, the stability control method for the cross-medium UAV carrier in this embodiment optimizes the structure of the drive mechanism 3 based on the above embodiments, as follows:

[0074] like Figures 2-8 As shown, the drive mechanism 3 includes a slider 32 that is slidably mounted on the main structure 1. The slider 32 is elastically connected to the main structure 1 through an elastic body 33. It also includes a piston cylinder 31 that is hinged at both ends to the slider 32 and the wing 2 respectively.

[0075] A 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 vane 2.

[0076] During the ascent of the carrier, when it approaches the water surface, after the locking structure releases the limit on the slider 32, under the elastic force of the elastic body 33 and the impact of the water, the slider 32 moves to the second position along the axis 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] At the same time as the drone is launched, the piston rod of piston cylinder 31 extends, so that the wing 2 and the axis of the main structure 1 form a second angle.

[0078] The carrier's control module is electrically connected to the locking structure and 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 body 1; the locking structure is an actuating component with an automatic start function, such as a pin installed on the main body 1 that is driven by a cylinder. When the pin is inserted into the insertion hole on the slider 32, it limits the slider 32; when the pin is driven by the cylinder to move out of the insertion hole, it releases the limitation on the slider 32. The piston cylinder 31 is a pneumatic cylinder or a hydraulic cylinder.

[0079] The wing 2 is opened by elastic drive, and the wing 2 is quickly pushed open to the first angle by the impact force of water. The drive mechanism 3 has a simple structure, saves on the action drive components, and also ensures the response speed of the drive mechanism 3.

[0080] like Figure 5 , Figure 7 , Figure 8 As shown, a first limiting block 321 is provided at the second position. The first limiting 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 limiting block 322 installed on the main structure 1. When the slider 32 slides, it comes into contact with the second limiting block 322, which compresses the second limiting block 322. After the slider 32 passes the second limiting block 322, the second limiting block 322 resets, limiting the slider 32 between the first limiting block 321 and the second limiting block 322.

[0082] The second limiting block 322 has a wedge-shaped structure. After the inclined surface on the second limiting block 322 contacts the slider 32, the return spring in the second limiting block 322 is compressed. After the inclined surface flips, the slider 32 slides along the inclined surface toward the first limiting block 321. When the slider 32 passes the second limiting block 322, the second limiting block 322 is reset under the action of the return spring, limiting the slider 32 between the first limiting block 321 and the second limiting 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 compartment 13. The slider 32 is slidably connected to the sliding shaft 121, and the connecting end 21 is hinged to the tail compartment 13.

[0084] The cross-section of the sliding shaft 121 is smaller than that of the launch tube body 12 and the tail compartment 13. When the wing 2 retracts, the elastic body 33 is compressed, the slider 32 moves closer to the tail compartment 13, and the piston cylinder 31 is housed on one side of the sliding shaft 121 between the launch tube body 12 and the tail compartment 13.

[0085] The drive mechanism 3 is set on the sliding shaft 121 between the launch tube body 12 and the tail compartment 13, which simplifies the overall layout of the drive mechanism 3. The connecting end 21 is hinged to the tail compartment 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 launch vehicle in this embodiment has an underwater configuration and two surface configurations, and its actual operation includes the following stages:

[0087] 1. During the underwater motion phase, the carrier rises without power under the action of positive buoyancy. The wing 2 retracts and is locked by the locking structure in the drive mechanism 3. That is, the angle between the wing 2 and the launch tube body 12 is 0°. The carrier has a spin-type configuration, which can reduce the resistance it experiences during the underwater motion phase, increase the carrier's rising speed, and help stabilize its attitude.

[0088] Second, during the deceleration phase near the water surface, when the carrier is rising, 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, which locks the structure and causes the wing 2 to unfold to the first angle position under the action of the elastic body 33 and the water. The overall unfolding configuration is in a split shape, which increases the water resistance of the carrier and achieves the effect of terminal deceleration.

[0089] During the deceleration phase near the water surface, the launch vehicle reaches a high speed. Directly exiting the water would result in a secondary fall after takeoff, adversely affecting the drones inside. Therefore, when the launch vehicle reaches the water surface, the folded wing 2 is released. At this point, the slider 32 moves upward along the sliding axis 121 under the action of the elastic body 33, and the wing 2 unfolds at a small angle. Subsequently, the wing 2 continues to unfold outward under the push of the incoming flow until the slider 32 reaches the water surface. Figure 5 As shown in the second position, the sliding shaft 121 is provided with a first limiting block 321 and a second limiting block 322, which fixes the slider 32 at this specific position between the first limiting block 321 and the second limiting block 322, so that the unfolding angle of the wing 2 will no longer change.

[0090] Third, during the floating phase on the water surface, the deployment of wing 2 can increase the moment of inertia in the roll direction of the carrier, thereby improving the carrier's anti-roll performance. At the same time, when the carrier sways in a wave environment, the water resistance experienced by wing 2 can suppress the carrier's swaying, reduce the swaying amplitude of the UAV carrier, and thus increase the stability of the UAV carrier.

[0091] IV. In existing technologies, during the launch phase of a UAV, due to the miniaturized and lightweight design of the launch vehicle, the launch vehicle will sink significantly under the recoil force, and the launch nozzle will be submerged in water. In this invention, at the same time as the UAV is launched, the piston cylinder 31 will quickly extend to its longest state, and the four blades 2 will quickly swing downwards. The hydrodynamic resistance of the blades 2 in the water will counteract the recoil force, greatly reducing the sinking of the launch vehicle and improving attitude stability.

[0092] The stabilization control method for the cross-media UAV carrier in this embodiment includes the following steps in the specific workflow for launching the UAV:

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

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

[0095] Step 3: Ascend to near the water surface, the drone carrier begins to switch between underwater and surface configurations, with wing 2 unfolding to the first angle. The carrier begins to decelerate until it is completely above the water surface, and the drone carrier begins to enter the floating phase on the water surface.

[0096] Step 4: After the UAV carrier receives the launch command, the power unit starts, and at the same time, the wing 2 swings rapidly downward to the second included angle under the action of the drive mechanism 3;

[0097] Step 5: The UAV is launched into the air. The launch tube of the carrier is not submerged in water. The UAV carrier continues to float and can serve as a communication relay station between the UAV in the air and underwater UUV, submarine and other platforms to realize cross-media data communication function.

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

[0099] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A method for stabilizing and controlling a cross-medium unmanned aerial vehicle (UAV) carrier, characterized in that: The main structure (1) of the launch vehicle includes a launch tube (12), a head cover (11) is provided at one end of the launch tube (12), and a tail compartment (13) is provided at the other end of the launch tube (12). It also includes multiple winglets (2) distributed around the outer periphery of the launch tube (12). The number of winglets (2) is greater than or equal to three. One end of the winglet (2) is a connecting end (21) that is hinged to the main structure (1). The connecting end (21) is located in the direction of the tail compartment (13) along the axis of the main structure (1). When the winglets (2) are retracted, the launch vehicle as a whole has a rotating body configuration. The method includes the following steps: Before the carrier launches the UAV, the drive mechanism (3) drives the wing (2) to swing, so that multiple wing (2) unfold synchronously, and the multiple wing (2) are in a petal shape with the axis of the main structure (1) as the center; With multiple winglets (2) arranged in a segmented shape positioned on the water surface, and the winglets (2) assisting in maintaining the orientation of the launch tube (12), the drone is launched; The drive mechanism (3) includes a slider (32) that is slidably mounted on the main structure (1). The slider (32) is elastically connected to the main structure (1) through an elastic body (33). It also includes a piston cylinder (31) that is hinged at both ends to the slider (32) and the wing (2) respectively. The slider (32) is limited to the first position by 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); During the ascent of the carrier, when it approaches the water surface, after the locking structure releases the limit of the slider (32), under the elastic force of the elastic body (33) and the impact of the water, the slider (32) moves to the second position along the axis of the main structure (1), so that the wing (2) and the axis of the main structure (1) form the first angle. The piston rod of the piston cylinder (31) extends out, so that the wing (2) and the axis of the main structure (1) form a second angle.

2. The stabilization control method for a cross-medium unmanned aerial vehicle as described in claim 1, characterized in that: During the ascent of the carrier, when it approaches the water surface, the drive mechanism (3) drives the wing (2) to swing, so that the wing (2) unfolds to the first angle between the wing (2) and the axis of the main structure (1), the first angle being less than or equal to 90°, so that the carrier decelerates to the equilibrium speed and floats on the water surface at a constant speed during the ascent of the carrier.

3. The stabilization control method for a cross-medium unmanned aerial vehicle as described in claim 2, characterized in that: While launching the drone, the drive mechanism (3) drives the wing (2) to swing, so that the wing (2) unfolds from the first angle to the second angle between the wing (2) and the axis of the main structure (1), the second angle being greater than 90° and less than or equal to 180°.

4. The stabilization control method for a cross-medium unmanned aerial vehicle as described in claim 3, characterized in that: During the ascent 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 drive mechanism (3) drives the wing (2) to swing, so that the wing (2) unfolds to form a first angle with the axis of the main structure (1).

5. The stabilization control method for a cross-medium unmanned aerial vehicle as described in claim 1, characterized in that: A first limiting block (321) is provided at the second position. The first limiting block (321) is fixed on the main structure (1) and is used to limit the extreme movement position of the slider (32).

6. The stabilization control method for a cross-medium unmanned aerial vehicle as described in claim 5, characterized in that: It also includes a second limiting block (322) installed on the main structure (1). When the slider (32) slides, it comes into contact with the second limiting block (322), causing the second limiting block (322) to be compressed. After the slider (32) passes the second limiting block (322), the second limiting block (322) resets, limiting the slider (32) between the first limiting block (321) and the second limiting block (322).

7. The stabilization control method for a cross-medium unmanned aerial vehicle as described in claim 1, 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 compartment (13), the slider (32) is slidably connected to the sliding shaft (121), and the connecting end (21) is hinged to the tail compartment (13).

8. The stabilization control method for a cross-medium unmanned aerial vehicle as described in claim 1, characterized in that: When the wing (2) is retracted, 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 (12) is the inner surface (22). The inner surface (22) has an extended width along the direction perpendicular to the axial direction of the main structure (1). The side of the wing (2) away from the launch tube (12) is the outer surface (23). The outer surface (23) matches the spin-forming body configuration. During the unfolding process of the wing (2), the angle between the inner surface (22) of each wing (2) and the axial direction of the main structure (1) is equal and gradually increases.

9. The stabilization control method for a cross-medium unmanned aerial vehicle as described in claim 8, 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 (12).

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