Aerial survey device and method for a cross-media water-air vehicle

Abstract

The present invention relates to the technical field of aerial survey of water-air vehicles, and discloses a cross-medium water-air vehicle aerial survey device, which includes an aircraft body and an aerial survey camera body. The front and rear sides of the aerial survey camera body are dynamically and balancedly connected to both sides of the bottom of the middle position of the outer surface of the aircraft body through a semi-submersible balance mechanism. For this cross-medium water-air vehicle aerial survey device, through the use of a single-axis electric rotating base, a connecting frame I, a buoy, a connecting frame II, and damping fins, when semi-submerged, the position of the buoy can be completely floating on the water surface, and the position of the damping fins is underwater. When the water surface fluctuates, it can offset the vertical jitter of the waves, and when impacted by the water flow, it can suppress the horizontal rotation, achieving a more stable effect during semi-submerged aerial survey. Furthermore, it solves the problem of how to ensure the aerial survey effect during semi-submerged aerial survey, can achieve a more stable position of the aerial survey camera body during semi-submerged aerial survey, and reduces the misjudgment rate in practice.

Description

Technical Field

[0001] The invention relates to the technical field of water-air aircraft aerial surveying, and in particular to a cross-medium water-air aircraft aerial surveying device and method. Background Art

[0002] A cross-media water-air vehicle is an advanced aircraft that can freely switch between the medium of motion in water and air. It combines the technical characteristics of underwater submersibles and aerial aircraft. This type of aircraft is widely used in military, scientific research, rescue and environmental monitoring fields. When in use, the cross-media water-air vehicle will be used to carry out related aerial survey operations, perform integrated environmental monitoring, terrain mapping or target reconnaissance tasks from underwater to air, and combine the advantages of underwater detection and aerial remote sensing. It is used in complex waters, coastal areas or disaster emergency scenarios.

[0003] The existing cross-media water-air aircraft aerial survey process is usually divided into several stages: first, sonar or optical equipment is used underwater to detect targets and scan terrain; then aerial survey operations of the corresponding targets are carried out in a semi-submerged state, and then the buoyancy is adjusted or the power is switched to break through the water surface and enter the air mode; finally, after taking off, optical cameras, LIDAR or SAR are used to conduct large-scale high-precision mapping, and the data is transmitted back through wireless communication.

[0004] When a cross-medium water-air aircraft is in a semi-submerged state (part of the fuselage is above the water surface and part is underwater) for aerial surveying, the aerial surveying operation is performed directly through the aerial surveying device, which will generate water surface ripples. The water surface ripples will randomly refract light, causing the target objects photographed underwater to appear distorted, misplaced or ghosted, making it difficult to accurately align and splice the images, affecting the subsequent three-dimensional modeling or mapping accuracy, and the shooting of the above-water part may be overexposed due to water surface reflections (mirror reflections), reducing the availability of the overall image, and the dynamic noise caused by the ripples will interfere with the computer vision algorithm and increase the misjudgment rate. Although the water surface ripples can be offset, when flying after the semi-submerged state ends, the components that offset the water surface ripples will still affect the stability of the flight and increase the damping of the aircraft during flight, which will lead to the overall flight effect of the aircraft and the corresponding poor use effect.

[0005] When the aircraft emerges from the water, the tail of the aircraft will be dragged by the water body, resulting in an excessive emergence elevation angle, and then serious dynamic stability problems occur. Moreover, the nose will sharply pitch up due to the sudden reduction of fluid resistance, triggering pitch oscillation or even stall. At the same time, the asymmetric release of the water load at the tail will cause lateral roll or yaw out of control, increasing the risk of crashing. In addition, emerging from the water at a large elevation angle will significantly increase the load of the propulsion system and cause the occurrence of sensor data distortion due to violent attitude changes. Although it is possible to adjust the pressure change at the front and rear ends of the aircraft to avoid excessive phenomena such as the elevation angle, during the pressure adjustment change, it cannot be linked with the flight wing of the aircraft, thus further improving the stability problem during flight. Therefore, it will reduce the safety during aerial survey flight and also reduce the flight effect of aerial survey in practice. Summary of the Invention

[0006] Aiming at the deficiencies of the prior art, the present invention provides an aerial survey device for a cross-medium water-air aircraft, which has the advantages of avoiding poor aerial survey effect under the semi-submerged device and being more stable and safe when emerging from the water, and solves the problems raised in the background technology.

[0007] The present invention provides the following technical solution: an aerial survey device for a cross-medium water-air aircraft, including an aircraft main body and an aerial survey camera main body. The two sides of the bottom of the middle position on the outer surface of the aircraft main body are dynamically and balancedly connected with the front and rear sides of the aerial survey camera main body through a semi-submerged balance mechanism;

[0008] The buoyancy control end of the semi-submerged balance mechanism is connected with a buoyancy cylinder mechanism that converts buoyancy into a balance force. The buoyancy cylinder mechanism drives a dislocation mechanism to perform balance adjustment on the front and rear sides of the aerial survey camera main body through buoyancy;

[0009] The dislocation mechanism controls the balance of the aerial survey camera main body in the semi-submerged state through different buoyancies of the water surface fluctuations;

[0010] The semi-submerged balance mechanism is composed of a buoyancy cylinder mechanism and a dislocation mechanism.

[0011] Preferably, an emergence flight adjustment mechanism is arranged on the outer surface of the right end of the aircraft main body. The emergence flight adjustment mechanism includes a fixed rod, an adjustment aileron, an electric slide rail II, a ballast block, a connecting rack II, and a connecting gear II. The bottom of the electric slide rail II is fixedly connected with the top of the outer surface of the aircraft main body. The inner part of the bottom end of the ballast block is slidably connected with the outer surface of the electric slide rail II. The bottom of the connecting rack II is fixedly installed on the upper surface of the ballast block. The outer surface of the connecting gear II is meshed with the upper surface of the connecting rack II. The outer surface of the fixed rod is fixedly installed inside the connecting gear II. The inner part of the adjustment aileron is fixedly installed on the outer surface of the fixed rod.

[0012] Preferably, the buoyancy mechanism includes a single-axis electric rotating base, a first connecting frame, a buoy, a second connecting frame, and damping fins. The back surface of the single-axis electric rotating base is fixedly connected to the outer surface of the aircraft body. One side of the first connecting frame is fixedly installed on the left side of the single-axis electric rotating base. One side of the second connecting frame is fixedly installed on the right side of the single-axis electric rotating base. Both sides of the upper surface of the buoy are fixedly connected to the first connecting frame and the bottom of the buoy. The upper surface of the damping fins is fixedly installed on the bottom of the outer surface of the buoy.

[0013] Preferably, the dislocation mechanism includes a first electric slide rail, a sliding connecting plate, a first connecting rack, a first connecting gear, a connecting rod, and a receiving frame. The upper surface of the receiving frame is fixedly installed on the outer surface of the aircraft body. The outer surface of the connecting rod is rotatably connected to the inside of the receiving frame. The back surface of the first electric slide rail is fixedly connected to the right side of the front surface of the aerial survey camera body. The inside of the sliding connecting plate is slidably connected to the outer surface of the first electric slide rail. The left side of the first connecting rack is fixedly installed on the right side of the sliding connecting plate. The outer surface of the first connecting gear meshes with the back surface of the first connecting rack, and the inside of the first connecting gear is fixedly connected to the outer surface of the connecting rod. An aerial survey shooting head is arranged on the left side of the aerial survey camera body. The right side of the front surface of the aerial survey camera body is attached to the back surface of the sliding connecting plate. The right side of the aerial survey camera body is fixedly installed at one end of the connecting rod.

[0014] Preferably, two groups of main wings are symmetrically arranged on the outer surface of the left end of the aircraft body.

[0015] Preferably, a first fixing plate is fixedly installed at the bottom of the outer surface of the right end of the aircraft body. A driving housing is fixedly installed at the bottom of the first fixing plate. Two groups of second fixing plates are fixedly installed on the outer surface of the driving housing, and the opposite sides of the two groups of second fixing plates are fixedly connected to the outer surface of the driving housing. An underwater propeller is arranged inside the driving housing.

[0016] Preferably, a protective housing is fixedly installed on the upper surface of the right end of the aircraft body. The inside of the protective housing is rotatably connected to the outer surface of a fixing rod.

[0017] Preferably, tail wings are arranged on both sides of the right end of the aircraft body. A fixing frame is fixedly installed on the upper surface of the tail wing. The inside of the fixing frame is rotatably connected to the outer surface of the fixing rod.

[0018] Preferably, four groups of universal joints are fixedly installed on the lower surface of the aircraft body, and the four groups of universal joints are fixedly connected to the four sides of the upper surface of the aerial survey camera body.

[0019] Preferably, the present invention also provides a method for aerial survey of a cross-media water-air aircraft, including the following specific steps:

[0020] S1. During aerial survey, the aircraft body is flown in the air as a whole, and the flight operation is performed by its own power. The aerial survey camera body and the aerial survey camera head are used for aerial survey operation.

[0021] S2. During underwater aerial survey, turn off the power of the aircraft body, and use the power of the driving shell and underwater propeller to drive the whole body forward underwater to perform aerial survey operations.

[0022] S3. Semi-submerged aerial survey and water surface fluctuation interference processing, so that half of the whole body is in the water and half in the air, driving the aerial survey camera body and the aerial survey head to conduct surveying and mapping. The electric slide rail on one side of the aerial survey camera body drives the sliding connection plate to descend, and the connecting rack 1 meshes with the connecting gear 1, driving the connecting rack 1 to descend. The connecting rod rotates on the inner wall of the receiving frame to change the position of the aerial survey camera body. The single-axis electric rotating seat lowers the position of the buoy so that it abuts against the connecting rack 1, and shuts off the power of the buoy and the electric slide rail. The buoy floats completely above the water surface, and its bottom connecting frame 2 generates a reverse torque when impacted by the water flow, suppressing horizontal rotation and preliminarily ensuring the stability of surveying and mapping. The driving shell and underwater propellers move forward to generate water surface fluctuations, driving the buoys to float up and down, and offsetting the vertical shaking of the water surface waves. Through the universal joint between the aircraft body and the aerial survey camera body, the shaking of the aerial survey camera body is reduced to avoid affecting the surveying and mapping of the aerial survey head. The driving shell and underwater propellers promote the advancement of the aircraft body, and the aerial survey head performs aerial survey operations.

[0023] S4. Surface flight and water exit operation after the completion of aerial survey. After the survey is completed, the main body of the aircraft leaves the water surface for aerial flight. The single-axis electric rotating seat drives the two sets of buoys to move to both sides of the main body of the aircraft. The electric slide rail 1 drives the sliding connecting plate to rise. The connecting rack 1 meshes with the connecting gear 1 to drive the connecting rack 1 to rise. The connecting rod rotates on the inner wall of the receiving frame to balance the main body of the aerial survey camera. The underwater propeller power is turned off. The electric slide rail 2 on the outer surface of the main body of the aircraft drives the ballast block to move backward to ballast the rear end of the main body of the aircraft to avoid excessive elevation angle. When the ballast block moves backward, the connecting rack 2 meshes with the connecting gear 2 to drive the internal fixed rod of the connecting gear 2 to rotate in the protective shell and the inner wall of the fixed frame, and simultaneously drives the outer surface of the fixed rod to adjust the aileron angle change to further avoid flight difficulties caused by excessive elevation angle. After the main body of the aircraft completely rushes out of the water, the ballast block is moved forward to synchronously drive the adjustment of the aileron angle change to enhance the control of the angle during flight and ensure flight stability.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. This cross-medium water-air vehicle aerial survey device can, through the use of a single-axis electric rotating base, connecting frame 1, buoy, connecting frame 2, and damping fins, fully float the buoy on the water surface during semi-submergence, with the damping fins positioned underwater. When the water surface fluctuates, it can counteract the vertical jitter of the waves, and when impacted by water flow, it can suppress horizontal rotation, achieving a more stable effect during semi-submerged aerial survey. Through the use of electric slide rail 1, sliding connection plate, connecting rack 1, connecting gear 1, connecting rod, and receiving frame, during aerial survey, the forces of electric slide rail 1 and the single-axis electric rotating base can be turned off, so that the movement of the aerial survey camera body can be affected by the up and down floating of the buoy, avoiding the impact of water surface fluctuations on aerial survey, achieving an efficient aerial survey effect. And after semi-submergence, through the forces of electric slide rail 1 and the single-axis electric rotating base, the position of connecting rack 1 can be separated from contact with the buoy, and then the position of the buoy can be moved up to the side of the aircraft body, thus avoiding the problem of large resistance during flight. Through the function of the universal joint, connecting the universal joint between the aircraft body and the aerial survey camera body can achieve a more efficient effect during aerial survey, actively offsetting phenomena such as pitching generated by the aircraft in a complex environment, thus solving the problem of how to ensure the aerial survey effect during semi-submerged aerial survey, achieving a more stable position of the aerial survey camera body during semi-submerged aerial survey, reducing the misjudgment rate in practice, improving the accuracy of aerial survey, facilitating the improvement of the aerial survey effect in practice, and improving the precision during aerial survey.

[0026] 2. This cross-medium water-air vehicle aerial survey device can, through the use of electric slide rail 2, ballast block, connecting rack 2, protective shell, and connecting gear 2, move the ballast block backward during water exit, achieving the effect of avoiding the excessive elevation angle during water exit from affecting flight. Through the use of a fixed frame, fixed rod, and adjustable aileron, while changing the position of electric slide rail 2, the angle of the adjustable aileron can be synchronously changed, achieving the effect of enhancing the control of pitching during flight and improving the flight stability in practice, thus solving the problem of how to reduce the drag on the tail of the aircraft body during water exit. It can achieve a more stable state of the aircraft body during water exit, avoid the flight balance of the aircraft body being affected by an excessive elevation angle during water exit, improve the safety in practice, and also improve the flight effect during water exit. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of the overall structure of the device of the present invention;

[0028] Figure 2 For the present invention Figure 1 is a schematic side view structure diagram;

[0029] Figure 3 For the present invention Figure 1 is a schematic bottom view structure diagram;

[0030] Figure 4 For the present invention Figure 1 is a schematic structural diagram of the semi-submerged balance mechanism;

[0031] Figure 5 For the present invention Figure 4 is a schematic diagram of the local structure;

[0032] Figure 6 For the present invention Figure 1 is a schematic structural diagram of the water-emergence flight adjustment mechanism;

[0033] Figure 7 For the present invention Figure 6 is a schematic diagram of the partial structure.

[0034] In the figure: 1. Aircraft main body; 2. Main wing; 3. Fixed plate 1; 4. Fixed plate 2; 5. Driving housing; 6. Underwater propeller; 7. Single-axis electric rotating seat; 8. Connecting frame 1; 9. Buoy; 10. Connecting frame 2; 11. Damping fin; 12. Universal joint; 13. Aerial survey camera main body; 14. Electric slide rail 1; 15. Sliding connection plate; 16. Connecting rack 1; 17. Connecting gear 1; 18. Connecting rod; 19. Bearing frame; 20. Tail wing; 21. Fixed frame; 22. Fixed rod; 23. Adjusting aileron; 24. Electric slide rail 2; 25. Ballast; 26. Connecting rack 2; 27. Protective shell; 28. Connecting gear 2; 29. Aerial survey shooting head; 30. Semi-submerged balance mechanism; 31. Water-emergence flight adjustment mechanism. Specific embodiments

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0036] Please refer to Figure 2 , Figure 4 and Figure 5 , an aerial survey device for a cross-media water-air aircraft, comprising an aircraft main body 1 and an aerial survey camera main body 13. The front and rear sides of the aerial survey camera main body 13 are dynamically and balancedly connected to the two sides at the bottom of the middle position on the outer surface of the aircraft main body 1 through a semi-submerged balance mechanism 30;

[0037] A buoyancy control end of the semi-submerged balance mechanism 30 is connected with a buoy mechanism that converts buoyancy into a balancing force. The buoy mechanism drives a dislocation mechanism to perform balance adjustment on the front and rear sides of the aerial survey camera main body 13 through buoyancy;

[0038] The dislocation mechanism controls the balance of the aerial survey camera main body 13 in the semi-submerged state by means of different buoyancies caused by water surface fluctuations;

[0039] The semi-submerged balance mechanism 30 is composed of a buoy mechanism and a dislocation mechanism;

[0040] The buoy mechanism includes a single-axis electric rotating base 7, a connecting frame one 8, a buoy 9, a connecting frame two 10 and damping fins 11. The back surface of the single-axis electric rotating base 7 is fixedly connected to the outer surface of the aircraft main body 1. One side of the connecting frame one 8 is fixedly installed on the left side of the single-axis electric rotating base 7. One side of the connecting frame two 10 is fixedly installed on the right side of the single-axis electric rotating base 7. Both sides of the upper surface of the buoy 9 are fixedly connected to the bottom of the connecting frame one 8 and the buoy 9. The upper surface of the damping fins 11 is fixedly installed on the bottom of the outer surface of the buoy 9. The dislocation mechanism includes an electric slide rail one 14, a sliding connecting plate 15, a connecting rack one 16, a connecting gear one 17, a connecting rod 18 and a bearing frame 19. The upper surface of the bearing frame 19 is fixedly installed on the outer surface of the aircraft main body 1. The outer surface of the connecting rod 18 is rotatably connected to the inside of the bearing frame 19. The back surface of the electric slide rail one 14 is fixedly connected to the right side of the front surface of the aerial survey camera main body 13. The inside of the sliding connecting plate 15 is slidably connected to the outer surface of the electric slide rail one 14. The left side of the connecting rack one 16 is fixedly installed on the right side of the sliding connecting plate 15. The outer surface of the connecting gear one 17 is meshed with the back surface of the connecting rack one 16, and the inside of the connecting gear one 17 is fixedly connected to the outer surface of the connecting rod 18. An aerial survey shooting head 29 is arranged on the left side of the aerial survey camera main body 13. The right side of the front surface of the aerial survey camera main body 13 is attached to the back surface of the sliding connecting plate 15. The right side of the aerial survey camera main body 13 is fixedly installed at one end of the connecting rod 18. Four groups of universal joints 12 are fixedly installed on the lower surface of the aircraft main body 1, and all four groups of universal joints 12 are fixedly connected to the periphery of the upper surface of the aerial survey camera main body 13.

[0041] Among them, through the combined use of the single-axis electric rotating base 7, the first connecting frame 8, the second connecting frame 10 and the buoy 9, the effect of flexibly adjusting the position of the buoy 9 is achieved. When semi-submerged aerial survey is required, the buoy 9 can be adjusted to a suitable position to provide buoyancy support. When the aircraft body 1 is flying in the air, the buoy 9 can be moved to both sides of the aircraft body 1 to reduce air resistance. Through the combined use of the damping fin 11 and the buoy 9, the effect of generating a reverse torque when impacted by water flow is achieved, which can inhibit the horizontal rotation of the aircraft body 1, initially ensure the stability of the surveying and mapping, and reduce the impact on the aerial survey accuracy caused by horizontal rotation. Through the combined use of the receiving frame 19, the connecting rod 18, the first connecting gear 17, the first connecting rack 16, the first electric slide rail 14, the sliding connecting plate 15 and the aerial survey camera body 13, during the aerial survey process, when disturbed by water surface fluctuations, the first electric slide rail 14 and the single-axis electric rotating base 7 are closed, so that the buoy 9 abuts against the position of the sliding connecting plate 15, making the first connecting rack 16 engage with the first connecting gear 17, driving the position of the first connecting rack 16 to descend, and then driving the connecting rod 18 to rotate inside the inner wall of the receiving frame 19, changing the position of the aerial survey camera body 13 to offset the interference of water surface fluctuations. Through the combined use of the universal joint 12 and the aerial survey camera body 13, the effect of enhancing the stability of the aerial survey camera body 13 is achieved. During the aerial survey process, even if impacted by vibration or shock, the buffering effect of the universal joint 12 can reduce the shaking of the aerial survey camera body 13 and ensure the accuracy of the surveying and mapping.

[0042] Please refer to Figure 6 and Figure 7 As shown in FIGS. and, an underwater flight adjustment mechanism 31 is provided on the outer surface of the right end of the aircraft body 1. The underwater flight adjustment mechanism 31 includes a fixed rod 22, an adjustment aileron 23, a second electric slide rail 24, a ballast 25, a second connecting rack 26 and a second connecting gear 28. The bottom of the second electric slide rail 24 is fixedly connected to the top of the outer surface of the aircraft body 1. The inside of the bottom end of the ballast 25 is slidably connected to the outer surface of the second electric slide rail 24. The bottom of the second connecting rack 26 is fixedly installed on the upper surface of the ballast 25. The outer surface of the second connecting gear 28 meshes with the upper surface of the second connecting rack 26. The outer surface of the fixed rod 22 is fixedly installed inside the second connecting gear 28. The inside of the adjustment aileron 23 is fixedly installed on the outer surface of the fixed rod 22. A protective shell 27 is fixedly installed on the upper surface of the right end of the aircraft body 1. The inside of the protective shell 27 is rotatably connected to the outer surface of the fixed rod 22. Tail fins 20 are provided on both sides of the right end of the aircraft body 1. A fixed frame 21 is fixedly installed on the upper surface of the tail fin 20. The inside of the fixed frame 21 is rotatably connected to the outer surface of the fixed rod 22.

[0043] Among them, by the combined use of the electric slide rail two 24 and the ballast block 25, the effect that the ballast block 25 can move flexibly on the electric slide rail two 24 is achieved. Thus, according to the requirements of the aircraft body 1 in different stages, such as the process of breaking through the water surface and after completely breaking through the water surface, the position of the ballast block 25 can be accurately adjusted to realize the dynamic adjustment of the center of gravity of the aircraft body 1. By the combined use of the ballast block 25, the connecting rack two 26 and the connecting gear two 28, the effect that the linear motion of the ballast block 25 is converted into the rotational motion of the connecting gear two 28 is achieved, so that the change in the position of the ballast block 25 can drive the connecting gear two 28 to rotate, realizing the transmission and conversion of force, and providing power for the subsequent adjustment of the angle of the aileron 23. By the combined use of the connecting gear two 28, the fixed rod 22 and the aileron 23, the effect that the rotational motion of the connecting gear two 28 is transmitted to the aileron 23 is achieved, so that the aileron 23 can change the angle as the connecting gear two 28 rotates, thereby adjusting the flight attitude of the aircraft body 1 and ensuring the stability and controllability of flight.

[0044] Please refer to Figure 1 、 Figure 2 and Figure 3 As shown in, two groups of main wings 2 are symmetrically arranged on the outer surface of the left end of the aircraft body 1. A fixing plate one 3 is fixedly installed at the bottom of the outer surface of the right end of the aircraft body 1. A driving housing 5 is fixedly installed at the bottom of the fixing plate one 3. Two groups of fixing plates two 4 are fixedly installed on the outer surface of the driving housing 5, and the relative sides of the two groups of fixing plates two 4 are fixedly connected to the outer surface of the driving housing 5. An underwater propeller 6 is arranged inside the driving housing 5.

[0045] Among them, by the combined use of the main wings 2 and the aircraft body 1, the effect of providing lift for the aircraft body 1 to fly in the air is achieved, so that the aircraft body 1 can overcome gravity by the lift generated by the main wings 2 and maintain a flight state in the air to realize normal aerial survey operations. By the combined use of the fixing plate one 3, the driving housing 5 and the fixing plate two 4, the effect of further enhancing the installation stability of the driving housing 5 is achieved. The fixing plate two 4 reinforces the driving housing 5 from both sides, so that the driving housing 5 can withstand greater water flow impact during the operation of the aircraft body 1, especially during underwater navigation, and ensure the normal operation of the underwater propeller 6. By the combined use of the driving housing 5 and the underwater propeller 6, the effect of providing power for the aircraft body 1 to navigate underwater is achieved. The underwater propeller 6 can rotate efficiently under the protection of the driving housing 5, pushing the aircraft body 1 to move forward underwater to realize underwater survey operations. At the same time, the driving housing 5 can also prevent the underwater propeller 6 from being collided and damaged by external objects.

[0046] The present invention also proposes a cross-media water-air aircraft aerial survey method, including the following specific steps:

[0047] S1. When conducting aerial survey, the main body 1 of the aircraft is flown in the air as a whole, and flight operations are carried out by its own power. Aerial survey operations are carried out using the aerial survey camera main body 13 and the aerial survey shooting head 29.

[0048] S2. When conducting underwater survey, the power of the main body 1 of the aircraft is turned off. Through the driving action of the driving shell 5 and the underwater propeller 6, the whole is driven to move forward underwater for survey operations.

[0049] S3. Semi-submerged survey and treatment of water surface fluctuation interference. Make half of the whole in water and half in air, drive the aerial survey camera main body 13 and the aerial survey shooting head 29 for surveying and mapping. The electric slide rail 1 on one side of the aerial survey camera main body 13 drives the sliding connecting plate 15 to descend. The connecting rack 16 meshes with the connecting gear 17, driving the connecting rack 16 to descend. The connecting rod 18 rotates inside the inner wall of the receiving frame 19, changing the position of the aerial survey camera main body 13. The single-axis electric rotating seat 7 lowers the position of the floating cylinder 9 so that it abuts against the connecting rack 16, and the power of the floating cylinder 9 and the electric slide rail 1 is turned off. The floating cylinder 9 floats completely on the water surface. The connecting frame 2 on its bottom generates a reverse torque when impacted by water flow, inhibiting horizontal rotation and initially ensuring the stability of surveying and mapping. The driving shell 5 and the underwater propeller 6 move forward to generate water surface fluctuations, driving the floating cylinder 9 to float up and down, offsetting the vertical jitter of the water waves. Through the universal joint 12 between the main body 1 of the aircraft and the aerial survey camera main body 13, the shaking of the aerial survey camera main body 13 is reduced, avoiding affecting the surveying and mapping of the aerial survey shooting head 29. The driving shell 5 and the underwater propeller 6 promote the forward movement of the main body 1 of the aircraft, and the aerial survey shooting head 29 conducts aerial survey operations.

[0050] S4. Water surface flight and take-out operation after aerial survey. After the surveying and mapping is completed, the main body 1 of the aircraft leaves the water surface for aerial flight. The single-axis electric rotating seat 7 drives the two groups of floating cylinders 9 to move to both sides of the main body 1 of the aircraft. The electric slide rail 1 drives the sliding connecting plate 15 to rise. The connecting rack 16 meshes with the connecting gear 17, driving the connecting rack 16 to rise. The connecting rod 18 rotates inside the inner wall of the receiving frame 19, and the position of the aerial survey camera main body 13 is placed in balance. The power of the underwater propeller 6 is turned off. The electric slide rail 2 on the outer surface of the main body 1 of the aircraft drives the ballast block 25 to move backward, pressing the rear end of the main body 1 of the aircraft to avoid excessive elevation angle. When the ballast block 25 moves backward, the connecting rack 26 meshes with the connecting gear 28, driving the fixed rod 22 inside the connecting gear 28 to rotate inside the inner walls of the protective shell 27 and the fixed frame 21, synchronously driving the angle change of the adjusting aileron 23 on the outer surface of the fixed rod 22, further avoiding difficulties in flight caused by excessive elevation angle. After the main body 1 of the aircraft completely breaks through the water surface, the position of the ballast block 25 is moved forward, synchronously driving the angle change of the adjusting aileron 23, enhancing the control of the angle during flight and ensuring flight stability.

[0051] Working principle: When in use, during aerial photogrammetry, the main body 1 of the aircraft can fly in the air as a whole, perform flight operations through its own power, and then perform photogrammetry operations through the action of the main body 13 of the photogrammetry camera and the photogrammetry shooting head 29. When diving into the water for photogrammetry, the own power of the main body 1 of the aircraft can be turned off, and the whole can be driven to move forward underwater through the power action of the driving housing 5 and the underwater propeller 6, so as to perform photogrammetry operations. Then, when performing semi-submerged photogrammetry operations, make the whole half in the water and half in the air, drive the positions of the main body 13 of the photogrammetry camera and the photogrammetry shooting head 29 for surveying and mapping. When performing forward surveying and mapping, it is easily interfered by the water surface fluctuations. For this reason, through the power action of the electric slide rail 1 fixedly installed on one side of the main body 13 of the photogrammetry camera, the position of the sliding connecting plate 15 slidably connected to the outer surface of the electric slide rail 1 can be driven to descend. When the position of the sliding connecting plate 15 descends, the connecting rack 16 and the connecting gear 17 are engaged, and then the position of the connecting rack 16 can be driven to descend synchronously. The position of the connecting rod 18 fixedly installed inside the connecting gear 17 rotates on the inner wall of the receiving frame 19, so that the position of the main body 13 of the photogrammetry camera changes. Then, through the power action of the single-axis electric rotating seat 7, the position of the floating cylinder 9 is lowered, so that the floating cylinder 9 abuts against the connecting rack 16. After that, the power of the floating cylinder 9 and the electric slide rail 1 is turned off. When the position of the floating cylinder 9 descends, the position of the floating cylinder 9 is completely floating on the water surface. And through the action of the connecting frame 2 10 arranged at the bottom of the floating cylinder 9, a reverse torque will be generated when impacted by the water flow, and thus the horizontal rotation can be inhibited, initially ensuring the stability of the surveying and mapping. After that, when performing photogrammetry, the whole will generate water surface fluctuations when advancing through the driving housing 5 and the underwater propeller 6. The floating cylinder 9 can be driven to float up and down by the water surface fluctuations, offsetting the vertical jitter of the water surface waves. And through the action of the universal joint 12 connecting the main body 1 of the aircraft and the main body 13 of the photogrammetry camera, the shaking of the main body 13 of the photogrammetry camera can be reduced, avoiding the influence on the surveying and mapping of the photogrammetry shooting head 29. Then, the arrangement of the driving housing 5 and the underwater propeller 6 at the bottom on the right side of the main body 1 of the aircraft can promote the forward movement of the main body 1 of the aircraft. When the main body 1 of the aircraft advances, the photogrammetry operation can be performed again through the photogrammetry shooting head 29. After that, after the surveying and mapping is completed, when the main body 1 of the aircraft leaves the water surface and performs aerial flight, through the power of the single-axis electric rotating seat 7, the positions of the two floating cylinders 9 are driven to move to both sides of the main body 1 of the aircraft. Then, through the power action of the electric slide rail 1, the position of the sliding connecting plate 15 slidably connected to the outer surface of the electric slide rail 1 is driven to rise. When the position of the sliding connecting plate 15 rises, the connecting rack 16 and the connecting gear 17 are engaged, and then the position of the connecting rack 16 can be driven to rise synchronously, and the position of the connecting rod 18 fixedly installed inside the connecting gear 17 rotates on the inner wall of the receiving frame 19. One end of the connecting rod 18 is fixedly installed on the right side of the main body 13 of the photogrammetry camera, and the position of the main body 13 of the photogrammetry camera can be placed in balance.After that, the power of the underwater propeller 6 is turned off, and the aircraft body 1 can be flown out of the water by the power of the aircraft body 1 itself. While flying out of the water, the position of the ballast block 25 can be moved backward by the power of the electric slide rail 24 arranged on the outer surface of the aircraft body 1, and the rear end of the aircraft body 1 is ballasted to avoid excessive elevation angle. At the same time as the position of the ballast block 25 is moved backward, the upper surface of the connecting rack 26 is meshed with the outer surface of the connecting gear 28. When meshing, the fixed rod 22 fixedly installed inside the connecting gear 28 can be driven to rotate on the inner wall of the protective shell 27 and the fixing frame 21, and the angle of the adjusting aileron 23 fixedly installed on the outer surface of the fixed rod 22 can be changed synchronously, further avoiding the problem of difficulty in flying caused by excessive elevation angle. After the aircraft body 1 completely rushes out of the water, the position of the ballast block 25 is moved forward, and the angle of the adjusting aileron 23 is driven to change synchronously, thereby enhancing the control of the angle during flight and ensuring the stability during flight.

[0052] It should be noted that the electrical components and electrical equipment mentioned above all use external power supplies. The circuits, electronic components and modules involved in the present invention are all prior art, which can be fully implemented by those skilled in the art. Needless to say, the content protected by the present invention does not involve improvements to internal structures and methods. In addition, 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 such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0053] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An aerial survey device for a cross-medium water-air vehicle, characterized in that: It includes an aircraft body (1) and an aerial survey camera body (13). The two sides of the bottom at the center position of the outer surface of the aircraft body (1) are dynamically and balancedly connected to the front and rear sides of the aerial survey camera body (13) through a semi-submerged balancing mechanism (30). A buoyancy control end of the semi-submerged balancing mechanism (30) is connected with a buoyancy mechanism that converts buoyancy into a balancing force. The buoyancy mechanism drives a dislocation mechanism to perform balance adjustment on the front and rear sides of the aerial survey camera body (13). The dislocation mechanism controls the balance of the aerial survey camera body (13) in a semi-submerged state by different buoyancies of water surface fluctuations. The semi-submerged balancing mechanism (30) is composed of a buoyancy mechanism and a dislocation mechanism. An underwater flight adjustment mechanism (31) is arranged on the outer surface of the right end of the aircraft body (1). The underwater flight adjustment mechanism (31) includes a fixed rod (22), an adjustment aileron (23), an electric slide rail II (24), a ballast block (25), a connecting rack II (26) and a connecting gear II (28). The bottom of the electric slide rail II (24) is fixedly connected to the top of the outer surface of the aircraft body (1). The inner bottom end of the ballast block (25) is slidably connected to the outer surface of the electric slide rail II (24). The bottom of the connecting rack II (26) is fixedly installed on the upper surface of the ballast block (25). The outer surface of the connecting gear II (28) is meshed with the upper surface of the connecting rack II (26). The outer surface of the fixed rod (22) is fixedly installed inside the connecting gear II (28). The inner part of the adjustment aileron (23) is fixedly installed on the outer surface of the fixed rod (22). The buoyancy mechanism includes a single-axis electric rotating seat (7), a connecting frame I (8), a buoy (9), a connecting frame II (10) and a damping fin (11). The back of the single-axis electric rotating seat (7) is fixedly connected to the outer surface of the aircraft body (1). One side of the connecting frame I (8) is fixedly installed on the left side of the single-axis electric rotating seat (7). One side of the connecting frame II (10) is fixedly installed on the right side of the single-axis electric rotating seat (7). Both sides of the upper surface of the buoy (9) are fixedly connected to the bottom of the connecting frame I (8) and the buoy (9). The upper surface of the damping fin (11) is fixedly installed on the bottom of the outer surface of the buoy (9). The dislocation mechanism includes an electric slide rail I (14), a sliding connecting plate (15), a connecting rack I (16), a connecting gear I (17), a connecting rod (18) and a receiving frame (19). The upper surface of the receiving frame (19) is fixedly connected to the outer surface of the aircraft body (1). The outer surface of the connecting rod (18) is rotatably connected to the inside of the receiving frame (19). The back of the electric slide rail I (14) is fixedly connected to the right side of the front of the aerial survey camera body (13). The inner part of the sliding connecting plate (15) is slidably connected to the outer surface of the electric slide rail I (14). The left side of the connecting rack I (16) is fixedly installed on the right side of the sliding connecting plate (15). The outer surface of the connecting gear I (17) is meshed with the back of the connecting rack I (16), and the inside of the connecting gear I (17) is fixedly connected to the outer surface of the connecting rod (18). An aerial survey shooting head (29) is arranged on the left side of the aerial survey camera body (13). The right side of the front of the aerial survey camera body (13) is attached to the back of the sliding connecting plate (15). The right side of the aerial survey camera body (13) is fixedly installed at one end of the connecting rod (18). A fixing plate I (3) is fixedly installed at the bottom of the outer surface of the right end of the aircraft body (1). A driving housing (5) is fixedly installed at the bottom of the fixing plate I (3). Two groups of fixing plates II (4) are fixedly installed on the outer surface of the driving housing (5).Moreover, the opposite sides of the two groups of fixing plates II (4) are fixedly connected to the outer surface of the driving housing (5), and an underwater propeller (6) is arranged inside the driving housing (5).

2. The aerial survey device for a cross-media water-air vehicle according to claim 1, characterized in that: Two groups of main wings (2) are symmetrically arranged on the outer surface of the left end of the aircraft body (1).

3. The aerial survey device for a cross-media water-air vehicle according to claim 1, characterized in that: A protective shell (27) is fixedly installed on the upper surface of the right end of the aircraft body (1). The inside of the protective shell (27) is rotationally connected to the outer surface of a fixing rod (22).

4. The aerial survey device for a cross-media water-air vehicle according to claim 1, wherein: Tail wings (20) are arranged on both sides of the right end of the aircraft body (1). A fixing frame (21) is fixedly installed on the upper surface of the tail wing (20). The inside of the fixing frame (21) is rotationally connected to the outer surface of the fixing rod (22).

5. The aerial survey device for a cross-media water-air vehicle according to claim 1, characterized in that: Four groups of universal joints (12) are fixedly installed on the lower surface of the aircraft body (1), and the four groups of universal joints (12) are fixedly connected to the periphery of the upper surface of the aerial survey camera body (13).

6. A cross-medium water-air vehicle aerial survey method for the cross-medium water-air vehicle aerial survey device according to any one of claims 1-5, characterized in that, It includes the following specific steps: S1. During aerial survey, fly the entire aircraft body (1) in the air, perform flight operations through its own power, and use the aerial survey camera body (13) and the aerial survey shooting head (29) to perform aerial survey operations. S2. During underwater survey, turn off the power of the aircraft body (1) itself, and drive the whole to move forward underwater through the power of the drive housing (5) and the underwater propeller (6) to perform aerial survey operations. S3. Semi-submerged survey and water surface fluctuation interference processing, with the whole body half in water and half in air, driving the main body of the aerial survey camera (13) and the aerial survey shooting head (29) for surveying and mapping. On one side of the main body of the aerial survey camera (13), the electric slide rail one (14) drives the sliding connecting plate (15) to descend. The connecting rack one (16) meshes with the connecting gear one (17), driving the connecting rack one (16) to descend. The connecting rod (18) rotates inside the inner wall of the receiving frame (19), changing the position of the main body of the aerial survey camera (13). The single-axis electric rotating seat (7) lowers the position of the floating cylinder (9) so that it abuts against the connecting rack one (16), and the power of the floating cylinder (9) and the electric slide rail one (14) is turned off. The floating cylinder (9) floats completely on the water surface. The connecting frame two (10) at its bottom generates a reverse torque when impacted by the water flow, suppressing horizontal rotation and initially ensuring the stability of surveying and mapping. The driving shell (5) and the underwater propeller (6) move forward to generate water surface fluctuations, driving the floating cylinder (9) to float up and down, offsetting the vertical jitter of the water surface waves. Through the universal joint (12) between the aircraft main body (1) and the main body of the aerial survey camera (13), the shaking of the main body of the aerial survey camera (13) is reduced, avoiding affecting the surveying and mapping of the aerial survey shooting head (29). The driving shell (5) and the underwater propeller (6) promote the forward movement of the aircraft main body (1), and the aerial survey shooting head (29) performs aerial survey operations. S4. Water surface flight and water exit operation after aerial survey. After the surveying and mapping is completed, the aircraft main body (1) leaves the water surface for flight in the air. The single-axis electric rotating seat (7) drives the two groups of floating cylinders (9) to move to both sides of the aircraft main body (1). The electric slide rail one (14) drives the sliding connecting plate (15) to rise. The connecting rack one (16) meshes with the connecting gear one (17), driving the connecting rack one (16) to rise. The connecting rod (18) rotates inside the inner wall of the receiving frame (19), placing the position of the main body of the aerial survey camera (13) in balance. The power of the underwater propeller (6) is turned off. The electric slide rail two (24) on the outer surface of the aircraft main body (1) drives the ballast block (25) to move backward, ballasting the rear end of the aircraft main body (1) to avoid excessive elevation angle. When the ballast block (25) moves backward, the connecting rack two (26) meshes with the connecting gear two (28), driving the fixed rod (22) inside the connecting gear two (28) to rotate inside the inner walls of the protective shell (27) and the fixed frame (21), synchronously driving the angle change of the adjusting aileron (23) on the outer surface of the fixed rod (22), further avoiding difficult flight caused by excessive elevation angle. After the aircraft main body (1) completely exits the water surface, the position of the ballast block (25) is moved forward, synchronously driving the angle change of the adjusting aileron (23), enhancing the control of the angle during flight and ensuring flight stability.

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