Cross-media aircraft

Abstract

The invention discloses a cross-medium aircraft and belongs to the technical field of aircrafts. Comprising a power propulsion system which provides a power hybrid control system for an aircraft body and is used for realizing data acquisition and operation and accurate control of the power propulsion system, a navigation system and a sinking and floating system; the navigation system is used for providing navigation support for the vehicle body; the gradient skin is composed of multiple gradient materials and covers the outer surface of the aircraft body, and the sinking and floating system is used for controlling floating and diving of the aircraft body. According to the invention, the vehicle can obtain the optimal pneumatic / hydrodynamic performance in the air and seawater medium navigation state; according to the power propulsion system, the requirements of high speed, long distance and high thrust of the aircraft are met; a distributed network and a visual navigation system meet the navigation requirements of the cross-medium aircraft in the air, on the water surface and under the water and the combined combat; the hybrid control system is used for accurately controlling the aircraft; the aircraft application material can complete deformation adaptive to the changed environment.

Description

Technical Field

[0001] The present invention belongs to the technical field of aircraft, and in particular relates to a cross-media aircraft. Background Art

[0002] As a new type of intelligent unmanned equipment, cross-media vehicles can achieve multi-modal and efficient operations in an air-water dual-media environment, integrating composite functions such as aerial cruising, surface maneuvers, and underwater diving. With the iterative upgrade of intelligent unmanned system technology, such vehicles have shown significant technical value in the fields of ecological monitoring and disaster emergency response. However, existing technical solutions generally face key technical bottlenecks such as low power system energy efficiency, delayed structural deformation response, and instability of navigation control during the medium conversion process.

[0003] Current international research focuses on three major technical directions: propulsion system optimization, navigation control, and intelligent structural algorithms. Although existing achievements have applied innovative technologies such as variable swept-angle wings and intelligent materials, there are still obvious defects in engineering practice: the thrust output stability of traditional propulsion devices in multi-media environments is insufficient, making it difficult to balance the requirements of high-speed maneuverability and endurance; the freedom of mechanical structures is limited, and dynamic adaptation of aerodynamics and hydrodynamics cannot be achieved; the navigation control system is easily disturbed by sudden changes in the flow field when switching between media, resulting in trajectory deviation or attitude instability.

[0004] In response to the above technical challenges, it is urgent to develop a new generation of cross-media vehicles with the ability to adapt to the medium environment. Summary of the invention

[0005] The present invention aims to overcome the deficiencies of existing cross-medium vehicles in terms of power systems and navigation control, and proposes a cross-medium vehicle that can operate efficiently in both air and water. The vehicle integrates advanced propulsion systems, intelligent materials, and visual and distributed network navigation, and has multifunctional capabilities such as air flight, water gliding, and underwater diving.

[0006] The technical solution adopted by the present invention is:

[0007] A cross-media aircraft, comprising an aircraft body, wherein the aircraft body is provided with a power propulsion system, a hybrid control system, a navigation system, a gradient skin and a sinking and buoyancy system;

[0008] The propulsion system is used to provide power for the aircraft.

[0009] Hybrid control system, used to realize data collection, calculation and precise control of power propulsion system, navigation system and buoyancy system;

[0010] Navigation system, used to provide navigation support for the aircraft itself;

[0011] The gradient skin is composed of a variety of gradient materials and covers the outer surface of the vehicle body.

[0012] A floating and sinking system for controlling the ascent and descent of the vehicle body.

[0013] The present invention has the following beneficial effects compared with the prior art:

[0014] The present invention enables the vehicle to obtain the best aerodynamic / hydrodynamic performance in both air and seawater medium navigation states; the power propulsion system of the present invention meets the requirements of high speed, long range, and large thrust of the vehicle; the distributed network and visual navigation system meet the navigation requirements of the cross-medium vehicle in the air, on the water surface, and underwater as well as joint operations; the hybrid control system realizes precise control of the vehicle; the materials used in the vehicle can complete deformations adapted to the changed environment.

[0015] The present invention adopts intelligent materials and structures, utilizes advanced flow control and flight control technologies, and actively changes the overall aircraft layout or aerodynamic shape to adapt to different medium environments. When entering the water, the wings of the vehicle automatically fall off to form a single AUV for underwater navigation, so as to adapt to different medium environments and mission requirements at different speeds.

[0016] The power propulsion system of the present invention uses plasma detonation engines, pulse detonation engines, etc. in the air and an ultrasonic propulsion system in the water. It has the ability to work continuously and stably in two different media, meets the power requirements of medium switching and navigation at different speeds, and has the characteristics of long working time, low noise, and high availability.

[0017] The visual navigation system of the present invention uses computer vision technology to capture images of the surrounding environment through a camera and identify landmarks or feature points to achieve precise positioning, especially suitable for environments where GPS signals are missing such as underwater and in the air. At the same time, the distributed network navigation system realizes cooperative positioning and navigation by establishing a communication network between multiple vehicles, significantly enhancing the anti-interference ability and positioning accuracy of the system. The combination of these two navigation methods can not only overcome the limitations of a single navigation system, but also provide high-reliability position services in complex environments, providing a solid technical support for the multi-task execution of cross-medium vehicles. It solves the control problems brought by strong interference in complex navigation environments during cross-medium and large-scale rapid changes in controlled object parameters, and ensures high-precision flight trajectory control.

[0018] The hybrid control system of the present invention combines a hybrid control strategy of PID control and neural network algorithm, which significantly improves the stability and control accuracy of the vehicle in complex environments and provides reliable technical support for cross-medium navigation.

[0019] The aircraft of the present invention applies a gradient skin design for materials, enabling the structure to have different physical and mechanical properties in different regions through the gradient change of materials. This design not only optimizes the overall performance of the aircraft but also enhances its adaptability in different environments, providing a solid technical foundation for efficient operation in complex mission scenarios.

[0020] The present invention constructs a technical solution with a medium adaptive propulsion system, an active intelligent structure, and a robust control system by integrating bionic hydrodynamics design and intelligent material drive technology. The innovative breakthrough of the present invention will significantly improve the cross-medium operation efficiency of the aircraft and provide reliable technical support for complex mission scenarios. Brief Description of the Drawings

[0021] Figure 1 is a schematic structural diagram of the present invention;

[0022] Figure 2 is a schematic structural diagram of the wing detachment control mechanism of the present invention;

[0023] Wherein: 1. Power propulsion system; 11. Plasma detonation engine; 12. Ultrasonic thruster; 2. Hybrid control system; 21. Flight controller; 22. Variant controller; 23. Sensor module; 24. Piezoelectric fiber deformation structure; 25. Wing detachment control mechanism; 2501. Sealing ring; 2502. Positioning post; 2503. Magnet; 2504. Piston; 2505. Mounting hole; 2506. Positioning pin; 2507. Pin hole; 2508. Piezoelectric actuator; 2509. Hall sensor; 2510. Sealing gasket; 2511. Spring; 2512. Piston; 2513. Locking pull rod; 2514. Pulley; 2515. Push rod; 26. Power supply module; 3. Navigation system; 31. Visual navigation system; 32. Distributed network navigation system; 4. Gradient skin; 41. Carbon fiber / PDMS composite layer; 42. Graphene / silicone rubber composite layer; 43. AgNWs / TPU composite layer; 44. Shape memory polymer layer; 45. Self-healing elastomer layer; 5. Submersible and floating system; 51. Ballast water pump; 52. Ballast water tank. Detailed Embodiments

[0024] To better understand the purpose, structure, and function of the present invention, the following further detailed description of the present invention is provided in conjunction with the drawings.

[0025] Refer to Figure 1 , the present invention provides a cross-medium aircraft, including an aircraft body, and a power propulsion system 1, a hybrid control system 2, a navigation system 3, a gradient skin 4, and a submersible and floating system 5 are arranged on the aircraft body;

[0026] When the vehicle is flying in the air and navigating underwater, the power propulsion system 1 provides power for the vehicle. The hybrid control system 2 realizes data acquisition, operation, and precise control of the power propulsion system 1, the navigation system 3, and the floating and sinking system 5 in the air and underwater. The navigation system 3 provides navigation support in the air and underwater to ensure the positioning and path planning of the vehicle in a complex environment. The gradient skin 4 covers the outer surface of the vehicle, providing good flexibility and strength, and optimizing the aerodynamic and hydrodynamic performance of the vehicle. In this embodiment, the floating and sinking system 5 realizes floating and diving during underwater navigation to ensure stability and operability at different depths. Its components are a ballast water pump 51 and a ballast water tank 52, both of which are prior arts and will not be elaborated too much. This vehicle has efficient propulsion, precise control, multi-medium adaptability, and high reliability, and is suitable for various mission requirements.

[0027] Referring to Figure 1 , the power propulsion system 1 adopts a plasma detonation engine 11 and an ultrasonic thruster 12; the plasma detonation engine 11 is used for air flight, generating high-temperature and high-pressure gas through the plasma ignition and detonation combustion process inside it, and the ultrasonic thruster 12 is used for underwater navigation, converting electrical energy into mechanical vibration through a piezoelectric transducer to generate ultrasonic waves and pushing the vehicle forward in the water.

[0028] Referring to Figure 1 , the hybrid control system 2 includes

[0029] a flight controller 21, which is used to sense the navigation environment and the vehicle attitude information in real time;

[0030] a variant controller 22, which is used to receive the static form and dynamic change characteristics of the vehicle and automatically adjust the control parameters according to the change of environmental conditions;

[0031] a sensor module 23, which is used to monitor the navigation environment and the vehicle attitude and transmit the signals to the flight controller 21;

[0032] a piezoelectric fiber deformation structure 24, which is driven by the variant controller 22 and is distributed in the wings and bulkheads, and is used to realize the deformation and vibration control of the vehicle;

[0033] a wing detachment control mechanism 25, which is signal-connected to the sensor module 23 and is used to separate the wing from the UAV body,

[0034] a power supply module 26, which provides stable power for the flight controller 21, the variant controller 22, the visual navigation system 31, and other sensor modules 23.

[0035] When the drone enters the water, the water entry signal is detected by the sensor module 23, triggering the wing detachment control mechanism 25 to separate the wings from the drone body, reducing the resistance during underwater navigation. The power supply module 26 uses a generator driven by an engine and a fuel cell to provide power and uses a power distribution system to achieve intelligent distribution and management of electrical energy.

[0036] The flight controller 21, the variant controller 22, and the piezoelectric fiber deformation structure 24 are all prior arts and will not be elaborated here.

[0037] The hybrid control system 2 combines PID control and neural network algorithms to optimize the performance of the vehicle.

[0038] BP neural network PID control is an intelligent optimization method that uses a neural network to automatically adjust the PID parameters (KP, Ki, Kd), which is more adaptable to complex systems than traditional PID. It dynamically learns through the backpropagation algorithm, inputs the system deviation, and outputs the optimized parameters to make the control more accurate and stable. Simulations prove that it can converge quickly, is suitable for nonlinear and time-varying systems, and reduces the dependence on manual parameter tuning. This system can perceive the navigation environment and the vehicle's attitude information in real time through the neural network, and automatically adjust the control parameters to ensure that the vehicle maintains the best performance in different media. This hybrid control strategy significantly improves the stability and control accuracy of the vehicle in complex environments, providing reliable technical support for cross-media navigation.

[0039] Refer to Figure 2 , the wing detachment control mechanism 25 includes a positioning column 2502, a magnet 2503, a piston 2504, a positioning pin 2506, a piezoelectric actuator 2508, a Hall sensor 2509, a sealing gasket 2510, a spring 2511, a piston 2512, a locking pull rod 2513, a pulley 2514, and a push rod 2515;

[0040] The sealing ring 2501 is installed on the inner edge of the wing housing at the connection between the wing and the fuselage. There are a total of 4 positioning posts 2502, which are fixed on the outer wall of the connection between the wing of the vehicle body. Two of them are arranged vertically, and the other two are arranged on the left and right sides of the middle two. A magnet 2503 is inlaid at the front end of each positioning post 2502. There are 4 magnets 2503 in total. Installation holes 2505 are opened at the positions on the vehicle body corresponding to the positioning posts 2502. A pair of pin holes 2507 are opened on the side wall of each positioning post 2502 and the side of the corresponding installation hole 2505, and the pair of pin holes 2507 intersect and are perpendicular to the central axes of the positioning post 2502 and the installation hole 2505. When the positioning post 2502 is inserted into the positioning hole 2505, the pin holes 2507 on each positioning post 2502 are aligned with the pin holes 2507 on its corresponding installation hole 2505. The positioning pin 2506 is arranged outside the installation hole 2505 and is aligned with the pin hole 2507. Piezoelectric actuators 2508 are arranged behind the installation hole 2505 and on the side of each installation hole 2505. The positioning pin 2506 is installed on the piezoelectric actuator 2508 on the side of the installation hole 2505. The piezoelectric actuators 2508 are all installed on the vehicle body. The Hall sensor 2509 is installed on the outer wall of the installation hole 2505 and is connected to the piezoelectric actuator 2508. When the positioning post 2502 reaches this position, it detects the magnetic field change brought by the magnet 2503 and drives the piezoelectric actuator 2508 to push out the positioning pin 2506 to lock the positioning post 2502. The piezoelectric actuator 2508 installed on the side of the installation hole is also connected to the sensor module 23. When the sensor module 23 detects that the vehicle enters the water, it pulls out the positioning pin 2506 and releases the positioning post 2502. The surface of the piston 2504 is covered with a sealing gasket 2510, which is used to fill the hole position and prevent water. Each installation hole 2505 is provided with a piston 2504, and the piston 2504 is located inside the corresponding pin hole 2507. The spring 2511 is sleeved on the piston 2512 with a guide groove. One end of the locking pull rod 2513 is stuck in the guide groove of the piston 2512, and the other end is connected to the push rod 2515 through a pulley 2514. The push rod 2515 is connected to the piezoelectric actuator 2508 installed at the rear. The piezoelectric actuator 2508 behind the installation hole 2505 is connected to the sensor module 23. When the vehicle is flying in the air, the positioning post 2502 is inserted into the installation hole 2505 and is locked by the positioning pin 2506. The spring 2511 is in its original length state. When the sensor module 23 detects water entry, it pushes the push rod 2515 forward, so that the locking pull rod 2513 no longer hooks the guide groove, and the spring 2511 becomes compressed. At this time, the piston 2506 is also pulled out, and the piston 2510 pops forward. The wing pops out, and the piston 2504 fills the hole position of the installation hole 2505.

[0041] Refer to Figure 1, the navigation system 3 includes a vision navigation system 31 and a distributed network navigation system 32; the vision navigation system 31 uses computer vision technology to capture images of the surrounding environment through a camera, identify landmarks or feature points to achieve precise positioning, and is especially suitable for environments where GPS signals are missing, such as underwater and in the air. The distributed network navigation system 32 establishes a communication network among multiple vehicles to achieve collaborative positioning and navigation.

[0042] Referring to Figure 1 , the gradient skin 4 is composed of a variety of gradient materials, including a carbon fiber / PDMS composite layer 41, a graphene / silicone rubber composite layer 42, an AgNWs / TPU composite layer 43, a shape memory polymer layer 44, and a self-healing elastomer layer 45, which are arranged in sequence from the outside to the inside, covering the outer surface of the unmanned aerial vehicle. Through the gradient change of the materials, the structure has different physical and mechanical properties in different regions, optimizing the overall performance of the vehicle.

[0043] The morphological and property changes of each layer of the gradient skin 4 are achieved by the combined action of the variant controller 22 and the piezoelectric fiber deformation structure 24 in the hybrid control system 2. The variant controller 22 calculates the parameters that need to be adjusted for each layer of material according to the real-time environmental information provided by the sensor module 23 through a preset control algorithm, and transmits the control instructions to the piezoelectric fiber deformation structure 24. The piezoelectric fiber generates deformation after receiving the electrical signal, and this deformation is transmitted to each layer of the gradient skin 4, causing corresponding changes.

[0044] Specifically, the deformation of the piezoelectric fiber will cause the carbon fiber / PDMS composite layer 41 to bend or stretch in different parts, adjusting its flexibility and strength. At the same time, the graphene sheets in the graphene / silicone rubber composite layer 42 will rearrange due to the stress applied by the piezoelectric fiber, changing its electrical conductivity and thermal conductivity, and optimizing the electromagnetic compatibility and thermal management performance of the vehicle. The silver nanowires in the AgNWs / TPU composite layer 43 will also adjust their distribution state under the action of the piezoelectric fiber, changing the conduction path to adapt to different electromagnetic environments. The shape memory polymer layer 44 is triggered by the combined action of the force of the piezoelectric fiber and temperature change to trigger its shape memory effect, deforming and restoring, optimizing the shape of the vehicle. When the self-healing elastomer layer 45 is deformed excessively and mechanically damaged, the microcapsules inside rupture, releasing the repair agent to achieve automatic repair.

[0045] Through this collaborative effect, the vehicle always maintains the best aerodynamic and hydrodynamic performance in different medium environments, ensuring its high efficiency and stability in cross-medium navigation.

[0046] The vehicle will, according to the preset mission requirements, use a neural network to sense environmental information and determine the initial static shape and dynamic change characteristics, enabling the vehicle to adapt to the initial medium environment (air or water); during the navigation process, when it is necessary to switch media, the power propulsion system will automatically adjust the working mode, and at the same time, the gradient skin will play a role in optimizing the overall performance and functions to adapt to the new medium environment. The distributed network and the visual navigation system will continuously provide accurate navigation information to ensure the accurate navigation trajectory of the vehicle in different media; the operator can send instructions according to the mission requirements through the remote control system, such as changing the navigation speed, adjusting the navigation direction, etc. The control system of the vehicle will make corresponding adjustments according to the instructions and environmental information.

[0047] Referring to Figure 1 , a motion adjustment method for a cross-media vehicle, comprising the following steps:

[0048] S11. When flying in the air, the sensor module 23 is responsible for continuously sensing the navigation environment and the vehicle attitude information, and transmitting this information to the flight controller 21. The visual navigation system 31 uses computer vision technology to capture images of the surrounding environment through a camera, identify landmarks or feature points for positioning, and the distributed network navigation system 32 realizes cooperative positioning and navigation among multiple vehicles to assist the flight controller 21 in performing more accurate navigation. The power supply module 26 ensures stable power supply for the flight controller 21, the variant controller 22, the visual navigation system 31, and other sensor modules 23. After receiving the detection results of the sensor module 23, the flight controller 21 calculates the necessary parameters and adjusts the flight route and flight attitude of the vehicle accordingly to ensure flight stability and accuracy. At the same time, the variant controller 22 adjusts the static form and dynamic change characteristics of the gradient skin 4 and automatically adjusts the control parameters according to the changes in the environmental conditions transmitted by the sensors to adapt to different flight requirements. The power propulsion system 1 starts the plasma detonation engine 11, and the power supply module 26 provides the necessary power for the plasma detonation engine 11. The plasma detonation engine 11 uses the plasma ignition and detonation combustion process to generate high-temperature and high-pressure gas to provide strong thrust for the vehicle.

[0049] S12. When navigating underwater: The sensor module 23 detects that the vehicle enters the water and triggers the wing detachment control mechanism 25 to separate the wing from the vehicle body, reducing the resistance during underwater navigation. The power supply module 26 supplies power to the ultrasonic thruster 12 and the submergence and floating system 5. The ultrasonic thruster 12 converts electrical energy into mechanical vibration through a piezoelectric transducer to generate ultrasonic waves to push the vehicle forward in the water. The submergence and floating system 5 controls the buoyancy of the vehicle through the ballast pump 51 and the ballast tank 52 to achieve floating and diving during underwater navigation. The navigation system 3 continuously navigates the vehicle.

[0050] S13. During the cross-media transition process: The sensor module 23 collects flight parameters and environmental information in real time. The flight controller 21 and the variant controller 22 generate control instructions based on the data, coordinate the actions of the power propulsion system 1 and the sinking and floating system 5 to ensure a smooth transition of the vehicle. At the same time, the piezoelectric fiber deformation structure 24 is controlled to adjust the shape of the vehicle to adapt to the environments of different media, and the power supply module 26 provides the required electrical energy for it.

[0051] Referring to Figure 1 , the process of the cross-media vehicle performing tasks includes the following steps:

[0052] S21. When the task starts: The vehicle plans the flight path through the hybrid control system 2 according to the preset task requirements. The power propulsion system 1 and the navigation system 3 are started, and the power supply module 26 provides stable power supply for each system.

[0053] S22. During the air flight phase: The vehicle flies according to the planned path, and the hybrid control system 2 adjusts the flight attitude and the shape of the vehicle in real time to ensure flight accuracy. The plasma detonation engine 11 of the power propulsion system 1 provides efficient power, and the vector thruster adjusts the thrust direction according to the flight requirements.

[0054] S23. When entering the underwater phase: The vehicle controls the piezoelectric fiber deformation structure 24 through the variant controller 22 to adjust the shape of the vehicle, and the gradient skin 4 deforms accordingly. The sinking and floating system 5 controls the diving depth. The power propulsion system 1 switches to the ultrasonic thruster 12 to adapt to the underwater environment. The hybrid control system 2 adjusts the navigation trajectory according to the underwater environment to complete the underwater task.

[0055] The working principle of the ultrasonic thruster 12 is based on the ultrasonic transducer converting electrical energy into high-frequency sound waves, with a frequency usually higher than 20 kHz. The ultrasonic waves propagate in water in the form of pressure waves, forming alternating high-pressure areas and low-pressure areas, thus inducing the movement of the fluid. This process is accompanied by the phenomenon of acoustic cavitation, that is, the rapid expansion and contraction of tiny bubbles under the action of ultrasonic waves, generating a strong local flow effect in the fluid. By precisely controlling the frequency and phase of the ultrasonic waves, a non-uniform pressure field can be constructed in the liquid to drive the fluid to flow in a predetermined direction, thereby generating the propulsion force. The ultrasonic thruster 12 has the significant advantages of low noise, high efficiency and strong environmental adaptability, and is especially suitable for the application scenarios of underwater vehicles with high requirements for concealment and environmental protection performance.

[0056] S24. After the task is completed: The vehicle floats to the water surface through the sinking and floating system 5, and the power propulsion system 1 switches to the surface mode, and the vehicle returns to the base.

[0057] The method for the cross-media vehicle to float and dive includes the following steps:

[0058] S31. Diving: Open the water inlet and outlet valves of the vehicle body to allow seawater to enter the buoyancy tank under the action of gravity, enabling the vehicle to dive.

[0059] S32. Surfacing: When the buoyancy tank of the vehicle body is filled with water, simultaneously open the water inlet and outlet valves and the drainage control valve, and use the compressed air in the compressed air cylinder to drain the seawater in the tank, causing the vehicle to surface.

[0060] The cross-media vehicle solution provided by the present invention has the following advantages:

[0061] Multi-functional power propulsion system: A new propulsion system using new energy and new principles realizes the capabilities of high speed, long range, and large thrust, can meet the navigation requirements of the vehicle in different media, and has the characteristics of long-term operation, low load cost, and high availability.

[0062] Visual and distributed network navigation and control technology: The combination of the visual navigation system 31 and the distributed network navigation system 32 improves the positioning accuracy and anti-interference ability of the cross-media vehicle, especially performing excellently in an environment where GPS signals are missing. This combination enhances the stability and adaptability of the system and provides reliable support for complex tasks. The control system operates in coordination with the navigation control and the underlying variant control to overcome the control problems brought about by strong environmental interference and large-scale changes in the parameters of the controlled object during the cross-media navigation process, ensuring high-precision control of the flight trajectory.

[0063] Application of intelligent materials and structures: The intelligent materials are combined with the gradient skin design. Through the performance changes of five gradient materials, the vehicle has different physical and mechanical characteristics in different regions, optimizing the overall performance. Its adaptive ability and lightweight design improve the environmental adaptability and mobility. At the same time, integrating sensing and driving functions enhances the system reliability. Excellent durability ensures stable operation in extreme environments, providing solid support for the cross-media vehicle.

[0064] It can be understood that the present invention is described through some embodiments. Those skilled in the art know that without departing from the spirit and scope of the present invention, various changes or equivalent replacements can be made to these features and embodiments. Additionally, under the teaching of the present invention, these features and embodiments can be modified to adapt to specific situations and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A cross-media vehicle, characterized in that: It includes an aircraft body, on which a power propulsion system (1), a hybrid control system (2), a navigation system (3), a gradient skin (4) and a floating and sinking system (5) are provided; The power propulsion system (1) is used to provide power for the aircraft body, The hybrid control system (2) is used to realize data acquisition, operation and precise control of the power propulsion system (1), the navigation system (3) and the floating and sinking system (5); The navigation system (3) is used to provide navigation support for the aircraft body; The gradient skin (4) is composed of various gradient materials and covers the outer surface of the aircraft body, The floating and sinking system (5) is used to control the floating and diving of the aircraft body.

2. The cross-media vehicle according to claim 1, characterized in that: The power propulsion system (1) adopts a plasma detonation engine (11) and an ultrasonic thruster (12); the plasma detonation engine (11) is used for flight in the air, and the ultrasonic thruster (12) is used for underwater navigation.

3. The cross-media vehicle according to claim 1, characterized in that: The hybrid control system (2) includes A flight controller (21), which is used to sense the navigation environment and the aircraft attitude information in real time; A variant controller (22), which adjusts the static form and dynamic change characteristics of the gradient skin (4), and automatically adjusts the control parameters and the different gradient weight distributions of the skin according to the changes of the environmental conditions transmitted by the sensors to adapt to different flight requirements and environmental changes; A sensor module (23), which is used to monitor the navigation environment and the aircraft attitude and transmit the signals to the flight controller (21); A piezoelectric fiber deformation structure (24), which is driven by the variant controller (22) and is distributed in the wings and bulkheads, and is used to realize the deformation and vibration control of the aircraft; A wing detachment control mechanism (25), which is signal-connected to the sensor module (23) and is used to separate the wings from the UAV body, A power supply module (26), which supplies power to the power propulsion system (1), the hybrid control system (2), the navigation system (3) and the floating and sinking system (5).

4. The cross-medium vehicle according to claim 3, characterized in that: The wing detachment control mechanism (25) includes a positioning column (2502), a magnet (2503), a piston (2504), a positioning pin (2506), a piezoelectric actuator (2508), a Hall sensor (2509), a sealing gasket (2510), a spring (2511), a piston (2512), a locking pull rod (2513), a pulley (2514) and a push rod (2515); A plurality of positioning posts (2502) are fixed on the outer wall of the wing connection of the aircraft body. A magnet (2503) is embedded at the front end of each positioning post (2502). Mounting holes (2505) are provided at the positions corresponding to the positioning posts (2502) on the aircraft body. A pair of pin holes (2507) are provided on the side wall of each positioning post (2502) and the side of the corresponding mounting hole (2505). A positioning pin (2506) is arranged outside the mounting hole (2505) and aligned with the pin hole (2507). A piezoelectric actuator (2508) is provided behind the mounting hole (2505) and on the side of each mounting hole (2505). The positioning pin (2506) is mounted on the piezoelectric actuator (2508) on the side of the mounting hole (2505). The piezoelectric actuators (2508) are all mounted on the aircraft body. A Hall sensor (2509) is mounted on the outer wall of the mounting hole (2505) and is connected to the piezoelectric actuator (2508). A piston (2504) is provided in each mounting hole (2505), and the piston (2504) is located inside the corresponding pin hole (2507). A spring (2511) is sleeved on the piston (2512) with a guide groove. One end of the locking pull rod (2513) is stuck in the guide groove of the piston (2512), and the other end is connected to the push rod (2515) through a pulley (2514). The push rod (2515) is connected to the piezoelectric actuator (2508) mounted at the rear. Each piezoelectric actuator (2508) is connected to the sensor module (23).

5. The cross-media vehicle according to claim 4, characterized in that: A sealing ring (2501) is mounted on the inner edge of the wing shell at the connection between the wing and the fuselage of the aircraft body.

6. The cross-media vehicle according to claim 4, characterized in that: The surface of the piston (2504) is covered with a sealing gasket (2510).

7. The cross-media vehicle according to claim 1, wherein: The navigation system (3) includes a vision navigation system (31) and a distributed network navigation system (32); the vision navigation system (31) uses computer vision technology to identify landmarks or feature points for precise positioning, and the distributed network navigation system (32) establishes a communication network among multiple aircraft to achieve cooperative positioning and navigation.

8. The cross-media vehicle according to claim 1, characterized in that: The gradient skin (4) includes a carbon fiber / PDMS composite layer (41), a graphene / silicone rubber composite layer (42), an AgNWs / TPU composite layer (43), a shape memory polymer layer (44), and a self-healing elastomer layer (45) arranged in sequence from outside to inside.

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