Cross-media vehicle

Abstract

The application relates to a cross-medium vehicle, belonging to the technical field of vehicles. The vehicle comprises a power propulsion system, a hybrid control system for providing power to the vehicle body, a navigation system for providing navigation support to the vehicle body, a gradient skin composed of multiple gradient materials and covering the outer surface of the vehicle body, and a diving system for controlling the floating and diving of the vehicle body. The vehicle can obtain the best aerodynamic / hydrodynamic performance in the air and seawater medium navigation state. The power propulsion system meets the requirements of high speed, long distance 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, and joint operations. The hybrid control system realizes the accurate control of the vehicle. The application of the vehicle material can complete the deformation suitable for the changed environment.

Description

Technical Field

[0001] This invention belongs to the field of aircraft technology, and specifically relates to a cross-medium aircraft. Background Technology

[0002] As a novel type of intelligent unmanned equipment, cross-medium vehicles can achieve multimodal and efficient operations in air-water dual-medium environments, integrating composite functions such as aerial cruising, surface maneuvering, and underwater navigation. With the iterative upgrade of intelligent unmanned system technology, such vehicles have demonstrated significant technological value in fields such as ecological monitoring and disaster emergency response. However, existing technical solutions generally face key technical bottlenecks during medium switching processes, including low energy efficiency of the power system, sluggish response to structural deformation, and navigation and control instability.

[0003] Current international research focuses on three major technical directions: propulsion system optimization, navigation control, and intelligent structure algorithms. Although existing achievements have applied innovative technologies such as variable sweep angle wings and smart materials, there are still significant shortcomings in engineering practice: traditional propulsion devices have insufficient thrust output stability in multi-medium environments, making it difficult to balance the requirements of high-speed maneuverability and endurance; the degrees of freedom of mechanical structures are limited, making it impossible to achieve dynamic adaptation between aerodynamics and hydrodynamics; and navigation control systems are susceptible to abrupt changes in flow field during medium switching, leading to trajectory deviation or attitude instability.

[0004] To address the aforementioned technical challenges, there is an urgent need to develop a new generation of cross-medium vehicles with adaptive capabilities to different media environments. Summary of the Invention

[0005] This invention aims to overcome the shortcomings of existing cross-medium vehicles in terms of propulsion systems and navigation control, and proposes a cross-medium vehicle capable of efficient operation in both air and water media. This vehicle integrates advanced propulsion systems, smart materials, and vision-based distributed network navigation, possessing multi-functional capabilities including air flight, surface gliding, and underwater submersion.

[0006] The technical solution adopted in this invention is:

[0007] A cross-medium vehicle includes a vehicle body, on which a power propulsion system, a hybrid control system, a navigation system, a gradient skin, and a buoyancy system are provided;

[0008] The propulsion system is used to provide power to the vehicle itself.

[0009] A hybrid control system is used to achieve data acquisition, computation, and precise control of the propulsion system, navigation system, and buoyancy system.

[0010] Navigation systems are used to provide navigation support for the vehicle itself;

[0011] The gradient skin, composed of multiple gradient materials, covers the outer surface of the vehicle body.

[0012] The buoyancy system is used to control the surfacing and diving of the aircraft.

[0013] Compared with the prior art, the present invention has the following advantages:

[0014] This invention enables the vehicle to achieve optimal aerodynamic / hydrodynamic performance in both air and seawater navigation modes; the propulsion system of this invention meets the requirements of high speed, long range, and high thrust of the vehicle; the distributed network and visual navigation system meets the navigation requirements of cross-medium vehicles in the air, on the surface, and underwater, as well as joint operations; the hybrid control system enables precise control of the vehicle; and the materials used in the vehicle are capable of adapting to changes in the environment.

[0015] This invention employs smart materials and structures, and utilizes advanced flow control and flight control technologies to actively change the overall layout or aerodynamic shape of the aircraft to adapt to different media environments. Upon entering the water, the aircraft's wings automatically detach, forming a single AUV that navigates underwater, thus adapting to different media environments and mission requirements at different speeds.

[0016] The propulsion system of this invention employs plasma detonation engines and pulse detonation engines in the air, and ultrasonic propulsion systems underwater. It has the ability to work continuously and stably in two different media, meets the power requirements for media 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 this invention utilizes computer vision technology to capture images of the surrounding environment through cameras and identify landmarks or feature points to achieve precise positioning, making it particularly suitable for environments where GPS signals are lacking, such as underwater and in the air. Simultaneously, the distributed network navigation system establishes a communication network among multiple vehicles to achieve collaborative positioning and navigation, significantly enhancing the system's anti-interference capability and positioning accuracy. The combination of these two navigation methods not only overcomes the limitations of a single navigation system but also provides highly reliable position services in complex environments, providing solid technical support for the multi-task execution of cross-medium vehicles. It solves the control challenges posed by strong interference in complex navigation environments across media and the large-scale, rapid changes in the parameters of the controlled object, ensuring high-precision flight trajectory control.

[0018] The hybrid control system of this invention combines PID control and neural network algorithms. This hybrid control strategy significantly improves the stability and control precision of the vehicle in complex environments, providing reliable technical support for cross-medium navigation.

[0019] The vehicle application material of this invention employs a gradient skin design, which uses gradient changes in the material to give the structure differentiated physical and mechanical properties in different regions. This design not only optimizes the overall performance of the vehicle but also enhances its adaptability to different environments, providing a solid technical foundation for efficient operation in complex mission scenarios.

[0020] This invention integrates biomimetic fluid dynamics design and intelligent materials-driven technology to construct a technical solution featuring a media-adaptive propulsion system, an active intelligent structure, and a robust control system. This innovative breakthrough will significantly improve the cross-media operational efficiency of vehicles and provide reliable technical support for complex mission scenarios. Attached Figure Description

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

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

[0023] The components include: 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 deformable structure; 25. Wing detachment control mechanism; 2501. Sealing ring; 2502. Positioning pin; 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 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, Buoyancy System; 51, Ballast Water Pump; 52, Ballast Water Tank. Detailed Implementation

[0024] To better understand the purpose, structure, and function of this invention, the invention will be described in further detail below with reference to the accompanying drawings.

[0025] Reference Figure 1 The present invention provides a cross-medium vehicle, including a vehicle body, on which a power propulsion system 1, a hybrid control system 2, a navigation system 3, a gradient skin 4, and a buoyancy system 5 are provided;

[0026] When the vehicle is flying in the air and navigating underwater, the propulsion system 1 provides power, while the hybrid control system 2 performs data acquisition, processing, and precise control of the propulsion system 1, navigation system 3, and buoyancy system 5 in both air and underwater environments. The navigation system 3 provides navigation support in both air and underwater, ensuring the vehicle's positioning and path planning in complex environments. A gradient skin 4 covers the outer surface of the vehicle, providing good flexibility and strength, and optimizing the vehicle's aerodynamic and hydrodynamic performance. In this embodiment, the buoyancy system 5 enables surfacing and submerging during underwater navigation, ensuring stability and operability at different depths. Its components are the ballast water pump 51 and ballast water tank 52, both existing technologies, and will not be described in detail. This vehicle features efficient propulsion, precise control, multi-media adaptability, and high reliability, making it suitable for various mission requirements.

[0027] Reference Figure 1 The propulsion system 1 employs 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 plasma ignition and detonation combustion processes inside it. The ultrasonic thruster 12 is used for underwater navigation, converting electrical energy into mechanical vibration through a piezoelectric transducer to generate ultrasonic waves, which propel the vehicle forward in the water.

[0028] Reference Figure 1 The hybrid control system 2 includes

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

[0030] The variant controller 22 is used to receive the static shape and dynamic change characteristics of the aircraft and automatically adjust the control parameters according to changes in environmental conditions;

[0031] Sensor module 23 is used to monitor the navigation environment and the attitude of the aircraft and transmit signals to flight controller 21;

[0032] The piezoelectric fiber deformable structure 24, driven by the variator controller 22, is distributed in the wings and bulkheads to achieve deformation and vibration control of the aircraft;

[0033] The wing detachment control mechanism 25 is connected to the sensor module 23 and is used to separate the wing from the main body of the UAV.

[0034] The power supply module 26 provides stable power to 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 sensor module 23 detects the water entry signal and triggers the wing detachment control mechanism 25, causing the wing to separate from the drone body and reducing drag during underwater navigation. The power supply module 26 uses an engine-driven generator and fuel cell to provide power, and uses a power distribution system to realize 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 existing technologies and will not be described in detail.

[0037] Hybrid control system 2 combines PID control and neural network algorithms to optimize the performance of the aircraft.

[0038] Backpropagation neural network-based PID control is an intelligent optimization method that uses a neural network to automatically adjust PID parameters (KP, Ki, Kd), making it more adaptable to complex systems than traditional PID control. It dynamically learns through backpropagation, taking the system deviation as input and outputting optimized parameters, resulting in more precise and stable control. Simulations demonstrate that it converges quickly, is suitable for nonlinear and time-varying systems, and reduces reliance on manual parameter tuning. This system uses a neural network to perceive the navigation environment and vehicle attitude information in real time, automatically adjusting control parameters to ensure optimal performance in different media. This hybrid control strategy significantly improves the stability and handling precision of the vehicle in complex environments, providing reliable technical support for cross-media navigation.

[0039] Reference Figure 2 The wing detachment control mechanism 25 includes a positioning post 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 rod 2513, a pulley 2514, and a push rod 2515;

[0040] A sealing ring 2501 is installed on the inner edge of the wing shell at the connection between the wing and the fuselage. Four positioning posts 2502 are fixed to the outer wall of the wing connection point of the aircraft body. Two are arranged vertically, and the other two are arranged to the left and right of the two middle posts. A magnet 2503 is embedded in the front end of each positioning post 2502. There are four magnets 2503 in total. Mounting holes 2505 are formed on the fuselage of the aircraft body at positions corresponding to the positioning posts 2502. A pair of pin holes 2507 are formed on the side wall of each positioning post 2502 and the side of the corresponding mounting hole 2505. These pin holes 2507 intersect and are perpendicular to the central axis of the positioning post 2502 and the mounting hole 2505. When a positioning post 2502 is inserted into a positioning hole 2505, the pin hole 2507 on each positioning post 2502 aligns with the pin hole 2507 on its corresponding mounting hole 2505. A locating pin 2506 is positioned outside the mounting hole 2505 and aligned with the pin hole 2507. A piezoelectric actuator 2508 is positioned behind the mounting hole 2505 and on the side of each mounting hole 2505. The locating pin 2506 is mounted on the piezoelectric actuator 2508 on the side of the mounting hole 2505. All piezoelectric actuators 2508 are mounted on the fuselage of the aircraft. A Hall sensor 2509 is mounted on the outer wall of the mounting hole 2505 and connected to the piezoelectric actuator 2508. When the locating post 2502 is inserted into this position, it detects the change in the magnetic field brought by the magnet 2503, driving the piezoelectric actuator 2508 to push out the locating pin 2506 and lock the locating post 2502. The piezoelectric actuator 2508 mounted on the side of the mounting hole is also connected to the sensor module 23. When the sensor module 23 detects that the aircraft has entered the water, it pulls out the locating pin 2506 and releases the locating post 2502. The piston 2504 is covered with a sealing gasket 2510 to fill the hole and provide waterproofing. Each mounting hole 2505 contains a piston 2504, which is located inside the corresponding pin hole 2507. A spring 2511 is fitted onto a piston 2512 with a guide groove. One end of a locking rod 2513 is engaged in the guide groove of the piston 2512, and the other end is connected to a push rod 2515 via a pulley 2514. The push rod 2515 is connected to a piezoelectric actuator 2508 mounted at the rear. The piezoelectric actuator 2508 at the rear of the mounting hole 2505 is connected to the sensor module 23. When the aircraft is in flight, the positioning pin 2502 is inserted into the mounting hole 2505 and locked by the positioning pin 2506. The spring 2511 is in its original length. When the sensor module 23 detects water ingress, it pushes the push rod 2515 forward, causing the locking lever 2513 to no longer hook onto the guide groove. The spring 2511 is then compressed, and the piston 2506 is pulled out, causing the piston 2510 to eject forward. The wing ejects, and the piston 2504 fills the hole in the mounting hole 2505.

[0041] Reference Figure 1The navigation system 3 includes a visual navigation system 31 and a distributed network navigation system 32. The visual navigation system 31 utilizes computer vision technology to capture images of the surrounding environment through cameras and identify landmarks or feature points to achieve precise positioning, which is particularly suitable for environments where GPS signals are lacking, 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] Reference Figure 1 The gradient skin 4 is composed of a variety of gradient materials, including a carbon fiber / PDMS composite material layer 41, a graphene / silicone rubber composite material layer 42, an AgNWs / TPU composite material layer 43, a shape memory polymer layer 44, and a self-healing elastomer layer 45 arranged sequentially from the outside to the inside. It covers the outer surface of the UAV and the gradient change of the materials enables the structure to have differentiated physical and mechanical properties in different areas, thereby optimizing the overall performance of the aircraft.

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

[0044] Specifically, the deformation of piezoelectric fibers causes the carbon fiber / PDMS composite layer 41 to bend or stretch at different locations, adjusting its flexibility and strength. Simultaneously, the graphene sheets in the graphene / silicone rubber composite layer 42 rearrange due to the stress applied by the piezoelectric fibers, altering their electrical and thermal conductivity and optimizing the vehicle's electromagnetic compatibility and thermal management performance. The silver nanowires in the AgNWs / TPU composite layer 43 also adjust their distribution and change their conductive paths under the influence of piezoelectric fibers to adapt to different electromagnetic environments. The shape memory polymer layer 44, under the combined influence of the force and temperature changes from the piezoelectric fibers, triggers its shape memory effect, deforming and recovering to optimize the vehicle's shape. When the self-healing elastomer layer 45 is excessively deformed or subjected to mechanical damage, the internal microcapsules rupture, releasing a repair agent for automatic repair.

[0045] Through this synergistic effect, the vehicle maintains optimal aerodynamic and hydrodynamic performance in different media environments, ensuring its efficiency and stability in cross-media navigation.

[0046] The vehicle will use a neural network to perceive environmental information and determine its initial static shape and dynamic characteristics based on pre-set mission requirements, enabling it to adapt to the initial medium environment (air or water). During navigation, when a change of medium is required, the propulsion system will automatically adjust its operating mode, while the gradient skin will optimize overall performance and functionality to adapt to the new medium environment. A distributed network and visual navigation system will continuously provide accurate navigation information, ensuring the vehicle's accurate trajectory in different media. Operators can send commands via the remote control system according to mission requirements, such as changing speed or adjusting direction. The vehicle's control system will then make corresponding adjustments based on the commands and environmental information.

[0047] Reference Figure 1 The motion adjustment method for cross-medium vehicles includes the following steps:

[0048] S11. During flight, sensor module 23 is responsible for real-time perception of the navigation environment and vehicle attitude information, and transmits this information to flight controller 21. Visual navigation system 31 uses computer vision technology to capture images of the surrounding environment through cameras, identify landmarks or feature points for positioning, and distributed network navigation system 32 realizes collaborative positioning and navigation among multiple vehicles to assist flight controller 21 in more accurate navigation. Power supply module 26 ensures a stable power supply to flight controller 21, variant controller 22, visual navigation system 31, and other sensor modules 23. After receiving the detection results from sensor module 23, flight controller 21 calculates the necessary parameters and adjusts the vehicle's flight path and attitude accordingly to ensure flight stability and accuracy. At the same time, variant controller 22 adjusts the static shape and dynamic change characteristics of gradient skin 4, and automatically adjusts control parameters according to changes in environmental conditions transmitted by sensors to adapt to different flight requirements. Power propulsion system 1 starts plasma detonation engine 11, and power supply module 26 provides the necessary power to plasma detonation engine 11. The plasma detonation engine 11 utilizes plasma ignition and detonation combustion processes to generate high-temperature, high-pressure gas, providing powerful thrust for the spacecraft.

[0049] S12. During underwater navigation: Sensor module 23 detects the vehicle entering the water and triggers wing detachment control mechanism 25, causing the wing to separate from the vehicle body, reducing drag during underwater navigation. Power supply module 26 supplies power to ultrasonic thruster 12 and buoyancy system 5. Ultrasonic thruster 12 converts electrical energy into mechanical vibration through piezoelectric transducers, generating ultrasonic waves that propel the vehicle forward in the water. Buoyancy system 5 controls the vehicle's buoyancy through ballast pump 51 and ballast tank 52, enabling surfacing and submerging during underwater navigation. Navigation system 3 provides continuous navigation for the vehicle.

[0050] S13. During the cross-medium transition: the sensor module 23 collects flight parameters and environmental information in real time. The flight controller 21 and the variator controller 22 generate control commands based on the data, coordinate the actions of the propulsion system 1 and the buoyancy system 5 to ensure the 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 environment of different media, while the power supply module 26 provides it with the required electrical energy.

[0051] Reference Figure 1 The mission execution process of a cross-medium vehicle includes the following steps:

[0052] S21. Mission Initiation: The aircraft plans its flight path through the hybrid control system 2 according to the preset mission requirements. The propulsion system 1 and navigation system 3 are activated, and the power supply module 26 provides a stable power supply to each system.

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

[0054] S23. Upon entering the underwater phase: The vehicle adjusts its shape via the piezoelectric fiber deformation structure 24, controlled by the variator controller 22. The gradient skin 4 deforms accordingly, and the buoyancy system 5 controls the diving depth. The propulsion system 1 switches to ultrasonic thrusters 12 to adapt to the underwater environment. The hybrid control system 2 adjusts its trajectory according to the underwater environment to complete the underwater mission.

[0055] The ultrasonic thruster 12 operates on the principle of converting electrical energy into high-frequency sound waves using an ultrasonic transducer, typically above 20kHz. Ultrasonic waves propagate in water as pressure waves, creating alternating high-pressure and low-pressure zones, thus inducing fluid movement. This process is accompanied by acoustic cavitation, the rapid expansion and contraction of tiny bubbles under the influence of ultrasonic waves, generating a strong localized 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, driving the fluid to flow in a predetermined direction, thereby generating propulsion. The ultrasonic thruster 12 possesses significant advantages such as low noise, high efficiency, and strong environmental adaptability, making it particularly suitable for underwater vehicle applications with high requirements for stealth and environmental performance.

[0056] S24. After the mission is completed: the vehicle rises to the surface of the water via the buoyancy system 5, the propulsion system 1 switches to surface mode, and the vehicle returns to the base.

[0057] The method for surfacing and diving of a cross-medium vehicle includes the following steps:

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

[0059] S32. Surfacing: When the buoyancy tanks of the vehicle body are full of water, the inlet and outlet valves and the outlet control valve are opened at the same time. Compressed air from the compressed air cylinder is used to discharge the seawater in the tanks, so that the vehicle floats to the surface.

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

[0061] Multifunctional propulsion system: A new type of propulsion system that adopts new energy and new principles to achieve high speed, long range and high thrust, which can meet the navigation needs 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 Technologies: The combination of visual navigation system 31 and distributed network navigation system 32 enhances the positioning accuracy and anti-interference capabilities of cross-medium vehicles, performing particularly well in environments lacking GPS signals. This combination strengthens the system's stability and adaptability, providing reliable support for complex missions. The control system, through coordinated operation of navigation control and underlying variant control, overcomes the control challenges arising from strong environmental interference and wide-ranging changes in the parameters of the controlled object during cross-medium navigation, ensuring high-precision control of the flight trajectory.

[0063] Application of smart materials and structures: Smart materials, combined with gradient skin design, utilize the performance variations of five gradient materials to give the vehicle differentiated physical and mechanical properties in different areas, optimizing overall performance. Its adaptive capabilities and lightweight design enhance environmental adaptability and maneuverability, while integrated sensing and actuation functions improve system reliability. Excellent durability ensures stable operation in extreme environments, providing robust support for cross-medium vehicles.

[0064] It is understood that the present invention has been described through some embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the invention. Furthermore, under the teachings 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 invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the protection scope of the present invention.

Claims

1. A transmedium-based vehicle, characterized in that: Includes the vehicle body, on which a power propulsion system (1), a hybrid control system (2), a navigation system (3), a gradient skin (4), and a buoyancy system (5) are provided. The propulsion system (1) is used to provide power to the vehicle body. The hybrid control system (2) is used to realize data acquisition, calculation and precise control of the power propulsion system (1), navigation system (3) and buoyancy system (5); Navigation system (3) is used to provide navigation support for the vehicle body; The gradient skin (4) is composed of multiple gradient materials and covers the outer surface of the vehicle body. The buoyancy system (5) is used to control the buoyancy and descent of the vehicle body. The hybrid control system (2) includes Flight controller (21) is used to sense the flight environment and vehicle attitude information in real time; The variant controller (22) adjusts the static shape and dynamic change characteristics of the gradient skin (4), and automatically adjusts the control parameters and the distribution of different gradient weights of the skin according to the changes in environmental conditions transmitted by the sensor, so as to adapt to different flight requirements and environmental changes. The sensor module (23) is used to monitor the navigation environment and the attitude of the aircraft and transmit signals to the flight controller (21). The piezoelectric fiber deformable structure (24), driven by the variator controller (22), is distributed in the wings and bulkheads to achieve deformation and vibration control of the aircraft; The wing detachment control mechanism (25) is connected to the sensor module (23) for signal transmission and is used to separate the wing from the main body of the UAV. The power supply module (26) supplies power to the propulsion system (1), the hybrid control system (2), the navigation system (3), and the buoyancy system (5).

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

3. The transmedium vehicle according to claim 1, characterized in that: The wing detachment control mechanism (25) includes a positioning post (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 rod (2513), a pulley (2514), and a push rod (2515). Multiple positioning posts (2502) are fixed to the outer wall of the wing connection of the aircraft body. A magnet (2503) is embedded in the front end of each positioning post (2502). Mounting holes (2505) are opened on the fuselage of the aircraft body at positions 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 mounting hole (2505). Positioning pins (2506) are set outside the mounting holes (2505) and aligned with the pin holes (2507). Piezoelectric actuators (2508) are set behind the mounting holes (2505) and on the side of each mounting hole (2505). The positioning pins (2506) are installed on the piezoelectric actuators (2508) on the side of the mounting holes (2505). Above, piezoelectric actuators (2508) are all installed on the fuselage of the aircraft body. Hall sensors (2509) are installed on the outer wall of the mounting hole (2505) and connected to the piezoelectric actuators (2508). Each mounting hole (2505) has a piston (2504) 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 rod (2513) is stuck in the guide groove of the piston (2512), and the other end is connected to the push rod (2515) through the pulley (2514). The push rod (2515) is connected to the piezoelectric actuators (2508) installed at the rear. Each piezoelectric actuator (2508) is connected to the sensor module (23).

4. The transmedium vehicle according to claim 3, characterized in that: A sealing ring (2501) is installed on the inner edge of the wing shell at the connection between the wing and the fuselage of the aircraft body.

5. The transmedium vehicle according to claim 3, characterized in that: The piston (2504) surface is covered with a sealing gasket (2510).

6. The transmedium vehicle according to claim 1, characterized in that: The navigation system (3) includes a visual navigation system (31) and a distributed network navigation system (32); the visual navigation system (31) uses computer vision technology to identify landmarks or feature points to achieve precise positioning, and the distributed network navigation system (32) establishes a communication network between multiple vehicles to achieve collaborative positioning and navigation.

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

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