Underwater spray driving reconnaissance aircraft based on bionic ray and method

Abstract

The invention discloses an underwater water spraying driving reconnaissance aircraft and method based on bionic skate, the underwater water spraying driving reconnaissance aircraft based on bionic skate comprises an aircraft body, and a wave type fin-shaped propeller, a water spraying propeller and a control system which are arranged on the aircraft body, the water spraying propeller is arranged at the tail part of the aircraft body, and the control system is arranged on the aircraft body. The wave-type fin-shaped propellers and the water-jet propellers are connected with the control system; the wavy fin-shaped propeller comprises two flexible fins symmetrically arranged on the two sides of the machine body and a fin driving mechanism connected with the flexible fins, and the fin driving mechanism is arranged on the machine body and connected with the control system. And the fin driving mechanism is used for driving the flexible fins to act. Interference caused by external factors such as waves or underwater vortexes can be effectively reduced, so that the stability and the reliability of the reconnaissance aircraft are ensured, and the maneuverability, the concealment and the anti-interference performance of underwater reconnaissance can be improved.

Description

Technical Field

[0001] The present invention specifically relates to an underwater water jet-driven reconnaissance aircraft and method based on a biomimetic manta ray. Background Art

[0002] Many explorers have tried to conduct exploration operations on remote waters by remotely controlling unmanned reconnaissance aircraft. The existing underwater reconnaissance aircraft reconnaissance technology no longer meets the requirements. The traditional propellers of underwater reconnaissance aircraft have poor mobility and flexibility in narrow or complex waters. When facing water flow disturbances, they have weak anti-interference ability. In reconnaissance missions, they have weak concealment and large disturbances. At the same time, the traditional propeller propulsion system is damaged.

[0003] The following problems mainly exist in the prior art: Insufficient mobility and flexibility: In narrow or complex waters, the propeller propulsion system has poor flexibility. Operations that require frequent turning or speed change are usually difficult. At low speeds, the effectiveness of the rudder surface decreases and turning becomes more difficult, which is particularly inconvenient when precise positioning or operation in narrow waterways is required. At the same time, it cannot easily change the thrust direction or distribute thrust, which performs poorly in operations that require multi-directional propulsion forces.

[0004] Insufficient concealment: The direct contact between the water flow and the blades in the traditional propeller propulsion system is prone to cavitation and mechanical noise. When the propeller advances in water, an obvious wake will be generated, especially when traveling at high speeds. This wake is not only visible on the water surface but can also be detected by underwater detection equipment.

[0005] Weak anti-interference ability: When the propeller propulsion system is affected by external water flow disturbances (such as eddies, waves, or uneven water flow conditions), its efficiency and stability will decrease significantly. Due to its rigid design, the propeller system is more likely to be damaged or fail when encountering physical interference.

[0006] Therefore, there is an urgent need for a reconnaissance device that can be highly automated and intelligent, which can effectively improve the concealment, mobility, and anti-interference ability of detection. Summary of the Invention

[0007] The purpose of the present invention is to provide an underwater water jet-driven reconnaissance aircraft and method based on a biomimetic manta ray, which can effectively reduce the interference caused by external factors such as waves or underwater eddies, thereby ensuring the stability and reliability of the reconnaissance aircraft, and improving the mobility, concealment, and anti-interference ability in underwater reconnaissance.

[0008] The technical solution adopted by the present invention is: An underwater water jet-driven reconnaissance aircraft based on a biomimetic manta ray, comprising a fuselage, and a wave-like fin propeller, a water jet propeller, and a control system arranged on the fuselage. The water jet propeller is arranged at the tail of the fuselage, and the wave-like fin propeller and the water jet propeller are connected to the control system; The undulating fin propeller includes two flexible fins symmetrically arranged on both sides of the fuselage, and a fin driving mechanism connected to the flexible fins. The fin driving mechanism is arranged on the fuselage and connected to the control system; the fin driving mechanism is used to drive the flexible fins to act.

[0009] Preferably, the fin driving mechanism includes a plurality of driving fin skeletons and drivers. The plurality of driving fin skeletons are divided into two groups and arranged on both sides of the fuselage to form two driving skeleton units. In each group of driving skeleton units, the plurality of driving fin skeletons are arranged at intervals in the length direction of the fuselage, and the two flexible fins respectively cover and wrap outside the two groups of driving skeleton units; The driver is connected to the fuselage, the driving fin skeleton is connected to the corresponding driver through a flexible connecting piece, the flexible fin covers the fuselage and the driving fin skeleton, and the driver drives the driving fin skeleton to flip, thereby driving the flexible fin to undulate.

[0010] Preferably, the driving fin skeleton is a side frame; the side frame is triangular, and the tip of the triangle faces outward; Fin tail adjustment member.

[0011] Preferably, the water jet propeller includes a water pump, an angle adjustment mechanism, a nozzle and a water jet pipe. The nozzle is connected to the water pump through the water jet pipe, and the angle adjustment mechanism is connected to the nozzle. The angle adjustment mechanism is used to adjust the orientation angle of the nozzle.

[0012] Preferably, the angle adjustment mechanism includes a second servo motor and a link mechanism. The second servo motor is connected to the nozzle through a connecting mechanism.

[0013] Preferably, the link mechanism includes a connecting swing rod. One end of the connecting swing rod is connected to the nozzle, and the other end is connected to the servo motor.

[0014] Preferably, the number of the second servo motors is two. One second servo motor is connected to the upper side or the lower side of the nozzle through a connecting swing rod, and the other second servo motor is connected to the left side or the right side of the nozzle through a connecting swing rod.

[0015] Preferably, the underwater water jet-driven reconnaissance aircraft based on a biomimetic manta ray further includes a vision sensor and an environmental state monitoring sensor. The vision sensor and the environmental state monitoring sensor are connected to the control system; The environmental state monitoring sensor includes any one or several of a flow velocity sensor, an attitude sensor, and an underwater pressure sensor.

[0016] Preferably, the control system includes a main processing unit, a motion controller, a sensor interface and a power management module. The main processing unit is connected to the power management module. The main processing unit is connected to the undulating fin propeller and the water jet propeller through the motion controller. The main processing unit is connected to the vision sensor and the environmental sensor through the sensor interface.

[0017] A navigation method for an underwater jet propulsion reconnaissance aircraft based on the above-mentioned biomimetic ray. During high-speed cruising, the jet propeller works for rapid movement. By adjusting the nozzle direction of the jet propeller, the movement trajectory can be quickly changed for sharp underwater turns or emergency acceleration. During low-speed cruising, the jet propeller does not work, and the wave-like fin propeller works. It propels in water through rhythmic wave-like movements, further reducing noise, enabling low-speed propulsion and precise control, especially performing excellently in narrow or complex waters. The beneficial effects of the present invention are as follows: With the wave-like fin propeller and the jet propeller, the present invention can imitate the swimming mode and high-speed cruising of rays. By reducing the direct contact between the water flow and the propellers, cavitation and mechanical noise are significantly reduced. The wave-like fin propeller generates less disturbance in water. The propulsion method of the biomimetic ray enables the present invention to more flexibly cope with external interference in the face of complex water flow environments. The jet propeller causes less disturbance to the water flow, effectively reducing interference caused by external factors such as waves or underwater eddies, thereby ensuring the stability and reliability of the reconnaissance aircraft, and improving the mobility, concealment, and anti-interference ability in underwater reconnaissance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a three-dimensional view of the underwater jet propulsion reconnaissance aircraft based on the biomimetic ray in an embodiment of the present invention.

[0019] Figure 2 is a three-dimensional view of the jet propeller in an embodiment of the present invention.

[0020] Figure 3 is a schematic structural view of the fin drive mechanism in an embodiment of the present invention.

[0021] Figure 4 is a schematic principle view of the underwater jet propulsion reconnaissance aircraft based on the biomimetic ray in an embodiment of the present invention.

[0022] Figure 5 is a working flow chart of the wave-like fin propeller in an embodiment of the present invention.

[0023] In the figures: 101 - wave-like fin propeller; 102 - jet propeller; 103 - control system; 201 - water pump; 202 - first servo motor; 203 - nozzle; 204 - water spray pipe; 301 - drive fin skeleton; 302 - flexible connecting piece; 303 - fin tail adjusting member; 304 - second servo motor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0024] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0025] In the description of the present invention, it should be understood that if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicating the orientation or positional relationship, they are based on the orientation or positional relationship shown in the drawings. This is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0026] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection or an integral connection. It may be a mechanical connection or an electrical connection. It may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0027] Embodiment 1 An underwater jet-driven reconnaissance aircraft based on a biomimetic manta ray, as Figures 1 - 4 shown, includes a fuselage, and a wave-shaped fin propeller 101, a jet propeller 102 and a control system 103 provided on the fuselage. The jet propeller 102 is provided at the tail of the fuselage and is arranged below the wave-shaped fin propeller 101. The wave-shaped fin propeller 101 and the jet propeller 102 are connected to the control system 103; the control system 103 controls the actions of the wave-shaped fin propeller 101 and the jet propeller 102; The wave-shaped fin propeller 101 includes two flexible fins symmetrically arranged on both sides of the fuselage, and a fin drive mechanism connected to the flexible fins. The fin drive mechanism is provided on the fuselage and is connected to the control system; the fin drive mechanism is used to drive the flexible fins to move.

[0028] Furthermore, the fin driving mechanism includes a plurality of driving fin skeletons 301 and a driver. The plurality of driving fin skeletons 301 are divided into two groups and arranged on both sides of the body, forming two groups of driving skeleton units. In each group of driving skeleton units, the plurality of driving fin skeletons 301 are arranged at intervals in the length direction of the body, and two flexible fins respectively cover and wrap outside the two groups of driving skeleton units; The driver is connected to the body. The driving fin skeleton 301 is connected to the corresponding driver through a flexible connecting piece 302. The flexible fin covers the body and the driving fin skeleton 301. The driver drives the driving fin skeleton 301 to flip, thereby driving the flexible fin to fluctuate.

[0029] The flexible connecting piece 302 can effectively ensure that it does not fall off during the movement by using the bonding method, and at the same time can also maintain the overall coherence of the flexible structure; the input angle of the servo motor swings up and down, and the rotation angle of the driving fin skeleton is limited to plus or minus forty-five degrees to simulate the swing of the ray fin.

[0030] The driver is also connected to the body through the flexible connecting piece 302.

[0031] Furthermore, the driver is the first servo motor 304.

[0032] Furthermore, the driving fin skeleton 301 is a side frame; the side frame is triangular, and the tip of the triangle faces outward; The fin tail adjusting member is a triangular sheet structure. The fin tail adjusting member is a driven member and serves as the end of the wave transmission swing. Its main function is to coordinate the deformation at the end of the wave motion, improve the propulsion efficiency and fluid continuity.

[0033] The number of the water jet thrusters 102 is two, which are symmetrically arranged on both sides of the body in the length direction, and the fin tail adjusting member is arranged between the two water jet thrusters.

[0034] Embodiment 2 As Figure 2 shown, on the basis of Embodiment 1, the water jet thruster is further limited, and the performance of Embodiment 2 after the limitation is better.

[0035] Furthermore, the water jet thruster 102 includes a water pump 201, an angle adjusting mechanism, a nozzle 203 and a water jet pipe 204. The nozzle 203 is connected to the water pump 201 through the water jet pipe 204. The angle adjusting mechanism is connected to the nozzle 203. The angle adjusting mechanism is used to adjust the orientation angle of the nozzle 203; thereby adjusting the direction of the water jet, and further changing the traveling direction of the underwater water jet-driven reconnaissance aircraft.

[0036] Furthermore, the water jet pipe 204 is a flexible pipe.

[0037] Further, the angle adjustment mechanism includes a second servo motor 202 and a linkage mechanism. The second servo motor is connected to the nozzle 203 through a connecting mechanism.

[0038] Further, the linkage mechanism includes a connecting swing rod. One end of the connecting swing rod is connected to the nozzle, and the other end is connected to the servo motor.

[0039] Further, the number of the second servo motors 202 is two. One second servo motor 202 is connected to the upper or lower side of the nozzle 203 through a connecting swing rod, and the other second servo motor 202 is connected to the left or right side of the nozzle 203 through a connecting swing rod; the nozzle is driven by the two second servo motors to swing up, down, left and right.

[0040] Further, the underwater jet propulsion reconnaissance aircraft based on a bionic manta ray further includes a vision sensor and an environmental status monitoring sensor. The vision sensor and the environmental status monitoring sensor are connected to the control system 103; The environmental status monitoring sensor includes any one or several of a flow velocity sensor, an attitude sensor, and an underwater pressure sensor.

[0041] Further, the control system 103 includes a main processing unit, a motion controller, a sensor interface, and a power management module. The main processing unit is connected to the power management module. The main processing unit is connected to the wave-like fin propeller 101 and the jet propeller 102 through the motion controller. The main processing unit is connected to the vision sensor and the environmental sensor through the sensor interface.

[0042] A navigation method of the underwater jet propulsion reconnaissance aircraft based on the above-mentioned bionic manta ray. During high-speed cruising, the jet propeller works for rapid movement. By adjusting the nozzle direction of the jet propeller, the motion trajectory can be quickly changed for underwater sharp turns or emergency acceleration. Especially, the low-noise characteristic of the jet propeller makes it very suitable for covert reconnaissance missions; During low-speed cruising, the jet propeller does not work, and the wave-like fin propeller 101 works. It propels in the water through a rhythmic wave-like motion, further reducing noise, for low-speed propulsion and precise control, especially performing excellently in narrow or complex waters.

[0043] The underwater jet propulsion reconnaissance aircraft based on the bionic manta ray further includes a vision sensor and an environmental status monitoring sensor. The vision sensor and the environmental status monitoring sensor are connected to the control system 103; As Figure 5 shown, the working process of the wave-like fin propeller is as follows: Collect the real-time state of the underwater jet-driven reconnaissance aircraft based on the biomimetic ray and the surrounding environment through visual sensors and environmental status monitoring sensors (specifically: collect the attitude of the underwater jet-driven reconnaissance aircraft based on the biomimetic ray through an attitude sensor; collect the surrounding environment through visual sensors); Combined with the instructions from the upper computer, the control system gives corresponding decisions according to the real-time state of the underwater jet-driven reconnaissance aircraft based on the biomimetic ray and the surrounding environment, and controls the swing angle of the wave-like fin propeller; Real-time monitor through visual sensors and judge whether a target or obstacle is detected.

[0044] During the specific reconnaissance process, when the visual sensor detects whether there is a target or obstacle, the swing angle of the wave-like fin propeller becomes smaller. If the visual sensor does not detect the existence of a target or obstacle, the swing angle and amplitude of the wave-like fin propeller become larger and it moves forward; if the visual sensor detects the existence of a target or obstacle, the control system makes a new decision, controls and adjusts the swing angle of the fin propeller, and the visual sensor detects in real time until the visual sensor does not detect a target or obstacle.

[0045] The working principle of the present invention: I. Biomimetic ray propulsion system: The present invention adopts bionic design, imitating the wave-like fin movement of rays. By installing a wave-like fin propeller 101 on an underwater vehicle, it can move underwater in a more flexible manner. Different from traditional propellers, the propulsion method of the biomimetic ray can move in multiple directions in water, including lateral movement and vertical movement. This propulsion method enables the reconnaissance aircraft to achieve high-precision maneuvering operations in narrow and complex waters, greatly improving the flexibility of operations.

[0046] 1. Structural composition of the fin propeller: The wave-like fin propeller 101 (wave-like fin) is the key component to achieve efficient propulsion by imitating the wave-like swimming of rays. It is made of flexible materials and consists of modular fins symmetrically distributed on both wings, which can achieve independent and coordinated wave-like movements. Its internal skeleton structure is as Figure 3As shown, it is formed by connecting multiple drive fin skeletons 301 in series. Each skeleton is connected by a flexible connecting piece 302 to form a continuous wave transmission chain. The flexible connecting piece 302 is made of a highly elastic material and is installed between adjacent drive fin skeletons 301. The structural connection and bending transmission are achieved through a snap structure, allowing a controllable relative swing between the skeleton units. The servo motor 304 is installed at the middle position of the skeleton. By changing the input angle, each skeleton can be individually driven to swing locally, thereby driving the entire fin to perform a wave motion. The fin tail adjustment member 303 is arranged at the tail end of the fin-shaped thruster and is structurally connected to the end drive fin skeleton 301 and the flexible connecting piece 302. Its function is to respond to the wave motion transmitted by the skeleton, adjust the tail deformation while maintaining the structural integrity, realize a smooth transition at the fin end and coordinated tail propulsion, and enhance the overall propulsion efficiency and motion stability.

[0047] 2. Working principle of the fin: The core principle of the bionic fin is to simulate the natural swimming mode of the ray. The fin propels forward in the water through a series of rhythmic wave-like motions, pushing the surrounding water flow and generating thrust. The wave starts from the front end of the fin, and by gradually bending the fin, a propulsion effect similar to a wave is generated. This motion mode can not only provide a stable linear propulsion force but also achieve flexible multi-directional turning by adjusting the swing frequencies of different fins.

[0048] 3. Cooperation between the fin-shaped thruster and the water jet thruster: The fin-shaped thruster is mainly used for the low-speed propulsion and precise control of underwater reconnaissance aircraft, especially performing excellently in narrow or complex waters. The water jet thruster, on the other hand, serves as an auxiliary thrust system, especially suitable for scenarios of high speed or large-scale turning. When the bionic ray needs to perform high-speed cruising, the water jet thruster provides additional thrust by pumping water flow, enabling the reconnaissance aircraft to quickly reach the target area; while when performing detailed reconnaissance tasks, the water jet thruster will slow down or stop working, relying on the wave-like motion of the fin-shaped thruster to maintain concealment and flexibility.

[0049] 4. Collaboration between the fin-shaped thruster and the sensor system: The multi-sensor system of the bionic ray (including flow sensors, attitude sensors, underwater pressure sensors, etc.) continuously monitors the surrounding environment and feeds back to the control system in real time. The sensor system can adjust the motion mode of the fin-shaped thruster according to environmental changes, especially under conditions such as water flow speed, direction, and obstacles. For example, when detecting strong water flow interference, the control system will increase the swing frequency of the fin to enhance the anti-interference ability of the bionic ray; while in complex terrain or narrow areas, the swing angle of the fin will be adjusted to a more precise angle for safe passage.

[0050] 5. Coordination between the fins and the shell structure: The fin propellers are closely integrated with the streamlined shell of the bionic manta ray to jointly reduce water flow resistance. The wave motion of the fins maintains smooth contact with the shell when pushing water, reducing the generation of turbulence. This design not only optimizes energy efficiency but also reduces noise, effectively enhancing the underwater stealth of the bionic manta ray. The flexible design of the shell can also absorb part of the impact force during the movement of the fins, thereby enhancing the overall stability of the manta ray.

[0051] 6. Cooperation between the fins and the energy management system: Since the wave motion of the fin propellers requires relatively precise control, the energy management system is responsible for dynamically distributing power when the fins are working. The swing frequency and amplitude of the fins have a direct impact on energy consumption. Therefore, when performing different tasks, the energy management system will distribute power according to the demand. During long-term reconnaissance missions, the system will reduce the swing frequency of the fins to save power; when high-speed acceleration is required, the system will provide higher energy support.

[0052] II. The water jet propeller is one of the key propulsion systems of the bionic manta ray, complementing the wave-like fin propellers, and is mainly used to provide powerful linear propulsion force, especially playing an important role in high-speed movement and complex maneuvering operations.

[0053] 1. Structural composition This system not only provides strong thrust but also is a key component of the biomimetic manta ray propulsion method. The water jet thruster is ingeniously integrated into the tail of the biomimetic manta ray. The adjustable direction of its nozzle complements the streamlined shell of the manta ray, effectively reducing the water flow disturbance and noise generated during propulsion, thereby enhancing the concealment and hydrodynamic efficiency during mission execution. During high-speed navigation, the water jet thruster sucks in the surrounding water through a water pump and ejects it through a high-pressure nozzle, forming a strong propulsion force that enables the biomimetic manta ray to move forward quickly or change direction. The nozzle is connected to the thruster body through a hose 204, and its flexible structure allows the nozzle to be flexibly adjusted with the overall movement of the biomimetic manta ray, mimicking the natural swing of the manta ray's tail to achieve efficient propulsion with minimal fluid disturbance. The water jet thruster consists of a servo motor 202, a linkage mechanism, a nozzle, and a water jet pipe. Among them, the servo motor 202 is connected to the adjustable nozzle through the linkage mechanism to achieve precise control of the nozzle angle. The water jet pipe is fixedly connected to the main body of the aircraft and is connected to the water pump inside to provide continuous water flow. The attitude sensor is installed on the biomimetic fin part to real-time monitor its spatial attitude and transmit the data to the main control computer. The computer conducts dynamic attitude simulation based on the sensor data and outputs adjustment signals in real time to control the operation of the servo motor 202, thereby driving the nozzle to rotate to the optimal ejection direction to make the ejected water flow consistent with the propulsion direction of the manta ray's tail's wave-like swing. This coordinated action ensures seamless connection between the water jet thruster and the biomimetic fin propulsion system in terms of structure and action, improving the overall propulsion efficiency and control performance. During low-speed cruising or covert reconnaissance missions, the thrust output of the water jet thruster can be reduced to reduce water flow disturbance, while the fin-shaped thruster undertakes the main propulsion task, making the movement mode of the biomimetic manta ray closer to that of natural organisms and further reducing the detection risk. The two propulsion modes work together to enable the biomimetic manta ray to flexibly meet various task requirements in complex underwater environments.

[0054] 2. Working Principle The core principle of the water jet thruster is to generate thrust by using a water pump to suck water and high-pressure ejection. This is different from traditional propeller propulsion. The water jet thruster has no rotating blades, thus greatly reducing cavitation and noise, while providing relatively stable thrust.

[0055] During normal operation, the water pump sucks in water flow from the surrounding water body, pressurizes it, and then discharges it at high speed from the nozzle. The ejected water flow is opposite to the propulsion direction of the reconnaissance aircraft, and the resulting reaction force pushes the biomimetic manta ray forward. By precisely adjusting the nozzle direction through the servo motor, the water jet thruster can quickly change the movement direction of the biomimetic manta ray to achieve flexible maneuvering. Especially at high speeds, the water jet thruster can provide strong linear acceleration ability, greatly enhancing the maneuverability of the biomimetic manta ray.

[0056] 3. Collaboration with the Wave-like Fin The water jet thruster is usually activated when high-speed propulsion or large-scale steering is required, while the wave-like fins play a major role in low-speed and complex environments. This collaborative working mechanism allows the biomimetic manta ray to flexibly switch the propulsion mode according to the actual situation when performing tasks. For example, when the biomimetic manta ray needs to cruise underwater over a long distance, the water jet thruster can provide stable and high-speed propulsion force, reducing the task execution time. When fine operation or maneuvering in narrow waters is required, the water jet thruster can stop or reduce the thrust, allowing the wave-like fin thruster to dominate the propulsion, ensuring the accuracy and stability of the operation.

[0057] 4. Technical Advantages Stealth: Compared with propeller propulsion, the water jet thruster generates less water flow disturbance and noise, making it difficult for the biomimetic manta ray to be detected by enemy underwater detection equipment when performing stealth reconnaissance tasks.

[0058] Stable Thrust: The water jet thruster can generate continuous and powerful thrust, which is suitable for long-term high-speed navigation. Moreover, the thrust direction can be precisely controlled through the nozzle, providing excellent maneuverability.

[0059] Low Maintenance: Due to the absence of complex rotating parts, the water jet thruster has a lower wear rate when operating in water, reducing the equipment maintenance cost and the risk of failure.

[0060] 5. Integration of the Control System The water jet thruster is closely integrated with the control system of the biomimetic manta ray, and the injection intensity and direction are adjusted in real time based on the environmental data obtained by the sensors. For example, when the reconnaissance aircraft enters a strong water flow area, the control system will dynamically adjust the injection angle of the water jet thruster according to the water flow speed and direction information provided by the sensors to offset external interference and ensure the smooth movement of the biomimetic manta ray.

[0061] 6. Application Scenarios High-Speed Cruising: The water jet thruster is most suitable for performing long-distance cruising tasks, especially when rapid movement is required in open waters, which can significantly improve the task efficiency.

[0062] Quick Maneuvering: When the biomimetic manta ray needs to make a sharp turn or accelerate suddenly underwater, the water jet thruster can quickly change the movement trajectory by adjusting the nozzle direction, enhancing the maneuverability.

[0063] Stealth Reconnaissance: The low-noise characteristic of the water jet thruster makes it very suitable for stealth reconnaissance tasks, especially when approaching the target, it is not easily detected by enemy sonar and other equipment.

[0064] The water jet thruster provides the biomimetic manta ray with the ability of high-speed propulsion, and forms an effective complement to the wave fin-mounted thruster, enabling flexible switching of the propulsion mode according to different mission requirements and environmental conditions. It not only has significant advantages in stealth and thrust stability, but also can adapt to complex underwater environments and diverse mission requirements.

[0065] III. Control system, which is the core control module of the biomimetic manta ray, is responsible for overall coordination of the propulsion system, sensor system and each actuator unit to ensure that the biomimetic manta ray can operate stably and efficiently in complex underwater environments. The control system receives and processes sensor data, and adjusts the working states of each component in real time to optimize the overall performance.

[0066] 1. Structural composition of the control system The control system 103 consists of a main processing unit (MPU), a real-time data processing module, a motion controller and a power management module. The main processing unit is responsible for calculating and analyzing sensor inputs and issuing corresponding control instructions. The real-time data processing module processes the external environment information provided by the sensor system and feeds the processed data back to the main processing unit. The motion controller directly controls the actuators such as the thrusters, fins and water jet thrusters of the biomimetic manta ray to ensure precise and coordinated actions of the thrusters. The power management module is responsible for allocating energy to ensure continuous power supply for each system.

[0067] 2. Working principle The core working principle of the control system is to obtain real-time data of the surrounding environment through the sensor system, such as water flow velocity, pressure, depth and attitude information. The main processing unit analyzes these data, generates decision-making instructions, and adjusts the working states of components such as fin thrusters and water jet thrusters through the motion controller.

[0068] In actual operation, when the biomimetic manta ray enters a complex underwater environment, the sensor system can quickly sense environmental changes, and the system adjusts the motion mode of the thruster by comparing the preset mission requirements. For example, in a strong water flow area, the control system will increase the thrust of the water jet thruster and at the same time adjust the swing frequency of the fin thruster to offset the interference of the water flow and ensure the stable navigation of the biomimetic manta ray.

[0069] 3. Cooperative work of the control system with the fin thruster and the water jet thruster The control system coordinates the operation of the fin propellers and the water jet propeller simultaneously to achieve efficient propulsion and flexibility of the biomimetic manta ray in different environments. During low-speed cruising or fine control, the control system mainly adjusts the swinging mode of the fin propellers. By precisely controlling the swinging frequency, amplitude, and angle of the two fins, the biomimetic manta ray can move smoothly in narrow or complex waters, minimize water flow disturbance as much as possible, and improve concealment. When high-speed propulsion or rapid turning is required, the control system will adjust the thrust and nozzle direction of the water jet propeller simultaneously, using high-pressure water flow to provide additional power, enabling the biomimetic manta ray to accelerate quickly or maneuver and turn. Especially during sharp turns, the control system will make the thrust direction of the water jet propeller cooperate with the movement of the fin propellers to form a stronger rotational torque, thereby enhancing overall maneuverability. The coordinated operation of this dual propulsion system enables the biomimetic manta ray to dynamically balance among concealment, flexibility, and speed according to mission requirements, achieving a more intelligent underwater motion mode.

[0070] 4. Coordination between the Sensor System and the Control System The effective operation of the control system depends on the support of the sensor system. The sensor system of the biomimetic manta ray includes a water pressure sensor, a flow velocity sensor, an ultrasonic sensor, an attitude sensor, etc. These sensors continuously collect real-time data of the underwater environment and transmit it to the control system for analysis. For example, when the biomimetic manta ray encounters an underwater obstacle, the ultrasonic sensor will detect the distance and feedback the information to the control system. The control system will immediately generate a new motion path based on the sensor feedback and adjust the direction and thrust of the fins and the water jet propeller to avoid the obstacle.

[0071] 5. Cooperation between the Control System and Power Management The control system also integrates a power management function. By real-time monitoring of the energy consumption of each component of the biomimetic manta ray, it ensures the efficient use of energy. For example, during a long-term reconnaissance mission, the system will reduce the power output of the fins and the water jet propeller to extend the battery life. When high-speed tracking of a target is required, the control system will give priority to providing sufficient energy for the propulsion system to ensure that the biomimetic manta ray can quickly approach the target.

[0072] 6. Technical Advantages Real-time response ability: The control system can quickly analyze and make decisions on the data input by the sensors, ensuring that the biomimetic manta ray can adjust its motion mode in real time according to environmental changes.

[0073] High-precision control: Through precise control of the fin propellers and the water jet propeller, the biomimetic manta ray can achieve complex maneuvering actions and adapt to different mission requirements.

[0074] Energy consumption optimization: The power management module ensures the efficient use of energy in different mission states, extends the operation time, and ensures stable performance.

[0075] As the "nerve center" of the bionic ray, the control system works closely with the sensor system, fin thrusters, water jet thrusters, and power management system to ensure the flexibility and stability of the bionic ray in various complex underwater environments. By analyzing environmental data in real time, the control system can dynamically adjust the working states of each execution unit, optimize the performance of the bionic ray, and ensure its high concealment, high mobility, and high efficiency during reconnaissance missions.

[0076] In summary, 1. The mobility and flexibility are significantly improved. Through the water jet thrusters and the wave-like fin movements of the bionic ray, the present invention can perform more flexible and precise operations in complex and narrow waters. Especially in situations that require frequent speed changes and turns, it shows higher efficiency and response speed. 2. The concealment is greatly enhanced: By reducing the direct contact between the water flow and the thrusters, the present invention significantly reduces cavitation and mechanical noise. The bionic ray thrusters generate less disturbance in the water. Therefore, during reconnaissance missions, the risk of being detected is reduced, and it can better blend into the natural environment, further enhancing the concealment. 3. The anti-interference ability is stronger: The propulsion method of the bionic ray enables the present invention to more flexibly cope with external interferences in the face of complex water flow environments. The water jet thrusters cause less disturbance to the water flow, and can effectively reduce the interferences caused by external factors such as waves or underwater eddies, thus ensuring the stability and reliability of the reconnaissance aircraft.

[0077] It should be noted that 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 actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0078] It should be understood that those of ordinary skill in the art can make improvements or transformations according to the above description, and all such improvements and transformations should fall within the protection scope of the appended claims of the present invention.

Claims

1. An underwater jet-driven reconnaissance aircraft based on a biomimetic manta ray, characterized in that: It includes a body, a wave fin propeller (101), a water jet propeller (102) and a control system (103) provided on the body. The water jet propeller (102) is provided at the tail of the body. The wave fin propeller (101) and the water jet propeller (102) are connected to the control system (103). The wave fin propeller (101) includes two flexible fins symmetrically arranged on both sides of the body, and a fin driving mechanism connected to the flexible fins. The fin driving mechanism is provided on the body and connected to the control system. The fin driving mechanism is used to drive the flexible fins to move.

2. The underwater jet propulsion reconnaissance aircraft based on a biomimetic manta ray as claimed in claim 1, wherein: The fin driving mechanism includes a plurality of driving fin skeletons (301) and a driver. The plurality of driving fin skeletons (301) are divided into two groups and arranged on both sides of the body respectively, forming two groups of driving skeleton units. In each group of driving skeleton units, the plurality of driving fin skeletons (301) are arranged at intervals in the length direction of the body. The two flexible fins respectively cover and wrap outside the two groups of driving skeleton units. The driver is connected to the body. The driving fin skeleton (301) is connected to the corresponding driver through a flexible connecting piece (302). The flexible fin covers the body and the driving fin skeleton (301). The driver drives the driving fin skeleton (301) to flip, thereby driving the flexible fin to fluctuate.

3. The underwater jet propulsion reconnaissance aircraft based on biomimetic manta ray according to claim 1, characterized in that: The driving fin skeleton (301) is a side frame; the side frame is triangular, and the tip of the triangle faces outward.

4. The underwater jet propulsion reconnaissance aircraft based on a biomimetic manta ray according to claim 1, wherein: The water jet propeller (102) includes a water pump (201), an angle adjusting mechanism, a nozzle (203) and a water jet pipe (204). The nozzle (203) is connected to the water pump (201) through the water jet pipe (204). The angle adjusting mechanism is connected to the nozzle (203). The angle adjusting mechanism is used to adjust the orientation angle of the nozzle (203).

5. The underwater jet propulsion reconnaissance aircraft based on the biomimetic manta ray according to claim 4, characterized in that: The angle adjusting mechanism includes a second servo motor (202) and a linkage mechanism. The second servo motor is connected to the nozzle (203) through a connecting mechanism.

6. The underwater jet propulsion reconnaissance aircraft based on biomimetic manta ray according to claim 1, characterized in that: The linkage mechanism includes a connecting swing rod. One end of the connecting swing rod is connected to the nozzle, and the other end is connected to the servo motor.

7. The underwater water-jet-driven reconnaissance aircraft based on a biomimetic manta ray according to claim 6, characterized in that: The number of the second servo motors (202) is two. One second servo motor (202) is connected to the upper side or the lower side of the nozzle (203) through a connecting swing rod, and the other second servo motor (202) is connected to the left side or the right side of the nozzle (203) through a connecting swing rod.

8. The underwater water jet-driven reconnaissance aircraft based on a biomimetic manta ray according to claim 1, wherein: The underwater water jet-driven reconnaissance aircraft based on a biomimetic ray further includes a vision sensor and an environmental state monitoring sensor. The vision sensor and the environmental state monitoring sensor are connected to the control system (103). The environmental state monitoring sensor includes any one or several of a flow velocity sensor, an attitude sensor, and an underwater pressure sensor.

9. The underwater jet propulsion reconnaissance aircraft based on a biomimetic manta ray according to claim 8, wherein: The control system (103) includes a main processing unit, a motion controller, a sensor interface and a power management module. The main processing unit is connected to the power management module. The main processing unit is connected to the wave fin propeller (101) and the water jet propeller (102) through the motion controller. The main processing unit is connected to the vision sensor and the environmental sensor through the sensor interface.

10. A navigation method of an underwater water jet-driven reconnaissance aircraft based on a biomimetic manta ray as claimed in claim 1, characterized in that: During high-speed cruising, the water jet propeller works for rapid movement. By adjusting the nozzle direction of the water jet propeller, the movement trajectory can be quickly changed for underwater sharp turns or emergency acceleration. During low-speed cruising, the water jet propeller does not work, and the wave-like fin propeller (101) works. It propels in water through rhythmic wave-like movements, further reducing noise, enabling low-speed propulsion and precise control, especially performing excellently in narrow or complex waters. The underwater water jet-driven reconnaissance aircraft based on the bionic ray further includes a visual sensor and an environmental status monitoring sensor, and the visual sensor and the environmental status monitoring sensor are connected to the control system (103). The working process of the wave-like fin propeller is as follows: Collect the real-time status of the underwater water jet-driven reconnaissance aircraft based on the bionic ray and the surrounding environment through the visual sensor and the environmental status monitoring sensor. The control system gives corresponding decisions according to the real-time status of the underwater water jet-driven reconnaissance aircraft based on the bionic ray and the surrounding environment, and controls the swing angle of the wave-like fin propeller. Monitor and judge in real time through the visual sensor whether a target or an obstacle is detected.

Images