Cross-medium hydrofoil ground effect vehicle and control method thereof

Abstract

The invention discloses a cross-medium hydrofoil ground effect vehicle and a control method thereof, and belongs to the field of vehicles. Comprising a fuselage, retractable ground-effect wings, retractable wing tip plates, retractable hydrofoils, T-shaped empennages, air propellers and hydrodynamic propellers. The air propellers are installed at the head of the fuselage, the retractable ground-effect wings are symmetrically installed on the two sides of the front portion of the fuselage and located behind the air propellers, the retractable wing tip plates are installed at the tail ends of the retractable ground-effect wings, the T-shaped empennage is installed on the upper side of the tail end of the fuselage, the retractable hydrofoils comprise the front hydrofoil and the rear hydrofoil, the front hydrofoil is installed on the lower side of the front portion of the fuselage, and the rear hydrofoil is installed on the lower side of the rear portion of the fuselage. The rear hydrofoil is mounted on the lower side of the tail of the fuselage, and the hydraulic propeller is mounted in the middle of the hydrofoil surface of the rear hydrofoil. By means of the variable configuration design, the ship has the near-water sailing capacity, the water surface sailing capacity and the submerging medium-crossing sailing state-crossing capacity, and has the capacity of smooth transition, sailing stability and small resistance.

Description

Technical Field

[0001] The present invention belongs to the field of vehicles, and particularly relates to a trans-medium hydrofoil ground effect vehicle and a control method thereof. Background Art

[0002] The water-air amphibious trans-medium vehicle can achieve seamless switching between rapid air mobility and underwater operation, and has the advantages of high-speed flight, deep diving ability and cross-domain cooperation, significantly improving the response efficiency and execution range of complex tasks, and getting rid of the limitation of the need for multi-device cooperation of traditional single-medium platforms.

[0003] However, most of the existing trans-medium vehicles are unmanned small vehicles. Due to the sudden change of the properties of the gas and water two-phase media during the trans-medium process, the medium crossing process involves complex flow problems, accompanied by air cushion effects, gas-liquid coupling effects, jet phenomena, and the growth, development and collapse of underwater air bubbles, etc. Moreover, the wave action has significant unsteady and nonlinear characteristics, thus posing high requirements for the stable control of the vehicle. On the other hand, due to the limitations of the vehicle type and working principle, the vehicle provides relatively small lift, and it is difficult to achieve a fast and efficient trans-medium process for large loads, which greatly limits the transportation and rapid response capabilities of the trans-medium vehicle.

[0004] In order to achieve stable and reliable water exit, carry large loads and simultaneously maintain fast maneuverability in multiple flight states, the present invention designs a variable configuration trans-medium vehicle with multiple flight states, high stability and high load capacity. Summary of the Invention

[0005] In view of the problems of stability and power during the trans-medium process of the vehicle, the present invention proposes a trans-medium hydrofoil ground effect vehicle, which provides sufficient power for the trans-medium movement of the vehicle through the change of the vehicle structure and maintains the stability of the vehicle.

[0006] The present invention provides a trans-medium hydrofoil ground effect vehicle, comprising: a fuselage; ground effect wings symmetrically arranged on both sides of the front end of the fuselage, and rotatable wing tip plates are installed at the ends of the ground effect wings; the wing tip plates can be switched to different angles with the plane of the ground effect wings through a wing tip plate control mechanism; hydrofoils, including a front hydrofoil and a rear hydrofoil, are arranged at the bottom of the front end and the bottom of the rear end of the fuselage, and the hydrofoils extend out during the water surface navigation stage and retract during the near-water navigation stage and underwater submergence stage of the vehicle; an air propeller is arranged at the front end of the fuselage to provide propulsion power during the near-water navigation stage and water surface navigation stage of the vehicle; a hydraulic propeller is arranged on the wing surface of the hydrofoil to provide propulsion power during the water surface navigation stage and underwater submergence stage of the vehicle.

[0007] Furthermore, the ground effect wing includes a ground effect wing root, a ground effect wing body, and a ground effect wing tip arranged in sequence. The ground effect wing root is connected to the fuselage through a rotating shaft, and the ground effect wing tip is movably connected to the wing tip plate through a hinge support. A ground effect wing control mechanism is provided at the connection between the fuselage and the ground effect wing root to control the retraction or extension of the ground effect wing into or out of the fuselage.

[0008] Furthermore, a wing tip plate control mechanism is provided inside the ground effect wing body to control the rotation of the wing tip plate. The wing tip plate control mechanism controls the wing tip plate to be parallel to the ground effect wing plane and form a part of the ground effect wing. As the ground effect wing retracts into the fuselage, the oncoming flow area is reduced and the resistance is decreased. When the wing tip plate control mechanism controls the wing tip plate to be perpendicular to the ground effect wing plane, the ground effect is enhanced.

[0009] Furthermore, the front hydrofoil includes a front wing surface connected to the bottom of the fuselage through a telescopic connecting member. The rear hydrofoil includes a rear wing surface connected to the bottom of the fuselage through a telescopic connecting member. A hydraulic propeller is provided in the middle of the rear end of the rear wing surface to provide the driving force during the water surface navigation stage and underwater submergence.

[0010] Furthermore, the telescopic link member is controlled to extend or retract through a hydrofoil telescopic mechanism, thereby controlling the extension or retraction of the hydrofoil. The front wing surface of the front hydrofoil and the rear wing surface of the rear hydrofoil can achieve the control of the angle of attack through the angle of attack control mechanism in the connecting member, and the hydrodynamic lift and moment are changed by controlling the height difference of the hydrofoil and the change of the angle of attack.

[0011] Furthermore, it also includes a V-shaped bottom pad located at the bottom of the front end of the fuselage to reduce the slamming when the vehicle enters the water.

[0012] Furthermore, it also includes a T-shaped tail fin installed at the top of the end of the fuselage to control the heading and state of the vehicle.

[0013] The present invention also provides a control method for a trans-medium hydrofoil ground effect vehicle. When the trans-medium hydrofoil ground effect vehicle is in the near-water navigation stage, the ground effect wing is controlled to be in the extended state, and the wing tip plate is perpendicular to the retractable ground effect wing plane. In this stage, the air propeller is in the working state to provide power for the vehicle.

[0014] When the trans-medium hydrofoil ground effect vehicle is in the water surface navigation stage, the hydrofoil is controlled to be in the extended state, the front wing surface and the rear wing surface are completely immersed in the water surface, and the hydrodynamic lift is changed by changing the angle of attack of the hydrofoil through the angle of attack control mechanism, and the heading and state of the vehicle are controlled in combination with the T-shaped tail fin. In this stage, one or both of the hydraulic propeller and the air propeller are in the working state to provide power for the vehicle.

[0015] When the cross-medium hydrofoil ground effect vehicle is in the submerged navigation stage, the wing tip plate control mechanism controls the wing tip plate to be parallel to the retractable ground effect wing plane and form a part of the ground effect wing, and controls the ground effect wing to be retracted into the fuselage; the hydrofoil is controlled to be in a retracted state; during this stage, the hydraulic propeller is in a working state to provide power for the vehicle;

[0016] When the cross-medium hydrofoil ground effect vehicle is in a state of near-water navigation and is converted into submerged navigation, the power of the air propeller is reduced, and the V-shaped pad at the bottom of the vehicle reduces the impact of entering the water; the vehicle glides on the water surface, the air propeller stops working, the hydrofoil retracting mechanism controls the hydrofoil to gradually extend, the ground effect wing control mechanism and the wing tip plate control mechanism start working, control the wing tip plate to be parallel to the ground effect wing plane, and retract into the fuselage with the ground effect wing; the hydraulic propeller starts working to provide power; the angle of attack of the hydrofoil and the height difference between the front and rear hydrofoils are changed by the angle of attack control mechanism, negative lift and nose-down moment are generated, so that the vehicle sinks into the water;

[0017] When the cross-medium hydrofoil ground effect vehicle is in the stage of converting from submerged navigation to surface navigation, the hydraulic propeller provides power to drive the vehicle forward, adjust the state of the hydrofoil, control the extension of the hydrofoil, and utilize the synergistic effect of the change in the angle of attack of the hydrofoil, the height difference between the front and rear hydrofoils, and the deflection of the rear wing rudder surface to generate lift and nose-up moment to control the vehicle to float to the water surface; when the vehicle quickly sails out of the water, the air propeller starts to work when it leaves the water; when the ground effect wing leaves the water surface, the ground effect wing control mechanism starts to work, controls the ground effect wing and the wing tip plate to be in the extended state, and provides additional support force;

[0018] When the cross-medium hydrofoil ground effect vehicle is in the stage of converting from surface navigation to near-water navigation, the air propeller is used to provide power in this stage, the ground effect wing is controlled to be in an extended state, the wing tip plate is perpendicular to the retractable ground effect wing plane, the vehicle continues to accelerate, and when the take-off speed is reached, the hydrofoil is controlled to be retracted, the vehicle leaves the water surface and starts to fly, and the hydraulic propeller stops after take-off.

[0019] Furthermore, when the cross-medium hydrofoil ground effect vehicle is in the submerged navigation stage, the T-tail is in a tail-folded state to form a streamlined shape with the fuselage, thereby reducing the wet surface area and resistance of underwater submergence.

[0020] The beneficial effects of the present invention are:

[0021] The cross-media hydrofoil ground effect vehicle of the present invention is different from the fixed-wing, variable-wing or rotary-wing cross-media vehicles in the prior art. The main body of the vehicle of the present invention is composed of a retractable ground effect wing and wing tip plates, front and rear scalable and variable angle-of-attack hydrofoils, and a structure with two propulsion methods of an air propeller and a hydrodynamic propeller. By using different structural combinations, it has the cross-media and cross-navigation state capabilities of near-water navigation, surface navigation, and submersible navigation. The retractable ground effect wing and wing tip plates can, through the retractable method, not only be deployed during near-water navigation and surface navigation to fully utilize the lift generated by the ground effect to support the vehicle, but also be retracted during submersible navigation to reduce underwater resistance. The front and rear scalable and variable angle-of-attack hydrofoils can provide hydrodynamic lift to support the hull during surface navigation, and can also provide additional lift during cross-media water exit. At the same time, when converting from a near-surface flight condition to a surface navigation or submersible navigation condition, the impact load can be greatly reduced by contraction. In addition, the attitude adjustment of the vehicle can be realized by changing the extension length and angle of attack of the front and rear hydrofoils. The air propeller and the hydrodynamic propeller can enable the vehicle to have efficient propulsion capabilities in different navigation states. The present invention has multiple force-bearing surfaces (points) such as a ground effect wing, a tail wing, front and rear hydrofoils, and an air propeller and a hydrodynamic propeller during the cross-media process, so it has good stability and a higher safety redundancy. At the same time, the hydrofoils and the ground effect wing can provide hydrodynamic and aerodynamic lift to support the vehicle simultaneously, making it have stronger load-bearing capacity and being able to meet the needs of various tasks. Description of the Drawings

[0022] Figure 1 It is a three-dimensional structural schematic diagram of the cross-media hydrofoil ground effect vehicle of the present invention;

[0023] Figure 2 It is a three-dimensional structural schematic diagram of the ground effect wing of the cross-media hydrofoil ground effect vehicle of the present invention;

[0024] Figure 3 It is a three-dimensional structural schematic diagram of the front hydrofoil of the cross-media hydrofoil ground effect vehicle of the present invention;

[0025] Figure 4 It is a three-dimensional structural schematic diagram of the rear hydrofoil of the cross-media hydrofoil ground effect vehicle of the present invention;

[0026] Figure 5 It is a three-dimensional structural schematic diagram of the cross-media hydrofoil ground effect vehicle in the near-water navigation stage;

[0027] Figure 6 It is a first-perspective side three-dimensional structural schematic diagram of the cross-media hydrofoil ground effect vehicle in the surface navigation stage;

[0028] Figure 7 It is a second-perspective side three-dimensional structural schematic diagram of the cross-media hydrofoil ground effect vehicle in the surface navigation stage;

[0029] Figure 8 This is a first - perspective side - view three - dimensional structural schematic diagram of the cross - medium hydrofoil ground - effect vehicle of the present invention in the submersible navigation stage (without retracting the T - shaped tail).

[0030] Figure 9 This is a second - perspective side - view three - dimensional structural schematic diagram of the cross - medium hydrofoil ground - effect vehicle of the present invention in the submersible navigation stage (without retracting the T - shaped tail).

[0031] Figure 10 This is a first - perspective side - view three - dimensional structural schematic diagram of the cross - medium hydrofoil ground - effect vehicle of the present invention in the submersible navigation stage (with retracting the T - shaped tail).

[0032] Figure 11 This is a second - perspective side - view three - dimensional structural schematic diagram of the cross - medium hydrofoil ground - effect vehicle of the present invention in the submersible navigation stage (with retracting the T - shaped tail).

[0033] The reference numerals are: 1 - fuselage, 2 - ground - effect wing, 21 - ground - effect wing root, 22 - ground - effect wing airfoil, 23 - ground - effect wing tip, 3 - wing tip plate, 4 - T - shaped tail, 51 - front hydrofoil, 52 - rear hydrofoil, 53 - first telescopic connecting member, 54 - front wing surface, 55 - second telescopic connecting member, 56 - rear wing surface, 6 - air propeller, 7 - hydraulic propeller, 8 - V - shaped bottom cushion. Detailed Description of the Invention

[0034] The features and exemplary embodiments of various aspects of the present application will be described in detail below. To make the objectives, technical solutions, and advantages of the present application clearer and more understandable, the present application will be further described in detail below in combination with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only configured to explain the present application and are not configured to limit the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only provided to provide a better understanding of the present application by showing examples of the present application.

[0035] 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 including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or elements inherent to such process, method, article, or device. Without further limitation, the elements defined by the statement "including..." do not exclude the existence of additional identical elements in the process, method, article, or device including the elements.

[0036] The present invention discloses a cross-media hydrofoil ground effect special vehicle, as Figures 1-4 shown, which includes a fuselage 1, a ground effect wing 2, wing tip plates 3, a T-shaped tail 4, hydrofoils, an air propeller 6, and a hydraulic propeller 7. It can achieve underwater navigation, surface navigation relying on hydrofoils, and near-surface navigation using ground effect wings.

[0037] A V-shaped bottom pad 8 is provided at the bottom of the front end of the fuselage 1.

[0038] The air propeller 6 is installed at the very front end of the fuselage, providing most of the power for the vehicle during surface navigation, near-water navigation, and cross-media processes.

[0039] The ground effect wing 2 includes two left and right ground effect wings, which are distributed on both sides of the middle part of the front end of the fuselage 1, and are released during surface navigation and mostly retracted into the fuselage 1 during submersible navigation.

[0040] The ground effect wing 2 includes a ground effect wing root 21, a ground effect wing 22, and a ground effect wing tip 23. When retracted, a part of the ground effect wing root 21 is exposed, and parts of the ground effect wing 22 and the ground effect wing tip 23 are retracted into the fuselage 1. When released, the part of the ground effect wing root 21 is completely retracted into the fuselage 1, and the parts of the ground effect wing 22 and the ground effect wing tip 23 are completely released, and the two ground effect wings 2 are at the same height.

[0041] The wing tip plates 3 are installed on the ground effect wing tip 23 parts at the ends of the ground effect wings, and are connected through hinge supports. They are released during surface navigation, perpendicular to the plane of the retractable ground effect wing 2, effectively enhancing the ground effect. They are retracted during underwater navigation, parallel to the plane of the retractable ground effect wing 2, integrated with the ground effect wing 2, and retracted into the fuselage 1 together with the retractable ground effect wing 2, reducing the oncoming flow area and resistance.

[0042] A ground effect wing control mechanism is provided at the connection between the fuselage 1 and the ground effect wing 2 to control the rotation and lifting of the ground effect wing 2; a wing tip plate control mechanism is installed inside the ground effect wing 22 to control the rotation of the wing tip plates 3.

[0043] The hydrofoil includes a front hydrofoil 51 and a rear hydrofoil 52; the front hydrofoil 51 is installed at the lower front end of the fuselage 1, and the rear hydrofoil 52 is installed at the lower rear end of the fuselage 1; the front hydrofoil 51 includes two first telescopic connecting members 53 and a front wing surface 54, and the two first telescopic connecting members 53 are symmetrically connected to the front wing surface 54; the rear hydrofoil 52 includes a second telescopic connecting member 55 and a rear wing surface 56, and the second telescopic connecting member 55 is connected to the midpoint of the rear wing surface 56. The two hydrofoils are lowered during the surface navigation stage and the submerged stage, and are retracted during the near-water navigation stage; the first hydrofoil control mechanism for controlling the retraction and release of the front hydrofoil 51 is installed inside the fuselage 1, and the second hydrofoil control mechanism for controlling the retraction and release of the rear hydrofoil 52 is inside the T-shaped tail 4; the first telescopic connecting member 53 and the second telescopic connecting member 55 are provided with a hydrofoil attack angle control device, which can change the hydrofoil attack angle by connecting the hydrofoil attack angle mechanism to change the lift of the hydrofoil, so as to achieve the control of the navigation state and heading.

[0044] The hydraulic propeller 7 is installed at the middle of the rear end of the rear wing surface and works during the surface navigation stage and the submerged navigation stage.

[0045] The aircraft completes flight state control by adjusting the angle of attack of the hydrofoil and the height of the front and rear hydrofoils, and realizes pitch and yaw motion by combining the control of the T-tail rudder surface, forming a three-dimensional motion coordination mechanism. Its multi-mode conversion design covers the retractable and extended state of the ground effect wing, the dynamic adjustment of the angle of attack of the hydrofoil, and the switching of the propulsion system: the ground effect wing is partially retracted inside the fuselage during the diving stage to reduce underwater resistance, and the hydrofoil controls the snorkeling posture by increasing and decreasing the angle of attack and the height difference between the front and rear hydrofoils. The hydraulic and air propellers control the power source based on work needs. The ground effect wing is fully released during ground effect flight and vertically lowered with the wing tip plate, and is retracted synchronously with the wing tip plate during diving. The design realizes efficient conversion and stable control of large-load cross-medium navigation modes through the system integration of ground effect wings, hydrofoils and diving technologies.

[0046] Example 1

[0047] A cross-medium hydrofoil ground effect wing vehicle, comprising: a front V-shaped bottom body 1, on both sides of the front end of which are symmetrically installed retractable ground effect wings 2, which are deployed when the vehicle sails on the water surface, and the ends are configured with retractable wing tip plates 3; a T-shaped tail fin 4 is arranged on the upper side of the tail of the body 1, and two retractable hydrofoils are arranged front and rear on the lower side of the body 1, which are retracted during the water surface navigation stage of the vehicle and are lowered during the near-water navigation stage and the underwater submersible navigation stage. At the same time, a hydraulic propeller 7 is arranged in the middle of the rear wing surface 56 of the rear retractable hydrofoil 52 at the rear. The hydraulic propeller 7 has the functions of propulsion during the water surface navigation stage and power supply for underwater submersible navigation; an air propeller 6 is installed at the front of the body 1 for propulsion during the water surface navigation and near-water navigation of the vehicle; the retractable ground effect wing 2 includes three functional areas: a ground effect wing root 21 part, a ground effect wing 22 part, and a ground effect wing tip 23 part. The ground effect wing root 21 part has a rotating shaft to realize the front and rear retraction of the ground effect wing.

[0048] Working process:

[0049] 1. Near-water navigation stage

[0050] As Figure 5 shown, in this stage, similar to a ground effect vehicle, the vehicle flies at a certain distance from the water surface. In this stage, the ground effect wings 2 are deployed, and the wing tip plates 3 are in a state perpendicular to the plane of the ground effect wings 2. When working in this stage, the hydrofoils are in a retracted state, close to the surface of the body 1. The power in this stage is provided by the air propeller 6.

[0051] 2. Water surface navigation stage

[0052] As Figure 6 and Figure 7 shown, in this stage, similar to a hydrofoil ship, the hydrofoils are in a lowered state, and the hydrofoil surfaces are completely immersed in the water surface. By changing the angle of attack of the hydrofoils, the hydrodynamic lift is changed, and in combination with the T-shaped tail fin 4, precise control of the course and state is achieved. The ground effect wings 2 can be deployed or retracted according to requirements such as speed or load. When the ground effect wings 2 are deployed, the combined action of the hydrofoils and the ground effect wings 2 enables the vehicle to generate a large lift, ensuring that the vehicle can have a large load capacity while sailing at high speed. In this stage, power can be selected to be provided by the hydraulic propeller 6 or the air propeller 7 or both simultaneously according to needs.

[0053] 3. Submersible navigation stage

[0054] As Figure 8 and Figure 9 shown, in this stage, similar to a submersible, the ground effect wings 2 and the wing tip plates 3 are in a retracted state to reduce the resistance in water; the hydrofoils are controlled to be in a retracted state. The power in this stage is provided by the hydraulic propeller 7. In case of an emergency maneuver, the air propeller 6 can also provide power.

[0055] 4. Transition from Submerged Navigation Phase to Surface Navigation Phase

[0056] The hydraulic propeller 7 provides power to drive the vehicle forward, controls the hydrofoils to be lowered and adjusts the angle of attack. By virtue of the change in the angle of attack of the hydrofoils and the height difference between the front and rear hydrofoils, and in combination with the deflection of the tail fin control surface, lift and a pitching moment are generated to control the vehicle to float to the water surface. In this state, due to the low speed, multiple control surfaces can ensure the attitude stability of the vehicle when emerging from the water across different media.

[0057] When rapid emergence is required, the air propeller 6 starts to work during emergence to increase the emergence power and improve the emergence speed. Further, when the ground effect wing 2 leaves the water surface, the ground effect wing control mechanism and the wing tip plate control mechanism start to work, causing the ground effect wing 2 and the wing tip plate 3 to be deployed to provide additional support force. Since both the air propeller 6 and the ground effect wing 2 work after emerging from the water, it avoids the drastic change in hydrodynamic force during the transition between different media. At the same time, due to the support and adjustment of multiple lift surfaces, the stability and reliability of the vehicle are higher.

[0058] 5. Transition from Surface Navigation Phase to Near-Water Navigation Phase:

[0059] In this stage, the air propeller 6 mainly provides power, the ground effect wing 2 is in the deployed state, and the vehicle continues to accelerate. When the takeoff speed is reached, the hydrofoils are retracted, and the vehicle leaves the water surface and starts to fly. In this stage, the hydraulic propeller 7 can provide additional power, and the hydraulic propeller 7 stops rotating after takeoff.

[0060] 6. Transition from Near-Water Navigation Phase to Submerged Navigation Phase:

[0061] The power of the air propeller 6 is reduced, the V-shaped bottom 8 at the front of the vehicle body 1 reduces the water entry slamming, and the vehicle glides on the water surface. The air propeller 6 stops working, the hydrofoils gradually extend, the ground effect wing control mechanism and the wing tip plate control mechanism start to work, causing the ground effect wing 2 and the wing tip plate 3 to be retracted, the T-shaped tail fin 4 to contract, and the hydraulic propeller 7 starts to work to provide power. Further, by changing the angle of attack of the hydrofoils and the height difference between the front and rear hydrofoils, negative lift and a pitching moment are generated to make the vehicle sink into the water. The tail of the T-shaped tail fin 4 is retracted and the upper part of the vehicle body 1 together maintain the streamline shape of the vehicle body, and in cooperation with the retraction action of the retractable ground effect wing 2, the wetted surface area and resistance during underwater submerged navigation are reduced.

[0062] In some embodiments, the V-shaped bottom 8 disperses the impact force of the water surface on the vehicle body 1 during the cross-media navigation state transformation; the T-shaped tail fin 4 is retracted and the vehicle body 1 together maintain the overall streamline shape of the vehicle body, as shown in Figure 10 and Figure 11 shown. When the vehicle transforms to the submerged state, in cooperation with the retraction action of the retractable ground effect wing 2, the wetted surface area and resistance during underwater submerged navigation are reduced.

[0063] In some embodiments, when the aircraft is sailing on the water surface, the wing tip plate 3 is in a vertical state with the ground effect wing 2 to enhance the ground effect; when the aircraft is diving underwater, the wing tip plate 3 is in a parallel state with the ground effect wing to reduce the headwind area and reduce the navigation resistance. At the same time, it becomes a part of the ground effect wing 2, and cooperates with the ground effect wing 2 to maintain the overall streamline of the fuselage as it retracts.

[0064] In some embodiments, the front hydrofoil 51 is connected to the front wing surface 54 through two symmetrically distributed first telescopic connecting members 53, and the rear hydrofoil 52 is connected to the midpoint of the rear wing surface 56 through a single first telescopic connecting member 55. The two are synchronously lowered during the surface navigation stage to provide a large load lift for the cross-medium process; they are retracted when needed during the near-water navigation and submerged navigation stages to avoid the influence of additional resistance on the navigation efficiency.

[0065] In some embodiments, during the surface navigation phase, the aircraft generates thrust by rotating the air propeller 6, utilizing the air medium to achieve efficient propulsion; under normal conditions, when the aircraft enters the underwater diving phase, it automatically stops working to avoid energy loss caused by inefficient operation in the water medium.

[0066] In some embodiments, when the vehicle is in the submerged state, the hydraulic propeller 7 serves as the main power source and achieves underwater maneuverability through hydraulic propulsion.

[0067] In some embodiments, the medium hydrofoil ground effect vehicle has a wide range of application potentials in the following fields due to its multi-mode switching capability, efficient propulsion system and variable configuration design:

[0068] 1. Exploration area: It can flexibly switch between surface, ground effect flight and underwater diving modes to adapt to complex sea conditions and perform various tasks. It has underwater diving, ground effect flight and high load capacity, and can achieve rapid delivery and evacuation of more personnel or equipment.

[0069] 2. Marine scientific research and resource exploration: Go deep underwater through the submersible mode, combined with the stability of the surface navigation mode, and efficiently collect marine biological, geological or hydrological data. Adapt to the ice-sea boundary environment, use the ground effect flight mode to cross the floating ice area, and improve the efficiency of polar exploration.

[0070] 3. Search and rescue and emergency response: Respond quickly in disaster relief, break through the limitations of traditional ships or aircraft through multi-mode navigation, and reach the disaster area directly. Use the submersible mode to search for underwater targets, switch to the hydrofoil or ground effect flight mode to quickly cover a large area of sea and improve rescue efficiency. Real-time monitoring of accidents such as oil spills or nuclear leaks, and quickly switch operating areas through cross-media capabilities.

[0071] 5. Tourism and leisure: Provide a unique "sea and air amphibious" sailing experience, where tourists can experience underwater diving and ground effect flight. Combine the fuselage and intelligent control system to create a new type of yacht that combines speed and comfort.

[0072] 6. Environmental monitoring and ecological protection: Equipped with meteorological sensors, it can efficiently collect data from the sea surface to the low-altitude atmosphere in the ground effect flight mode.

[0073] In accordance with the embodiments of the present application as described above, these embodiments do not elaborate on all the details and do not limit the invention to only the specific embodiments. Obviously, many modifications and variations can be made based on the above description. The present specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present application, so that those skilled in the art can make good use of the present application and its modifications based on the present application. The present application is only limited by the claims and their full scope and equivalents.

Claims

1. A cross-medium hydrofoil ground effect vehicle, characterized in that, Comprising: A fuselage (1); Ground effect wings, symmetrically arranged on both sides of the front end of the fuselage (1), and rotatable wing tip plates are installed at the ends of the ground effect wings; The wing tip plates can be switched to different angles with respect to the ground effect wing plane through a wing tip plate control mechanism; Hydrofoils, including a front hydrofoil (51) and a rear hydrofoil (52), are arranged at the bottom of the front end and the bottom of the rear end of the fuselage (1). The hydrofoils extend during the surface navigation stage and retract during the near-water navigation stage and the underwater submergence stage of the vehicle; An air propeller (6) is arranged at the front end of the fuselage (1) to provide propulsion power during the near-water navigation stage and the surface navigation stage of the vehicle; A water propeller (7) is arranged on the wing surface of the hydrofoil to provide propulsion power during the surface navigation stage and the underwater submergence stage of the vehicle.

2. The cross-medium hydrofoil wing-in-ground vehicle according to claim 1, characterized in that The ground effect wing includes a ground effect wing root, a ground effect wing body, and a ground effect wing tip. The ground effect wing root is connected to the fuselage (1) through a rotating shaft, and the ground effect wing tip is movably connected to the wing tip plate through a hinge support; a ground effect wing control mechanism is provided at the connection between the fuselage (1) and the ground effect wing root to control the ground effect wing to retract into or extend out of the fuselage (1).

3. The cross-medium hydrofoil ground effect vehicle according to claim 2, characterized in that, The wing tip plate control mechanism for controlling the rotation of the wing tip plate is arranged inside the ground effect wing body; the wing tip plate control mechanism controls the wing tip plate to be parallel to the ground effect wing plane and forms a part of the ground effect wing. As the ground effect wing retracts into the fuselage (1), the oncoming flow area is reduced and the resistance is decreased; when the wing tip plate control mechanism controls the wing tip plate to be perpendicular to the ground effect wing plane, the ground effect is enhanced.

4. The cross-medium hydrofoil ground effect vehicle according to claim 1, wherein The front hydrofoil (51) includes a front wing surface (54) connected to the bottom of the fuselage (1) through a telescopic connecting member; the rear hydrofoil (52) includes a rear wing surface (56) connected to the bottom of the fuselage (1) through a telescopic connecting member; a water propeller (7) is provided in the middle of the rear end of the rear wing surface (56) to provide propulsion power during the surface navigation stage and underwater submergence.

5. The cross-medium hydrofoil wing-in-ground vehicle according to claim 4, characterized in that, The telescopic link member is controlled to extend or retract through a hydrofoil telescopic mechanism, thereby controlling the extension or retraction of the hydrofoil; the front wing surface (54) of the front hydrofoil (51) and the rear wing surface (56) of the rear hydrofoil (52) can achieve the control of the angle of attack through the angle of attack control mechanism in the connecting member, and the hydrodynamic lift and moment are changed by controlling the height difference and the change of the angle of attack of the hydrofoil.

6. The cross-medium hydrofoil ground effect vehicle according to claim 1, wherein, It further includes a V-shaped bottom pad (8) located at the bottom of the front end of the fuselage (1) to reduce the slamming force when the vehicle enters the water.

7. The cross-medium hydrofoil ground effect vehicle according to claim 1, wherein, It further includes a T-shaped tail fin (4) installed at the top of the end of the fuselage (1) to control the heading and state of the vehicle.

8. A control method for a trans-medium hydrofoil ground effect vehicle using any one of claims 1 to 7, characterized in that When the trans-medium hydrofoil ground effect vehicle is in the near-water navigation stage, the ground effect wing is controlled to be in the extended state, and the wing tip plate is perpendicular to the retractable ground effect wing plane; In this stage, the air propeller (6) is in the working state to provide power for the vehicle; When the cross-medium hydrofoil ground effect vehicle is in the stage of sailing on the water surface, the hydrofoil is controlled to be in an extended state, the front wing surface (54) and the rear wing surface (56) are completely immersed in the water surface, and the hydrodynamic lift is changed by changing the angle of attack of the hydrofoil through the angle of attack control mechanism, and the hydrodynamic lift is changed, and the T-shaped tail (4) works together to realize the control of the heading and state of the vehicle; at this stage, one or both of the hydraulic propeller (7) and the air propeller (6) are in a working state to provide power for the vehicle; When the cross-medium hydrofoil ground effect vehicle is in the submerged navigation stage, the wing tip plate control mechanism controls the wing tip plate to be parallel to the retractable ground effect wing plane and form a part of the ground effect wing, and controls the ground effect wing to be retracted into the fuselage (1); the hydrofoil is controlled to be in a retracted state; during this stage, the hydraulic propeller is in a working state, providing power for the vehicle; When the cross-medium hydrofoil ground effect vehicle is in a state of near-water navigation and is converted into submerged navigation, the power of the air propeller (6) is reduced, and the V-shaped pad (8) at the bottom of the vehicle reduces the impact of entering the water; the vehicle glides on the water surface, the air propeller (6) stops working, the hydrofoil retractable mechanism controls the hydrofoil to gradually extend, the ground effect wing control mechanism and the wing tip plate control mechanism start working, control the wing tip plate to be parallel to the ground effect wing plane, and retract into the fuselage (1) along with the ground effect wing; the hydraulic propeller (7) starts working to provide power; the angle of attack of the hydrofoil and the height difference between the front and rear hydrofoils are changed by the angle of attack control mechanism, negative lift and nose-down moment are generated, and the vehicle sinks into the water; When the cross-medium hydrofoil ground effect vehicle is in the stage of converting from submerged navigation to surface navigation, the hydraulic propeller (7) provides power to drive the vehicle forward, adjust the state of the hydrofoil, control the extension of the hydrofoil, and utilize the synergistic effect of the change in the angle of attack of the hydrofoil, the height difference between the front and rear hydrofoils, and the deflection of the rudder surface of the rear wing (56) to generate lift and nose-up moment to control the vehicle to float to the water surface; when the vehicle quickly sails out of the water, the air propeller (6) starts to work when it leaves the water; when the ground effect wing leaves the water surface, the ground effect wing control mechanism starts to work, controls the ground effect wing and the wing tip plate to be in the extended state, and provides additional support force; When the cross-medium hydrofoil ground effect vehicle is in the stage of converting from surface navigation to near-water navigation, the air propeller (6) provides power in this stage, controls the ground effect wing to be in an extended state, and controls the wing tip plate to be perpendicular to the retractable ground effect wing plane, and the vehicle continues to accelerate. When the take-off speed is reached, the hydrofoil is controlled to be retracted, and the vehicle leaves the water surface and starts to fly. After take-off, the hydraulic propeller (7) stops rotating.

9. The control method of a cross-media hydrofoil ground effect vehicle according to claim 8, characterized in that When the cross-medium hydrofoil ground effect vehicle is in the submerged navigation stage, the T-shaped tail (4) is in a tail-folded state to form a streamlined shape with the fuselage (1), thereby reducing the wet surface area and resistance of underwater submerged navigation.

Images