Cross-medium aircraft, airspeed tube drainage method of cross-medium aircraft and product of cross-medium aircraft

Abstract

The invention discloses a cross-medium aircraft, an airspeed tube drainage method of the cross-medium aircraft and a product of the airspeed tube drainage method, and is applied to the technical field of aircrafts. The cross-medium aircraft comprises an airspeed tube and an airspeed tube drainage system, and the airspeed tube drainage system comprises a detection module used for detecting the relative humidity in a first tube or the water pressure in the first tube in the airspeed tube when the operation working condition of the cross-medium aircraft is the water surface working condition or the air working condition; and the drainage module is used for conveying gas into the airspeed tube to discharge accumulated water in the airspeed tube under the condition that the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold value or the water pressure in the first tube is greater than or equal to a first preset water pressure threshold value. According to the method, gas can be conveyed into the airspeed tube through the drainage module, accumulated water is discharged through the gas, it is ensured that measurement of fluid pressure by the airspeed tube is not interfered by the accumulated water, and the problem that fluid pressure measurement of a cross-medium aircraft is inaccurate due to the accumulated water in the airspeed tube is effectively solved.

Description

Technical Field

[0001] The present application belongs to the field of aircraft technology, and in particular relates to a cross-medium aircraft, a pitot tube drainage method for a cross-medium aircraft, and products thereof. Background Art

[0002] A trans-medium vehicle is an intelligent device capable of reciprocating underwater, on the surface, and in the air. A pitot tube is mounted on the front or top of the trans-medium vehicle's fuselage. This tube measures the fluid pressure of the medium in which the trans-medium vehicle is currently located, calculates the vehicle's airspeed, and provides data support for the trans-medium vehicle's navigation control.

[0003] However, when a cross-medium vehicle jumps from underwater to air, the accumulation of water in the pitot tube will cause inaccurate measurement of the fluid pressure, thereby affecting the navigation control accuracy of the cross-medium vehicle. Summary of the Invention

[0004] Embodiments of the present application provide a cross-media vehicle, a pitot tube drainage method for a cross-media vehicle, and products thereof. The cross-media vehicle product includes a pitot tube drainage device for a cross-media vehicle, electronic equipment, computer-readable storage media, and computer program products, which can effectively solve the problem of inaccurate fluid pressure measurement caused by water accumulation in the pitot tube of a cross-media vehicle.

[0005] In a first aspect, an embodiment of the present application provides a cross-medium vehicle, the cross-medium vehicle including a pitot tube and a pitot tube drainage system, the pitot tube drainage system including: a detection module, configured to detect the relative humidity in the first tube or the water pressure in the first tube of the pitot tube when the cross-medium vehicle is operating in a surface condition or an air condition; The drainage module is used to transport gas into the pitot tube to drain the accumulated water in the pitot tube when the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold or the water pressure in the first tube is greater than or equal to a first preset tube water pressure threshold.

[0006] In some possible implementations of the embodiments of the present application, the drainage module includes: a gas source for generating gas; The blocking piece is connected to the exhaust end of the gas source, and the blocking piece has an open position and a closed position for opening or closing the exhaust end of the gas source.

[0007] In some possible implementations of the embodiments of the present application, the cross-medium vehicle includes a controller, the blocking member includes a valve structure, and the pitot tube drainage system further includes: The air source drive circuit is connected to the controller and the air source. The air source drive circuit is used to receive the air source control signal sent by the controller and control the opening and closing of the air source according to the air source control signal; The valve structure drive circuit is connected to the controller and the valve structure. The valve structure drive circuit is used to receive the valve structure control signal sent by the controller and control the valve structure to switch between the open position and the closed position according to the valve structure control signal.

[0008] In some possible implementations of the embodiments of the present application, the detection module includes: a pressure sensor, disposed in the pitot tube, for detecting the water pressure in the first tube of the pitot tube; a humidity sensor, disposed in the pitot tube, for detecting the relative humidity in the first tube of the pitot tube; The depth sensor is arranged at the bottom of the cross-media vehicle and is used to detect the navigation depth of the cross-media vehicle. The navigation depth is used to represent the vertical distance from the bottom of the cross-media vehicle to the water surface.

[0009] In some possible implementations of the embodiments of the present application, the number of the drainage modules is set to at least two.

[0010] In a second aspect, an embodiment of the present application provides a pitot tube drainage method for a cross-medium vehicle, which is applied to the cross-medium vehicle according to the first aspect. The pitot tube drainage method for the cross-medium vehicle includes: When the cross-medium vehicle is operating in a surface condition or an air condition, detecting the first tube relative humidity or the first tube water pressure in the pitot tube; When the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold or the water pressure in the first tube is greater than or equal to a first preset tube water pressure threshold, gas is transported into the pitot tube through the drainage module to drain the accumulated water in the pitot tube.

[0011] In some possible implementations of the embodiments of the present application, the pitot tube water discharge method of the cross-medium vehicle further includes: Obtaining the navigation depth of the cross-medium vehicle, where the navigation depth is used to represent the vertical distance from the bottom of the cross-medium vehicle to the water surface; When the navigation depth is a first preset threshold, determining that the operating condition of the cross-medium aircraft is an airborne condition; Alternatively, when the navigation depth is greater than a first preset threshold and less than or equal to a second preset threshold, determining that the operating condition of the cross-medium vehicle is a surface condition, the second preset threshold is determined based on the height of the fuselage body of the cross-medium vehicle; Alternatively, when the navigation depth is greater than a second preset threshold, it is determined that the operating condition of the cross-medium vehicle is an underwater condition.

[0012] In some possible implementations of the embodiments of the present application, the pitot tube water discharge method of the cross-medium vehicle further includes: When it is determined that the operating condition of the cross-medium aircraft is an airborne condition, obtaining a navigation altitude change rate of the cross-medium aircraft within a first time window; Determine the navigation phase of the cross-medium vehicle according to the navigation altitude change rate, where the navigation phase includes a climbing phase, a cruising phase, or a descending phase; When the cross-medium vehicle is operating in a surface condition or an air condition, detecting the first-tube relative humidity or the first-tube water pressure in the pitot tube includes: When the operating condition of the cross-medium vehicle is a surface condition or a climbing phase in an air condition, the first-tube relative humidity or the first-tube water pressure in the pitot tube is detected.

[0013] In some possible implementations of the embodiments of the present application, determining the navigation phase of the cross-medium vehicle based on the navigation altitude change rate includes: When the navigation altitude change rate is greater than a first preset navigation altitude change rate threshold, determining that the navigation phase of the cross-medium aircraft is a climbing phase; When the navigation altitude change rate is less than a second preset navigation altitude change rate threshold, determining that the navigation phase of the cross-medium vehicle is a descending phase; When the navigation altitude change rate is greater than or equal to the second preset navigation altitude change rate threshold and less than or equal to the first preset navigation altitude change rate threshold, the navigation phase of the cross-medium aircraft is determined to be the cruising phase.

[0014] In some possible implementations of the embodiments of the present application, the first in-tube water pressure includes the in-tube water pressure of the pitot tube within the second time window. Before executing the step of delivering gas into the pitot tube through the drainage module to drain water accumulated in the pitot tube when the first in-tube relative humidity is greater than or equal to a first preset relative humidity threshold or the first in-tube water pressure is greater than or equal to a first preset in-tube water pressure threshold, the pitot tube drainage method for a cross-medium vehicle further includes: obtaining a reference water pressure in the pitot tube within a third time window, where the third time window occurs earlier than the second time window; determining a pressure change rate in the pitot tube based on the first tube water pressure, the reference tube water pressure, and a first reference time period, wherein the first reference time period is determined by the second time window and the third time window; When the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold or the water pressure in the first tube is greater than or equal to a first preset water pressure threshold, gas is transported into the pitot tube through the drainage module to drain the accumulated water in the pitot tube, including: When the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold, gas is transported into the pitot tube through the drainage module to drain the accumulated water in the pitot tube; Alternatively, when the pressure change rate is less than or equal to a preset pressure change rate threshold and the water pressure in the first tube is greater than or equal to a first preset water pressure threshold, gas is transported into the pitot tube through the drainage module to drain the accumulated water in the pitot tube.

[0015] In some possible implementations of the embodiments of the present application, the pitot tube water discharge method of the cross-medium vehicle further includes: Get the ambient temperature inside the pitot tube; According to the correlation relationship between the reference temperature and the reference humidity compensation threshold, a reference humidity compensation threshold associated with the ambient temperature in the pipe is obtained; determining the compensated relative humidity in the first tube according to the reference humidity compensation threshold and the relative humidity in the first tube; When the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold, gas is transported into the pitot tube through the drainage module to drain the accumulated water in the pitot tube, including: When the compensated relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold, gas is transported into the pitot tube through the drainage module to drain the accumulated water in the pitot tube.

[0016] In some possible implementations of the embodiments of the present application, after the step of delivering gas into the pitot tube through the drainage module to drain the accumulated water in the pitot tube when the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold or the water pressure in the first tube is greater than or equal to a first preset water pressure threshold is performed, the pitot tube drainage method of the cross-medium vehicle further includes: obtaining a ground speed, an ambient wind speed, and an airspeed detected by a pitot tube of the cross-medium vehicle when the relative humidity in the first pipe is less than or equal to a second preset relative humidity threshold and the water pressure in the first pipe is less than or equal to the second preset water pressure threshold, the second preset relative humidity threshold is less than the first preset relative humidity threshold, and the second preset water pressure threshold in the pipe is less than the first preset water pressure threshold; Determine whether the airspeed detected by the pitot tube is abnormal based on the ground speed, airspeed and ambient wind speed; Determine the operating conditions of the cross-medium aircraft when the airspeed detected by the pitot tube is abnormal; When the operating condition of the cross-medium vehicle is a surface condition or an air condition, detecting the relative humidity in the first tube or the water pressure in the first tube of the pitot tube until a preset self-test termination condition is met, and then stopping determining the operating condition of the cross-medium vehicle; The preset self-test termination condition includes at least one of the following: The number of times the steps of determining whether the airspeed detected by the pitot tube is normal and detecting whether the airspeed detected by the pitot tube is abnormal is greater than or equal to a preset number threshold is performed.

[0017] In some possible implementations of the embodiments of the present application, the drainage module includes a first drainage module and a second drainage module; When the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold or the water pressure in the first tube is greater than or equal to a first preset water pressure threshold, gas is transported into the pitot tube through the drainage module to drain the accumulated water in the pitot tube, including: When the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold or the water pressure in the first tube is greater than or equal to a first preset water pressure threshold, gas is transported into the pitot tube through the first drainage module to drain the accumulated water in the pitot tube; detecting the relative humidity or water pressure in the second tube of the pitot tube at a reference time; wherein the reference time is later than the start time of gas delivery to the pitot tube through the drainage module, and the time between the reference time and the start time is a preset time; When the relative humidity in the second tube is greater than a third preset relative humidity threshold and / or the water pressure in the second tube does not meet the preset tube water pressure range, gas is transported into the pitot tube through the second drainage module to drain the accumulated water in the pitot tube.

[0018] In a third aspect, an embodiment of the present application provides an electronic device comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the pitot tube drainage method of a cross-medium vehicle as described in any one of the second aspects is implemented.

[0019] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon. When the computer program instructions are executed by a processor, the pitot tube drainage method for a cross-medium vehicle as described in any one of the second aspects is implemented.

[0020] In a fifth aspect, an embodiment of the present application provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are executed by a processor, it implements the pitot tube drainage method of a cross-media vehicle as described in any one of the second aspects.

[0021] The cross-media vehicle, pitot tube drainage method for a cross-media vehicle, and product thereof, according to embodiments of the present application, when the cross-media vehicle's operating condition is determined to be surface or airborne, indicating that the cross-media vehicle has met the prerequisite triggering conditions for drainage. At this point, the detection module obtains the first in-tube relative humidity or first in-tube water pressure within the pitot tube to determine whether there is a risk of water accumulation within the pitot tube. If the first in-tube relative humidity is determined to be greater than or equal to a first preset relative humidity threshold, or the first in-tube water pressure is determined to be greater than or equal to a first preset in-tube water pressure threshold, this indicates that water accumulation within the pitot tube is affecting the pitot tube's measurement accuracy, and also proves that the current state of the pitot tube meets the triggering conditions for executing the drainage operation. At this point, the drainage module immediately responds by delivering gas into the pitot tube. Through the transportation of gas, the accumulated water is effectively discharged, avoiding the interference of the accumulated water on the measured fluid pressure, so that the measured fluid pressure can truly reflect the actual situation of the current medium. Since the fluid pressure can be accurately measured, the airspeed of the cross-medium vehicle can be calculated more accurately, providing reliable data support for the navigation control of the cross-medium vehicle and improving the navigation control accuracy of the cross-medium vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0023] Figure 1 A schematic structural diagram of a cross-media vehicle provided by some embodiments of the present application is shown; Figure 2 A schematic flow chart of a pitot tube water discharge method for a cross-medium vehicle provided in some embodiments of the present application is shown; Figure 3 A schematic flow chart showing the steps of determining the operating condition of a cross-medium vehicle in a pitot tube drainage method for a cross-medium vehicle provided in some embodiments of the present application is shown; Figure 4 A schematic flow chart showing steps for performing a pitot tube airspeed self-test in a pitot tube water discharge method for a medium-sized aircraft provided in some embodiments of the present application is shown; Figure 5 A flowchart illustrating a specific implementation of step 220 provided in some embodiments of the present application is shown; Figure 6 A schematic structural diagram of an electronic device provided in some embodiments of the present application is shown. DETAILED DESCRIPTION

[0024] The features and exemplary embodiments of the various aspects of the present application will be described in detail below with reference to the drawings. For the purpose of clarity, not all features of the application are described in detail herein. It should be appreciated that the detailed description of the application is but one possible implementation, and is not intended to limit the scope of the application. The present application can be implemented without some of the specific details, which are not necessary for providing an understanding of the present application. The following detailed description is merely provided to provide a better understanding of the present application, by showing exemplifying examples of the present application.

[0025] It should be noted that the relational terms herein, such as first and second, and the like, are used solely to distinguish one from another entity or action, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises... a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0026] It should be noted that the acquisition, storage, use and processing of data in the embodiments of the present application comply with the relevant provisions of national laws and regulations.

[0027] It should be noted that in the embodiments of the present application, some software, components, models and other industry existing solutions may be mentioned, which should be considered as exemplary, and the purpose is only to illustrate the feasibility of the implementation of the technical solutions of the present application, but does not mean that the applicant has or will necessarily use the solution.

[0028] To solve the problems in the foregoing related technologies, the embodiments of the present application provide a cross-medium vehicle, an airspeed pipe drainage method of the cross-medium vehicle, and a product thereof, wherein the product of the cross-medium vehicle comprises an airspeed pipe drainage device of the cross-medium vehicle, an electronic device, a computer readable storage medium, and a computer program product.

[0029] The cross-medium vehicle provided by the embodiments of the present application will be described in detail below with reference to the specific embodiments. Figure 1 The cross-medium vehicle provided by the embodiments of the present application will be described in detail below with reference to the specific embodiments.

[0030] Figure 1 The structure of the cross-medium vehicle provided by some embodiments of the present application is shown. As shown in FIG. 1, the cross-medium vehicle comprises an airspeed pipe drainage device, an electronic device, a computer readable storage medium, and a computer program product. Figure 1As shown, the cross-medium vehicle 100 comprises an airspeed tube 110 and an airspeed tube drainage system 120, which comprises a detection module 1201 and a drainage module 1202. The detection module 1201 is configured to detect the first tube internal relative humidity or the first tube internal water pressure in the airspeed tube 110 when the cross-medium vehicle is in a water surface working condition or an air working condition. The drainage module 1202 is configured to deliver gas into the airspeed tube 110 to drain the water in the airspeed tube 110 when the first tube internal relative humidity is greater than or equal to a first preset relative humidity threshold or the first tube internal water pressure is greater than or equal to a first preset tube internal water pressure threshold.

[0031] The airspeed tube 110, also known as a Pitot tube, is a device for measuring the flow rate of a fluid such as air, which calculates the speed by sensing the dynamic pressure and static pressure of the fluid. When the cross-medium vehicle performs a control task, the airspeed tube can reflect the flight speed of the cross-medium vehicle, and is also related to flight parameters such as angle of attack and side slip angle. The water surface working condition refers to the state in which the cross-medium vehicle runs in the water surface area, and part or all of the fuselage is in contact with water. The air working condition refers to the state in which the cross-medium vehicle completely separates from the water surface and flies in the air. The first tube internal relative humidity refers to the percentage of the actual content of water vapor in the air in the airspeed tube to the saturated water vapor content at the same temperature, which is used to measure the humidity of the air in the tube. The first tube internal water pressure refers to the pressure generated by the fluid such as water in the airspeed tube on the tube wall, which is used to reflect the pressure state of the water in the tube.

[0032] Exemplarily, the first preset relative humidity threshold and the first preset tube internal water pressure threshold can be the drainage triggering conditions of the drainage module set by the user through experience or experiment, which are not specifically limited here. Exemplarily, the first preset relative humidity threshold can be 95%, and the first preset tube internal water pressure threshold can be 0.1 MPa.

[0033] Therefore, when the operating condition of the cross-media vehicle is determined to be a surface condition or an air condition, it indicates that the cross-media vehicle has met the prerequisite triggering condition for the drainage operation. At this time, the first in-tube relative humidity or the first in-tube water pressure in the pitot tube detected by the detection module is obtained to determine whether there is a risk of water accumulation in the pitot tube. When it is determined that the first in-tube relative humidity is greater than or equal to the first preset relative humidity threshold or the first in-tube water pressure is greater than or equal to the first preset in-tube water pressure threshold, it indicates that there is water accumulation in the pitot tube, affecting the measurement accuracy of the pitot tube, and also proves that the current state of the pitot tube meets the triggering condition for the execution of the drainage operation. At this time, the drainage module immediately responds and delivers gas into the pitot tube. Through the delivery of gas, the accumulated water is effectively drained, avoiding the interference of the accumulated water on the measured fluid pressure, so that the measured fluid pressure can truly reflect the actual situation of the current medium. Since the fluid pressure can be accurately measured, the airspeed of the cross-media vehicle can be more accurately calculated, providing reliable data support for the navigation control of the cross-media vehicle and improving the navigation control accuracy of the cross-media vehicle.

[0034] The drainage module is used to drain accumulated water from the pitot tube to the outside of the pitot tube. In some embodiments of the present application, the drainage module includes an air source and a sealing member. The air source is used to generate gas; the sealing member is connected to the exhaust end of the air source and has an open position and a closed position for opening and closing the exhaust end of the air source.

[0035] The gas source refers to a device or system used to generate and provide gas, and is the power source of the drainage module. For example, the gas source can be an air pump. It is understood that air pumps are compact yet powerful, able to operate efficiently within a confined space, generate strong suction, and provide power support for the drainage process. The blocking piece refers to a movable component installed at the exhaust end of the gas source, which can be opened or closed by switching its position.

[0036] In this way, by switching the blocking member between the open position and the closed position, the supply or cutoff of gas between the gas source and the pitot tube is achieved, thereby achieving drainage control of the water accumulated in the pitot tube.

[0037] In some embodiments of the present application, the cross-media vehicle includes a controller, and the sealing member includes a valve structure, which is a device for controlling the flow of gas. Specifically, the sealing member can be a controllable valve structure that can be driven by mechanical, electromagnetic, or pneumatic means to open or close the exhaust end of the gas source, thereby controlling the on-off of gas generated by the gas source. For example, the sealing member can use a normally closed solenoid valve. When the controller receives a control signal to the solenoid valve, the solenoid valve will open, thereby achieving precise control of the on-off of the drainage pipeline, thereby ensuring the sealing of the drainage pipeline and effectively preventing unnecessary leakage.

[0038] Furthermore, the pitot tube drainage system also includes an air source drive circuit and a valve structure drive circuit, wherein the air source drive circuit is connected to the controller and the air source, and the air source drive circuit is used to receive the air source control signal sent by the controller, and control the opening and closing of the air source according to the air source control signal; the valve structure drive circuit is connected to the controller and the valve structure, and the valve structure drive circuit is used to receive the valve structure control signal sent by the controller, and control the valve structure to switch between the open position and the closed position according to the valve structure control signal.

[0039] The gas source drive circuit connects the controller to the gas source, transmitting and executing the controller's control commands to the gas source, enabling on-off control of the gas source. The valve structure drive circuit connects the controller to the valve structure, receiving controller commands and converting them into signals that drive the valve structure. This controls the valve structure's switching between open and closed positions, ensuring that the gas generated by the gas source is delivered to the pitot tube as required.

[0040] For example, the air source drive circuit, i.e., the air pump drive circuit, may utilize an H-bridge motor driver integrated circuit (IC) that receives pulse-width modulation signals from a controller to implement closed-loop control of the air pump speed. For example, the air source drive circuit controls the operation and stopping of the air pump motor by adjusting the output current or voltage and switching on and off.

[0041] In some embodiments of the present application, a proportional-integral-differential (PID) negative pressure closed-loop control algorithm may be used to adjust the air pump speed to achieve precise control of the air pump operating parameters.

[0042] The valve structure drive circuit is connected to the controller, receives valve structure control signals, identifies the specific content of the valve structure control signals (e.g., whether to open or close the valve structure), and converts them into a specific electrical signal suitable for driving the valve structure. For a solenoid valve structure, when receiving a control signal to open the valve structure, the valve structure drive circuit provides an appropriate current to the solenoid coil, generating an electromagnetic force that attracts the valve core, overcoming the spring force and moving the valve structure from the closed position to the open position, thereby opening the exhaust passage. When receiving a control signal to close the valve structure, the valve structure drive circuit cuts off the current to the solenoid coil, causing the spring force to move the valve structure from the open position to the closed position, thereby closing the exhaust passage.

[0043] As a result, the air source drive circuit and the valve structure drive circuit can execute the instructions of the controller to achieve precise control of the air source and the valve structure, so that the pitot tube drainage system can start drainage when the pitot tube meets the preset drainage conditions or stop drainage when the pitot tube does not meet the preset drainage conditions according to actual needs, effectively improving the drainage efficiency of the pitot tube drainage system, and thereby improving the navigation control accuracy of the cross-media vehicle.

[0044] In some embodiments of the present application, the detection module includes a pressure sensor, a humidity sensor, and a depth sensor. The pressure sensor is disposed within the pitot tube and is used to detect the water pressure within the first tube of the pitot tube. The humidity sensor is disposed within the pitot tube and is in direct contact with the water within the tube and is used to detect the relative humidity within the first tube of the pitot tube. The depth sensor is disposed at the bottom of the cross-medium vehicle and is used to detect the navigation depth of the cross-medium vehicle. The navigation depth represents the vertical distance from the bottom of the cross-medium vehicle to the water surface.

[0045] The humidity sensor is used to detect the relative humidity inside the pitot tube to determine the water accumulation status. It is installed at the elbow at the end of the pitot tube to determine humidity changes within the pitot tube. The pressure sensor is used to measure the water pressure at the bottom of the pitot tube. This pressure sensor is installed near the top of the drain outlet to obtain water pressure information reflecting the amount of water accumulation and drainage effectiveness. The depth sensor is installed at the lowest point of the cross-media vehicle bottom to measure the cross-media vehicle's navigation depth, and then, combined with the cross-media vehicle's fuselage height, to determine the cross-media vehicle's operating condition.

[0046] For example, the specific decision logic of the controller for determining the operating condition of the cross-medium vehicle is as follows: When the navigation depth is equal to 0, it indicates that the cross-media vehicle has no contact with the surface of the water body, and the operating condition of the cross-media vehicle is determined to be an aerial condition; when the navigation depth h and the fuselage height d of the cross-media vehicle satisfy the condition of 0<h≤d, it indicates that the cross-media vehicle is partially immersed in water, and the immersion depth is within the height range of the vehicle body, and the operating condition of the cross-media vehicle is determined to be a surface condition; when the navigation depth h is greater than the fuselage height d of the cross-media vehicle, it indicates that the cross-media vehicle is completely immersed in water, and the immersion depth exceeds the height range of the vehicle body, and the operating condition of the vehicle is determined to be an underwater condition.

[0047] In some embodiments of the present application, the number of drainage modules is set to at least two. The at least two drainage modules include a first drainage module and at least one second drainage module. The first drainage module includes a main air pump and a main solenoid valve. The second drainage module includes a backup air pump and a backup solenoid valve. Correspondingly, the air source drive circuit in the pitot tube drainage system includes a main air source drive circuit corresponding to the main air pump, a main valve structure drive circuit corresponding to the main solenoid valve, a backup air source drive circuit corresponding to the backup air pump, and a backup valve structure drive circuit corresponding to the backup solenoid valve.

[0048] It can be understood that the main air pump, main solenoid valve, main air source drive circuit, and main valve structure drive circuit collectively constitute the primary drainage unit, while the backup air pump, backup solenoid valve, backup air source drive circuit, and backup valve structure drive circuit collectively constitute the backup drainage unit. Under normal operating conditions, the pitot tube drainage system prioritizes the primary drainage unit for drainage operations. However, if the pitot tube drainage system detects an anomaly, such as if the water in the pitot tube has not been completely drained within a preset drainage time period, the controller will immediately trigger the backup mechanism, switching to the backup drainage unit.

[0049] In some embodiments of the present application, the above-mentioned detection module may also include an airspeed meter, an inertial measurement unit and a Global Positioning System (GPS) satellite navigation unit. Among them, the airspeed meter is installed at the front end of the pitot tube and away from the drain outlet of the pitot tube, and is used to measure the airspeed value of the cross-media vehicle. The inertial measurement unit is installed at a position within a preset position range from the center of gravity of the cross-media vehicle and is rigidly fixed with a bracket, thereby accurately sensing the motion state of the cross-media vehicle. The GPS satellite navigation unit is installed on the cover of the cross-media vehicle and kept horizontally placed to ensure that satellite signals can be received in all directions. The inertial measurement unit and the GPS satellite navigation unit jointly obtain the ground speed of the cross-media vehicle through data fusion.

[0050] In this way, the controller can cross-verify the airspeed value measured by the pitot tube by fusing the measurement data of the airspeed meter, inertial measurement unit and GPS satellite navigation unit data, and complete the airspeed self-check.

[0051] In some embodiments of the present application, the pitot tube drainage system may further include a power management module, which serves as the energy supply and execution control unit for the pitot tube drainage system. The power management module is primarily responsible for power distribution, efficiency optimization, redundancy protection, and energy consumption control. Its operating mechanism is to convert the input power voltage into a stable power supply suitable for the detection module, drainage module, and controller through technologies such as voltage conversion, redundant power supply, and overcurrent protection.

[0052] Based on the cross-medium vehicle provided in the above embodiment, the present application also provides a specific implementation of the pitot tube drainage method of the cross-medium vehicle. Please refer to the following embodiment.

[0053] The pitot tube drainage method for a cross-medium vehicle provided in the embodiment of the present application can be applied to the cross-medium vehicle shown in any of the above embodiments, such as Figure 2 As shown, the pitot tube drainage method for a cross-medium vehicle may include steps 210 and 220 .

[0054] Step 210 : When the operating condition of the cross-medium vehicle is a surface condition or an air condition, detecting the first tube relative humidity or the first tube water pressure in the pitot tube.

[0055] In step 220, when the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold or the water pressure in the first tube is greater than or equal to a first preset water pressure threshold, gas is delivered to the pitot tube through the drainage module to drain the accumulated water in the pitot tube.

[0056] Therefore, when it is determined that the operating condition of the cross-media vehicle is a surface condition or an air condition, it means that the cross-media vehicle has met the prerequisite triggering condition for the drainage action. At this time, the relative humidity in the first tube or the water pressure in the first tube of the pitot tube is detected to determine whether there is a risk of water accumulation in the pitot tube. When it is determined that the relative humidity in the first tube is greater than or equal to the first preset relative humidity threshold or the water pressure in the first tube is greater than or equal to the first preset water pressure threshold, it means that there is water accumulation in the pitot tube, which affects the measurement accuracy of the pitot tube, and also proves that the current state of the pitot tube meets the triggering condition for the execution of the drainage operation. At this time, gas is transported into the pitot tube. Through the transportation of gas, the accumulated water is effectively discharged, avoiding the interference of the accumulated water on the measured fluid pressure, so that the measured fluid pressure can truly reflect the actual situation of the current medium. Since the fluid pressure can be accurately measured, the airspeed of the cross-media vehicle can be more accurately calculated, providing reliable data support for the navigation control of the cross-media vehicle and improving the navigation control accuracy of the cross-media vehicle.

[0057] In some embodiments of the present application, in order to improve the accuracy of pitot tube drainage, such as Figure 3 As shown, the above pitot tube drainage method may further include step 310 and step 320.

[0058] Step 310: Obtain the navigation depth of the cross-medium vehicle. The navigation depth is used to represent the vertical distance from the bottom of the cross-medium vehicle to the water surface.

[0059] For example, the navigation depth of the cross-medium vehicle may be acquired by the depth sensor shown above.

[0060] Step 320: When the navigation depth is a first preset threshold, the operating condition of the cross-media vehicle is determined to be an air condition; or, when the navigation depth is greater than the first preset threshold and less than or equal to the second preset threshold, the operating condition of the cross-media vehicle is determined to be a surface condition, and the second preset threshold is determined based on the fuselage body height of the cross-media vehicle; or, when the navigation depth is greater than the second preset threshold, the operating condition of the cross-media vehicle is determined to be an underwater condition.

[0061] Exemplarily, the first preset threshold and the second preset threshold can be determined by the user through experimentation or manual experience. For example, the value of the first preset threshold h1 can be 0, and the value of the second preset threshold h2 can be the fuselage height d of the cross-medium vehicle. In this way, the navigation depth h of the cross-medium vehicle is obtained by the depth sensor shown in the above embodiment, and the navigation depth h can be compared with the first preset threshold h1 and the second preset threshold h2. Then, the above step 320 can specifically include: when h = 0, determining that the operating condition of the cross-medium vehicle is an aerial condition; when 0 < h ≤ d, determining that the operating condition of the cross-medium vehicle is a surface condition; when h > d, determining that the operating condition of the cross-medium vehicle is an underwater condition.

[0062] Therefore, through the correlation between the navigation depth and fuselage height of the cross-medium aircraft, a working condition classification standard is established, so that different types of cross-medium aircraft can flexibly set the first preset threshold and the second preset threshold according to their own structural parameters, thereby improving the versatility of the above-mentioned pitot tube drainage method.

[0063] In some embodiments of the present application, the pitot tube drainage method for a trans-media vehicle may further include: upon determining that the trans-media vehicle's operating condition is airborne, obtaining the trans-media vehicle's altitude change rate within a first time window; and determining the trans-media vehicle's flight phase based on the altitude change rate, which includes a climb phase, a cruise phase, or a descent phase. Cruising and descent phases require extremely high precision in pitot tube pressure measurement, as even minor airflow disturbances may affect the accuracy of pitot tube measurement data. When the drainage module is operating, the injection of compressed air into the pitot tube generates transient pressure fluctuations, potentially leading to abnormal pitot tube measurement data. For example, if the trans-media vehicle's pitot tube drainage system performs drainage during the cruise phase, this may cause a temporary deviation in the airspeed measurement, thereby affecting the trans-media vehicle's flight attitude control. Based on this, step 210 may specifically include: upon determining that the trans-media vehicle's operating condition is surface operation or the climb phase of airborne operation, detecting the first-tube relative humidity or first-tube water pressure within the pitot tube.

[0064] The climb phase refers to the process of a trans-medium vehicle taking off from the water and accelerating toward high altitude. The cruise phase refers to the trans-medium vehicle's sustained flight at a stable altitude. The altitude change rate refers to the amount of altitude change per unit time, reflecting the speed at which the trans-medium vehicle's altitude rises and falls.

[0065] In this way, the pitot tube is only drained during the climb phase under surface conditions or airborne conditions, which can not only accurately deal with the risks caused by water accumulation in the pitot tube, but also ensure the accuracy of the navigation data measured by the airspeed meter of the cross-media vehicle.

[0066] In some embodiments of the present application, the above-mentioned determination of the navigation phase of the cross-media aircraft based on the navigation altitude change rate includes: when the navigation altitude change rate is greater than the first preset navigation altitude change rate threshold, determining that the navigation phase of the cross-media aircraft is the climbing phase; when the navigation altitude change rate is less than the second preset navigation altitude change rate threshold, determining that the navigation phase of the cross-media aircraft is the descending phase; when the navigation altitude change rate is greater than or equal to the second preset navigation altitude change rate threshold, and less than or equal to the first preset navigation altitude change rate threshold, determining that the navigation phase of the cross-media aircraft is the cruising phase.

[0067] The first preset altitude change rate threshold is greater than the second preset altitude change rate threshold. The first preset altitude change rate threshold and the second preset altitude change rate threshold are pre-set altitude change rate thresholds used to determine whether the trans-medium vehicle is in a climbing state. These thresholds can be user-defined empirical values, determined through experiments, or simulations. For example, the first preset altitude change rate threshold can be a positive value, while the second preset altitude change rate threshold can be 0 or a negative value.

[0068] Furthermore, the cross-media aircraft may have small altitude fluctuations during the actual navigation process. In order to reduce the impact of the slight altitude changes caused by the cross-media aircraft during the navigation process on the navigation stage classification of the cross-media aircraft, in some non-limiting embodiments of the present application, the value of the above-mentioned first preset navigation altitude change rate threshold may be +1.667m / s. If the navigation altitude change rate is greater than +1.667m / s, it indicates that the cross-media aircraft is in the climbing stage; the value of the second preset navigation altitude change rate threshold may be -1.667m / s. If the navigation altitude change rate is less than -1.667m / s, it indicates that the cross-media aircraft is in the descending stage; if the navigation altitude change rate is between [-1.667m / s, +1.667m / s], it indicates that the cross-media aircraft is in the cruising stage.

[0069] In one example, the altitude of the trans-medium vehicle can be obtained using an altitude sensor onboard the trans-medium vehicle, and the altitude change rate can be determined by the ratio of the altitude difference within a preset time window to the time interval corresponding to the preset time window. Thus, by quantifying the altitude change rate, the climb, cruise, and descent phases of the trans-medium vehicle can be accurately distinguished, avoiding misjudgment of the trans-medium vehicle's navigation phase. This ensures that the trans-medium vehicle performs pitot drainage during the climb phase of either surface or airborne operation, effectively reducing the impact of the pitot drainage on the trans-medium vehicle's navigation accuracy.

[0070] In some embodiments of the present application, the first in-tube water pressure includes the in-tube water pressure of the pitot tube in the second time window. Based on this, before step 220, the pitot tube drainage method of the above-mentioned cross-media aircraft may also include: obtaining the reference in-tube water pressure of the pitot tube in the third time window, the occurrence time of the third time window is earlier than the occurrence time of the second time window; determining the pressure change rate in the pitot tube according to the first in-tube water pressure, the reference in-tube water pressure and the first reference time length, and the first reference time length is determined by the second time window and the third time window; based on this, the above-mentioned step 220 may specifically include: when the relative humidity in the first tube is greater than or equal to the first preset relative humidity threshold, transporting gas into the pitot tube through the drainage module to discharge the accumulated water in the pitot tube; or, when the pressure change rate is less than or equal to the preset pressure change rate threshold and the first in-tube water pressure is greater than or equal to the first preset in-tube water pressure threshold, transporting gas into the pitot tube through the drainage module to discharge the accumulated water in the pitot tube.

[0071] The second time window is used to obtain the time interval of the current water pressure data in the pipe. , specifically real-time or near real-time data. The third time window is used to obtain the historical time interval of the water pressure in the reference pipe, such as , which occurs earlier than the second time window, is used as the reference value. The water pressure in the reference tube represents the reference water pressure value of the pitot tube in the third time window. For example, the first reference time can be obtained by Determine that, correspondingly, the water pressure in the reference pipe can be The water pressure in the pipe corresponding to the time. The pressure change rate represents the change in the water pressure in the pipe per unit time. It is used to quantify the pressure fluctuation trend and determine whether the pressure abnormality is caused by water accumulation. It can be calculated by the ratio of the difference between the first water pressure in the pipe and the reference water pressure in the pipe to the first reference time.

[0072] The preset pressure change rate threshold is a critical change rate pre-set by the user through experience, practice or experimentation, and is used to distinguish normal pressure fluctuations from abnormal pressure fluctuations caused by water accumulation. Specifically, the preset pressure change rate threshold can be set to 0.05MPa / s. It is understandable that when the pressure change rate is less than or equal to the preset pressure change rate threshold, it indicates that an abnormal pressure drop may occur in the pitot tube due to water blockage, and the pitot tube drainage triggering condition can be judged based on the water pressure in the first tube. When the pressure change rate is greater than the preset pressure change rate threshold, it indicates that the water pressure in the pitot tube fluctuates drastically in a short period of time, indicating that there are transient pressure fluctuations in the pitot tube caused by cross-medium aircraft maneuvers, that is, external interference. In this way, the pressure signal can be shielded from participating in the judgment of the pitot tube drainage triggering condition to avoid false triggering of the pitot tube drainage operation.

[0073] In some embodiments of the present application, in order to accurately calculate the pressure change rate, before executing the above-mentioned pressure change rate, the pitot tube drainage method of the above-mentioned cross-medium vehicle may also include: first performing moving average filtering processing on the original pressure signal to suppress high-frequency noise, and then calculating the pressure change rate based on the filtered data.

[0074] Therefore, by filtering the external interference caused by the instantaneous and drastic pressure changes of the cross-media aircraft, the drainage work of the cross-media aircraft can be avoided from being erroneously triggered by non-water accumulation factors such as normal flight attitude changes, thereby effectively improving the accuracy and reliability of the drainage work of the pitot tube drainage system.

[0075] In some embodiments of the present application, the pitot tube drainage method of the above-mentioned cross-media aircraft may also include: obtaining the tube ambient temperature in the pitot tube; obtaining the reference humidity compensation threshold associated with the tube ambient temperature based on the correlation between the reference temperature and the reference humidity compensation threshold; determining the compensated relative humidity in the first tube based on the reference humidity compensation threshold and the relative humidity in the first tube; based on this, the above-mentioned step 220 may specifically include: when the compensated relative humidity in the first tube is greater than or equal to the first preset relative humidity threshold, transporting gas into the pitot tube through the drainage module to discharge the accumulated water in the pitot tube.

[0076] The "in-tube ambient temperature" refers to the real-time temperature inside the pitot tube. The in-tube ambient temperature affects the saturated vapor pressure of water vapor, which in turn affects the accuracy of the relative humidity measurement inside the tube. For example, the in-tube ambient temperature of the pitot tube can be measured by a temperature sensor disposed inside the pitot tube. The "reference temperature" refers to a pre-set reference temperature value used to represent the reference for the humidity compensation threshold. The "reference humidity compensation threshold" refers to a compensation threshold associated with the reference temperature for humidity compensation, which is dynamically adjusted with temperature changes. The compensated first in-tube relative humidity refers to the relative humidity value corrected by the temperature compensation algorithm, eliminating the effect of temperature on the humidity measurement result.

[0077] For example, a reference humidity compensation threshold value associated with the ambient temperature within the pipe may be pre-established.

[0078] Relative humidity RH in the first tube after compensation 补偿 It can be expressed by the following formula (1): RH 补偿 =RH 阈值 +k(T-T0)……(1) Where RH 阈值 Indicates the reference humidity compensation threshold, which can be 95%, k=0.2% / ℃, T0=25%, and T represents the ambient temperature inside the tube.

[0079] Therefore, the reference humidity compensation threshold associated with the ambient temperature in the tube is determined by the correlation between the reference temperature and the reference humidity compensation threshold, and the relative humidity in the first tube is temperature compensated based on the reference humidity compensation threshold. The triggering condition of the pitot tube drainage operation is judged based on the compensated relative humidity in the first tube, thereby effectively avoiding the misjudgment of the drainage operation triggering condition due to the interference of temperature changes, thereby effectively improving the accuracy and reliability of the pitot tube drainage system in performing the drainage operation.

[0080] In some embodiments of the present application, after the above step 220, as shown in FIG. Figure 4 As shown, the pitot tube drainage method for a cross-medium vehicle may further include steps 410 to 440 .

[0081] Step 410, when the relative humidity in the first tube is less than or equal to the second preset relative humidity threshold and the water pressure in the first tube is less than or equal to the second preset water pressure threshold, obtain the ground speed, ambient wind speed and airspeed detected by the pitot tube of the cross-medium aircraft, the second preset relative humidity threshold is less than the first preset relative humidity threshold, and the second preset water pressure threshold in the tube is less than the first preset water pressure threshold.

[0082] Among them, ground speed refers to the actual speed of the cross-media vehicle relative to the earth's surface, reflecting the absolute motion state of the cross-media vehicle in the ground reference system; ground speed refers to the fusion processing of data collected by the inertial navigation unit of the cross-media vehicle and the GPS satellite navigation unit, specifically, the high-pass filtering of the high-frequency signal of the inertial navigation unit and the low-pass filtering of the GPS low-frequency signal, and the superposition of the two to obtain the three-dimensional velocity vector (V x , V y , V z ), thus we get V 地速 =(V x 2 +V y 2 +V z 2 ) 1 / 2 Ambient wind speed refers to the air velocity in the environment of the trans-medium vehicle, including wind speed and direction. Ambient wind speed can be measured in real time using an anemometer mounted on the top or mast of the vehicle. Airspeed refers to the speed of the trans-medium vehicle relative to the surrounding air and is a parameter measured by a pitot tube.

[0083] Exemplarily, after step 220, that is, when the drainage module completes drainage and the detection module feeds back that the relative humidity in the first tube is ≤ the second preset relative humidity threshold, such as 60%, and the water pressure in the first tube is ≤ the second preset water pressure threshold, such as 0.02 MPa, it indicates that the accumulated water in the pitot tube has been basically drained, and the airspeed data self-check process begins.

[0084] Step 420: Determine whether the airspeed detected by the pitot tube is abnormal based on the ground speed, airspeed, and ambient wind speed.

[0085] For example, the deviation rate between the measured airspeed and the calculated airspeed can be calculated by the following formula (2): V: …… (2) The above formula (2) is used to calculate Compare V with the preset deviation rate to determine whether the airspeed detected by the pitot tube is abnormal. If the preset deviation rate is 5%, When V is greater than 5%, it is determined that the airspeed detected by the pitot tube is abnormal; When V is less than or equal to 5%, it is determined that the airspeed detected by the pitot tube is normal.

[0086] Step 430 : When it is determined that the airspeed detected by the pitot tube is abnormal, the operating condition of the cross-medium aircraft is determined.

[0087] Step 440, when the operating condition of the cross-medium vehicle is a surface condition or an air condition, detect the relative humidity in the first tube or the water pressure in the first tube of the pitot tube until a preset self-test termination condition is met, and then stop determining the operating condition of the cross-medium vehicle; wherein the preset self-test termination condition includes at least one of the following: determining that the airspeed detected by the pitot tube is normal, and executing the step of detecting whether the airspeed detected by the pitot tube is abnormal a number of times greater than or equal to a preset number threshold.

[0088] For example, if the airspeed detected by the pitot tube is abnormal and the aircraft is in a surface condition or an airborne condition, the detection module is restarted to monitor the relative humidity or water pressure in the first tube in real time to determine whether the preset drainage conditions are met. After each test, step 420 is repeated until any of the following termination conditions are met: Normal airspeed: When the deviation rate between the measured airspeed and the calculated airspeed is less than or equal to the preset deviation rate, it indicates that the water in the pitot tube has been completely drained; Detection times exceed the limit: If the preset maximum detection times is 3, the self-test will be terminated after reaching the limit to reduce energy consumption.

[0089] Therefore, through cross-validation of multi-source data, namely ground speed, ambient wind speed and airspeed, the pitot tube drainage results can be verified, thereby improving the accuracy of pitot tube detection; the cyclic self-check mechanism can further remove residual small water droplets or condensed water that has not been completely drained from the pitot tube, reducing continuous false alarms caused by occasional water accumulation.

[0090] In some embodiments of the present application, the drainage module includes a first drainage module and at least one second drainage module. Based on this, Figure 5 As shown, the above step 220 may specifically include steps 2201 to 2203.

[0091] In step 2201, when the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold or the water pressure in the first tube is greater than or equal to a first preset tube water pressure threshold, gas is transported into the pitot tube through the first drainage module to drain the accumulated water in the pitot tube.

[0092] Exemplarily, the first drainage module includes a main solenoid valve and a main air pump. When the first drainage module is activated, the main solenoid valve receives a 12V pulse signal with a pulse width of 100ms, opening the passageway. 0.5 seconds after the main solenoid valve is opened, the power driver module outputs 24V to the main air pump, accelerating the main air pump motor and beginning to pump air from the pipeline. When the pressure inside the pitot tube drops to the target value of -0.05MPa, a pressure differential of 0.15MPa is created with the external ambient pressure of approximately 0.1MPa, pushing accumulated water toward the pitot tube's drain outlet. During operation, the pressure sensor continuously provides feedback on the actual negative pressure inside the pitot tube, while a humidity sensor monitors drainage progress in real time, using the rate of decrease in relative humidity as a metric. The control module dynamically adjusts the pulse width modulation (PWM) duty cycle of the main air pump based on a PID negative pressure closed-loop control algorithm. If the actual negative pressure value is higher than the preset target negative pressure value, the control module will increase the PWM duty cycle to 80% to enhance the working intensity of the air pump, increase the suction force, and further reduce the negative pressure in the pitot tube; if the actual negative pressure value is lower than the preset target negative pressure value, the control module will reduce the PWM duty cycle to 40%, slow down the working rhythm of the air pump, reduce the suction intensity, and make the negative pressure in the pitot tube return to the target range, thereby realizing precise closed-loop control of the drainage process of the first drainage module.

[0093] Step 2202: Detect the relative humidity or water pressure in the second tube of the pitot tube at a reference time; wherein the reference time is later than the start time of delivering gas to the pitot tube through the drainage module, and the time between the reference time and the start time is a preset time.

[0094] The reference time is the time after a preset duration, such as 5 seconds, has passed since the first drainage module was activated, and is used to evaluate the effectiveness of the first drainage. The preset duration is greater than a complete air supply cycle of the first drainage module, such as the time interval from turning the first drainage module on to turning it off.

[0095] In step 2203, when the relative humidity in the second tube is greater than a third preset relative humidity threshold and / or the water pressure in the second tube does not meet the preset tube water pressure range, gas is transported into the pitot tube through the second drainage module to drain the accumulated water in the pitot tube.

[0096] The third preset relative humidity threshold determines whether to initiate the second drain after the first drain. It's typically lower than the first preset relative humidity threshold, for example, if the first relative humidity threshold is 95%, the third relative humidity threshold is 60%. The preset in-pipe water pressure range refers to the normal water pressure range of the pitot tube when there's no water accumulation, such as 0.1MPa+5% to 0.1MPa-5%. Exceeding this range indicates residual water or airflow anomalies.

[0097] It is understandable that if the pitot tube drainage target is not completed within the preset time, the second drainage module backup mechanism is triggered and the pitot tube drainage is performed through the second drainage module.

[0098] Therefore, through the graded drainage mechanism, the drainage efficiency and energy consumption control are taken into account, and the efficiency of removing water accumulated in the pitot tube is improved.

[0099] Figure 6 A schematic diagram of the hardware structure of an electronic device provided in some embodiments of the present application is shown.

[0100] The electronic device may include a processor 601 and a memory 602 storing computer program instructions.

[0101] Specifically, the processor 601 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0102] Memory 602 may include a large-capacity memory for data or instructions. By way of example and not limitation, memory 602 may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, memory 602 may include removable or non-removable (or fixed) media. Where appropriate, memory 602 may be internal or external to the integrated gateway disaster recovery device. In a specific embodiment, memory 602 is a non-volatile solid-state memory.

[0103] In certain embodiments, the memory 602 may include read-only memory (ROM), random access memory (RAM), magnetic disk storage media devices, optical storage media devices, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, generally, the memory 602 includes one or more tangible (non-transitory) computer-readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the pitot tube drainage method for a trans-medium vehicle according to the second aspect of the present application.

[0104] The processor 601 reads and executes computer program instructions stored in the memory 602 to implement any one of the pitot tube water discharge methods for a cross-medium vehicle in the above embodiments.

[0105] In one example, the electronic device may further include a communication interface 603 and a bus 610. Figure 6 As shown, the processor 601, the memory 602, and the communication interface 603 are connected via a bus 610 and communicate with each other.

[0106] The communication interface 603 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0107] The bus 610 includes hardware, software, or both that couples components of the electronic device to each other. By way of example, and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industrial Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industrial Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, the bus 610 may include one or more buses. Although the embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0108] The electronic device can execute the pitot tube drainage method of the cross-medium aircraft in the embodiment of the present application, thereby realizing the combination Figures 1 to 5 A cross-medium vehicle and a pitot tube drainage method for the cross-medium vehicle are described.

[0109] In addition, in conjunction with the pitot tube drainage method for a cross-medium vehicle in the above-mentioned embodiments, embodiments of the present application may provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any of the pitot tube drainage methods for a cross-medium vehicle in the above-mentioned embodiments is implemented. Examples of computer-readable storage media include non-transitory computer-readable storage media, such as portable disks, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), portable compact disk read-only memories (CD-ROMs), optical storage devices, magnetic storage devices, and the like.

[0110] In addition, in conjunction with the pitot tube drainage method for a cross-medium vehicle in the above-mentioned embodiments, embodiments of the present application may provide a computer program product for implementation. This program product is stored in a storage medium and may specifically include a computer program or instructions. When executed by a processor, the computer program or instructions implement any of the pitot tube drainage methods for a cross-medium vehicle in the above-mentioned embodiments. This program product is executed by at least one processor to implement the various processes of the above-mentioned data processing method embodiments, achieving the same technical effects. To avoid repetition, these are not further described here.

[0111] It should be understood that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present application.

[0112] The functional blocks shown in the above block diagrams can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, they can be, for example, electronic circuits, application-specific integrated circuits (ASICs), appropriate firmware, plug-ins, function cards, and the like. When implemented in software, the elements of this application are programs or code segments used to perform the required tasks. Programs or code segments can be stored in a machine-readable medium or transmitted over a transmission medium or communication link via a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROMs, flash memory, erasable ROMs (EROMs), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, and the like. Code segments can be downloaded via a computer network such as the Internet or an intranet.

[0113] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps. In other words, the steps can be performed in the order mentioned in the embodiments, or in a different order, or several steps can be performed simultaneously.

[0114] Aspects of the present disclosure have been described above with reference to flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each block in the flowcharts and / or block diagrams, as well as combinations of blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine such that execution of these instructions by the processor of the computer or other programmable data processing device enables the implementation of the functions / actions specified in one or more blocks in the flowcharts and / or block diagrams. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It should also be understood that each block in the block diagrams and / or flowcharts, as well as combinations of blocks in the block diagrams and / or flowcharts, can also be implemented by dedicated hardware that performs the specified functions or actions, or by a combination of dedicated hardware and computer instructions.

[0115] The above is only a specific implementation method of the present application. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the scope of protection of the present application is not limited to this. Any technician familiar with this technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the scope of protection of this application.

Claims

1. A cross-media vehicle, characterized in that: The cross-medium vehicle includes a pitot tube and a pitot tube drainage system, wherein the pitot tube drainage system includes: a detection module, configured to detect the first tube relative humidity or the first tube water pressure in the pitot tube when the operating condition of the cross-medium vehicle is a surface condition or an air condition; The drainage module is used to transport gas into the pitot tube to discharge the accumulated water in the pitot tube when the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold or the water pressure in the first tube is greater than or equal to a first preset tube water pressure threshold.

2. The cross-media vehicle according to claim 1, characterized in that: The drainage module includes: a gas source for generating gas; The blocking member is connected to the exhaust end of the gas source, and the blocking member has an open position and a closed position for opening or closing the exhaust end of the gas source.

3. The cross-media vehicle according to claim 2, characterized in that: The cross-media vehicle includes a controller, the blocking member includes a valve structure, and the pitot tube drainage system further includes: an air source drive circuit, connected to the controller and the air source, the air source drive circuit being configured to receive an air source control signal sent by the controller and control the opening and closing of the air source according to the air source control signal; The valve structure driving circuit is connected to the controller and the valve structure. The valve structure driving circuit is used to receive the valve structure control signal sent by the controller and control the valve structure to switch between the open position and the closed position according to the valve structure control signal.

4. The cross-media vehicle according to claim 1, characterized in that: The detection module includes: a pressure sensor, disposed in the pitot tube, for detecting the first internal water pressure in the pitot tube; a humidity sensor, disposed in the pitot tube, for detecting the relative humidity in the first tube of the pitot tube; A depth sensor is provided at the bottom of the cross-media vehicle and is used to detect the navigation depth of the cross-media vehicle. The navigation depth is used to represent the vertical distance from the bottom of the cross-media vehicle to the water surface.

5. The cross-media vehicle according to any one of claims 1 to 4, characterized in that: The number of the drainage modules is set to at least two.

6. A pitot tube drainage method for a cross-medium vehicle, characterized in that: Applied to the cross-medium vehicle according to any one of claims 1 to 5 above, the pitot tube drainage method comprises: When the cross-medium vehicle is operating in a surface condition or an air condition, detecting the relative humidity in the first tube or the water pressure in the first tube of the pitot tube; When the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold or the water pressure in the first tube is greater than or equal to a first preset tube water pressure threshold, gas is transported into the pitot tube through the drainage module to drain the accumulated water in the pitot tube.

7. The pitot tube drainage method according to claim 6, characterized in that: The pitot tube drainage method further comprises: Acquiring a navigation depth of the cross-media vehicle, where the navigation depth is used to represent a vertical distance from the bottom of the cross-media vehicle to the water surface; When the navigation depth is a first preset threshold, determining that the operating condition of the cross-medium aircraft is the airborne condition; Alternatively, when the navigation depth is greater than the first preset threshold and less than or equal to a second preset threshold, determining that the operating condition of the cross-medium vehicle is the surface condition, the second preset threshold is determined based on the height of the fuselage body of the cross-medium vehicle; Alternatively, when the navigation depth is greater than the second preset threshold, it is determined that the operating condition of the cross-medium vehicle is an underwater condition.

8. The pitot tube drainage method according to claim 6 or 7, characterized in that: The pitot tube drainage method further comprises: When it is determined that the operating condition of the cross-media aircraft is the airborne condition, obtaining a navigation altitude change rate of the cross-media aircraft within a first time window; determining a navigation phase of the cross-medium vehicle according to the navigation altitude change rate, where the navigation phase includes a climbing phase, a cruising phase, or a descending phase; When the operating condition of the cross-medium vehicle is a surface condition or an air condition, detecting the relative humidity in the first tube or the water pressure in the first tube of the pitot tube includes: When the operating condition of the cross-medium vehicle is the surface condition or the climbing phase of the air condition, the first in-tube relative humidity or the first in-tube water pressure in the pitot tube is detected.

9. The pitot tube drainage method according to claim 8, characterized in that: Determining the navigation phase of the cross-medium vehicle according to the navigation altitude change rate includes: When the navigation altitude change rate is greater than a first preset navigation altitude change rate threshold, determining that the navigation phase of the cross-medium vehicle is the climbing phase; When the navigation altitude change rate is less than a second preset navigation altitude change rate threshold, determining that the navigation phase of the cross-medium vehicle is the descent phase; When the navigation altitude change rate is greater than or equal to the second preset navigation altitude change rate threshold and less than or equal to the first preset navigation altitude change rate threshold, the navigation phase of the cross-medium aircraft is determined to be the cruising phase.

10. The pitot tube drainage method according to claim 6, characterized in that: The first internal water pressure includes the internal water pressure of the pitot tube within the second time window. Before delivering gas into the pitot tube through the drainage module to drain the accumulated water in the pitot tube when the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold or the first internal water pressure in the pitot tube is greater than or equal to a first preset internal water pressure threshold, the method further includes: Obtaining a reference internal water pressure of the pitot tube within a third time window, where the occurrence time of the third time window is earlier than the occurrence time of the second time window; determining a pressure change rate in the pitot tube according to the first water pressure in the pitot tube, the reference water pressure in the pitot tube, and a first reference time period, wherein the first reference time period is determined by the second time window and the third time window; When the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold or the water pressure in the first tube is greater than or equal to a first preset water pressure threshold, the method of transmitting gas into the pitot tube through the drainage module to drain the accumulated water in the pitot tube includes: When the relative humidity in the first tube is greater than or equal to the first preset relative humidity threshold, gas is transported into the pitot tube through the drainage module to drain the accumulated water in the pitot tube; Alternatively, when the pressure change rate is less than or equal to a preset pressure change rate threshold and the water pressure in the first pipe is greater than or equal to the first preset water pressure threshold, gas is transported into the pitot tube through the drainage module to drain the accumulated water in the pitot tube.

11. The pitot tube drainage method according to claim 10, characterized in that: The method further comprises: Obtaining the ambient temperature inside the pitot tube; According to the correlation relationship between the reference temperature and the reference humidity compensation threshold, a reference humidity compensation threshold associated with the ambient temperature in the pipe is obtained; determining the compensated relative humidity in the first tube according to the reference humidity compensation threshold and the relative humidity in the first tube; When the relative humidity in the first tube is greater than or equal to the first preset relative humidity threshold, the method of transporting gas into the pitot tube through the drainage module to drain the accumulated water in the pitot tube includes: When the relative humidity in the first tube after compensation is greater than or equal to the first preset relative humidity threshold, gas is transported into the pitot tube through the drainage module to drain the accumulated water in the pitot tube.

12. The pitot tube drainage method according to claim 6, characterized in that: After delivering gas into the pitot tube through the drainage module to drain the accumulated water in the pitot tube when the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold or the water pressure in the first tube is greater than or equal to a first preset water pressure threshold, the pitot tube drainage method further includes: obtaining the ground speed, ambient wind speed, and airspeed detected by the pitot tube of the trans-medium vehicle when the relative humidity in the first pipe is less than or equal to a second preset relative humidity threshold and the water pressure in the first pipe is less than or equal to a second preset water pressure threshold, the second preset relative humidity threshold is less than the first preset relative humidity threshold, and the second preset water pressure threshold is less than the first preset water pressure threshold; determining whether the airspeed detected by the pitot tube is abnormal based on the ground speed, the airspeed, and the ambient wind speed; determining an operating condition of the cross-medium vehicle when it is determined that the airspeed detected by the pitot tube is abnormal; When the operating condition of the cross-medium vehicle is the surface condition or the air condition, detecting the relative humidity in the first tube or the water pressure in the first tube of the pitot tube until a preset self-test termination condition is satisfied, and then stopping determining the operating condition of the cross-medium vehicle; The preset self-test termination condition includes at least one of the following: The number of times the steps of determining whether the airspeed detected by the pitot tube is normal and detecting whether the airspeed detected by the pitot tube is abnormal is greater than or equal to a preset number threshold is performed.

13. The method according to claim 6, characterized in that The drainage module includes a first drainage module and a second drainage module; When the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold or the water pressure in the first tube is greater than or equal to a first preset water pressure threshold, the method of transmitting gas into the pitot tube through the drainage module to drain the accumulated water in the pitot tube includes: When the relative humidity in the first tube is greater than or equal to a first preset relative humidity threshold or the water pressure in the first tube is greater than or equal to a first preset water pressure threshold, gas is transported into the pitot tube through the first drainage module to drain the accumulated water in the pitot tube; detecting the relative humidity or the water pressure in the second tube of the pitot tube at a reference time; wherein the reference time is later than the start time of delivering gas into the pitot tube through the drainage module, and the time between the reference time and the start time is a preset time; When the relative humidity in the second tube is greater than a third preset relative humidity threshold and / or the water pressure in the second tube does not meet a preset tube water pressure range, gas is transported into the pitot tube through the second drainage module to drain the accumulated water in the pitot tube.

14. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, which, when executed by a processor, implement the pitot tube drainage method for a cross-medium vehicle according to any one of claims 6 to 13.

15. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device is enabled to perform the pitot tube drainage method for a cross-medium vehicle according to any one of claims 6 to 13.

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