Trans-medium vehicle, trans-medium vehicle pitot drain method, and product thereof

Abstract

The application discloses a cross-medium aircraft, an airspeed pipe drainage method of the cross-medium aircraft and a product thereof, and applies to the technical field of aircrafts. The cross-medium aircraft comprises an airspeed pipe and an airspeed pipe drainage system. The airspeed pipe drainage system comprises a detection module configured to detect a first pipe-in relative humidity or a first pipe-in water pressure in the airspeed pipe when the cross-medium aircraft is in a water surface working condition or an air working condition; and a drainage module configured to deliver gas into the airspeed pipe to drain water accumulated in the airspeed pipe when the first pipe-in relative humidity is greater than or equal to a first preset relative humidity threshold or the first pipe-in water pressure is greater than or equal to a first preset pipe-in water pressure threshold. The method can deliver gas into the airspeed pipe by the drainage module, and use the gas to drain the water, so that the measurement of fluid pressure by the airspeed pipe is not disturbed by the water, and the problem that the measurement of fluid pressure by the cross-medium aircraft is inaccurate due to the water accumulated in the airspeed pipe is effectively solved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of aircraft, and particularly relates to a cross-medium vehicle, a method for draining water from an airspeed pipe of the cross-medium vehicle, and a product thereof. BACKGROUND

[0002] The cross-medium vehicle is an intelligent device capable of reciprocating underwater, on water surface and in the air for operation. The front end or top of the cross-medium vehicle is provided with an airspeed pipe, which measures the fluid pressure of the medium in which the cross-medium vehicle is currently located, so as to calculate the airspeed of the cross-medium vehicle and provide data support for the navigation control of the cross-medium vehicle.

[0003] However, when the cross-medium vehicle jumps from underwater to the air, the water accumulated in the airspeed pipe will cause the measured fluid pressure to be inaccurate, thereby affecting the navigation control accuracy of the cross-medium vehicle. SUMMARY

[0004] The embodiments of the present application provide a cross-medium vehicle, a method for draining water from an airspeed pipe of the cross-medium vehicle, and a product thereof. The product of the cross-medium vehicle includes an airspeed pipe drainage device of the cross-medium vehicle, an electronic device, a computer readable storage medium and a computer program product, which can effectively solve the problem of inaccurate fluid pressure measurement caused by water accumulated in the airspeed pipe of the cross-medium vehicle.

[0005] In a first aspect, the embodiments of the present application provide a cross-medium vehicle, which includes an airspeed pipe and an airspeed pipe drainage system, and the airspeed pipe drainage system includes:

[0006] A detection module is configured to detect a first pipe-in relative humidity or a first pipe-in water pressure in the airspeed pipe when the cross-medium vehicle is in a water surface working condition or an air working condition.

[0007] A drainage module is configured to deliver gas into the airspeed pipe to drain water accumulated in the airspeed pipe when the first pipe-in relative humidity is greater than or equal to a first preset relative humidity threshold or the first pipe-in water pressure is greater than or equal to a first preset pipe-in water pressure threshold.

[0008] In some possible implementation manners of the embodiments of the present application, the drainage module includes:

[0009] A gas source is configured to generate gas.

[0010] A plugging piece is connected to an exhaust end of the gas source, and the plugging piece has an open position and a closed position, so as to open or close the exhaust end of the gas source.

[0011] In some possible implementation manners of the embodiments of the present application, the cross-medium vehicle includes a controller, and the plugging piece includes a valve structure; and the airspeed pipe drainage system further includes:

[0012] a gas source driving circuit connected to the controller and the gas source, the gas source driving circuit configured to receive the gas source control signal sent by the controller and control the opening and closing of the gas source according to the gas source control signal;

[0013] a valve structure driving circuit connected to the controller and the valve structure, the valve structure driving circuit configured 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.

[0014] In some possible implementation manners of the embodiments of the present application, the detection module comprises:

[0015] a pressure sensor arranged in the air speed pipe and configured to detect the first pipe water pressure in the air speed pipe;

[0016] a humidity sensor arranged in the air speed pipe and configured to detect the first pipe relative humidity in the air speed pipe;

[0017] a depth sensor arranged at the bottom of the trans-medium vehicle and configured to detect the navigation depth of the trans-medium vehicle, the navigation depth being used to represent the vertical distance from the bottom of the trans-medium vehicle to the water surface.

[0018] In some possible implementation manners of the embodiments of the present application, the number of the water drainage modules is at least two.

[0019] In a second aspect, the embodiments of the present application provide a water drainage method for an air speed pipe of a trans-medium vehicle, applied to the trans-medium vehicle of the first aspect, and the water drainage method for the air speed pipe of the trans-medium vehicle comprises:

[0020] detecting the first pipe relative humidity or the first pipe water pressure in the air speed pipe when the trans-medium vehicle is in a water surface working condition or an air working condition;

[0021] when the first pipe relative humidity is greater than or equal to a first preset relative humidity threshold or the first pipe water pressure is greater than or equal to a first preset pipe water pressure threshold, conveying the gas into the air speed pipe by the water drainage module to drain the accumulated water in the air speed pipe.

[0022] In some possible implementation manners of the embodiments of the present application, the water drainage method for the air speed pipe of the trans-medium vehicle further comprises:

[0023] obtaining the navigation depth of the trans-medium vehicle, the navigation depth being used to represent the vertical distance from the bottom of the trans-medium vehicle to the water surface;

[0024] when the navigation depth is a first preset threshold, determining that the trans-medium vehicle is in the air working condition;

[0025] Or, in the case that 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 trans-medium vehicle is determined as the surface condition, and the second preset threshold is determined based on the body height of the trans-medium vehicle;

[0026] Or, in the case that the navigation depth is greater than the second preset threshold, the operating condition of the trans-medium vehicle is determined as the underwater condition.

[0027] In some possible implementation manners of the embodiment of the present application, the airspeed pipe drainage method of the trans-medium vehicle further includes:

[0028] In the case that the operating condition of the trans-medium vehicle is determined as the air condition, the navigation height change rate of the trans-medium vehicle in a first time window is obtained;

[0029] According to the navigation height change rate, the navigation stage of the trans-medium vehicle is determined, and the navigation stage includes a climbing stage, a cruising stage or a descending stage;

[0030] In the case that the operating condition of the trans-medium vehicle is the surface condition or the air condition, the first pipe internal relative humidity or the first pipe internal water pressure in the airspeed pipe is detected, including:

[0031] In the case that the operating condition of the trans-medium vehicle is the surface condition or the air condition in the climbing stage, the first pipe internal relative humidity or the first pipe internal water pressure in the airspeed pipe is detected.

[0032] In some possible implementation manners of the embodiment of the present application, the determination of the navigation stage of the trans-medium vehicle according to the navigation height change rate includes:

[0033] In the case that the navigation height change rate is greater than a first preset navigation height change rate threshold, the navigation stage of the trans-medium vehicle is determined as the climbing stage;

[0034] In the case that the navigation height change rate is less than a second preset navigation height change rate threshold, the navigation stage of the trans-medium vehicle is determined as the descending stage;

[0035] In the case that the navigation height change rate is greater than or equal to the second preset navigation height change rate threshold and less than or equal to the first preset navigation height change rate threshold, the navigation stage of the trans-medium vehicle is determined as the cruising stage.

[0036] In some possible implementation manners of the embodiment of the present application, the first pipe internal water pressure includes the pipe internal water pressure of the airspeed pipe in a second time window, and before the step of delivering the gas into the airspeed pipe by the drainage module to drain the accumulated water in the airspeed pipe in the case that the first pipe internal relative humidity is greater than or equal to a first preset relative humidity threshold or the first pipe internal water pressure is greater than or equal to a first preset pipe internal water pressure threshold, the airspeed pipe drainage method of the trans-medium vehicle further includes:

[0037] obtaining a reference water pressure in the pitot tube in a third time window, the third time window occurring earlier than the second time window;

[0038] determining a pressure change rate in the pitot tube according to the first water pressure, the reference water pressure, and a first reference time length, the first reference time length being determined by the second time window and the third time window;

[0039] In a case where the first pitot relative humidity is greater than or equal to a first preset pitot relative humidity threshold or the first pitot water pressure is greater than or equal to a first preset pitot water pressure threshold, the method further includes: delivering, by the drainage module, the gas into the pitot tube to drain the water in the pitot tube.

[0040] In a case where the first pitot relative humidity is greater than or equal to the first preset pitot relative humidity threshold, the method further includes: delivering, by the drainage module, the gas into the pitot tube to drain the water in the pitot tube.

[0041] Alternatively, in a case where the pressure change rate is less than or equal to a preset pressure change rate threshold and the first pitot water pressure is greater than or equal to the first preset pitot water pressure threshold, the method further includes: delivering, by the drainage module, the gas into the pitot tube to drain the water in the pitot tube.

[0042] In some possible implementation manners of the present application, the method for draining the pitot tube of the trans-medium vehicle further includes:

[0043] obtaining a pitot ambient temperature in the pitot tube;

[0044] obtaining a reference humidity compensation threshold associated with the pitot ambient temperature according to an association between the reference temperature and the reference humidity compensation threshold;

[0045] determining a compensated first pitot relative humidity according to the reference humidity compensation threshold and the first pitot relative humidity;

[0046] In a case where the compensated first pitot relative humidity is greater than or equal to the first preset pitot relative humidity threshold, the method further includes: delivering, by the drainage module, the gas into the pitot tube to drain the water in the pitot tube.

[0047] In a case where the compensated first pitot relative humidity is greater than or equal to the first preset pitot relative humidity threshold, the method further includes: delivering, by the drainage module, the gas into the pitot tube to drain the water in the pitot tube.

[0048] In some possible implementation manners of the present application, after the step of delivering, by the drainage module, the gas into the pitot tube to drain the water in the pitot tube in a case where the first pitot relative humidity is greater than or equal to the first preset pitot relative humidity threshold or the first pitot water pressure is greater than or equal to the first preset pitot water pressure threshold, the method for draining the pitot tube of the trans-medium vehicle further includes:

[0049] In a case where the first in-pipe relative humidity is less than or equal to a second preset relative humidity threshold and the first in-pipe water pressure is less than or equal to a second preset in-pipe water pressure threshold, the ground speed of the transmedia vehicle, the environmental wind speed, and the pitot tube detected airspeed are obtained, the second preset relative humidity threshold is less than the first preset relative humidity threshold, and the second preset in-pipe water pressure threshold is less than the first preset in-pipe water pressure threshold;

[0050] According to the ground speed, the airspeed, and the environmental wind speed, it is determined whether the pitot tube detected airspeed is abnormal.

[0051] In a case where it is determined that the pitot tube detected airspeed is abnormal, the operating condition of the transmedia vehicle is determined.

[0052] In a case where the operating condition of the transmedia vehicle is the water surface condition or the air condition, the first in-pipe relative humidity or the first in-pipe water pressure in the pitot tube is detected until a preset self-check termination condition is met, and the determination of the operating condition of the transmedia vehicle is stopped.

[0053] The preset self-check termination condition includes at least one of the following:

[0054] It is determined that the pitot tube detected airspeed is normal, and the number of times of performing the step of detecting whether the pitot tube detected airspeed is abnormal is greater than or equal to a preset number threshold.

[0055] In some possible implementation manners of the embodiments of the present application, the drainage module includes a first drainage module and a second drainage module.

[0056] In a case where the first in-pipe relative humidity is greater than or equal to a first preset relative humidity threshold or the first in-pipe water pressure is greater than or equal to a first preset in-pipe water pressure threshold, the drainage module is used to deliver gas into the pitot tube to drain the accumulated water in the pitot tube, including:

[0057] In a case where the first in-pipe relative humidity is greater than or equal to a first preset relative humidity threshold or the first in-pipe water pressure is greater than or equal to a first preset in-pipe water pressure threshold, the first drainage module is used to deliver gas into the pitot tube to drain the accumulated water in the pitot tube.

[0058] The second in-pipe relative humidity or the second in-pipe water pressure of the pitot tube at a reference time is detected, the reference time is later than a starting time of delivering gas into the pitot tube by the drainage module, and a time length between the reference time and the starting time is a preset time length.

[0059] In a case where the second in-pipe relative humidity is greater than a third preset relative humidity threshold and / or the second in-pipe water pressure does not meet a preset in-pipe water pressure range, the second drainage module is used to deliver gas into the pitot tube to drain the accumulated water in the pitot tube.

[0060] In a third aspect, an electronic device is provided, and the device includes a processor and a memory storing computer program instructions; and the processor implements the airspeed pipe draining method of the cross-medium vehicle according to any one of the second aspect when executing the computer program instructions.

[0061] In a fourth aspect, a computer readable storage medium is provided, and the computer readable storage medium stores computer program instructions, and the computer program instructions are executed by a processor to implement the airspeed pipe draining method of the cross-medium vehicle according to any one of the second aspect.

[0062] In a fifth aspect, a computer program product is provided, and the computer program product includes computer programs or instructions, and the computer programs or instructions are executed by a processor to implement the airspeed pipe draining method of the cross-medium vehicle according to any one of the second aspect.

[0063] The cross-medium vehicle, the airspeed pipe draining method of the cross-medium vehicle, and the products thereof, when determining that the running condition of the cross-medium vehicle is the water surface condition or the air condition, indicate that the cross-medium vehicle meets the prerequisite triggering condition of the draining action, and at this time, the first pipe-in relative humidity or the first pipe-in water pressure in the airspeed pipe detected by the detection module is acquired to determine whether there is a water accumulation risk in the airspeed pipe. When determining that the first pipe-in relative humidity is greater than or equal to the first preset relative humidity threshold or the first pipe-in water pressure is greater than or equal to the first preset pipe-in water pressure threshold, it indicates that the water accumulation in the airspeed pipe affects the measurement accuracy of the airspeed pipe, and it also proves that the current state of the airspeed pipe meets the triggering condition of the draining operation execution. At this time, the draining module immediately responds to deliver gas into the airspeed pipe. Through the delivery of the gas, the water accumulation is effectively drained, avoiding the interference of the water accumulation on the measurement of the 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 more accurately calculated, and reliable data support is provided for the navigation control of the cross-medium vehicle, and the navigation control precision of the cross-medium vehicle is improved. BRIEF DESCRIPTION OF DRAWINGS

[0064] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application. Those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0065] Figure 1 Fig. 1 shows a structural schematic diagram of a cross-medium vehicle provided by some embodiments of the present application;

[0066] Figure 2 Fig. 2 shows a flowchart of an airspeed pipe draining method of a cross-medium vehicle provided by some embodiments of the present application;

[0067] Figure 3 A flowchart illustrating a step of determining an operating condition of a transmedia vehicle in a method for draining an airspeed tube of a transmedia vehicle according to some embodiments of the present application is shown;

[0068] Figure 4 A flowchart illustrating a step of performing an airspeed tube airspeed self-check in a method for draining an airspeed tube of a transmedia vehicle according to some embodiments of the present application is shown;

[0069] Figure 5 A flowchart illustrating one specific implementation of step 220 according to some embodiments of the present application is shown;

[0070] Figure 6 A structural diagram of an electronic device according to some embodiments of the present application is shown. DETAILED DESCRIPTION

[0071] The features and exemplary embodiments of the various aspects of the present application will be described in detail below with reference to the drawings. To make the purpose, technical solutions and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. The present application can be implemented without some of the specific details by those skilled in the art. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0072] It should be noted that, in this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such 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 more limitations, an element defined by the statement "comprising" does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0073] 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.

[0074] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, it does not mean that the applicant has used or necessarily used the solution.

[0075] To address the aforementioned problems in the related technologies, embodiments of this application provide a cross-medium vehicle, a method for draining the pitot tube of a cross-medium vehicle, and products thereof. The products of the cross-medium vehicle include a pitot tube draining device, electronic equipment, a computer-readable storage medium, and a computer program product.

[0076] The following is in conjunction with the appendix Figure 1 The cross-medium vehicle provided in this application will be described in detail through specific embodiments.

[0077] Figure 1 Schematic diagrams of the structure of a cross-medium vehicle provided by some embodiments of this application are shown. For example... Figure 1 As shown, the transmedium vehicle 100 includes a pitot tube 110 and a pitot tube drainage system 120. The pitot tube drainage system 120 includes a detection module 1201 and a drainage module 1202. The detection module 1201 is used to detect the relative humidity or water pressure inside the pitot tube 110 when the transmedium vehicle is operating on water or in the air. The drainage module 1202 is used to supply gas into the pitot tube 110 to drain accumulated water when the relative humidity or water pressure inside the pitot tube is greater than or equal to a first preset relative humidity threshold or a first preset water pressure threshold.

[0078] The pitot tube 110, also known as a pitot tube, is a device used to measure the velocity of fluids such as air. It calculates velocity by sensing the dynamic and static pressure of the fluid. When a cross-medium vehicle is performing control tasks, the pitot tube reflects the vehicle's flight speed and is also correlated with flight parameters such as angle of attack and sideslip angle. The surface condition refers to the state where the cross-medium vehicle operates in the water surface area, with part or all of its fuselage in contact with water. The air condition refers to the state where the cross-medium vehicle is completely detached from the water surface and flying in the air. The first pitot tube relative humidity refers to the percentage of actual water vapor content in the gas inside the pitot tube compared to the saturated water vapor content at the same temperature, used to measure the humidity of the air inside the tube. The first pitot tube water pressure refers to the pressure exerted by the fluid, such as water, on the tube wall inside the pitot tube, used to reflect the pressure state of accumulated water inside the tube.

[0079] Exemplarily, the first preset relative humidity threshold and the first preset water pressure threshold in pipe threshold can be the drainage triggering conditions of the drainage module set by the user through experience or experiment, which are not specifically limited herein. Exemplarily, the first preset relative humidity threshold can be 95%, and the first preset water pressure threshold in pipe threshold can be 0.1 MPa.

[0080] Thus, when it is determined that the operating condition of the transmedia vehicle is the water surface condition or the air condition, it is indicated that the transmedia vehicle meets the prerequisite triggering condition of the drainage action, and the first relative humidity in the pitot tube or the first 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 relative humidity in the pitot tube is greater than or equal to the first preset relative humidity threshold or the first water pressure in the pitot tube is greater than or equal to the first preset water pressure threshold in pipe threshold, it is indicated that there is water accumulation in the pitot tube, which affects the measurement accuracy of the pitot tube, and it is also proved that the current state of the pitot tube meets the triggering condition of the drainage operation execution. At this time, the drainage module immediately responds to deliver gas into the pitot tube. Through the delivery of the gas, the water accumulation is effectively drained, avoiding the interference of the water accumulation on the measurement of the 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 transmedia vehicle can be more accurately calculated, and reliable data support is provided for the navigation control of the transmedia vehicle, thereby improving the navigation control precision of the transmedia vehicle.

[0081] The drainage module is used to drain the water accumulation in the pitot tube to the outside of the pitot tube. In some embodiments of the present application, the drainage module includes a gas source and a blocking piece. The gas source is used to generate gas, and the blocking piece is connected to the exhaust end of the gas source and has an open position and a closed position to open or close the exhaust end of the gas source.

[0082] The gas source refers to a device or system for generating and providing gas, which is the power source of the drainage module. Exemplarily, the gas source can be a gas pump. It can be understood that the gas pump has the characteristics of small size but strong power, can efficiently operate in a limited space, and can generate strong suction to 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 realize the opening or closing of the exhaust end by switching positions.

[0083] In this way, by switching the blocking piece between the open position and the closed position, the provision or cut-off of gas between the gas source and the pitot tube is realized, and then the drainage control of the water accumulation in the pitot tube is realized.

[0084] In some embodiments of the present application, the trans-medium vehicle includes a controller, the blocking member includes a valve structure, and the valve structure is a device for controlling the flow of gas. Specifically, the blocking member can be a controllable valve structure that can be driven mechanically, electromagnetically, or pneumatically to open or close the exhaust end of the gas source, thereby controlling the on-off of the gas generated by the gas source. For example, the blocking member can be a normally closed electromagnetic valve. When the controller receives a control signal for the electromagnetic valve, the electromagnetic valve will open, thereby achieving precise control of the on-off of the drain pipeline, and ensuring the sealing of the drain pipeline and effectively preventing unnecessary leakage.

[0085] Further, the airspeed tube drainage system further includes a gas source driving circuit and a valve structure driving circuit. The gas source driving circuit is connected to the controller and the gas source, and is configured to receive a gas source control signal sent by the controller and control the start-stop of the gas source according to the gas source control signal. The valve structure driving circuit is connected to the controller and the valve structure, and is configured to receive a 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.

[0086] The gas source driving circuit is a circuit connected to the controller and the gas source, configured to transmit and execute the control instructions of the controller to the gas source, and to control the start-stop of the gas source. The valve structure driving circuit is a circuit connected to the controller and the valve structure, configured to receive the instructions of the controller and convert them into signals for driving the valve structure to act, and to control the valve structure to switch between the open position and the closed position, thereby ensuring that the gas generated by the gas source is delivered to the airspeed tube as required.

[0087] For example, the gas source driving circuit, i.e., the air pump driving circuit, can use an H-bridge motor driving integrated circuit (IC) to receive a pulse width modulation signal from the controller to achieve closed-loop control of the air pump speed. For example, the gas source driving circuit controls the operation and stop of the air pump motor by adjusting the size and on-off of the output current or voltage.

[0088] In some embodiments of the present application, a proportion-integral-differential (PID) negative pressure closed-loop control algorithm can be used to adjust the air pump speed, thereby achieving precise control of the air pump operating parameters.

[0089] The valve structure driving circuit is connected with the controller, receives the valve structure control signal, identifies the specific content of the valve structure control signal such as opening or closing the valve structure, and then converts it into a specific electrical signal form suitable for driving the valve structure to act. For the electromagnetic valve structure, when the control signal for opening the valve structure is received, the valve structure driving circuit provides appropriate current for the electromagnetic coil to generate electromagnetic force to attract the valve core, overcome the spring force and move the valve structure from the closed position to the open position to open the exhaust passage; when the control signal for closing the valve structure is received, the valve structure driving circuit cuts off the current of the electromagnetic coil, and the spring force moves the valve structure from the open position to the closed position to close the exhaust passage.

[0090] Therefore, the gas source driving circuit and the valve structure driving circuit can execute the instructions of the controller to realize accurate control of the gas source and the valve structure, so that the air speed pipe drainage system can start drainage when the air speed pipe meets the preset drainage condition or stop drainage when the air speed pipe does not meet the preset drainage condition according to actual needs, effectively improving the drainage efficiency of the air speed pipe drainage system, and further improving the navigation control precision of the trans-medium vehicle.

[0091] 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 arranged in the air speed pipe and is used to detect the first in-pipe water pressure in the air speed pipe; the humidity sensor is arranged in the air speed pipe and directly contacts the in-pipe water, and is used to detect the first in-pipe relative humidity in the air speed pipe; the depth sensor is arranged at the bottom of the trans-medium vehicle and is used to detect the navigation depth of the trans-medium vehicle, which represents the vertical distance from the bottom of the trans-medium vehicle to the water surface.

[0092] The humidity sensor is used to detect the relative humidity inside the air speed pipe to determine the water accumulation state, and is installed at the elbow at the end of the air speed pipe to determine the humidity change in the air speed pipe. The pressure sensor is used to measure the water pressure at the bottom of the air speed pipe, and is installed close to the upper end of the drainage port to obtain water pressure information reflecting the water accumulation amount and the drainage effect. The depth sensor is installed at the lowest position of the bottom of the trans-medium vehicle and is used to measure the navigation depth of the trans-medium vehicle, and then determines the operation condition of the trans-medium vehicle in combination with the body height of the trans-medium vehicle.

[0093] Exemplarily, the specific determination logic of the controller to determine the operation condition of the trans-medium vehicle is as follows:

[0094] When the navigation depth is equal to 0, it indicates that the trans-medium vehicle is not in contact with the water surface, and it is determined that the running condition of the trans-medium vehicle is an air condition; when the navigation depth h and the body height d of the trans-medium vehicle satisfy the condition of 0 < h < d, it indicates that the trans-medium vehicle is partially immersed in water, the immersion depth is within the body height range of the vehicle, and it is determined that the running condition of the trans-medium vehicle is a water surface condition; when the navigation depth h is greater than the body height d of the trans-medium vehicle, it indicates that the trans-medium vehicle is completely immersed in water, and the immersion depth exceeds the body height range of the vehicle, and it is determined that the running condition of the vehicle is an underwater condition.

[0095] 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 electromagnetic valve. The second drainage module includes a backup air pump and a backup electromagnetic valve. Correspondingly, the air source driving circuit in the airspeed tube drainage system includes a main air source driving circuit corresponding to the main air pump, a main valve structure driving circuit corresponding to the main electromagnetic valve, a backup air source driving circuit corresponding to the backup air pump, and a backup valve structure driving circuit corresponding to the backup electromagnetic valve.

[0096] It can be understood that the main air pump, the main electromagnetic valve, the main air source driving circuit and the main valve structure driving circuit jointly constitute a main drainage unit, and the backup air pump, the backup electromagnetic valve, the backup air source driving circuit and the backup valve structure driving circuit jointly constitute a backup drainage unit. In a normal operating condition, the airspeed tube drainage system preferentially starts the main drainage unit to carry out drainage work, and when the airspeed tube drainage system monitors an abnormality such as that the water in the airspeed tube is not drained within a preset drainage time period, the controller will immediately trigger the backup mechanism to execute the working process of the backup drainage unit.

[0097] In some embodiments of the present application, the detection module described above can further include an airspeed meter, an inertial measurement unit and a Global Positioning System (GPS) navigation unit. The airspeed meter is installed at the front end of the airspeed tube and away from the drainage port of the airspeed tube, and is used to measure the airspeed value of the trans-medium vehicle. The inertial measurement unit is installed at a position within a preset position range from the center of gravity of the trans-medium vehicle and is rigidly fixed by a support, thereby accurately sensing the motion state of the trans-medium vehicle. The GPS navigation unit is installed on the cover plate of the trans-medium vehicle and is placed horizontally to ensure that it can receive satellite signals in all directions. The inertial measurement unit and the GPS navigation unit jointly obtain the ground speed of the trans-medium vehicle through data fusion.

[0098] In this way, the controller can cross-verify the airspeed value measured by the airspeed tube by fusing the measurement data of the airspeed meter, the inertial measurement unit and the GPS navigation unit data, and complete airspeed self-checking.

[0099] In some embodiments of the present application, the above-mentioned pitot tube drainage system can further comprise a power management module, wherein the power management module is a power supply and execution control unit of the pitot tube drainage system. The power management unit is mainly used for power distribution, efficiency optimization, redundancy protection and energy consumption control, and its working mechanism is to convert the input power voltage into stable power supply suitable for detection modules, drainage modules and controllers through voltage conversion, redundant power supply and overcurrent protection technologies.

[0100] Based on the cross-medium vehicle provided in the above-mentioned embodiments, the present application also provides a specific implementation of a pitot tube drainage method of the cross-medium vehicle. Please refer to the following embodiments.

[0101] The pitot tube drainage method of the cross-medium vehicle provided in the embodiments of the present application can be applied to the cross-medium vehicle shown in any one of the above-mentioned embodiments, such as Figure 2 As shown in the figure, the pitot tube drainage method of the cross-medium vehicle can comprise steps 210 and 220.

[0102] Step 210: When the operating condition of the cross-medium vehicle is the water surface condition or the air condition, detecting the first pipe relative humidity or the first pipe water pressure in the pitot tube.

[0103] Step 220: When the first pipe relative humidity is greater than or equal to the first preset pipe relative humidity threshold or the first pipe water pressure is greater than or equal to the first preset pipe water pressure threshold, delivering gas into the pitot tube through the drainage module to drain the accumulated water in the pitot tube.

[0104] Therefore, when it is determined that the operating condition of the cross-medium vehicle is the water surface condition or the air condition, it means that the cross-medium vehicle meets the prerequisite triggering condition of the drainage action, and at this time, the first pipe relative humidity or the first pipe water pressure in the pitot tube is detected to determine whether there is a risk of accumulated water in the pitot tube. When it is determined that the first pipe relative humidity is greater than or equal to the first preset pipe relative humidity threshold or the first pipe water pressure is greater than or equal to the first preset pipe water pressure threshold, it means that there is accumulated water in the pitot tube that affects the measurement accuracy of the pitot tube, and it also proves that the current state of the pitot tube meets the triggering condition of the drainage operation execution. At this time, gas is delivered into the pitot tube. Through the delivery of gas, the accumulated water is effectively drained, avoiding the interference of the accumulated water on the measurement of the 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 more accurately calculated, and reliable data support is provided for the navigation control of the cross-medium vehicle, thereby improving the navigation control accuracy of the cross-medium vehicle.

[0105] In some embodiments of the present application, in order to improve the accuracy of pitot tube drainage, as Figure 3As shown, the above airspeed pipe drainage method can further include step 310 and step 320.

[0106] 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.

[0107] Exemplarily, the navigation depth of the cross-medium vehicle can be obtained by the depth sensor shown in the above embodiment.

[0108] Step 320, in the case that the navigation depth is a first preset threshold, determine the running condition of the cross-medium vehicle as an air condition; or in the case that the navigation depth is greater than the first preset threshold and less than or equal to a second preset threshold, determine the running condition of the cross-medium vehicle as a water surface condition, the second preset threshold is determined based on the body height of the cross-medium vehicle; or in the case that the navigation depth is greater than the second preset threshold, determine the running condition of the cross-medium vehicle as an underwater condition.

[0109] Exemplarily, the first preset threshold and the second preset threshold can be determined by the user through experiment or artificial 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 body height d of the cross-medium vehicle. In this way, by obtaining the navigation depth h of the cross-medium vehicle through the depth sensor shown in the above embodiment, the navigation depth h can be compared with the first preset threshold h1 and the second preset threshold h2, and the above step 320 can specifically include: when h=0, determine the running condition of the cross-medium vehicle as an air condition; when 0

[0110] Therefore, by associating the navigation depth of the cross-medium vehicle with the body height, a condition division standard is established, so that different types of cross-medium vehicles can flexibly set the first preset threshold and the second preset threshold according to their own structural parameters, and the universality of the above airspeed pipe drainage method is improved.

[0111] In some embodiments of the present application, the airspeed pipe drainage method of the above-mentioned cross-medium vehicle can further include: in the case of determining that the operating condition of the cross-medium vehicle is an air condition, obtaining a flight altitude change rate of the cross-medium vehicle within a first time window; and determining a flight phase of the cross-medium vehicle according to the flight altitude change rate, the flight phase including a climbing phase, a cruising phase or a descending phase. The cruising phase and the descending phase have very high requirements for airspeed pipe pressure measurement accuracy, and slight air flow disturbance can affect the accuracy of airspeed pipe measurement data. When the drainage module is working, the injection of compressed air into the airspeed pipe will cause instantaneous pressure fluctuation, which may cause abnormal airspeed pipe measurement data, for example, if the airspeed pipe drainage system of the cross-medium vehicle performs drainage work in the cruising phase, it may cause a temporary deviation of the airspeed measurement value, thereby affecting the flight attitude control of the cross-medium vehicle. Based on this, the above step 210 can specifically include: in the case of the operating condition of the cross-medium vehicle being the water surface condition or the climbing phase of the air condition, detecting the first pipe relative humidity or the first pipe water pressure in the airspeed pipe.

[0112] wherein the climbing phase refers to the process of the cross-medium vehicle taking off from the water surface and accelerating upward to high altitude. The cruising phase refers to the continuous flight state of the cross-medium vehicle at a stable altitude. The flight altitude change rate refers to the change amount of the flight altitude of the cross-medium vehicle per unit time, reflecting the speed of the flight altitude of the cross-medium vehicle.

[0113] In this way, only in the climbing phase of the water surface condition or the air condition, the drainage work of the airspeed pipe is performed, which can not only accurately cope with the risks caused by water accumulation in the airspeed pipe, but also ensure the accuracy of the flight data measured by the airspeed meter of the cross-medium vehicle.

[0114] In some embodiments of the present application, the above-mentioned determination of the flight phase of the cross-medium vehicle according to the flight altitude change rate includes: in the case of the flight altitude change rate being greater than a first preset flight altitude change rate threshold, determining that the flight phase of the cross-medium vehicle is the climbing phase; in the case of the flight altitude change rate being less than a second preset flight altitude change rate threshold, determining that the flight phase of the cross-medium vehicle is the descending phase; and in the case of the flight altitude change rate being greater than or equal to the second preset flight altitude change rate threshold and less than or equal to the first preset flight altitude change rate threshold, determining that the flight phase of the cross-medium vehicle is the cruising phase.

[0115] The first preset flight height change rate threshold is greater than the second preset flight height change rate threshold. The first preset flight height change rate threshold and the second preset flight height change rate threshold are preset height change rate thresholds for determining whether the trans-medium vehicle is in the climbing state, and can be determined by user experience, experiment or simulation. For example, the first preset flight height change rate threshold has a positive value, and the second preset flight height change rate threshold has a value of 0 or a negative value.

[0116] Further, the trans-medium vehicle may include small-amplitude height fluctuations in actual flight. To reduce the influence of slight height changes of the trans-medium vehicle in flight on the flight phase classification of the trans-medium vehicle, in some non-limiting embodiments of the present application, the first preset flight height change rate threshold can have a value of +1.667 m / s. If the flight height change rate is greater than +1.667 m / s, it indicates that the trans-medium vehicle is in the climbing phase. The second preset flight height change rate threshold can have a value of -1.667 m / s. If the flight height change rate is less than -1.667 m / s, it indicates that the trans-medium vehicle is in the descending phase. If the flight height change rate is between -1.667 m / s and +1.667 m / s, it indicates that the trans-medium vehicle is in the cruising phase.

[0117] In one example, the flight height of the trans-medium vehicle can be obtained by the height sensor carried on the trans-medium vehicle, and the flight height change rate can be determined by the ratio of the flight height difference in a preset time window to the time interval corresponding to the preset time window. Thus, by quantifying the flight height change rate, the climbing phase, the cruising phase and the descending phase of the trans-medium vehicle can be accurately distinguished, and misjudgment of the flight phase of the trans-medium vehicle can be avoided. In this way, the trans-medium vehicle can perform the airspeed pipe drainage work in the climbing phase in the water surface working condition or the air working condition, which can effectively reduce the influence of the airspeed pipe drainage work of the trans-medium vehicle on the flight accuracy of the trans-medium vehicle.

[0118] In some embodiments of the present application, the first in-pipe water pressure includes the in-pipe water pressure of the pitot tube in the second time window, based on which, before step 220, the pitot tube water drainage method of the trans-medium vehicle can further include: obtaining a reference in-pipe water pressure of the pitot tube in a third time window, the third time window occurring earlier than the second time window; determining a pressure change rate in the pitot tube according to the first in-pipe water pressure, the reference in-pipe water pressure, and a first reference time length, the first reference time length being determined by the second time window and the third time window; based on this, step 220 can specifically include: in the case that the first in-pipe relative humidity is greater than or equal to a first preset in-pipe relative humidity threshold, conveying gas into the pitot tube by the drainage module to drain the accumulated water in the pitot tube; or in the case that the pressure change rate is less than or equal to a preset pressure change rate threshold and the first in-pipe water pressure is greater than or equal to a first preset in-pipe water pressure threshold, conveying gas into the pitot tube by the drainage module to drain the accumulated water in the pitot tube.

[0119] The second time window is a time interval for obtaining current in-pipe water pressure data, such as , and is specifically real-time or near real-time data. The third time window is a historical time interval for obtaining a reference in-pipe water pressure, such as , occurring earlier than the second time window, serving as a reference value. The reference in-pipe water pressure represents a reference water pressure value of the pitot tube in the third time window. For example, the first reference time length can be determined by , and correspondingly, the reference in-pipe water pressure can be the in-pipe water pressure at . The pressure change rate represents the change amount of the in-pipe water pressure per unit time, and is used to quantify the pressure fluctuation trend to determine whether the pressure is abnormally high due to accumulated water. Specifically, the pressure change rate can be calculated by the ratio of the difference between the first in-pipe water pressure and the reference in-pipe water pressure to the first reference time length.

[0120] The preset pressure change rate threshold is a critical change rate preset by the user through experience, practice, or experiment, and is used to distinguish between normal pressure fluctuation and pressure abnormal fluctuation caused by accumulated water. Specifically, the preset pressure change rate threshold can be set to 0.05 MPa / s. It can be understood that when the pressure change rate is less than or equal to the preset pressure change rate threshold, it indicates that the pitot tube may have an abnormal pressure drop due to accumulated water blockage, and the pitot tube drainage triggering condition can be determined based on the first in-pipe water pressure. When the pressure change rate is greater than the preset pressure change rate threshold, it indicates that the water pressure in the pitot tube changes dramatically in a short time, indicating that there is a transient pressure fluctuation in the pitot tube caused by the trans-medium vehicle maneuvering, i.e., external interference. Therefore, this 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.

[0121] In some embodiments of the present application, in order to accurately calculate the pressure change rate, before performing the above-mentioned pressure change rate, the above-mentioned airspeed pipe drainage method of the trans-medium vehicle can further include: first, moving average filtering processing of the original pressure signal to suppress high-frequency noise, and then calculating the pressure change rate based on the filtered data.

[0122] In this way, by filtering the external interference of the trans-medium vehicle caused by instantaneous sharp pressure change, the drainage work of the trans-medium vehicle caused by non-accumulation factors such as normal flight attitude change is avoided, thereby effectively improving the accuracy and reliability of the airspeed pipe drainage system in performing the drainage work.

[0123] In some embodiments of the present application, the above-mentioned airspeed pipe drainage method of the trans-medium vehicle can further include: obtaining the in-pipe ambient temperature in the airspeed pipe; obtaining the reference humidity compensation threshold value associated with the in-pipe ambient temperature according to the correlation between the reference temperature and the reference humidity compensation threshold value; determining the compensated first in-pipe relative humidity according to the reference humidity compensation threshold value and the first in-pipe relative humidity; based on this, the above-mentioned step 220 can specifically include: in the case that the compensated first in-pipe relative humidity is greater than or equal to the first preset relative humidity threshold value, delivering gas into the airspeed pipe by the drainage module to drain the accumulated water in the airspeed pipe.

[0124] Among them, the in-pipe ambient temperature refers to the real-time temperature value inside the airspeed pipe, and the in-pipe ambient temperature affects the saturation vapor pressure of water vapor, thereby affecting the accuracy of in-pipe relative humidity measurement. For example, the in-pipe ambient temperature of the airspeed pipe can be measured by a temperature sensor arranged in the airspeed pipe. The reference temperature refers to a pre-set reference temperature value, which is used to represent the reference basis of the humidity compensation threshold value. The reference humidity compensation threshold value refers to the compensation threshold value for compensating humidity associated with the reference temperature, which is dynamically adjusted with temperature changes. The compensated first in-pipe relative humidity refers to the relative humidity value corrected by the temperature compensation algorithm, which eliminates the influence of temperature on the humidity measurement result.

[0125] For example, the reference humidity compensation threshold value associated with the in-pipe ambient temperature can be established in advance.

[0126] The compensated first in-pipe relative humidity RH 补偿 It can be represented by the following formula (1):

[0127] RH 补偿 = RH 阈值 +k (T-T0) …… (1)

[0128] In the formula, RH 阈值 represents the reference humidity compensation threshold value, which can be 95%, k=0.2% / ℃, T0=25%, and T represents the in-pipe ambient temperature.

[0129] Therefore, the reference humidity compensation threshold value associated with the in-pipe environment temperature is determined by referring to the correlation between the reference temperature and the reference humidity compensation threshold value, and the first in-pipe relative humidity is temperature-compensated based on the reference humidity compensation threshold value, and the airspeed pipe drainage work triggering condition is judged based on the compensated first in-pipe relative humidity, effectively avoiding the misjudgment of the drainage work triggering condition due to the interference of temperature change, and further effectively improving the accuracy and reliability of the airspeed pipe drainage system in executing the drainage work.

[0130] In some embodiments of the present application, after step 220, as shown in Figure 4 The airspeed pipe drainage method of the trans-medium vehicle can further include steps 410 to 440.

[0131] Step 410, in the case that the first in-pipe relative humidity is less than or equal to a second preset relative humidity threshold value and the first in-pipe water pressure is less than or equal to a second preset in-pipe water pressure threshold value, the second preset relative humidity threshold value is less than the first preset relative humidity threshold value, and the second preset in-pipe water pressure threshold value is less than the first preset in-pipe water pressure threshold value, the ground speed of the trans-medium vehicle, the environmental wind speed, and the airspeed detected by the airspeed pipe are obtained.

[0132] The ground speed refers to the actual movement speed of the trans-medium vehicle relative to the earth's surface, reflecting the absolute movement state of the trans-medium vehicle in the ground reference system; the ground speed is obtained by fusing the data collected by the inertial navigation unit and the GPS navigation unit of the trans-medium vehicle, specifically, high-frequency signals of the inertial navigation unit are processed by high-pass filtering, low-frequency signals of the GPS are processed by low-pass filtering, and a three-dimensional velocity vector (V x , V y , V z ) is obtained by superimposing the two, thereby obtaining V 地速 = (V x 2 + V y 2 + V z 2 ) 1 / 2 The environmental wind speed refers to the air flow speed in the environment of the trans-medium vehicle, including wind speed and wind direction; the environmental wind speed can be obtained by measuring the wind speed in real time using an anemometer installed on the top of the vehicle or the mast. The airspeed refers to the movement speed of the trans-medium vehicle relative to the surrounding air, which is the measurement parameter of the airspeed pipe.

[0133] For example, after step 220, that is, when the drainage module completes the drainage and the detection module reports that the relative humidity in the first pipe is ≤ the second preset relative humidity threshold such as 60% and the water pressure in the first pipe is ≤ the second preset water pressure threshold such as 0.02MPa, it indicates that the water accumulated in the airspeed pipe has been basically drained and the airspeed data self-test process begins.

[0134] Step 420: Determine whether the airspeed detected by the airspeed tube is abnormal based on the ground speed, airspeed and ambient wind speed.

[0135] For example, the deviation rate between the measured airspeed and the calculated airspeed can be calculated using the following formula (2). V:

[0136] ...(2)

[0137] The result obtained by formula (2) above V is compared with a preset deviation rate to determine whether the airspeed detected by the pitot tube is abnormal. If the preset deviation rate is 5%, then... When V is greater than 5%, an airspeed anomaly is determined by the pitot tube detection; If V is less than or equal to 5%, the airspeed detected by the pitot tube is considered normal.

[0138] Step 430: If the airspeed detected by the pitot tube is abnormal, determine the operating conditions of the transmedium vehicle.

[0139] Step 440: When the cross-medium vehicle is operating in a surface condition or an air condition, detect the relative humidity or water pressure inside the first tube of the pitot tube until the preset self-test termination condition is met, and 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, or the number of times the step of detecting whether the airspeed detected by the pitot tube is abnormal is greater than or equal to a preset number threshold.

[0140] For example, if the airspeed detected by the pitot tube is abnormal and the aircraft is operating on the water or in the air, the detection module is restarted to monitor the relative humidity or water pressure inside the first tube in real time and determine whether the preset drainage conditions are met. After each detection, step 420 is repeated until any of the following termination conditions are met:

[0141] 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 airspeed tube has been completely drained.

[0142] Exceeding the limit for the number of tests: If the preset maximum number of tests is 3, the self-test will terminate after reaching this limit to reduce energy consumption.

[0143] Therefore, by cross verification of multi-source data, i.e., ground speed, environmental wind speed and air speed, the drainage result of the air speed pipe can be verified, and the accuracy of the air speed pipe detection can be further improved; the circulating self-checking mechanism can further remove residual small water droplets or condensed water in the air speed pipe, and reduce the continuous false alarm caused by accidental water accumulation.

[0144] In some embodiments of the present application, the above drainage module includes a first drainage module and at least one second drainage module, and based on this, as shown in the figure, Figure 5 The step 220 can specifically include steps 2201-2203.

[0145] Step 2201: In the case where the first pipe relative humidity is greater than or equal to the first preset relative humidity threshold or the first pipe water pressure is greater than or equal to the first preset pipe water pressure threshold, a gas is delivered into the air speed pipe by the first drainage module to drain the water accumulation in the air speed pipe.

[0146] Exemplarily, the first drainage module includes a main electromagnetic valve and a main air pump. When the first drainage module is turned on, the main electromagnetic valve receives a 12V pulse signal with a pulse width of 100ms, and then the passage is opened. After the main electromagnetic valve is opened for 0.5s, the power supply driving module outputs a 24V voltage to the main air pump, and the main air pump motor accelerates to start pumping the pipe gas. When the internal pressure of the air speed pipe drops to the target value of -0.05MPa, a pressure difference of 0.15MPa is formed between the internal pressure and the external environmental pressure of about 0.1MPa, which pushes the water accumulation to flow to the drainage port of the air speed pipe. During the operation of the main air pump, the pressure sensor continuously feeds back the actual negative pressure value in the air speed pipe, and the humidity sensor monitors the drainage progress in real time, taking the decrease rate of relative humidity as the measurement index. The control module dynamically adjusts the pulse width modulation (PWM) duty cycle of the main air pump according to the 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 increases the PWM duty cycle to 80% to increase the working strength of the air pump and the pumping intensity, so as to further reduce the negative pressure in the air speed pipe; if the actual negative pressure value is lower than the preset target negative pressure value, the control module reduces the PWM duty cycle to 40% to slow down the working pace of the air pump and reduce the pumping intensity, so as to make the negative pressure in the air speed pipe rise back to the target range, thereby realizing the precise closed-loop control of the drainage process of the first drainage module.

[0147] Step 2202: detecting the second pipe relative humidity or the second pipe water pressure of the air speed pipe at a reference time; wherein the reference time is later than the starting time of delivering the gas into the air speed pipe by the drainage module, and the time length between the reference time and the starting time is a preset time length.

[0148] The reference time point refers to a time point after the first drainage module is started for a preset time length, for example, 5 seconds, and is used to evaluate the effect of the first drainage. The preset time length refers to a time interval greater than a complete air supply cycle of the first drainage module, for example, from starting the first drainage module to closing the first drainage module.

[0149] 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 a preset water pressure range in the tube, the second drainage module is used to deliver gas into the air speed tube to drain the accumulated water in the air speed tube.

[0150] The third preset relative humidity threshold refers to a humidity threshold for determining whether the second drainage needs to be started after the first drainage, and is usually lower than the first preset relative humidity threshold. For example, the first relative humidity threshold is 95%, and the third relative humidity threshold is 60%. The preset water pressure range in the tube refers to a normal water pressure interval of the air speed tube in a no-accumulation state, for example, 0.1 MPa+5% to 0.1 MPa-5%. If the range is exceeded, it indicates that there is residual accumulated water or abnormal air flow.

[0151] It can be understood that if the air speed tube drainage target is not completed within the preset time length, the second drainage module standby mechanism is triggered, and the air speed tube is drained by the second drainage module.

[0152] Therefore, by using the hierarchical drainage mechanism, the drainage efficiency and energy consumption control are considered, and the efficiency of draining the accumulated water in the air speed tube is improved.

[0153] Figure 6 A hardware structure schematic diagram of an electronic device provided by some embodiments of the present application is shown.

[0154] The electronic device can include a processor 601 and a memory 602 storing computer program instructions.

[0155] Specifically, the processor 601 can include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0156] The memory 602 can include mass storage for data or instructions. As an example and not by way of limitation, the memory 602 can include a Hard Disk Drive (HDD), a floppy disk drive, a flash memory, a Compact Disc (CD) or other optical disk, a Universal Serial Bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 602 can include removable or non-removable (or fixed) media, where appropriate. Where appropriate, the memory 602 can be internal or external to the integrated gateway disaster recovery appliance. In particular embodiments, the memory 602 is non-volatile, solid-state memory.

[0157] In particular embodiments, the memory 602 can include read-only memory (ROM), random access memory (RAM), magnetic disk storage mediums, optical storage mediums, flash memory devices, electrical, optical, or other physical / tangible memory storage devices. Thus, in general, the memory 602 includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software that, when executed (by one or more processors), is operable to perform the operations described with reference to the method of draining a pitot tube of a cross-media vehicle according to the second aspect of the application.

[0158] The processor 601 implements any of the above-described cross-media vehicle pitot tube draining methods in the embodiments by, e.g., retrieving and executing, from the memory 602, computer program instructions.

[0159] In one example, the electronic device can further include a communication interface 603 and a bus 610. As shown, the processor 601, the memory 602, and the communication interface 603 are connected through the bus 610 and complete communication therebetween. Figure 6

[0160] The communication interface 603 is mainly used to realize the communication between the modules, devices, units and / or equipment in the embodiments of the application.

[0161] ​Bus 610 includes a hardware, software, or both that couples components of electronic device to each other. As an example and not by way of limitation, bus can include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand (IB) 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 another suitable bus or a combination of two or more of these. Where appropriate, bus 610 can include one or more buses. Although this application describes and shows a particular bus, this application contemplates any suitable bus or interconnect.

[0162] The electronic device can perform the airspeed pipe drainage method of the cross-media vehicle in the embodiments of this application, thereby realizing the airspeed pipe drainage method of the cross-media vehicle in combination with Figures 1 to 5 The cross-media vehicle and the airspeed pipe drainage method of the cross-media vehicle are described.

[0163] In addition, in combination with the airspeed pipe drainage method of the cross-media vehicle in the above embodiments, the embodiments of this application can provide a computer readable storage medium to realize. The computer readable storage medium has computer program instructions stored thereon; the computer program instructions are executed by a processor to realize any one of the airspeed pipe drainage methods of the cross-media vehicle in the above embodiments. Examples of the computer readable storage medium include non-transitory computer readable storage media, such as a portable disc, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, etc.

[0164] In addition, in combination with the airspeed pipe drainage method of the cross-media vehicle in the above embodiments, the embodiments of this application can provide a computer program product to realize. The program product is stored in a storage medium, and specifically can include a computer program or instructions, which are executed by a processor to realize any one of the airspeed pipe drainage methods of the cross-media vehicle in the above embodiments. The program product is executed by at least one processor to realize each process of the above data processing method embodiments, and can achieve the same technical effects. To avoid repetition, this will not be described here.

[0165] It is to be understood that the application is not limited to particular configurations and processes described herein and shown in the drawings. The detailed description is not to be taken as limiting the application. In the above embodiments, several specific steps are described and illustrated in order to provide a thorough understanding of the application. However, the application can be practiced with fewer or additional steps, and in a different order. The application is to be limited only by the claims.

[0166] The functions noted in the structural block diagrams above can be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, for example, they can be an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the application are program or code segments that are used to perform the required tasks. The program or code segments can be stored in a machine-readable medium, or transmitted through a data signal carried in a carrier wave over a transmission medium or communication link. A "machine-readable medium" includes any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, etc. The code segments can be downloaded via computer networks such as the Internet, Intranet, etc.

[0167] It is also to be understood that the example embodiments described herein are based on a series of steps or apparatuses to describe some methods or systems. However, the application is not limited to the order of the steps described above, that is, the steps can be performed in the order mentioned in the embodiments, or in an order different from the embodiments, or several steps can be performed simultaneously.

[0168] The computer program instructions can also be loaded onto a computer, other programmable data processing apparatus, or other processing device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other processing device to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks. Alternatively, computer program implemented steps can be implemented by a special purpose computer, a special purpose computer program, an application specific integrated circuits, or a combination of these. These steps are described below.

[0169] The above is merely specific implementation of the present application, and 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 foregoing method embodiments, which will not be described herein again. It should be understood that the protection scope of the present application is not limited to this, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A pitot tube drainage method for a trans-medium vehicle, comprising: The method comprises: detecting a first in-pipe relative humidity or a first in-pipe water pressure in the pitot tube when the cross-medium vehicle is in a water surface working condition or an air working condition; when the first in-pipe relative humidity is greater than or equal to a first preset relative humidity threshold or the first in-pipe water pressure is greater than or equal to a first preset in-pipe water pressure threshold, delivering gas into the pitot tube by a drainage module to drain water in the pitot tube; wherein the first in-pipe water pressure comprises in-pipe water pressure of the pitot tube within a second time window; the method further comprises: obtaining a reference in-pipe water pressure of the pitot tube within a third time window, the third time window occurring earlier than the second time window; determining a pressure change rate in the pitot tube according to the first in-pipe water pressure, the reference in-pipe water pressure and a first reference time length, the first reference time length being determined by the second time window and the third time window; obtaining an in-pipe ambient temperature in the pitot tube; obtaining a reference humidity compensation threshold associated with the in-pipe ambient temperature according to an association between a reference temperature and a reference humidity compensation threshold; determining a compensated first in-pipe relative humidity according to the reference humidity compensation threshold and the first in-pipe relative humidity; when the compensated first in-pipe relative humidity is greater than or equal to the first preset relative humidity threshold, delivering gas into the pitot tube by the drainage module to drain water in the pitot tube; or, when the pressure change rate is less than or equal to a preset pressure change rate threshold and the first in-pipe water pressure is greater than or equal to the first preset in-pipe water pressure threshold, delivering gas into the pitot tube by the drainage module to drain water in the pitot tube. The pitot tube drainage method further comprises: obtaining a navigation depth of the cross-medium vehicle, the navigation depth being used to represent a vertical distance from a bottom of the cross-medium vehicle to a water surface; 2. The pitot drain method of claim 1, wherein, when the navigation depth is a first preset threshold, determining that the cross-medium vehicle is in the air working condition; or, when the navigation depth is greater than the first preset threshold and less than or equal to a second preset threshold, determining that the cross-medium vehicle is in the water surface working condition, the second preset threshold being determined based on a fuselage body height of the cross-medium vehicle; or, when the navigation depth is greater than the second preset threshold, determining that the cross-medium vehicle is in a water working condition. The pitot tube drainage method further comprises: when it is determined that the cross-medium vehicle is in the air working condition, obtaining a navigation height change rate of the cross-medium vehicle within a first time window; 3. The pitot drain method according to claim 1 or 2, characterized in that, ​ ​ determine a flight phase of the trans-medium vehicle according to the flight altitude change rate, the flight phase including a climbing phase, a cruising phase or a descending phase; the first in-pipe relative humidity or the first in-pipe water pressure in the air speed pipe is detected when the trans-medium vehicle is in a water surface working condition or an air working condition, including: the first in-pipe relative humidity or the first in-pipe water pressure in the air speed pipe is detected when the trans-medium vehicle is in a water surface working condition or an air working condition, including:

4. The pitot drain method of claim 3, wherein, the first in-pipe relative humidity or the first in-pipe water pressure in the air speed pipe is detected when the trans-medium vehicle is in a water surface working condition or an air working condition, including: determine a flight phase of the trans-medium vehicle according to the flight altitude change rate, the flight phase including a climbing phase, a cruising phase or a descending phase; determine the flight phase of the trans-medium vehicle as the climbing phase when the flight altitude change rate is greater than a first preset flight altitude change rate threshold; determine the flight phase of the trans-medium vehicle as the descending phase when the flight altitude change rate is less than a second preset flight altitude change rate threshold; 5. The pitot drain method of claim 1, wherein, determine the flight phase of the trans-medium vehicle as the cruising phase when the flight altitude change rate is greater than or equal to the second preset flight altitude change rate threshold and less than or equal to the first preset flight altitude change rate threshold. the air speed pipe drainage method further includes: obtain a ground speed of the trans-medium vehicle, an environmental wind speed and an air speed detected by the air speed pipe when the first in-pipe relative humidity is less than or equal to a second preset relative humidity threshold and the first in-pipe water pressure is less than or equal to a second preset in-pipe water pressure threshold, the second preset relative humidity threshold being less than the first preset relative humidity threshold, and the second preset in-pipe water pressure threshold being less than the first preset in-pipe water pressure threshold; determine whether the air speed detected by the air speed pipe is abnormal according to the ground speed, the air speed and the environmental wind speed; determine a working condition of the trans-medium vehicle when it is determined that the air speed detected by the air speed pipe is abnormal; stop determining the working condition of the trans-medium vehicle when the first in-pipe relative humidity or the first in-pipe water pressure in the air speed pipe is detected until a preset self-check termination condition is met. the preset self-check termination condition includes at least one of the following:

6. The pitot drain method of claim 1, wherein, determine that the air speed detected by the air speed pipe is normal, and the number of times of performing the step of detecting whether the air speed detected by the air speed pipe is abnormal is greater than or equal to a preset number threshold. the drainage module includes a first drainage module and a second drainage module. the first in-pipe relative humidity or the first in-pipe water pressure in the air speed pipe is detected when the trans-medium vehicle is in a water surface working condition or an air working condition, including: In a case where the first pipe internal relative humidity is greater than or equal to a first preset pipe internal relative humidity threshold or the first pipe internal water pressure is greater than or equal to a first preset pipe internal water pressure threshold, the first drainage module is used to deliver gas into the air speed pipe to drain the water accumulated in the air speed pipe. The second pipe internal relative humidity or the second pipe internal water pressure of the air speed pipe at a reference time is detected, wherein the reference time is later than a starting time at which the drainage module delivers gas into the air speed pipe, and a time length between the reference time and the starting time is a preset time length. In a case where the second pipe internal relative humidity is greater than a third preset pipe internal relative humidity threshold and / or the second pipe internal water pressure does not satisfy a preset pipe internal water pressure range, the second drainage module is used to deliver gas into the air speed pipe to drain the water accumulated in the air speed pipe.

7. A cross-media vehicle, characterized by, The cross-medium vehicle is used to implement the air speed pipe drainage method according to any one of claims 1 to 6, and the cross-medium vehicle comprises an air speed pipe and an air speed pipe drainage system, and the air speed pipe drainage system comprises: A detection module is configured to detect a first pipe internal relative humidity or a first pipe internal water pressure in the air speed pipe in a case where an operating condition of the cross-medium vehicle is a water surface condition or an air condition. A drainage module is configured to deliver gas into the air speed pipe to drain the water accumulated in the air speed pipe in a case where the first pipe internal relative humidity is greater than or equal to a first preset pipe internal relative humidity threshold or the first pipe internal water pressure is greater than or equal to a first preset pipe internal water pressure threshold. The cross-medium vehicle comprises a controller, the drainage module comprises a gas source and a blocking member, and the blocking member comprises a valve structure; and the air speed pipe drainage system further comprises: A gas source driving circuit is connected to the controller and the gas source, and is configured to receive a gas source control signal sent by the controller and control opening and closing of the gas source according to the gas source control signal. A valve structure driving circuit is connected to the controller and the valve structure, and is configured to receive a valve structure control signal sent by the controller and control switching of the valve structure between an open position and a closed position according to the valve structure control signal. The detection module comprises: A pressure sensor is arranged in the air speed pipe and is configured to detect the first pipe internal water pressure in the air speed pipe. A humidity sensor is arranged in the air speed pipe and is configured to detect the first pipe internal relative humidity in the air speed pipe. A depth sensor is arranged at a bottom of the cross-medium vehicle and is configured to detect a navigation depth of the cross-medium vehicle, and the navigation depth is used to represent a vertical distance from the bottom of the cross-medium vehicle to a water surface.

8. The cross-medium vehicle according to claim 7, wherein: The gas source is configured to generate gas. The blocking member is connected to an exhaust end of the gas source, and has an open position and a closed position to open or close the exhaust end of the gas source.

9. The transmedia vehicle of any one of claims 7 or 8, wherein, The number of the drainage modules is at least two.

10. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer program instructions, and the computer program instructions are executed by a processor to implement the airspeed pipe drainage method of the cross-medium vehicle according to any one of claims 1-6.

11. A computer program product, characterised in that, The instructions in the computer program product are executed by a processor of an electronic device, so that the electronic device can execute the airspeed pipe drainage method of the cross-medium vehicle according to any one of claims 1-6.

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