Ducted water-air amphibious cross-medium aircraft

Abstract

The invention relates to a ducted water-air amphibious cross-medium aircraft. The aircraft is characterized in that the rear end of a nose is fixedly connected with the front end of a front fuselage, two turnover wings are fixedly connected to the left side and the right side of the front fuselage respectively, the rear end of the front fuselage is fixedly connected with the front end of a rear fuselage, and the front end of the rear fuselage is fixedly connected with the front end of an empennage; real-time data of an altimeter, a water pressure gauge and a gyroscope are integrated, a medium environment is automatically recognized through real-time data feedback, control modes are dynamically switched to adapt to different media, folding and unfolding of a turnover type wing can be controlled according to the requirements of air flight or underwater navigation, and an empennage control surface is driven to achieve attitude control. The folding type wings, the control surfaces and power output are coordinated according to task requirements, and seamless conversion and stable movement between the air environment and the water environment are achieved. Therefore, the medium limitation of a traditional platform can be broken through, and the adaptability and task ability of the aircraft in a complex environment are improved.

Description

Technical Field

[0001] This application relates to the field of aircraft design technology, and in particular to a ducted amphibious trans-medium aircraft. Background Technology

[0002] With the increasing demands for missions such as ocean development, polar exploration, maritime rescue, and coastal operations, traditional aircraft and underwater vehicles face numerous limitations when performing reconnaissance and monitoring tasks in complex environments. Traditional aircraft typically possess excellent maneuverability and rapid deployment capabilities, but lack effective propulsion and stealth performance in water; while underwater vehicles are suitable for long-term stealthy operation, they struggle with high-speed navigation and missions outside the water's surface. The ability to switch between these two is extremely limited, and a single platform cannot simultaneously achieve the combined performance of high-speed aerial cruising and underwater submersion.

[0003] As a novel type of intelligent unmanned system, amphibious cross-medium aircraft integrates the multiphysics design concept of fluid mechanics and possesses the ability to freely switch operating states between air and water media. Current research mainly faces the following technical challenges: first, the aircraft structure needs to have the ability to navigate in both air and water media; second, the problems of water entry impact and water exit ascent during cross-medium processes need to be solved; and third, the control system needs to solve the problems of attitude stability and control autonomy during media transitions.

[0004] Currently, there is a need to develop an amphibious cross-medium aircraft that integrates composite fluid dynamics, multimodal propulsion, and intelligent control technologies to break through the limitations of traditional platforms and enhance their adaptability and mission capabilities in complex environments. Summary of the Invention

[0005] Therefore, it is necessary to provide a ducted amphibious transmedium aircraft that can overcome the limitations of traditional platforms in terms of medium and improve their adaptability and mission capabilities in complex environments, in order to address the aforementioned technical problems.

[0006] A ducted amphibious trans-medium aircraft, comprising: a nose, a forward fuselage, two folding wings, a rear fuselage, and a tail.

[0007] The rear end of the nose is fixedly connected to the front end of the forward fuselage, the two folding wings are fixedly connected to the left and right sides of the forward fuselage respectively, the rear end of the forward fuselage is fixedly connected to the front end of the rear fuselage, and the front end of the rear fuselage is fixedly connected to the front end of the tail fin.

[0008] By integrating real-time data from altimeters, barometers, and gyroscopes, the system automatically identifies the environmental medium through real-time data feedback, dynamically switches control modes to adapt to different media, and controls the folding and unfolding of the folding wings and drives the tail fin control surfaces to achieve attitude control as needed during air flight or underwater navigation. It also coordinates the folding of the folding wings, control surfaces, and power output according to mission requirements, achieving seamless transition and stable movement between air and water environments.

[0009] In one embodiment, the head unit includes a head unit cover, a battery, and a sealing ring;

[0010] The head cover has a slender, streamlined structure and is symmetrical about the center line. The head cover has a first cavity with a rear opening, and a battery is placed inside the first cavity. The rear of the head cover has a protruding structure. The sealing ring is placed between the protruding structure and the front end of the front body. The protruding structure of the head cover is fixedly connected to the front end of the front body, so that the sealing ring seals the connection between the head cover and the front body.

[0011] In one embodiment, the forward fuselage includes a central flight control unit, a central wing box, a ducted motor speed controller, two ducted fan blades, two ducted motor brackets, and two ducted motors.

[0012] The central wing box is symmetrical about the center line as the axis of symmetry. Ducted outer compartments are provided on the left and right sides of the central wing box. The front end of the central wing box is provided with a first groove, which is tangent to the protruding structure of the nose cone, so that the sealing ring and the protruding structure are embedded in the first groove and fixedly connected. The center of the central wing box is provided with a second cavity, which is used to house the central flight controller and the ducted motor speed controller. The front end of the second cavity of the central wing box is provided with a wiring hole, which is used for wiring between the central flight controller and the battery.

[0013] Each duct outer compartment is provided with a duct motor bracket, each duct motor is fixedly installed on the corresponding duct motor bracket, each duct fan blade is installed on the output shaft of the corresponding duct motor, and the duct motor and the duct motor speed controller are electrically connected through a wire hole;

[0014] A folding mechanism servo mount is provided at the rear of the central wing box near the outer compartment of the duct.

[0015] In one embodiment, each of the folding wings includes a folding mechanism servo, a wing adapter block, and multiple wing segments;

[0016] The folding mechanism servo is fixedly installed on the folding mechanism servo mount on the forward fuselage. The wing root of the first wing section is fixedly connected to the servo disk on the folding mechanism servo through the wing adapter block. Multiple wing sections are positioned by wing spars and then bonded together. Multiple wing sections are connected by wing spars to form an integral wing structure.

[0017] In one embodiment, the rear fuselage includes a rear fuselage outer box and a fuselage center link at the front end of the rear fuselage outer box;

[0018] The rear of the front fuselage is provided with a fuselage connection port that mates with the fuselage center link. The fuselage center link of the rear fuselage is embedded in the fuselage connection port and fixedly connected by adhesive bonding.

[0019] In one embodiment, the tail fin includes two tail fin stabilizers and two control surfaces;

[0020] The two tail stabilizers form a V-shaped tail configuration, and the two control surfaces are respectively hinged to the corresponding tail stabilizers.

[0021] The aforementioned ducted amphibious cross-medium aircraft is fixedly connected to the rear of the nose and the front of the forward fuselage. Two folding wings are fixedly connected to the left and right sides of the forward fuselage, respectively. The rear of the forward fuselage is fixedly connected to the front of the rear fuselage, and the front of the rear fuselage is fixedly connected to the front of the tail. By integrating real-time data from altimeters, barometers, and gyroscopes, the aircraft automatically identifies the environmental conditions and dynamically switches control modes to adapt to different media. Depending on the needs of air or underwater flight, it can control the folding and unfolding of the folding wings and drive the tail control surfaces to achieve attitude control. It coordinates the folding and unfolding wings, control surfaces, and power output according to mission requirements to achieve seamless transitions and stable movement between air and water environments. This overcomes the limitations of traditional platforms in terms of media, enhancing the aircraft's adaptability and mission capabilities in complex environments. Attached Figure Description

[0022] Figure 1 This is a structural schematic diagram of the ducted amphibious trans-medium aircraft of this application;

[0023] Figure 2 This is an assembly layout diagram of the various components of the ducted amphibious trans-medium aircraft of this application;

[0024] Figure 3 This is a schematic diagram of the nose and forward fuselage of the ducted amphibious trans-medium aircraft of this application;

[0025] Figure 4 This is a schematic diagram of the ducted propulsion system of the ducted amphibious trans-medium aircraft of this application;

[0026] Figure 5This is a simplified schematic diagram of the folding wing structure of the ducted amphibious trans-medium aircraft in this application;

[0027] Figure 6 This is a simplified schematic diagram of the rear fuselage of the ducted amphibious trans-medium aircraft described in this application.

[0028] Figure 7 This is a simplified schematic diagram of the folding and unfolding wing structure of the ducted amphibious trans-medium aircraft in this application;

[0029] Figure 8 This is a schematic diagram of the flight control system of the ducted amphibious trans-medium aircraft in this application.

[0030] Figure 9 This is a schematic diagram of the ducted motor control principle of the ducted amphibious cross-medium aircraft in this application;

[0031] Figure 10 This is a schematic diagram illustrating the application scenario of the ducted amphibious trans-medium aircraft in this application. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0033] In one embodiment, such as Figure 1 As shown, a ducted amphibious aircraft is provided. The ducted amphibious aircraft includes: a nose 1, a forward fuselage 2, two folding wings 3, a rear fuselage 4, and a tail 5. The rear end of the nose 1 is fixedly connected to the front end of the forward fuselage 2. The two folding wings 3 are fixedly connected to the left and right sides of the forward fuselage 2, respectively. The rear end of the forward fuselage 2 is fixedly connected to the front end of the rear fuselage 4, and the front end of the rear fuselage 4 is fixedly connected to the front end of the tail 5.

[0034] By integrating real-time data from altimeters, barometers, and gyroscopes, the system automatically identifies the environmental medium through real-time data feedback, dynamically switches control modes to adapt to different media, and controls the folding and unfolding of the folding wing 3 and drives the tail fin control surfaces to achieve attitude control as needed during air flight or underwater navigation. It also coordinates the folding wing 3, control surfaces, and power output according to mission requirements to achieve seamless transition and stable movement between air and water environments.

[0035] The forward fuselage connects the various parts of the aircraft and provides power.

[0036] The folding wing 3, when folded backward, effectively reduces the impact load of the aircraft entering the water at high speed, and also achieves lower underwater drag after folding. The rear fuselage 4 is responsible for connecting to the forward fuselage.

[0037] like Figure 2 and Figure 3 As shown, in one embodiment, the head unit 1 includes a head cover 11, a battery 12, and a sealing ring 13;

[0038] The head cover 11 has a slender, streamlined structure. The head cover 11 is symmetrical about the center line. The head cover 11 has a first cavity with a rear opening, and the battery 12 is placed in the first cavity. The rear of the head cover 11 has a protruding structure 113. The sealing ring 13 is placed between the protruding structure 113 and the front end of the front body 2. The protruding structure 113 of the head cover 11 is fixedly connected to the front end of the front body 2, so that the sealing ring 13 seals the connection between the head 1 and the front body 2.

[0039] Among them, the nose cone 11 has a smooth and slender streamlined structure. The slender shape of the nose cone 11 can effectively reduce flight resistance and water impact, and can effectively reduce aerodynamic drag during flight and reduce the impact load generated by water entering the aircraft instantly.

[0040] The nose cone is a split structure, consisting of two parts that are glued together after manufacturing. The nose cone has a slender shape, with a solid front section effectively resisting water impact. A raised structure at the rear of the nose cone engages with a recessed section at the front of the fuselage for positioning. A sealing ring between the two sections ensures a tight seal between the nose cone and the fuselage within the rear compartment. Threaded holes 111 are provided around the nose cone for securing the fuselage after assembly. The battery compartment (the first cavity) inside the center of the nose cone houses the battery, which can be inserted or removed from the rear of the nose cone. When connected to the front fuselage, the battery is confined within the battery compartment and cannot move.

[0041] The battery can be a lithium battery.

[0042] The nose cone houses a battery compartment for lithium batteries, serving as the aircraft's core power source. Additionally, a sealing ring at the rear of the nose ensures a tight seal between the nose and the forward fuselage, effectively preventing water ingress during underwater operation.

[0043] In one example, the head cover 11 includes a left head cover and a right head cover, which are symmetrical about the center line. The center of the contact surface of the left head cover and the right head cover is provided with a corresponding groove. The contact surface of the left head cover and the right head cover is connected into a non-removable whole by adhesive bonding, so that the groove of the left head cover connects with the groove of the right head cover to form a first cavity with a rear opening. The battery 12 is placed in the first cavity. The rear of the left head cover and the right head cover is a protruding structure 113. The sealing ring 13 is placed between the protruding structure 113 and the front end of the front body 2. The protruding structure of the left head cover and the right head cover is fixedly connected to the front end of the front body 2, so that the sealing ring 13 seals the connection between the head 1 and the front body 2.

[0044] The left and right head covers can be manufactured using 3D printing technology.

[0045] like Figures 2-4 As shown, in one embodiment, the forward fuselage 2 includes a central flight control unit 21, a central wing box 22, a ducted motor speed controller 23, two ducted fan blades 24, two ducted motor brackets 25, and two ducted motors 26. The central wing box 22 is symmetrical about the center line, and ducted outer compartments 223 are provided on the left and right sides of the central wing box 22. A first groove 221 is provided at the front end of the central wing box 22, which is tangent to the protruding structure 113 of the nose cone, so that the sealing ring 13 and the protruding structure 113 are embedded in the first groove 221 and fixedly connected. A second cavity 222 is provided in the center of the central wing box 22. 222 is used to house the central flight controller 21 and the ducted motor speed controller 23. The front end of the second cavity 222 of the central wing box 22 is provided with a wiring hole for wiring between the central flight controller 21 and the battery 12. Each ducted outer compartment 223 is provided with a ducted motor bracket 25. Each ducted motor 26 is fixedly mounted on the corresponding ducted motor bracket 25. Each ducted fan blade 24 is mounted on the output shaft of the corresponding ducted motor 26. The ducted motor 26 and the ducted motor speed controller 23 are electrically connected through the wiring hole 224. The rear of the central wing box 22 is provided with a folding mechanism servo mount 226 near the ducted outer compartment 223.

[0046] The central wing box 22 may include a left central wing box and a right central wing box, which are symmetrical about the center line. The left central wing box includes a left main wing box and a ducted outer compartment located on the side of the left main wing box, and the right central wing box includes a right main wing box and a ducted outer compartment located on the side of the right main wing box. The front ends of the left and right main wing boxes are provided with protruding structures that correspond to the left nose cone, and the front ends of the left and right main wing boxes are provided with grooves. The grooves of the left and right main wing boxes constitute a first groove, which is connected to the nose cone. The raised structures of the cover fit together, so that the sealing ring and the raised structure are embedded in the first groove and fixedly connected. The center of the contact surface of the left main wing box and the right main wing box is provided with a cavity with a contact surface opening. The left main wing box and the right main wing box are fixedly connected. The cavity with a contact surface opening at the center of the contact surface of the left main wing box and the right main wing box cooperates to form a second cavity. The second cavity is used to house the central flight controller and the ducted motor speed controller. A wiring hole is provided at the front end of the second cavity of the central wing box. The wiring hole is used for wiring between the central flight controller and the battery.

[0047] The left and right main wing boxes can be manufactured using 3D printing technology.

[0048] The left and right main wing boxes are fixedly connected by bolts and the positioning hole 225 of the central wing box.

[0049] The central wing box consists of two halves positioned by positioning holes and assembled as a whole using threaded connections. The ducts on both sides of the central wing box provide the aircraft with propulsion for flight and submersion. The central flight control system is installed inside the central wing box and is used to receive operating commands, acquire sensor signals, and output control signals for the aircraft's control surfaces and ducts.

[0050] The central flight control unit is housed inside the forward fuselage and secured to the central wing box via threads. It acquires real-time data from the altimeter (in the air), barometer (underwater), and gyroscope, dynamically switching control modes to adapt to different media. Depending on the needs of air or underwater flight, it can control the wing folding and unfolding and drive the tail control surfaces to achieve attitude control. The flight control system automatically identifies the environmental conditions through sensor feedback and coordinates the folding mechanism, control surfaces, and power output according to mission requirements.

[0051] The forward fuselage integrates the aircraft's core control and propulsion components, including the central flight controller, central wing box, ducted motor speed controller, ducted fan blades, ducted motor brackets, and ducted motors. The central flight controller, housed in the central wing box, receives remote flight control commands and sensor data (altimeter (air), barometer (underwater), and gyroscope), analyzes the sensor data, and outputs control signals to the ducted propulsion system and tail control surfaces. Symmetrical ducted propulsion systems are arranged on both sides of the central wing box, serving as the primary power source for the aircraft's operation in both water and air.

[0052] The ducted propulsion system is driven by a ducted motor 26, which in turn drives ducted fan blades 24 to generate thrust. The ducted motor 26 is fixed to a ducted motor bracket 25, and its speed and torque are controlled by a ducted motor speed controller 23. The ducted propulsion system is arranged on both sides of the central wing box 22. The ducted outer compartment 223 is part of the structure of the central wing box 22. The ducted fan blades 24 adopt a large-pitch, large-diameter fan blade configuration to ensure propulsion efficiency in both air and water environments.

[0053] The ducted motor is mounted on a ducted motor bracket, and its speed and torque output are controlled by a ducted motor speed controller inside the central wing box. The ducted fan blades are mounted on the ducted motor output shaft and feature a large-blade, large-pitch configuration. The ducted motor is precisely speed-regulated via an FOC electronic speed controller. During flight, the ducted system uses low-torque, high-speed power output; during underwater navigation, the ducted system uses high-torque, low-speed power output.

[0054] like Figure 2 , Figure 4 and Figure 5 As shown, in one embodiment, each folding wing 3 includes a folding mechanism servo 31, a wing adapter block 33, and multiple wing segments 34. The folding mechanism servo 31 is fixedly mounted on the folding mechanism servo mount 226 of the forward fuselage 2. The wing root of the first wing segment is fixedly connected to the servo disk 32 on the folding mechanism servo 31 through the wing adapter block 33. Multiple wing segments 34 are positioned by wing spars 35 and then glued together. Multiple wing segments 34 are connected by wing spars 35 to form an integral wing structure.

[0055] Multiple wing sections 34 are arranged in series along the wing spars 35. One end of the wing is connected to the rudder disc 32 via a wing adapter block 33, and the wing is folded backward by a folding mechanism servo 31 driven to rotate. This structure can be deployed to provide lift during flight and can be folded before entering water or during underwater navigation to significantly reduce drag and water impact, thereby enhancing structural safety and power efficiency.

[0056] In one example, the folding wing includes four wing segments. The wingtip of the first wing segment is fixedly connected to the rudder disk 32 on the folding mechanism servo 31 via a wing adapter block 33. The first wing segment is connected to the second wing segment, the second wing segment is connected to the third wing segment, and the third wing segment is connected to the fourth wing segment. Wing control surfaces 36 are provided on the third and fourth wing segments. Wing control surface control motors are installed inside the folding wing. The wing control surface control motors are electrically connected to the central flight control system, and the wing control surfaces 36 can be controlled by the central flight control system.

[0057] Multiple wing sections are glued together after being positioned by wing spars; after the wing root is threaded to the wing transition block, the wing transition block is then threaded to the motor servo on the folding mechanism servo; the folding mechanism servo is fixed to the folding mechanism motor mount on the forward fuselage by a threaded connection; the motor servo is fixed to the folding mechanism servo by a threaded connection; the folding mechanism servo can fold the wing backward by rotating the motor servo.

[0058] Among them, the folding mechanism servo can be a Nangu high-torque waterproof servo.

[0059] like Figure 2 , Figure 4 and Figure 6 As shown, in one embodiment, the rear body 4 includes a rear body outer box 42 and a body center connecting rod 41 at the front end of the rear body outer box 42; the rear of the front body 2 is provided with a body connection port 227 that cooperates with the body center connecting rod 41, and the body center connecting rod 41 of the rear body 4 is embedded in the body connection port 227 and fixedly connected by adhesive bonding.

[0060] The rear fuselage 4 includes a fuselage center link 41 and a rear fuselage outer box 42, which connect the front fuselage and the tail to form a rigid, continuous integral structure, ensuring the structural stability and load transfer of the aircraft in various operating states.

[0061] The rear fuselage 4 adopts a slender shape to reduce displacement, and the central fuselage link is connected to the tail of the front fuselage 2 by adhesive bonding to ensure the overall mechanical continuity and structural stability of the aircraft.

[0062] like Figure 2 and Figure 6 As shown, in one embodiment, the tail fin 5 includes two tail fin stabilizers 51 and two control surfaces 52; the two tail fin stabilizers 51 form a V-shaped tail fin configuration, and the two control surfaces 52 are respectively hinged to the corresponding tail fin stabilizers 51.

[0063] Among them, the tail fin 5 adopts a V-tail configuration, and the control surface 5 is hinged to the V-tail and driven by a servo motor. The control surface has a large area and can provide efficient attitude adjustment and direction control capabilities in air and underwater environments. The servo motor can be installed inside the rear fuselage 4. The servo motor is electrically connected to the central flight control and can control the control surface 5 through the central flight control.

[0064] Among them, the tail fin 5 has a configuration that offers good control efficiency and structural simplicity. The tail fin not only provides attitude stabilization during flight, but also assists in directional adjustment and attitude control during underwater navigation, meeting the control requirements under various operating conditions.

[0065] In one embodiment, such as Figure 7As shown, this ducted amphibious cross-medium aircraft can fold its wings backward through a folding mechanism, possessing good environmental adaptability and cross-medium deformation capability, so as to achieve free switching between air flight and underwater navigation.

[0066] like Figure 8 As shown, the flight control system of this ducted amphibious cross-medium aircraft integrates real-time data (including altitude, depth, and attitude information) from the altimeter (in the air), barometer (underwater), and gyroscope through a central processing unit. It automatically identifies the environmental conditions via sensor feedback and dynamically switches control modes to adapt to different media. Furthermore, depending on the needs of air flight or underwater navigation, it can control the wing folding and unfolding and drive the tail control surfaces to achieve attitude control. It coordinates the folding mechanism, control surfaces, and power output according to mission requirements to achieve seamless transitions and stable movement between air and water environments. The specific control process is as follows:

[0067] During flight, the folding mechanism keeps the wings fully extended and locked to maximize lift. The altimeter determines altitude by measuring air pressure; the barometer reading is close to zero to confirm atmospheric conditions; flight speed is measured by the airspeed indicator; GPS provides reliable position and velocity information; and the gyroscope monitors stable attitude angles. Based on this data, the central flight control system makes decisions and executes the cruise strategy.

[0068] When the aircraft reaches the vicinity of the diving area, the central flight control reduces the airspeed and altitude to a safe threshold, and then commands the folding mechanism drive motor (i.e., the folding mechanism servo) to fold the wings to reduce the impact and drag of entering the water. Based on the pitch angle and acceleration feedback measured by the gyroscope, the control surfaces are dynamically adjusted to maintain a vertical or controllable entry trajectory.

[0069] After submerging into the water, the altimeter will become ineffective, and the depth gauge will provide depth readings. The hydrometer will indicate the aircraft's underwater speed. The ducted propulsion system will switch from air-to-water propulsion mode to underwater propulsion mode, and the control surface parameters will change from aerodynamic mode to hydrodynamic mode. The aircraft will need to surface periodically to update its GPS signal.

[0070] Upon reaching the vicinity of the water exit area, the central flight control unit monitors gyroscope data and provides the necessary high angle of attack for water exit. When the depth gauge reading reaches the designated depth, the central flight control unit commands the folding mechanism to fully extend the wings from the 0° folded position to 90°. When the barometer reading is normal, the water exit process is considered complete, the ducted motors switch to air propulsion mode, and the control surface parameters switch from hydrodynamic mode to aerodynamic mode. The power system outputs full power to pull the aircraft to a safe altitude and continue its flight mission.

[0071] like Figure 9As shown, the ducted motor precisely controls speed and torque via an FOC electronic speed controller. The control system employs a cascaded PID controller: the position control loop calculates errors to generate a speed target, the speed loop outputs a current target, and the current loop generates voltage commands, which are then converted by Park and Clarke to drive the brushless DC motor. The control system receives feedback from current sensors (IA, IB, IC) and position sensors (angle) to ensure stability. During flight, the ducted propulsion system reduces phase current and increases phase change speed to adapt to the air medium and achieve efficient propulsion; during underwater navigation, the ducted propulsion system uses high torque and low speed power output, enhancing phase current to overcome water resistance and provide strong thrust.

[0072] like Figure 10 As shown, this ducted amphibious cross-medium aircraft intelligently switches between air and underwater operating modes according to mission requirements. During mission execution, it first cruises at high speed in the air to approach the mission area; upon arrival, it switches to water entry mode, engaging underwater reconnaissance or operations; after mission completion or receiving instructions, it returns to the air via water exit mode, forming a complete "air-underwater-air" mission cycle. The underwater standby state maintains stealth, while the air cruise mode ensures rapid maneuverability. The system autonomously assesses mission phases and environmental conditions, dynamically adjusting its flight / submersible strategy to efficiently complete cross-medium combat missions.

[0073] The aforementioned ducted-type amphibious cross-medium aircraft's ducted propulsion system comprises a ducted motor, a ducted motor mount, ducted fan blades, and a motor speed controller. The ducted motor is mounted externally to the central wing box via the motor mount, and the fan blades are directly connected to the motor output shaft, employing a large-diameter, large-pitch ducted fan blade configuration to meet the propulsion requirements of both air and water operation. The ducted motor speed controller regulates the ducted motor's speed and output torque, enabling power adjustment in multi-medium environments. To adapt to the changing mechanical environment during water-to-air transitions, the aircraft features a folding wing structure, including a folding mechanism servo, a motor servo disk, a wing adapter block, multiple wing sections, and wing spars. Multiple wing sections are connected by wing spars to form an integral wing structure, and the wingtips are connected to the motor servo disk via the adapter block. Before the aircraft enters the water, the folding mechanism servo drives the wing to fold backward, significantly reducing the impact load upon entry into the water and effectively lowering lateral drag during underwater navigation, thereby improving propulsion efficiency and stability. The aft fuselage structure consists of the central fuselage link, the aft fuselage outer box, and the tail. Its main function is to connect to the forward fuselage, ensuring the overall mechanical continuity and structural stability of the aircraft. The tail section of the aircraft adopts a V-tail configuration, including tail stabilizers and control surfaces. This configuration combines the advantages of lightweight structure and multi-degree-of-freedom control, providing efficient attitude adjustment and directional control capabilities in both air and underwater environments, thus improving the overall maneuverability and environmental adaptability of the aircraft.

[0074] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0075] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A ducted-type amphibious trans-medium aircraft, characterized in that, The ducted amphibious trans-medium aircraft includes: a nose, a forward fuselage, two folding wings, a rear fuselage, and a tail. The rear end of the nose is fixedly connected to the front end of the forward fuselage, the two folding wings are fixedly connected to the left and right sides of the forward fuselage respectively, the rear end of the forward fuselage is fixedly connected to the front end of the rear fuselage, and the front end of the rear fuselage is fixedly connected to the front end of the tail fin. By integrating real-time data from altimeters, barometers, and gyroscopes, the system automatically identifies the environmental medium through real-time data feedback, dynamically switches control modes to adapt to different media, and controls the folding and unfolding of the folding wings and drives the tail fin control surfaces to achieve attitude control as needed during air flight or underwater navigation. It also coordinates the folding of the folding wings, control surfaces, and power output according to mission requirements, achieving seamless transition and stable movement between air and water environments.

2. The ducted amphibious trans-medium aircraft according to claim 1, characterized in that, The head unit includes a head cover, a battery, and a sealing ring; The head cover has a slender, streamlined structure and is symmetrical about the center line. The head cover has a first cavity with a rear opening, and a battery is placed inside the first cavity. The rear of the head cover has a protruding structure. The sealing ring is placed between the protruding structure and the front end of the front body. The protruding structure of the head cover is fixedly connected to the front end of the front body, so that the sealing ring seals the connection between the head cover and the front body.

3. The ducted amphibious trans-medium aircraft according to claim 2, characterized in that, The forward fuselage includes a central flight control unit, a central wing box, a ducted motor speed controller, two ducted fan blades, two ducted motor brackets, and two ducted motors. The central wing box is symmetrical about the center line as the axis of symmetry. Ducted outer compartments are provided on the left and right sides of the central wing box. The front end of the central wing box is provided with a first groove, which is tangent to the protruding structure of the nose cone, so that the sealing ring and the protruding structure are embedded in the first groove and fixedly connected. The center of the central wing box is provided with a second cavity, which is used to house the central flight controller and the ducted motor speed controller. The front end of the second cavity of the central wing box is provided with a wiring hole, which is used for wiring between the central flight controller and the battery. Each duct outer compartment is provided with a duct motor bracket, each duct motor is fixedly installed on the corresponding duct motor bracket, each duct fan blade is installed on the output shaft of the corresponding duct motor, and the duct motor and the duct motor speed controller are electrically connected through a wire hole; A folding mechanism servo mount is provided at the rear of the central wing box near the outer compartment of the duct.

4. The ducted amphibious trans-medium aircraft according to claim 3, characterized in that, Each of the aforementioned folding wings includes a folding mechanism servo, a wing adapter block, and multiple wing segments; The folding mechanism servo is fixedly installed on the folding mechanism servo mount on the forward fuselage. The wing root of the first wing section is fixedly connected to the servo disk on the folding mechanism servo through the wing adapter block. Multiple wing sections are positioned by wing spars and then bonded together. Multiple wing sections are connected by wing spars to form an integral wing structure.

5. The ducted amphibious trans-medium aircraft according to claim 1, characterized in that, The rear fuselage includes a rear fuselage outer box and a fuselage center connecting rod at the front end of the rear fuselage outer box; The rear of the front fuselage is provided with a fuselage connection port that mates with the fuselage center link. The fuselage center link of the rear fuselage is embedded in the fuselage connection port and fixedly connected by adhesive bonding.

6. The ducted amphibious trans-medium aircraft according to claim 1, characterized in that, The tail fin includes two tail fin stabilizers and two control surfaces; The two tail stabilizers form a V-shaped tail configuration, and the two control surfaces are respectively hinged to the corresponding tail stabilizers.

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