Underwater vertical submarine-launched reconnaissance and attack unmanned aerial vehicle

Abstract

The invention relates to the technical field of unmanned aerial vehicles, and discloses an underwater vertical submarine-launched reconnaissance and attack unmanned aerial vehicle, comprising: a main body structure, the end part of which is provided with a rectification part; the rotor wing mechanism comprises a machine arm, a first motor, a paddle and a driver, one end of the machine arm is rotationally connected with the main body structure, the first motor is arranged at the other end of the machine arm and is in transmission connection with the paddle, and the driver is arranged on the main body structure and is connected with the machine arm; the outer shell is detachably mounted on the main body structure, covers the rotor wing mechanisms in the folded state and forms a rotary cylinder outline; the stabilizing wing structure is arranged at the end, away from the rectifying part, of the body structure. The propellers are arranged at the ends, away from the main body structure, of the stabilizing wing structures; and the load rejection structure is connected with the stabilizing wing structure and the thruster and separates the thruster when fuel of the thruster is exhausted. The propeller generates a power form which is more suitable for rapid water outlet, the rotary cylinder contour can reduce the risk that the take-off attitude is out of control, the propeller enters the air and then is switched to a rotor wing flight mode, and the stability of water-air cross-medium flight is good.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to an underwater vertical launch reconnaissance and strike UAV. Background Technology

[0002] Currently, unmanned underwater vehicles and submarines can complete reconnaissance and combat missions underwater. However, since the detection space of periscopes or sonars is limited to the surface or underwater, although they have the ability to conceal themselves, they cannot meet the requirements of integrated underwater and air reconnaissance.

[0003] Unmanned aerial vehicles (UAVs) typically employ a quadcopter design, offering advantages such as good aerial stability and high maneuverability. However, underwater, they experience significant fluid resistance, requiring substantial thrust to propel them out of the water, and are more prone to attitude loss of control during surfacing. For example, Chinese patent application CN120573295A discloses a sea-air cross-medium vehicle comprising a cylindrical vehicle body with a wing-folding mechanism. This mechanism includes several arms spaced apart around the circumference of the vehicle body. One end of each arm is movably connected to the vehicle body, aligning parallel to the axis of the vehicle body when retracted and perpendicular when extended. The other end of each arm is equipped with a propeller connected to a first motor. The vehicle body also features a buoyancy chamber, allowing the vehicle to vertically submerge or surface by adjusting its volume.

[0004] However, existing sea-air cross-medium underwater vehicles still rely on the propeller blades to generate strong lift in the water after surfacing to take off. The takeoff phase consumes a lot of energy, affecting the endurance of flight. In addition, the difference between water and air media is large, resulting in a high risk of loss of control during takeoff and poor stability of water-air cross-medium flight. Summary of the Invention

[0005] The technical problem to be solved by this invention is that: relying on the propeller to generate strong lift in water for takeoff consumes a lot of energy during the takeoff phase, which affects the flight endurance; the difference between water and air media is large, the risk of loss of control of takeoff attitude is high, and the stability of water-air cross-media flight is poor.

[0006] To address the aforementioned technical problems, this invention provides a technical solution for an underwater vertical launch reconnaissance and strike unmanned aerial vehicle (UAV): The underwater vertical launch reconnaissance and strike drone has an axial direction, including: The main structure has a rectifier section at one end along the axial direction; The rotor mechanism includes an arm, a first motor, blades, and a driver. One end of the arm is rotatably connected to the main structure. The first motor is located at the other end of the arm and is drivenly connected to the blades. The driver is located in the main structure and connected to the arm. The outer shell is detachably installed on the main structure, and the outer shell covers the rotor mechanism in a folded state and forms a rotary cylindrical outline; A stabilizing wing structure is located at the end of the main structure away from the rectifier; A thruster is located at the end of the stabilizing wing structure away from the main structure, and its propulsion direction is set along the axial direction. A jettison structure, connected between the stabilizing wing structure and the propeller, separates the propeller and detaches it when the propeller's fuel is depleted.

[0007] Furthermore, the outer shell includes at least two arc-shaped plates, which are fastened to the main structure and form a columnar outer wall, so that the at least two arc-shaped plates can be separated by the expansion and pressing of the machine arm.

[0008] Furthermore, the main structure includes a first base, a second base, and a guide rod. The first base and the second base are spaced apart, and the guide rod is arranged parallel to the axis and connects the first base and the second base. One end of the arm is rotatably connected to the first base, the guide rod is slidably mounted with a slide block, the slide block and the arm are hinged together by a connecting rod, and the driver is drivenly connected to the slide block.

[0009] Furthermore, multiple robotic arms, the first motor, and the blades are provided, and at least two guide rods are provided. The multiple robotic arms are circumferentially spaced about the main structure. One robotic arm has a first motor and a blade at its other end, and the driver is located between at least two guide rods. The actuator is used to move the slide upward along the guide rod, thereby driving the arm to unfold and push open the outer shell; and to move the slide downward along the guide rod, thereby driving the arm to fold and retract into the outer shell.

[0010] Furthermore, the stabilizing wing structure includes a third seat, a wing plate, and a first servo motor, wherein the cross-sectional profile of the third seat is the same as the cross-sectional shape of the rotary cylinder profile; The third seat has a groove inside, and the first servo is installed in the groove. There are at least three wing plates and at least three first servo. The at least three wing plates are circumferentially spaced on the outer side of the third seat, and one first servo is connected to one wing plate in a transmission connection.

[0011] Furthermore, the launch structure includes a fourth seat and an electromagnet. The electromagnet is disposed in the fourth seat and is used to attract and connect the thruster when energized and to disconnect the thruster when de-energized.

[0012] Furthermore, the jettison structure also includes a camera, a sliding plate, and a second servo. The sliding plate is located on the side of the fourth seat away from the stabilizing wing structure, the second servo is located on the fourth seat and connected to the sliding plate, and the camera is mounted on the sliding plate.

[0013] Furthermore, the throwing structure also includes a projectile. A through hole is provided in the middle of the fourth base. The through hole extends through the fourth base along the axial direction. The projectile is disposed in the through hole. The sliding plate has a limiting state to stop the projectile and a launching state to avoid the through hole and allow the projectile to fall freely.

[0014] Furthermore, the driver includes a second motor and a lead screw. The second motor is disposed on the second base, and the lead screw is rotatably disposed between the first base and the second base, and the lead screw is anti-rotatingly connected to the second motor. The lead screw and the guide rod are distributed parallel to each other at intervals, and the slide has a threaded hole, and the lead screw is threadedly engaged with the threaded hole.

[0015] Furthermore, the arm is a curved arm, with the middle part of the arm protruding in the unfolding direction of the arm.

[0016] Compared with existing technologies, the underwater vertical launch reconnaissance and strike UAV of this invention has the following advantages: This underwater vertical launch reconnaissance and strike UAV adopts a design consisting of a main structure, a rotor mechanism, an outer shell, a stabilizing wing structure, a jettisoning structure, and a propulsion unit. The main structure has a rectifier at its axial end; the outer shell is detachably mounted to the main structure, covering the folded rotor mechanism and forming a rotary cylindrical profile. The rectifier and rotary cylindrical profile reduce fluid resistance during underwater launch, making the launch process smoother and more efficient, and facilitating rapid surfacing. Underwater, the outer shell protects the rotor mechanism, reducing underwater noise and turbulence, and ensuring the stealth of underwater launches.

[0017] The rotor mechanism includes an arm, a first motor, blades, and a actuator. One end of the arm is rotatably connected to the main structure, while the first motor and blades are located at the other end of the arm. The actuator is located on the main structure and connected to the arm, and the stabilizing wing structure is located at the end of the main structure furthest from the rectifier. During underwater launch, the rotor mechanism is folded and covered by the outer shell, presenting a rotary cylindrical profile. The stabilizing wing structure helps maintain the flight trajectory. After surfacing, the actuator drives the rotor arm to rapidly unfold, simultaneously separating the outer shell from the main structure and initiating aerial flight mode. During aerial flight, the stabilizing wing structure works in conjunction with the rotor mechanism to enhance attitude control stability, thereby ensuring reconnaissance and strike accuracy.

[0018] In addition, the thruster is located at the end of the stabilizing wing structure furthest from the main structure, with its propulsion direction along the axial direction. The jettison structure connects the stabilizing wing structure and the thruster. The thruster mainly provides underwater propulsion, ensuring that the UAV can quickly emerge from the water. After takeoff, the thruster's fuel is exhausted, and the jettison structure automatically separates the thruster, causing it to detach. This reduces the overall weight of the UAV during flight, extends the rotor flight time, and effectively improves endurance. Through the coordinated design of a detachable outer shell, foldable rotors, and jettisonable thrusters, the thruster generates a more suitable power form for rapid water emergence during underwater launch, avoiding the problem of high energy consumption during underwater takeoff of propeller blades. Moreover, the turning cylindrical profile during water emergence reduces the risk of loss of control during takeoff. After entering the air, it switches to rotor flight mode, resulting in good stability during water-to-air cross-medium flight. Attached Figure Description

[0019] Figure 1 This is a three-dimensional schematic diagram of an underwater vertical launch reconnaissance and strike drone according to an embodiment of the present invention; Figure 2 This is a three-dimensional schematic diagram of an underwater vertical launch reconnaissance and strike UAV (with rotor mechanism deployed) according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the main structure and rotor mechanism (when folded and stowed) of an embodiment of the present invention; Figure 4 This is a schematic diagram of the main structure and rotor mechanism (when deployed) of an embodiment of the present invention; Figure 5 This is a schematic diagram of the stabilizing wing structure, propeller, and jettison structure according to an embodiment of the present invention; Figure 6 yes Figure 5 A schematic diagram of the axial cross-section of the central stabilizer structure, propeller, and jettison structure; Figure 7 This is an enlarged schematic diagram of the stabilizing wing structure according to an embodiment of the present invention; Figure 8 yes Figure 7 Schematic diagram of the radial section of the central stabilizer structure; Figure 9 This is a bottom view of the launch structure according to an embodiment of the present invention; In the diagram: 1. Main structure; 10. Rectifier; 11. First base; 12. Second base; 13. Guide rod; 14. Slide; 15. Linkage rod; 16. Limiter; 2. Rotor mechanism; 21. Arm; 22. First motor; 23. Blade; 24. Driver; 241. Second motor; 242. Lead screw; 3. Outer shell; 31. Arc plate; 4. Stabilizer structure; 41. Third base; 42. Wing plate; 43. First servo; 44. Groove; 5. Throwing structure; 51. Fourth base; 510. Through hole; 52. Electromagnet; 53. Camera; 54. Sliding plate; 55. Second servo; 56. Throwing bomb; 6. Propulsion. Detailed Implementation

[0020] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and are not intended to limit the scope of the invention.

[0021] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" used to indicate orientations or positional relationships are based on the orientations or positional relationships shown in the accompanying drawings and are only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this invention.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0023] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0024] like Figure 1 , Figure 2As shown, an underwater vertical launch reconnaissance and strike UAV according to an embodiment of the present invention has an axial direction and includes: a main structure 1, a rotor mechanism 2, an outer shell 3, a stabilizing wing structure 4, a jettison structure 5, and a thruster 6; the main structure 1 has a rectifier 10 at its end along the axial direction; the rotor mechanism 2 includes an arm 21, a first motor 22, a blade 23, and a driver 24, one end of the arm 21 is rotatably connected to the main structure 1, the first motor 22 is located at the other end of the arm 21 and is drivenly connected to the blade 23, and the driver 24 is located in the main structure 1 and connected to the arm 21; The outer shell 3 is detachably installed on the main structure 1. The outer shell 3 covers the rotor mechanism 2 in a folded state and forms a rotary cylindrical outline. The stabilizing wing structure 4 is located at the end of the main structure 1 away from the rectifier 10. The thruster 6 is located at the end of the stabilizing wing structure 4 away from the main structure 1, and its propulsion direction is set along the axial direction. The jettison structure 5 is connected between the stabilizing wing structure 4 and the thruster 6, and separates the thruster 6 from the fuel when the thruster 6 is exhausted, causing it to fall off.

[0025] This underwater vertical launch reconnaissance and strike UAV adopts a design consisting of a main structure 1, a rotor mechanism 2, an outer shell 3, a stabilizing wing structure 4, a jettison structure 5, and a propulsion unit 6. The main structure 1 has a rectifier 10 at its axial end. The outer shell 3 is detachably mounted to the main structure 1, covering the folded rotor mechanism 2 and forming a rotary cylindrical profile. The rectifier 10 and the rotary cylindrical profile reduce fluid resistance during underwater launch, making the launch process smoother and more efficient, and facilitating rapid surfacing. Underwater, the outer shell 3 protects the rotor mechanism 2, reduces underwater noise and turbulence, and ensures the stealth of underwater launches.

[0026] The rotor mechanism 2 includes an arm 21, a first motor 22, blades 23, and a driver 24. One end of the arm 21 is rotatably connected to the main structure 1. The first motor 22 and blades 23 are located at the other end of the arm 21. The driver 24 is located on the main structure 1 and connected to the arm 21. The stabilizing wing structure 4 is located at the end of the main structure 1 away from the rectifier 10. During underwater launch, the rotor mechanism 2 is in a folded state and covered by the outer shell, exhibiting a rotary cylindrical profile. The stabilizing wing structure 4 helps maintain the flight trajectory. After surfacing, the driver 24 drives the arm 21 of the rotor mechanism 2 to rapidly unfold, while the outer shell 3 separates from the main structure 1, initiating the aerial flight mode. During aerial flight, the stabilizing wing structure 4 works in conjunction with the rotor mechanism 2 to enhance attitude control stability, thereby ensuring reconnaissance and strike accuracy.

[0027] In addition, the thruster 6 is located at the end of the stabilizing wing structure 4 away from the main structure 1, and its propulsion direction is set along the axial direction. The jettison structure 5 connects the stabilizing wing structure 4 and the thruster 6. The thruster 6 mainly provides underwater propulsion to ensure that the UAV can quickly emerge from the water. After takeoff, the thruster 6 exhausts its fuel, and the jettison structure 5 automatically separates the thruster 6, causing it to detach. This reduces the overall weight of the UAV during flight, extends the rotor flight time, and effectively improves endurance. Through the coordinated design of the detachable outer shell 3, the foldable rotor, and the jettison of the thruster 6, the thruster 6 generates a more suitable power form for rapid water emergence during underwater launch, avoiding the problem of high energy consumption of the propeller blade 23 during underwater takeoff. Moreover, the turning cylindrical profile during water emergence can reduce the risk of loss of control during takeoff. After entering the air, it switches to rotor flight mode, resulting in good stability during water-to-air cross-medium flight.

[0028] In this embodiment, the outer shell 3 includes at least two arc-shaped plates 31, which are fastened to the main structure 1 and form a columnar outer wall. The at least two arc-shaped plates 31 are separated by the unfolding and pressing action of the arms 21. Specifically, four arc-shaped plates 31 are provided, each with a 90° radius. The rotor mechanism 2 also has four arms 21, with one arm corresponding to one arc-shaped plate 31. After the UAV emerges from the water, the actuator 24 drives the four arms 21 to unfold synchronously, opening the four arc-shaped plates 31 and separating them from the main structure 1, thus ensuring the integrity of the underwater configuration and the rapid switching of flight modes.

[0029] As a further preferred option, such as Figure 3 , Figure 4 As shown, the main structure 1 includes a first base 11, a second base 12, and a guide rod 13. The first base 11 and the second base 12 are spaced apart. The guide rod 13 is arranged parallel to the axial direction and connects the first base 11 and the second base 12. One end of the arm 21 is rotatably connected to the first base 11. A slide block 14 is slidably mounted on the guide rod 13. A connecting rod 15 is hinged between the slide block 14 and the arm 21. The driver 24 is connected to the slide block 14 in a transmission manner.

[0030] It should be noted that the rectifier 10 is located on the first base 11. The rectifier 10 serves as a control compartment, and various air components are installed inside. The arm 21, the first base 11, the guide rod 13, the slide 14, and the connecting rod 15 form an umbrella-shaped structure. The arm 21 can be smoothly deployed by the slide 14 moving upward along the guide rod 13. Moreover, the first base 11 is also equipped with a limiter 16. When the arm 21 is deployed to contact the limiter 16, the limiter 16 starts to work and de-energizes the driver 24, ensuring that the final deployed form of the rotor mechanism 2 is a quadcopter drone.

[0031] In some embodiments, multiple arms 21, first motors 22, and blades 23 are provided, and at least two guide rods 13 are provided. The multiple arms 21 are distributed circumferentially about the main structure 1. One arm 21 has a first motor 22 and a blade 23 at its other end. The driver 24 is located between at least two guide rods 13. The driver 24 is used to drive the slide 14 to move upward along the guide rods 13, drive the arm 21 to unfold and push open the outer shell 3; and drive the slide 14 to move downward along the guide rods 13, drive the arm 21 to fold and retract into the outer shell 3.

[0032] In some embodiments, the actuator 24 includes a second motor 241 and a lead screw 242. The second motor 241 is mounted on the second base 12, and the lead screw 242 is rotatably mounted between the first base 11 and the second base 12, with the lead screw 242 and the second motor 241 connected in a non-rotating manner. The lead screw 242 is parallel to and spaced apart from the guide rod 13, and the slide 14 has a threaded hole, with the lead screw 242 threadedly engaged with the threaded hole. The actuator 24 is a lead screw and nut mechanism, which features simple structure, smooth driving process, and self-locking position, ensuring the stability of the rotor mechanism 2 in its folded and unfolded states.

[0033] like Figure 7 , Figure 8 As shown, the stabilizing wing structure 4 includes a third base 41, wing plates 42, and a first servo motor 43. The cross-sectional profile of the third base 41 is the same as that of a rotary cylindrical profile. A groove 44 is provided inside the third base 41, and the first servo motor 43 is installed in the groove 44. There are at least three wing plates 42 and at least three first servo motors 43. The at least three wing plates 42 are circumferentially spaced on the outer side of the third base 41, and one first servo motor 43 is connected to one wing plate 42. During underwater launch and aerial flight, the stabilizing wing structure 4 detects the attitude of the UAV through a gyroscope and controls the first servo motor 43 to adjust the angle of the wing plate 42 in real time, thereby achieving the purpose of controlling the overall attitude.

[0034] like Figure 5 , Figure 6 As shown, the jettison structure 5 includes a fourth base 51 and an electromagnet 52. The electromagnet 52 is disposed on the fourth base 51. The electromagnet 52 is used to engage and connect with the thruster 6 when energized and to disengage the thruster 6 when de-energized. Specifically, the thruster 6 has a plug that can be inserted into the magnetic hole of the fourth base 51 to engage with the electromagnet 52. The electromagnet 52 is controlled by a delayed power-off mechanism. 30 seconds after the thruster 6 starts, the electromagnet 52 is de-energized and loses its magnetic attraction, causing the fuel-depleted thruster 6 to separate and fall freely under gravity. In some embodiments, the delayed power-off can be set to any time from 15 seconds to 120 seconds. The reconnaissance and strike UAV is designed for underwater deployment, and the thruster 6 is a solid fuel thruster that can complete the takeoff from the water within 3 seconds to 10 seconds. After takeoff, the rotor mechanism 2 is activated only after the fuel is depleted, ensuring rapid maneuverability and endurance in aerial flight.

[0035] In some embodiments, such as Figure 9 As shown, the jettison structure 5 also includes a camera 53, a sliding plate 54, and a second servo motor 55. The sliding plate 54 is located on the side of the fourth seat 51 away from the stabilizing wing structure 4. The second servo motor 55 is located on the fourth seat 51 and connected to the sliding plate 54. The camera 53 is mounted on the sliding plate 54. The camera 53 is preferably a high-definition infrared camera. The UAV can carry drop bombs 56, forming a comprehensive combat unit integrating reconnaissance and strike capabilities.

[0036] Furthermore, the jettison structure 5 also includes a grenade 56. A through hole 510 is provided in the middle of the fourth base 51, extending through the fourth base 51 along the axial direction. The grenade 56 is disposed in the through hole 510. The sliding plate 54 has a limiting state to stop the grenade 56, and a release state to allow the grenade 56 to fall freely by avoiding the through hole 510. When the UAV flies to the designated sea area or target location, the camera 53 can detect the target lock position and drive the sliding plate 54 outward through the second servo motor 55, causing the grenade 56 in the through hole 510 of the fourth base 51 to fall to the target position, thereby completing the mission of striking the target.

[0037] The arm 21 is a curved arm, with its middle section protruding in the unfolding direction. The curved structure design of the arm 21 increases the storage space for the blades 23 when folded, allowing a large blade to be accommodated within the effective space of the main structure 1.

[0038] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present invention, and these improvements and substitutions should also be considered within the scope of protection of the present invention.

Claims

1. An underwater vertical launch reconnaissance and strike unmanned aerial vehicle (UAV) with an axial direction, characterized in that, include: The main structure has a rectifier section at one end along the axial direction; The rotor mechanism includes an arm, a first motor, blades, and a driver. One end of the arm is rotatably connected to the main structure. The first motor is located at the other end of the arm and is drivenly connected to the blades. The driver is located in the main structure and connected to the arm. The outer shell is detachably installed on the main structure, and the outer shell covers the rotor mechanism in a folded state and forms a rotary column profile; A stabilizing wing structure is located at the end of the main structure away from the rectifier; A thruster is located at the end of the stabilizing wing structure away from the main structure, and its propulsion direction is set along the axial direction. A jettison structure, connected between the stabilizing wing structure and the propeller, separates the propeller and detaches it when the propeller's fuel is depleted.

2. The underwater vertical launch reconnaissance and strike UAV according to claim 1, characterized in that, The outer shell includes at least two arc-shaped plates, which are fastened to the main structure and form a columnar outer wall, so that the at least two arc-shaped plates can be separated by the expansion and pressing of the machine arm.

3. The underwater vertical launch reconnaissance and strike UAV according to claim 2, characterized in that, The main structure includes a first base, a second base, and a guide rod. The first base and the second base are spaced apart, and the guide rod is arranged parallel to the axis and connects the first base and the second base. One end of the arm is rotatably connected to the first base, the guide rod is slidably mounted with a slide block, the slide block and the arm are hinged together by a connecting rod, and the driver is drivenly connected to the slide block.

4. The underwater vertical launch reconnaissance and strike UAV according to claim 3, characterized in that, Multiple robotic arms, a first motor, and a blade are provided, and at least two guide rods are provided. The multiple robotic arms are circumferentially spaced about the main structure. One robotic arm has a first motor and a blade at its other end, and the driver is located between at least two guide rods. The actuator is used to move the slide upward along the guide rod, thereby driving the arm to unfold and push open the outer shell; and to move the slide downward along the guide rod, thereby driving the arm to fold and retract into the outer shell.

5. The underwater vertical launch reconnaissance and strike UAV according to any one of claims 1 to 4, characterized in that, The stabilizer structure includes a third body, a wing plate, and a first servo motor. The cross-sectional profile of the third body is the same as the cross-sectional shape of the rotary cylinder profile. The third seat has a groove inside, and the first servo is installed in the groove. There are at least three wing plates and at least three first servo. The at least three wing plates are circumferentially spaced on the outer side of the third seat, and one first servo is connected to one wing plate in a transmission connection.

6. The underwater vertical launch reconnaissance and strike UAV according to any one of claims 1 to 4, characterized in that, The launch structure includes a fourth base and an electromagnet. The electromagnet is disposed on the fourth base and is used to attract and connect the thruster when energized and to disconnect the thruster when de-energized.

7. The underwater vertical launch reconnaissance and strike UAV according to claim 6, characterized in that, The jettison structure also includes a camera, a sliding plate, and a second servo. The sliding plate is located on the side of the fourth seat away from the stabilizing wing structure. The second servo is located on the fourth seat and connected to the sliding plate. The camera is mounted on the sliding plate.

8. The underwater vertical launch reconnaissance and strike UAV according to claim 7, characterized in that, The throwing structure also includes a projectile. A through hole is provided in the middle of the fourth base. The through hole extends through the fourth base along the axial direction. The projectile is disposed in the through hole. The sliding plate has a limiting state to stop the projectile and a launching state to allow the projectile to fall freely by avoiding the through hole.

9. The underwater vertical launch reconnaissance and strike UAV according to claim 3 or 4, characterized in that, The driver includes a second motor and a lead screw. The second motor is located on the second seat, and the lead screw is rotatably located between the first seat and the second seat, and the lead screw is anti-rotatingly connected to the second motor. The lead screw and the guide rod are distributed parallel to each other at intervals. The slide has a threaded hole, and the lead screw is threadedly engaged with the threaded hole.

10. The underwater vertical launch reconnaissance and strike UAV according to claim 1, characterized in that, The arm is a curved arm, and the middle part of the arm protrudes in the direction of its unfolding.

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