Water-air cross-medium running unmanned aerial vehicle

Abstract

The present application belongs to the technical field of cross-medium unmanned vehicles, and particularly relates to a water-air cross-medium running unmanned vehicle, which forms a smooth transition fluid channel through a hemispherical cover, a cylindrical cabin, an annular duct and a conical bottom cylinder, and solves the problems of low power efficiency, large flow resistance, attitude instability and poor reliability in the prior art. The head part is integrated with a detection and rudder control system, and the open rudder cabin can dynamically adjust the water volume to optimize the center of gravity; the middle part adopts an annular duct integrated constraint propeller flow field to improve water-air thrust efficiency, and the center cabin body is integrated with a core control module; the tail part is convergent design to optimize the fluid trajectory. The modules are quickly and reliably connected through piston sealing and rotary buckles. The present application significantly reduces the cross-medium resistance and water outlet time, ensures the smooth attitude conversion, and greatly improves the maintenance convenience and system reliability due to the modularization and high sealing design, and is suitable for various cross-domain operation scenes such as ocean exploration, emergency search and rescue, etc.

Description

Technical Field

[0001] This invention belongs to the field of cross-medium unmanned aerial vehicle technology, and particularly relates to a water-air cross-medium unmanned aerial vehicle. Background Technology

[0002] As cutting-edge equipment, cross-domain unmanned aerial vehicles (UAVs) have shown great application potential in the field of marine engineering. However, existing technologies have obvious defects in terms of propulsion efficiency, attitude control, structural reliability and system integration, which seriously restrict their practical application and promotion.

[0003] In terms of propulsion systems, existing models mostly employ open-type propellers for underwater propulsion. The wake fields generated by adjacent propellers during operation exhibit strong coupling and interference, leading to thrust diffusion and significant energy loss. Although some designs attempt to improve efficiency by introducing structures such as fairings, insufficient flow field matching fails to achieve the expected drag reduction and thrust enhancement effects. Furthermore, the single-propulsion layout adopted to accommodate both water and air operation often results in insufficient underwater thrust and redundant airborne structures, making it difficult to achieve efficient power output in both media.

[0004] At the level of fluid dynamics and attitude control, existing UAV fuselages are mostly based on simple geometric configurations, lacking streamlined optimization for water-air dual-medium environments. During the critical cross-medium water exit process, the viscous drag generated by the separation of the water boundary layer acts concentrated on the fuselage surface, resulting in excessively long exit time, accompanied by significant pitch angle deviations and fuselage attitude instability, which seriously affects the smoothness of cross-domain maneuvers and mission success rate.

[0005] In terms of structural design and reliability, existing models generally suffer from low modular integration and complex disassembly and maintenance. Their sealing structures are prone to failure due to media penetration when subjected to complex pressure gradient changes during cross-media processes, which in turn leads to the risk of jamming of moving parts such as motors and servos. This not only reduces the system's mission reliability but also significantly increases the maintenance cost over the entire life cycle.

[0006] Furthermore, existing duct designs are often only suitable for a single medium environment and are mostly connected separately from the fuselage. This design not only increases power transmission losses but also reduces the stability and compactness of the overall structure, limiting its functional expandability and adaptability to complex scenarios.

[0007] Therefore, there is an urgent need for a type of unmanned aerial vehicle (UAV) that can operate across water and air media to solve this problem. Summary of the Invention

[0008] The purpose of this invention is to provide a water-air cross-medium unmanned aerial vehicle (UAV) to solve the above-mentioned problems.

[0009] To achieve the above objectives, the present invention provides the following solution:

[0010] A water-air cross-medium unmanned aerial vehicle (UAV) includes a head, a middle section, and a tail section arranged sequentially along the direction of movement of the UAV.

[0011] The head includes a hemispherical dome at the front and a cylindrical nacelle at the rear. The cylindrical nacelle is connected to the inside and outside. The bottom of the inner side of the cylindrical nacelle is provided with an upward convex structure. The front end of the upward convex structure is in the same direction as the forward movement of the UAV. The tail end of the upward convex structure is connected to a number of circumferentially arranged guide channels. The guide channels are formed on the side wall of the cylindrical nacelle. The cylindrical nacelle is provided with a rudder assembly.

[0012] The middle part includes a connector and several annular ducts surrounding the connector. A driving component is provided inside the annular ducts. Several flow guides are connected to several annular ducts. The annular ducts are used for fluid passage.

[0013] The tail section is a conical bottom tube, and the tip of the conical bottom tube faces the opposite direction of the drone's movement.

[0014] A fluid channel with a smooth transition is formed along the hemispherical cover, the cylindrical cabin, the annular duct, and the conical bottom cylinder.

[0015] The two ends of the connector are detachably connected to the cylindrical cabin and the conical bottom cylinder, respectively.

[0016] Optionally, the hemispherical cover is a hemispherical PMMA cover and a base, with a sealed cavity formed between the hemispherical PMMA cover and the base. A high-definition camera and a pressure sensor are installed inside the sealed cavity. The high-definition camera and the pressure sensor are fixed on the base, and the base is coaxially fixed to one end of the cylindrical cabin.

[0017] The base is provided with a waterproof channel and a first O-ring groove. The first O-ring groove is used to install a sealing ring between the base and the hemispherical PMMA cover. The waterproof channel is used to pass through the wiring harness of the high-definition camera and the pressure sensor.

[0018] Optionally, the cylindrical cabin includes two annular tubes arranged coaxially, and the sidewalls of the annular tubes are provided with a number of openings at equal intervals in the circumferential direction.

[0019] The two adjacent annular tubes are fixedly connected.

[0020] The top of the annular tube located at the top is fixed coaxially with the base.

[0021] The bottom of the annular tube located at the bottom is fixed to the upper convex structure.

[0022] Optionally, the upper convex structure includes a protrusion, which is inserted into the inner side of the corresponding annular tube. An annular seat is coaxially fixed to the outer side of the protrusion, and a plurality of the guide grooves are circumferentially and equally spaced on the side wall of the annular seat.

[0023] The annular seat is coaxially fixed to the bottom of the corresponding annular tube.

[0024] The bottom of the annular seat is provided with a first rotating buckle and a second O-ring groove. The first rotating buckle is used for detachable connection between the annular seat and the connector, and the second O-ring groove is used for installing a sealing ring between the annular seat and the connector.

[0025] Optionally, the rudder assembly includes an upper rudder section and a lower rudder section, the upper rudder section being connected within the annular tube located at the top, and the lower rudder section being connected within the annular tube located at the bottom.

[0026] The upper rudder section includes a first rudder wing and a second rudder wing located in the same plane.

[0027] The downward rudder section includes a first elevator wing and a second elevator wing located in the same plane.

[0028] The first plane containing the first rudder wing and the second rudder wing is perpendicular to the second plane containing the first elevator wing and the second elevator wing.

[0029] The first rudder wing, the second rudder wing, the first elevator wing, and the second elevator wing are all equipped with steering components.

[0030] Optionally, the steering unit includes a waterproof servo motor, the fixed end of which is fixed inside the annular tube by a servo motor support structure, and the movable end of which is fixedly connected to a servo motor coupling.

[0031] The two ends of the servo coupling of the annular tube located above are respectively fixed to the first rudder wing and the second rudder wing.

[0032] The two ends of the servo coupling of the lower annular tube are respectively fixed to the first elevator wing and the second elevator wing.

[0033] Optionally, a reinforcing rib is fixed between two adjacent annular culverts.

[0034] Optionally, the drive component includes a brushless motor and a propeller, the propeller being fixedly connected to the output shaft of the brushless motor, and a fixed platform being fixedly connected to the fixed end of the brushless motor, the fixed platform being coaxially fixed within the annular duct via a three-point support structure.

[0035] Optionally, the connector has a central cavity, the top of the central cavity has a first rotating groove that is detachably connected to the first rotating buckle, and the bottom of the connector has a second rotating buckle and a third sealing ring groove.

[0036] The sidewalls of the central cavity are connected to a dedicated waterproof channel.

[0037] Optionally, the large-diameter end of the conical bottom cylinder is provided with a second rotating groove for detachable connection with the second rotating buckle, and the conical bottom cylinder has a hollow structure.

[0038] Compared with the prior art, the present invention has the following advantages and technical effects:

[0039] In terms of power efficiency, this application precisely constrains the propeller wake field through an integrated annular duct structure, avoiding thrust coupling and diffusion underwater and optimizing airflow trajectory in the air. This successfully overcomes the bottleneck of low efficiency of a single propulsion system in a dual-medium environment, significantly improving power output efficiency. Regarding flow resistance and attitude control, the smooth fluid channel formed by the blunt nose, the expanding central hull, and the converging tail structure greatly reduces viscous drag during cross-medium processes. Combined with the water weight dynamic adjustment function of the open servo bay and precise rudder control, this ensures a rapid and stable exit from the water, completely improving attitude instability. In terms of reliability and maintainability, the modular piston seal connection and rotary snap-fit ​​design not only simplify the assembly and disassembly process but also provide superior sealing performance to withstand complex pressure gradient changes, fundamentally reducing the risk of media penetration and component jamming, enhancing system reliability and reducing maintenance costs. Ultimately, this highly integrated layout greatly expands the UAV's scenario adaptability, enabling it to flexibly perform a variety of complex operational tasks. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a front view of the overall structure of the underwater-air dual-media cross-domain UAV provided in an embodiment of the present invention.

[0042] Figure 2 This is an isometric schematic diagram of the overall structure of an underwater-air dual-medium cross-domain unmanned aerial vehicle provided in an embodiment of the present invention.

[0043] Figure 3This is a frontal view of the blunt-headed cylindrical head structure.

[0044] Figure 4 This is an isometric schematic diagram of the overall head structure of a blunt-headed cylinder.

[0045] Figure 5 This is an isometric schematic diagram of a hemispherical polymethyl methacrylate (PMMA) cover.

[0046] Figure 6 This is an isometric schematic diagram of piston structure I.

[0047] Figure 7 This is a front view of the steering gear compartment.

[0048] Figure 8 This is an isometric schematic diagram of the entire steering gear module (rudder).

[0049] Figure 9 This is an isometric schematic diagram of the entire steering gear module (elevator).

[0050] Figure 10 This is a schematic diagram of the sampling inspection of the transition structure of the steering gear compartment.

[0051] Figure 11 This is an overall assembly diagram of the servo gear compartment module.

[0052] Figure 12 Axonometric schematic diagram of the steering gear compartment angle adjustment structure.

[0053] Figure 13 This is an isometric schematic diagram of piston structure II.

[0054] Figure 14 This is a schematic diagram of the cross-section of piston structure II.

[0055] Figure 15 This is an isometric schematic diagram of the annular duct and the retractable streamlined central cabin structure.

[0056] Figure 16 This is a frontal schematic diagram of the annular duct and the retractable streamlined central cabin structure.

[0057] Figure 17 This is a schematic diagram of the top of the annular duct and the retractable streamlined central cabin structure.

[0058] Figure 18 This is an isometric view of the tail-converging structure.

[0059] Figure 19 This is a cross-sectional view of the tail-converging structure.

[0060] Figure 20 For servo motor coupling.

[0061] Figure 21 It is an elevator rudder.

[0062] Figure 22 It is a rudder fin.

[0063] Figure 23 For battery pads.

[0064] Figure 24 This is a flowchart illustrating the specific workflow.

[0065] The components include: 1. Waterproof channel; 2. First O-ring slot; 3. First flat-head hexagonal screw hole; 4. Servo support structure; 5. Second flat-head hexagonal screw hole; 6. Opening; 7. Waterproof servo; 8. First rudder wing; 9. Second rudder wing; 10. First elevator wing; 11. Second elevator wing; 12. Servo coupling; 13. Screw hole; 14. Second O-ring slot; 15. First rotary latch; 16. Protrusion; 17. Guide channel; 18. Annular duct; 19. Reinforcing rib; 20. Fixed platform; 21. Screw hole position; 22. Three-point support structure; 23. Dedicated waterproof channel; 24. Connector; 25. Central cavity; 26. First rotary slot; 27. Third sealing ring groove; 28. Second rotary latch. 29. Second rotating slot. 30. Conical base cylinder. 31. Battery pad support structure. 32. Waterproof channel for signal lines. Detailed Implementation

[0066] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0067] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0068] Reference Figures 1 to 24 The present invention discloses a water-air cross-medium unmanned aerial vehicle, comprising a head, a middle part and a tail part arranged sequentially along the direction of movement of the unmanned aerial vehicle.

[0069] The head includes a hemispherical dome at the front and a cylindrical cabin at the rear. The cylindrical cabin is connected inside and out. The bottom of the inner side of the cylindrical cabin has an upward convex structure. The front end of the upward convex structure is in the same direction as the forward movement of the UAV. The tail end of the upward convex structure is connected to several circumferentially arranged guide channels 17. The guide channels 17 are opened on the side wall of the cylindrical cabin. The cylindrical cabin is equipped with a rudder assembly.

[0070] The middle part includes a connector 24 and several annular ducts 18 arranged around the connector 24. A drive component is provided in the annular ducts 18. Several guide grooves 17 are connected to the several annular ducts 18. The annular ducts 18 are used for fluid passage.

[0071] The tail section is a conical bottom tube 30, with the tip of the conical bottom tube 30 pointing in the opposite direction to the direction of the drone's movement.

[0072] A fluid channel with a smooth transition is formed along the hemispherical cover, cylindrical nacelle, annular duct 18 and conical bottom cylinder 30.

[0073] The two ends of the connector 24 are detachably connected to the cylindrical nacelle and the conical bottom cylinder 30, respectively.

[0074] In use, this drone moves between water and air through a motion system consisting of drive components and rudder assemblies. Its hemispherical dome at the front effectively reduces interfacial drag when breaking through the water-air interface. For example, when the drone enters water from the air, the hemispherical dome first breaks through the water surface. Due to the dispersing effect of the hemispherical contour on the water flow, it effectively reduces resistance at the moment of entry. Next, the water flows into the cylindrical cabin connected to the hemispherical dome. This cabin features an internal and external interconnected design, allowing the water to naturally fill its interior space. During this process, the upward-convex structure located at the bottom inner side of the cylindrical cabin plays a crucial guiding role. Its front end aligns with the drone's direction of travel, smoothly dividing the water flow and preventing turbulence.

[0075] As the drone prepares to leave the water and return to the air, the increased power of the drive components propels it upwards, with the hemispherical fairing leading the way out of the water. As the entire drone ascends, the water remaining inside the cylindrical cabin is pushed towards the rear of the cabin by gravity and the drone's upward motion. Several surrounding guide channels 17, connected to the rear end of the convex structure, then become efficient drainage channels, rapidly and systematically discharging the collected water along the cabin sidewalls. This design prevents water from backflowing due to gravity at the moment of exit, thus avoiding additional load or attitude disturbances and ensuring a smooth exit process.

[0076] Multiple annular ducts are arranged in 18 directions, which together form a highly efficient propulsion system. The fluid is constrained when passing through the ducts, the thrust is more concentrated, and the energy loss is significantly reduced.

[0077] Throughout the entire cross-medium operation, a continuous and smoothly transitioning fluid channel is formed, starting from the hemispherical dome, passing through the cylindrical nacelle and the annular duct 18, to the conical bottom cylinder 30 at the tail. Both water and air flow smoothly through this channel, boundary layer separation is effectively suppressed, and eddy current generation is minimized, thus significantly reducing viscous drag during the cross-medium process. Ultimately, this results in a shorter water exit time and more stable cross-medium attitude for the UAV, solving the technical challenges of high water exit drag and instability inherent in traditional configurations, and improving the overall efficiency and reliability of cross-water and air operations.

[0078] The water-air transmedium UAV in this embodiment consists of three main modules: a blunt-headed cylindrical head structure module, a ring-shaped duct and a retractable streamlined central cabin structure module, and a converging structure module at the tail. The three modules are securely connected by a piston seal combined with flat-head hexagonal screws.

[0079] As an optional implementation, the hemispherical cover consists of a hemispherical PMMA cover and a base, with a sealed cavity formed between the hemispherical PMMA cover and the base. A high-definition camera and a pressure sensor are installed inside the sealed cavity. The high-definition camera and the pressure sensor are fixed on the base, and the base is coaxially fixed to one end of the cylindrical cabin.

[0080] The base is provided with a waterproof channel 1 and a first O-ring groove 2. The first O-ring groove 2 is used to install a sealing ring between the base and the hemispherical PMMA cover. The waterproof channel 1 is used to pass through the wiring harness of the high-definition camera and the pressure sensor.

[0081] During the drone's cross-medium operation, the sealed cavity formed by the hemispherical PMMA cover and the base effectively protects the internal high-definition camera and pressure sensor. When the drone enters or exits the water, the pressure sensor detects changes in the medium in real time, and the camera simultaneously acquires image data. Its wiring harness is led out through the waterproof channel 1 on the base. The first O-ring groove 2 ensures the waterproof performance of the sealed cavity, guaranteeing the stable operation of the optical and pressure sensing systems in complex water and air environments.

[0082] As an alternative implementation, the cylindrical cabin includes two annular tubes arranged coaxially, with a number of openings 6 evenly spaced around the sidewalls of the annular tubes.

[0083] Two adjacent annular pipes are fixedly connected.

[0084] The top of the annular tube at the top is fixed coaxially with the base.

[0085] The bottom of the annular tube at the bottom is fixed to the convex structure.

[0086] A first connecting ring is provided between two adjacent annular tubes. A first flat-head hexagonal screw hole 3 is opened on the first connecting ring. The first connecting ring and the annular tube are fixed by hexagonal screws.

[0087] During the underwater navigation phase of the UAV, water flows naturally into its internal cavity through several openings 6 circumferentially formed on the side walls of two annular tubes on the cylindrical nacelle. By dynamically adjusting the water volume inside the nacelle, the underwater center of gravity of the fuselage is optimized, improving maneuverability. Adjacent annular tubes are securely connected by a first connecting ring with a first flat-head hexagonal screw hole 3, ensuring the integrity and reliability of the servo gear compartment structure under fluid action.

[0088] As an optional implementation, the upper convex structure includes a protrusion 16, which is inserted into the inner side of the corresponding annular tube. An annular seat is coaxially fixed to the outer side of the protrusion 16, and a plurality of guide grooves 17 are circumferentially and equally spaced on the side wall of the annular seat.

[0089] The annular seat is coaxially fixed to the bottom of the corresponding annular tube.

[0090] The bottom of the annular seat is provided with a first rotating buckle 15 and a second O-ring groove 14. The first rotating buckle 15 is used for detachable connection between the annular seat and the connector 24, and the second O-ring groove 14 is used for installing a sealing ring between the annular seat and the connector 24.

[0091] The bottom end of the annular tube at the bottom is fixed with a second connecting ring by an internal hex screw. The second connecting ring has several connecting ears at equal intervals around its circumference, and the connecting ears have screw holes 13. The top of the annular seat is also provided with connecting ears with screw holes 13, and the second connecting ring is fixed to the top of the annular seat by bolts.

[0092] During the drone's water-emergence phase, the protrusion 16 guides the residual water flow inside the cylindrical cabin, allowing it to be quickly and orderly discharged through the circumferentially arranged guide channels 17, effectively reducing the load on the fuselage. The second O-ring slot 14 and the first rotating buckle 15 at the bottom of the annular seat work together to ensure that the connection with the connector 24 is both sealed and reliable and easy to disassemble, while the second connecting ring, which is fixed with bolts through the screw holes 13, further enhances the structural stability of the connection between the drainage module and the bottom of the cabin.

[0093] As an alternative implementation, the rudder assembly includes an upper rudder section and a lower rudder section, with the upper rudder section connected to an annular tube at the top and the lower rudder section connected to an annular tube at the bottom.

[0094] The upper rudder section includes a first rudder wing 8 and a second rudder wing 9 located in the same plane.

[0095] The downward rudder section includes a first elevator wing 10 and a second elevator wing 11 located in the same plane.

[0096] The first plane containing the first rudder wing 8 and the second rudder wing 9 is perpendicular to the second plane containing the first elevator wing 10 and the second elevator wing 11.

[0097] The first rudder wing 8 and the second rudder wing 9, the first elevator wing 10 and the second elevator wing 11 are all equipped with steering components.

[0098] During underwater cruise and cross-medium attitude transitions of the UAV, the rudder assembly achieves precise control through vertically arranged rudder wings: the first and second rudder wings of the upper rudder unit control yaw, and the first and second elevator wings of the lower rudder unit control pitch. Each rudder wing, linked by the steering unit, deflects synchronously within a range of -30° to +30°, changing the direction of the water flow force and collaboratively adjusting the fuselage's horizontal or vertical attitude, significantly improving underwater maneuverability and stability during cross-medium transitions.

[0099] As an optional implementation, the steering unit includes a waterproof servo motor 7. The fixed end of the waterproof servo motor 7 is fixed inside the annular tube by a servo motor support structure 4, and the movable end of the waterproof servo motor 7 is fixedly connected to a servo motor coupling 12.

[0100] The two ends of the servo coupling 12 of the upper annular tube are fixed to the first rudder wing 8 and the second rudder wing 9, respectively.

[0101] The two ends of the servo coupling 12 of the lower annular tube are fixed to the first elevator wing 10 and the second elevator wing 11, respectively.

[0102] A second flat-head hexagonal screw hole 5 is opened inside the annular tube, and the second flat-head hexagonal screw hole 5 is fixed to the servo motor support structure 4 by a flat-head hexagonal screw.

[0103] In underwater attitude control of the UAV, the steering unit is the core for precise operation: the IP68-rated waterproof servo 7 is securely mounted inside the annular tube via a servo support structure 4, which is fastened by screws at the second flat-head hexagonal screw hole 5. The servo's output shaft drives the first rudder wing 8 and the second rudder wing 9, or the first elevator wing 10 and the second elevator wing 11, to deflect synchronously via the servo coupling 12. This rigid linkage structure ensures accurate and timely command transmission, enabling the rudder wings to quickly change the water flow force, thereby achieving flexible and stable pitch and steering control of the UAV underwater.

[0104] As an optional implementation, a reinforcing rib 19 is fixed between two adjacent annular culverts 18.

[0105] In the operation of UAVs in water and air across media, the reinforcing ribs 19 connecting adjacent annular ducts 18 can effectively enhance the overall structural rigidity, suppress vibration, and ensure the stability and reliability of power output.

[0106] The rudder and elevator compartments share the same structural design, precisely connected by a transition structure and arranged at a specific angle. This transition structure is angle-adjustable, allowing for flexible adjustment of the relative positions of the two compartments. They are secured with flat-head hexagonal screws via the first flat-head hexagonal screw hole 3. Inside the compartments is a rudder support structure 4, secured with flat-head hexagonal screws via the second flat-head hexagonal screw hole 5. Bolts then fix the rudders to this structure. All rudders are IP68 waterproof rudders 7, tightly connected to the rudder and elevator via rudder couplings 12, ensuring stable operation of the UAV in underwater environments for extended periods. Furthermore, both rudder compartments are innovatively designed with openings 6 that allow water to flow naturally into the cylindrical cavity of the rudder compartment during underwater operation. Dynamically adjusting the water volume within the cavity effectively optimizes the underwater center of gravity, significantly improving the UAV's maneuverability in underwater environments. The elevator rudder compartment is connected to the rudder compartment angle adjustment structure at the rear, also secured with flat-head hexagonal screws. The structure, through rotation and bolt fixing via screw holes 13, precisely calibrates the relative installation angle between the servo compartment and the central compartment to adapt to different operational scenarios. A second O-ring slot 14 is used to place O-rings, further enhancing waterproof sealing performance, while a first rotating buckle 15 prevents the head module from separating from the central compartment during drone operation. The central protrusion 16 and the flow guide groove 17 on the outer ring allow for rapid drainage of residual moisture from the servo compartment using gravity when the drone transitions from underwater to aerial flight, effectively reducing additional load and improving water-to-air medium conversion efficiency.

[0107] As an optional implementation, the drive components include a brushless motor and a propeller. The propeller is fixedly connected to the output shaft of the brushless motor, and a fixed platform 20 is fixedly connected to the fixed end of the brushless motor. The fixed platform 20 is coaxially fixed within the annular duct 18 by a three-point support structure 22.

[0108] Screw holes 21 are provided on the fixed platform 20, and the fixed end of the brushless motor is fixed to the fixed platform 20 by screws.

[0109] In the cross-medium operation of UAVs in water and air, the drive component is the core of power output: the brushless motor is fastened to the screw hole 21 of the fixed platform 20 by screws at its fixed end to ensure a stable connection. The fixed platform 20 is rigidly connected to the inner wall of the annular duct 18 through a three-point support structure 22. This optimized design can effectively disperse and suppress the vibration generated when the motor is running at high speed.

[0110] The propeller and the output shaft of the brushless motor are fixedly connected and work efficiently under the constraint of the annular duct 18, which together ensures the stability and efficiency of the UAV's power conversion underwater and in the air.

[0111] As an optional implementation, the connector 24 is provided with a central cavity 25, the top of the central cavity 25 is provided with a first rotating groove 26 that is detachably connected to the first rotating buckle 15, and the bottom of the connector 24 is provided with a second rotating buckle 28 and a third sealing ring groove 27.

[0112] The side wall of the central cavity 25 is connected to a dedicated waterproof channel 23.

[0113] In the connection and sealing of various components of the UAV, the connector 24 serves as the core load-bearing structure, and its internal central cavity 25 is used to integrate the control circuit. When assembled with the head module, the first rotating slot 26 at the top of the cavity quickly engages and locks with the first rotating buckle 15, while the second rotating buckle 28 and the third sealing ring groove 27 at the bottom are used to achieve the same reliable sealing connection with the tail module.

[0114] A dedicated waterproof channel 23 provides gas-liquid isolation protection for the wiring leading out from the side wall of the central cavity 25. This design enables convenient disassembly and assembly of the core control module and ensures high-reliability sealing, guaranteeing the safe and stable operation of internal electronic equipment under cross-medium pressure changes.

[0115] This module is a key component for UAV power optimization and core control, and consists of two collaborative units: a ring-shaped duct and a retractable streamlined central cabin.

[0116] Specifically, the annular duct 18 effectively suppresses power diffusion losses by constraining the trajectory of airflow / water flow, significantly improving power output efficiency. Reinforcing ribs 19 are installed between each annular duct 18, and the overall structural strength is ensured through optimized mechanical design. A fixed platform 20 is located at the center of the duct, with screw holes 21 for fixing the drive motor. The entire platform adopts a three-point support structure 22, rigidly connected to the inner wall of the duct. This design effectively suppresses vibrations generated during high-speed motor operation, ensuring system stability. The motor wires are led out through a dedicated waterproof channel 23, forming a gas-liquid isolation protection to prevent electrical short-circuit faults caused by media intrusion.

[0117] The central cavity 25 serves as the carrier of core electronic equipment, primarily integrating key circuit components such as the central controller and electronic speed controller. Its shape is optimized for hydrodynamics, significantly reducing motion resistance in air-water cross-medium environments. The cabin interface adopts a modular design: the upper part features the central cavity 25 and the first rotating slot 26, achieving precise mechanical positioning and sealed connection with the piston structure II of the blunt-headed cylindrical structure module. The lower part integrates the third sealing ring groove 27 and the second rotating buckle 28, meeting the requirements for rapid assembly and disassembly while providing convenient conditions for the maintenance and repair of the power system.

[0118] As an optional implementation, the large-diameter end of the conical bottom cylinder 30 is provided with a second rotating groove 29 for detachable connection with the second rotating buckle 28, and the conical bottom cylinder 30 has a hollow structure.

[0119] The conical bottom cylinder 30 has a battery pad support structure 31 and a battery pad coaxially fixed inside. The inner cavity of the conical bottom cylinder 30 is used as a battery compartment. The tip of the conical bottom cylinder 30 is also provided with a waterproof channel 32 for signal lines.

[0120] The tip of the protrusion 16 is provided with a waterproof channel for the control line to pass through. A cavity is provided inside the protrusion 16. The cavity of the protrusion 16, the central cavity 25 and the cavity inside the conical bottom cylinder 30 are connected to form a sealed equipment cavity.

[0121] During the overall assembly and operation of the UAV, the large-diameter end of the conical tail cylinder 30 achieves a quick and reliable locking connection with the second rotating latch 28 in the middle via the second rotating slot 29. Its internal hollow structure, through the coaxially fixed battery pad support structure 31 and the battery pad, forms a stable battery compartment for housing the energy system. The waterproof channel 32 for the signal line at the tip of the conical tail cylinder 30 and the waterproof channel at the tip of the protrusion 16 together provide a sealed exit path for the control circuitry. The cavity within the protrusion 16, the central cavity 25, and the battery compartment of the conical tail cylinder 30 are interconnected, forming a complete sealed equipment cavity, effectively protecting the internal equipment from moisture intrusion. This modular design also greatly facilitates battery installation and maintenance.

[0122] The module features a convergent cabin design, which optimizes fluid trajectory in water and air media and reduces resistance from eddies. A second rotating slot 29 is located at the top of the module, allowing for quick docking with a second rotating latch 28 at the bottom of the central cabin structure. The central section is a conical base cylinder 30, with a battery pad support structure 31 at the bottom for securing the battery pad. A lithium battery pack is placed on the pad to provide continuous power to the entire drone. A waterproof channel 32 for signal lines is provided at the bottom of the module, allowing for neat routing of equipment control lines, avoiding messy wiring, effectively preventing moisture intrusion, and ensuring stable signal transmission.

[0123] When the drone is in flight, it adopts a quadcopter-like flight mode, maintaining a vertical attitude. Upon receiving the "water entry command," the drone initiates the water entry switching procedure: first, it reduces the speed of the airborne motors to achieve a slow descent onto the water surface. Once the head pressure sensor detects water pressure, indicating that the fuselage is fully submerged, the four control wings of the blunt-nosed cylindrical head structure module begin to operate, adjusting the drone's attitude to a horizontal state. Simultaneously, it completes the switch from airborne to underwater control mode, achieving an "air-to-water" power conversion.

[0124] During the underwater cruise phase, the UAV drives the propellers with four waterproof brushless motors, which, together with the annular duct 18, constrain the water flow, effectively avoiding interference from vortices of adjacent propellers and ensuring stable navigation. For attitude control, the four rudders of the blunt-nosed cylindrical head structure module deflect within an angle range of -30° to +30°, changing the direction of the water flow force to achieve pitch and turn operations.

[0125] Upon receiving the "emergence command," the UAV enters the emergence switching process: First, it increases the speed of the underwater motors, driving the fuselage towards the water surface. Simultaneously, the rudder and elevator work together to adjust the fuselage attitude to a vertical position to meet the requirements of aerial flight. During emergence, the blunt-nosed cylindrical head structure of the streamlined fuselage effectively disperses the water flow. The central protrusion 16 of the piston structure II, in conjunction with the central cabin guide channel 17, quickly discharges water accumulated in the servo compartment under gravity. This, combined with the curved surface on the outer side of the duct, significantly reduces water viscous drag, shortens emergence time, and reduces the fuselage tilt angle. Once the pressure sensor detects atmospheric pressure and confirms that the fuselage is completely out of the water, the UAV immediately switches to aerial control mode, completing the "water-to-air" power conversion.

[0126] For multiple cross-domain operations, the drone will cycle through the "aerial flight - water entry switch - underwater cruise - water exit switch" process. After the mission is completed, the central controller will shut down all power components, and the drone will enter a designated area on the water's surface or underwater to stand by or execute the recovery procedure.

[0127] In the description of this invention, it should be understood that the terms "longitudinal", "lateral", "up", "down", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this invention, 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.

[0128] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A water-air cross-medium unmanned aerial vehicle, characterized in that, This includes the head, middle, and tail sections arranged sequentially along the direction of the drone's movement; The head includes a hemispherical dome at the front end and a cylindrical cabin at the rear end. The cylindrical cabin is connected inside and out. The bottom of the inner side of the cylindrical cabin is provided with an upward convex structure. The front end of the upward convex structure is in the same direction as the forward movement of the UAV. The tail end of the upward convex structure is connected to a number of circumferentially arranged guide channels (17). The guide channels (17) are opened on the side wall of the cylindrical cabin. The cylindrical cabin is provided with a rudder assembly. The middle part includes a connector (24) and a plurality of annular ducts (18) arranged around the connector (24). A driving component is provided in the annular ducts (18). A plurality of flow guides (17) are connected to a plurality of annular ducts (18). The annular ducts (18) are used for fluid passage. The tail section is a conical bottom tube (30), and the tip of the conical bottom tube (30) faces the opposite direction to the movement direction of the UAV; A fluid channel with a smooth transition is formed along the hemispherical cover, the cylindrical cabin, the annular duct (18) and the conical bottom cylinder (30); The two ends of the connector (24) are detachably connected to the cylindrical cabin and the conical bottom cylinder (30), respectively.

2. The water-air cross-medium unmanned aerial vehicle according to claim 1, characterized in that: The hemispherical cover consists of a hemispherical PMMA cover and a base, with a sealed cavity formed between the hemispherical PMMA cover and the base. A high-definition camera and a pressure sensor are installed inside the sealed cavity. The high-definition camera and the pressure sensor are fixed on the base, and the base is coaxially fixed to one end of the cylindrical cabin. The base is provided with a waterproof channel (1) and a first O-ring groove (2). The first O-ring groove (2) is used to install a sealing ring between the base and the hemispherical PMMA cover. The waterproof channel (1) is used to pass through the wiring harness of the high-definition camera and the pressure sensor.

3. The water-air cross-medium unmanned aerial vehicle according to claim 2, characterized in that, The cylindrical cabin includes two annular tubes arranged coaxially, and the sidewalls of the annular tubes are provided with a number of openings (6) at equal intervals around the perimeter. The two adjacent annular tubes are fixedly connected; The top of the annular tube located at the top is fixed coaxially with the base; The bottom of the annular tube located at the bottom is fixed to the upper convex structure.

4. The water-air cross-medium unmanned aerial vehicle according to claim 3, characterized in that: The upper convex structure includes a protrusion (16), which is inserted into the inner side of the corresponding annular tube. An annular seat is coaxially fixed to the outer side of the protrusion (16), and a plurality of the guide grooves (17) are circumferentially and equally spaced on the side wall of the annular seat. The annular seat is coaxially fixed to the bottom of the corresponding annular tube; The bottom of the annular seat is provided with a first rotating buckle (15) and a second O-ring groove (14). The first rotating buckle (15) is used for the annular seat to be detachably connected to the connector (24), and the second O-ring groove (14) is used to install a sealing ring between the annular seat and the connector (24).

5. The water-air cross-medium unmanned aerial vehicle according to claim 3, characterized in that: The rudder assembly includes an upper rudder section and a lower rudder section, the upper rudder section being connected to the annular tube located at the top, and the lower rudder section being connected to the annular tube located at the bottom. The upper rudder section includes a first rudder wing (8) and a second rudder wing (9) located in the same plane. The downward rudder section includes a first elevator wing (10) and a second elevator wing (11) located in the same plane. The first plane containing the first rudder wing (8) and the second rudder wing (9) is perpendicular to the second plane containing the first elevator wing (10) and the second elevator wing (11); The first rudder wing (8) and the second rudder wing (9), the first elevator wing (10) and the second elevator wing (11) are all equipped with steering components.

6. The unmanned aerial vehicle (UAV) for water-air cross-medium operation according to claim 5, characterized in that: The steering unit includes a waterproof servo motor (7), the fixed end of which is fixed in the annular tube by a servo motor support structure (4), and the movable end of which is fixedly connected to a servo motor coupling (12). The two ends of the servo coupling (12) of the annular tube located above are fixed to the first rudder wing (8) and the second rudder wing (9) respectively; The two ends of the servo coupling (12) of the lower annular tube are fixed to the first elevator wing (10) and the second elevator wing (11), respectively.

7. The unmanned aerial vehicle (UAV) for water-air cross-medium operation according to claim 1, characterized in that: A reinforcing rib (19) is fixed between two adjacent annular culverts (18).

8. The unmanned aerial vehicle (UAV) for water-air cross-medium operation according to claim 1, characterized in that: The drive component includes a brushless motor and a propeller. The propeller is fixedly connected to the output shaft of the brushless motor. A fixed platform (20) is fixedly connected to the fixed end of the brushless motor. The fixed platform (20) is coaxially fixed in the annular duct (18) through a three-point support structure (22).

9. The unmanned aerial vehicle (UAV) for water-air cross-medium operation according to claim 4, characterized in that: The connector (24) is provided with a central cavity (25), the top of the central cavity (25) is provided with a first rotating slot (26) that is detachably connected to the first rotating buckle (15), and the bottom of the connector (24) is provided with a second rotating buckle (28) and a third sealing ring groove (27). The side wall of the central cavity (25) is connected to a dedicated waterproof channel (23).

10. A water-air cross-medium unmanned aerial vehicle according to claim 9, characterized in that: The large-diameter end of the conical bottom cylinder (30) is provided with a second rotating groove (29) for detachable connection with the second rotating buckle (28), and the conical bottom cylinder (30) has a hollow structure.

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