Bionic water-air accompanying aircraft integrated with flapping wings and tilting rotors and control equipment

Abstract

The invention discloses a bionic water and air accompanying aircraft integrated with flapping wings and tilting rotors and control equipment. The aircraft comprises an aircraft body, a top shell mechanism, a bottom shell mechanism and servo motors. The front end of the device body is provided with a camera, the rear end is provided with a propeller, and two sides are symmetrically provided with flapping wing bodies; the top shell mechanism is provided with a rotating assembly, a rotor wing driving box and a rotor wing body; the bottom shell mechanism is provided with a diving shell, a wireless control module, an electronic water suction pump, an electronic drainage pump, a retractable side plate, an electric telescopic rod and a roller assembly; the servo motor is connected with the turntable which is provided with the cutting plate and the cleaning pad. Flexible switching of a water mode and an air mode is achieved through cooperation of the flapping wings and the rotors and buoyancy adjustment, ground movement is achieved through combination of the side plates and the roller assemblies, and the limitation of a single scene is solved; the cutting plate and the cleaning pad can remove sundries, wipe the lens, ensure clear environmental perception, and improve the adaptability and stability of multi-scene accompanying operation.

Description

Technical Field

[0001] This invention belongs to the field of aircraft technology, specifically relating to a biomimetic water-air companion aircraft and control equipment that integrates flapping wings and tilting rotors. Background Technology

[0002] Escort vehicles often use electric propulsion technology in conjunction with GPS positioning systems to achieve speed regulation and stable escort, while traditional underwater vehicles have a higher probability of failure because their propulsion blades are prone to getting tangled with underwater debris.

[0003] In existing technologies, such as the underwater vehicle disclosed in CN218350758U, a planar vibration structure replaces traditional blades, using vibrating water flow for propulsion to avoid entanglement with impurities, thus improving underwater navigation safety. However, this vehicle is only suitable for a single underwater scenario and lacks the ability to operate in multiple environments, including surface, air, and land. Its functional limitations are significant, and its overall efficiency is low, failing to meet the needs of multi-task and multi-scenario escort operations. Furthermore, the visual detection components of existing escort vehicles are easily obscured by aquatic plants and silt, affecting environmental perception, and the power structure design makes it difficult to achieve flexible switching between water and air modes. Summary of the Invention

[0004] The purpose of this invention is to provide a biomimetic underwater and aerial companion vehicle and control device that integrates flapping wing tilting rotor, in order to solve the technical defects of existing companion vehicles that are only suitable for single underwater scenarios, lack multi-environment operation capabilities, cannot flexibly switch between underwater and aerial modes in their power structure, and whose visual detection components are easily obstructed by debris, affecting environmental perception.

[0005] To achieve the above objectives, this application provides the following technical solution: The first aspect of this application provides a biomimetic water-air companion vehicle integrating flapping-wing tilt rotors, comprising: The device has a camera fixed at the front end, a thruster fixed at the rear end, and flapping wing bodies fixed symmetrically on both sides. The top shell mechanism is fixed to the top of the device body, and rotating components are fixed on both sides of it. The rotating components are rotatably connected to the rotor drive box, and the rotor body is rotatably assembled at the power output end of the rotor drive box. The bottom shell mechanism is fixed to the bottom of the device body, and a submersible shell is fixed through its bottom. A wireless control module, an electronic water pump and an electronic drainage pump are fixed on the submersible shell. Retractable side plates are rotatably connected to both sides of the bottom shell mechanism. An electric telescopic rod is fixed on the side plate, and a roller assembly is fixed at the telescopic end of the electric telescopic rod. A servo motor is installed at the front end of the device body, and its output shaft is fixed to a turntable. A cutting plate is installed on the turntable, and a cleaning pad is fixed to the side of the cutting plate facing the camera. The cleaning pad is in contact with the end face of the camera lens.

[0006] In one alternative embodiment, the top shell mechanism includes: The top shell body is fixedly connected to the top of the device body. A frame is fixedly connected to the outer edge of the top of the top shell body. A solar photovoltaic panel is fixedly installed at the top of the inner wall of the frame, and a battery electrically connected to the solar photovoltaic panel is fixedly connected to the bottom of the inner wall of the frame.

[0007] In one optional embodiment, a main guide wire is fixedly connected to the center of the bottom of the battery, and the main guide wire passes through the top shell body and extends into the interior of the device. The top shell body has rotating cavities on both outer walls, and a drive assembly electrically connected to the main conductor is fixed on one side of the inner wall of the rotating cavity.

[0008] In one optional embodiment, a wing frame is rotatably mounted inside the rotating cavity, and a first spring wire is fixedly connected to both ends of the bottom of the battery; The bottom ends of the top shell body are provided with second spring wires, and the inner wall of the wing frame is provided with a first L-shaped wire and a second L-shaped wire. The first L-shaped conductor is electrically connected to the first spring conductor, and the second L-shaped conductor is electrically connected to the second spring conductor.

[0009] In one optional embodiment, the bottom shell mechanism includes: a bottom shell body, the bottom shell body being fixedly connected to the bottom of the vessel body, the submersible shell being fixedly disposed through the bottom of the bottom shell body, an inlet check valve being fixedly connected to the inlet of the electronic water pump, and a drain check valve being fixedly connected to the outlet of the electronic drain pump. The wireless control module is fixed with conduits on both sides, and the ends of the conduits are electrically connected to the wiring ports of the electronic water pump and the electronic drainage pump, respectively. Storage cavities for storing the side plates are opened on the outer walls of both sides of the bottom shell.

[0010] In one optional embodiment, a hollow tube is fixedly connected to one end of the inner wall of the storage cavity, and the side plate is rotatably sleeved on the outer wall of the hollow tube. A forward and reverse stepper motor is fixed to one end of the inner wall of the hollow tube. A sector plate is fixed to the output end of the forward and reverse stepper motor. The arc surface of the sector plate is fixedly connected to the inner wall of the side plate.

[0011] In one optional embodiment, a groove is provided on the outer wall of the hollow tube, and one end of the sector plate slides in conjunction with the groove.

[0012] In one optional embodiment, threaded rods are fixedly connected to both sides of the front end of the turntable, the cutting plate is sleeved on the outer wall of the threaded rods, and nuts for fixing the cutting plate are threadedly connected to the outer wall of the threaded rods. A groove is opened on the side of the cutting plate facing the camera, and the cleaning pad is fixed to the inner wall of the groove.

[0013] In one optional embodiment, the device body is provided with a control and computing module, which is electrically connected to the thruster, flapping wing body, rotor drive box and servo motor respectively.

[0014] A second aspect of this application provides a control device that is remotely connected to the biomimetic water-air companion vehicle with a fused flapping-wing tilting rotor as described above.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The system is equipped with a flapping wing body, a rotor drive box, a rotor body, and rotating components. These components, along with an electronic water pump and an electronic drainage pump on the submersible hull, regulate the vehicle's buoyancy, enabling flexible switching between water-air propulsion modes and navigation states. Simultaneously, the side plates of the bottom hull mechanism, equipped with electric telescopic rods and roller assemblies, allow for ground movement of the vehicle, effectively solving the problem of existing vehicles only being suitable for single underwater scenarios and lacking multi-environment operation capabilities. Furthermore, by installing a servo motor, turntable, cutting plate, and cleaning pad at the front of the vehicle, the servo motor drives the turntable to rotate the cutting plate and cleaning pad. The cutting plate removes weeds and other debris entangled around the camera, while the cleaning pad wipes away dirt against the camera lens end face, overcoming the shortcomings of existing vehicles where visual detection components are easily obstructed and environmental perception is poor.

[0016] 2. The top shell structure integrates solar photovoltaic panels and batteries. The photovoltaic panels convert solar energy into electrical energy, which is stored by the batteries, providing green self-powered power for the aircraft, greatly improving its endurance and reducing dependence on external power supply. At the same time, the top shell body and frame form a closed installation space, which can effectively protect the photovoltaic panels and batteries from external environmental corrosion and improve the service life of the components.

[0017] 3. The battery power is delivered to the interior of the device through the main line to power the various electronic components. The drive assembly is electrically connected to the main line to achieve precise power supply. The rotating cavity provides installation and rotation space for the rotating assembly. The drive assembly can control the movement of the rotating assembly and provide power for rotor angle adjustment.

[0018] 4. By combining spring wires and L-shaped wires, continuous and stable transmission of power and control signals is achieved when the wing frame rotates. The extensibility of the spring wires adapts to the multi-angle rotation of the wing frame, avoiding wire bending and stretching damage, and ensuring the reliability of circuit connection.

[0019] 5. The bottom shell mechanism is equipped with inlet and outlet check valves to ensure the filling and drainage efficiency of the electronic water pump and outlet pump, prevent water backflow or flooding, and improve the stability of buoyancy adjustment; the wire conduit enables the electrical connection between the wireless control module and the pump body to avoid underwater wiring damage due to moisture; the storage cavity can accommodate the side plate to reduce the resistance of the vehicle during water and air operation and ensure operational flexibility.

[0020] 6. The forward and reverse stepper motor drives the sector plate, causing the side plate to rotate around the hollow tube, realizing the automatic expansion and contraction of the side plate; the hollow tube provides rotational support for the side plate, while protecting the internal motor components and improving structural durability; in addition, the side plate can support the roller assembly to move on the ground after it is expanded, and reduces the resistance of water and air operation when it is folded up.

[0021] 7. A groove is opened in the hollow tube, and one end of the sector plate slides in the groove to provide guidance and limit the rotation of the sector plate, effectively limiting the opening and closing angle of the side plate and avoiding excessive rotation that could damage the components.

[0022] 8. The threaded rod and nut enable the cutting plate to be detachably fixed, making disassembly and assembly convenient without special tools. This facilitates the replacement of worn cutting plates and cleaning pads, improving maintenance efficiency. The grooves on the cutting plate ensure a more secure installation of the cleaning pad, preventing it from falling off during rotational cleaning. The cleaning pad fits tightly against the lens, resulting in better cleaning. The turntable rotates the cutting plate and cleaning pad, allowing for simultaneous cutting of debris and wiping of the lens. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A first three-dimensional schematic diagram of a biomimetic water-air companion vehicle integrating flapping wing tilting rotor provided by the present invention; Figure 2 A second three-dimensional schematic diagram of a biomimetic water-air companion vehicle integrating flapping wing tilting rotor provided by the present invention; Figure 3 A front view of a biomimetic water-air companion vehicle integrating flapping wing tilting rotor provided by the present invention; Figure 4 Rear view of a biomimetic water-air companion vehicle integrating flapping wing tilting rotor provided by the present invention; Figure 5 Right view of a biomimetic water-air companion vehicle integrating flapping wing tilting rotor provided by the present invention; Figure 6 for Figure 5 Enlarged view of point A in the middle; Figure 7 A front sectional view of the top shell mechanism of a biomimetic water-air escort vehicle that integrates flapping-wing tilting rotors, provided by the present invention; Figure 8 A front sectional view of the bottom shell mechanism of a biomimetic water-air escort vehicle integrating flapping wing tilting rotor provided by the present invention; Figure 9 for Figure 8 Enlarged view of point B in the middle; In the diagram: 1. Body; 2. Camera; 3. Thruster; 4. Flapping Wing Body; 5. Top Shell Mechanism; 51. Top Shell Body; 52. Frame; 53. Solar Photovoltaic Panel; 54. Battery; 55. Main Guide Wire; 56. Rotating Cavity; 57. Drive Component; 58. First Guide Wire; 59. Second Guide Wire; 510. First Through Hole; 511. First Spring Guide Wire; 512. Second Through Hole; 513. Second Spring Guide Wire; 514. Wing Frame; 515. First L-shaped Guide Wire; 516. Second L-shaped Guide Wire; 6. Bottom Shell Mechanism; 61. Bottom Shell Body; 62. Storage Cavity; 63. Hollow Tube; 64. Side plate; 65. Forward and reverse stepper motor; 66. First wireless receiver module; 67. Fan-shaped plate; 68. Slide groove; 69. Drive box; 610. Second wireless receiver module; 611. Electric telescopic rod; 612. Roller assembly; 613. Submersible shell; 614. Wireless control module; 615. Electronic water pump; 616. Inlet check valve; 617. Electronic drain pump; 618. Drain check valve; 619. Conduit; 7. Rotating assembly; 8. Rotor drive box; 9. Rotor body; 10. Servo motor; 11. Turntable; 12. Threaded rod; 13. Cutting plate; 14. Nut; 15. Cleaning pad. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0027] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0028] The present invention will now be described in further detail with reference to the accompanying drawings: like Figures 1-9As shown, in a first aspect of the present invention, a biomimetic water-air companion vehicle integrating flapping-wing tilting rotor is provided, comprising: a body 1, a camera 2 fixed at the front end, a thruster 3 fixed at the rear end, and flapping-wing bodies 4 symmetrically fixed on both sides; a top shell mechanism 5, fixed to the top of the body 1, with rotating components 7 fixed on both sides, the rotating components 7 being rotatably connected to a rotor drive box 8, the power output end of the rotor drive box 8 being rotatably assembled with rotor bodies 9; and a bottom shell mechanism 6, fixed to the bottom of the body 1, with a diving shell 613 fixedly installed through its bottom. The device 13 is equipped with a wireless control module 614, an electronic water pump 615, and an electronic drainage pump 617. The bottom shell mechanism 6 is rotatably connected to retractable side plates 64 on both sides. An electric telescopic rod 611 is fixed on the side plate 64, and a roller assembly 612 is fixed at the telescopic end of the electric telescopic rod 611. A servo motor 10 is installed at the front end of the device 1, and its output shaft is fixed to a turntable 11. A cutting plate 13 is installed on the turntable 11. A cleaning pad 15 is fixed to the side of the cutting plate 13 facing the camera 2, and the cleaning pad 15 is in contact with the lens end face of the camera 2.

[0029] In practice, a camera 2 is fixed at the front end of the vehicle body 1, a thruster 3 is fixed at the rear end, and flapping wing bodies 4 are symmetrically fixed on both sides; the top shell mechanism 5 is fixed to the top of the vehicle body 1 as a whole, and rotating components 7 are fixed on both sides of it. The rotating components 7 are rotatably connected to the rotor drive box 8. The power output end of the rotor drive box 8 is rotatably assembled with the rotor body 9. The rotor drive box 8 and the rotor body 9 cooperate to provide the core power for the vehicle's aerial operation; the bottom shell mechanism 6 is fixed to the bottom of the vehicle body 1, and a diving hull 613 is fixed through its bottom. A wireless control module 614, an electronic water pump 615, and an electronic drainage pump 613 are fixed on the diving hull 613. 17. The bottom shell mechanism 6 is rotatably connected to the two sides of the retractable side plate 64. An electric telescopic rod 611 is fixed on the side plate 64. A roller assembly 612 is fixed at the telescopic end of the electric telescopic rod 611. The bottom shell mechanism 6 is responsible for realizing the underwater diving and ground movement functions of the vehicle. The servo motor 10 is installed at the front end of the body 1. Its output shaft is fixed to the turntable 11. A cutting plate 13 is installed on the turntable 11. A cleaning pad 15 is fixed to the side of the cutting plate 13 facing the camera 2. The cleaning pad 15 is in contact with the lens end face of the camera 2 to form the autonomous cleaning structure of the camera 2, ensuring the clarity of the vehicle's environmental perception.

[0030] Furthermore, the body 1 integrates a control and computing module, which is electrically connected to the thruster 3, flapping wing body 4, rotor drive box 8 and servo motor 10 respectively. It receives various sensor signals and issues precise drive control commands to achieve unified control of the vehicle's power output and motion execution.

[0031] Meanwhile, the interior of the vessel 1 is also equipped with a backup power module, a sensor module, and a communication and data transmission module. The backup power module provides emergency power supply for the vessel to avoid operational interruptions caused by failure of the main power supply system. The sensor module is connected to the camera 2 to achieve all-round perception of the surrounding environment of the vessel, and the collected environmental data is transmitted to the control and computing module in real time. The communication and data transmission module enables signal interaction between the vessel and external control equipment, providing a data transmission channel for remote control.

[0032] In this embodiment, the top shell mechanism 5 includes a top shell body 51, a frame 52, a solar photovoltaic panel 53, a battery 54, a main guide wire 55, a rotating cavity 56, a drive assembly 57, a wing frame 514, a first spring wire 511, a second spring wire 513, a first L-shaped wire 515, and a second L-shaped wire 516. The top shell body 51 is the mounting carrier of the top shell mechanism 5 and is fixedly connected to the top of the body 1. The top outer edge of the top shell body 51 is fixedly connected to the frame 52, which forms a closed installation space. The top of the inner wall of the frame 52 is fixedly installed with a solar photovoltaic panel 53, and the bottom of the inner wall of the frame 52 is fixedly connected to a battery 54. The solar photovoltaic panel 53 is electrically connected to the battery 54. The solar photovoltaic panel 53 converts solar energy into electrical energy, and the battery 54 stores the converted electrical energy as the main power supply for the entire aircraft, realizing green and environmentally friendly self-powered power supply and effectively improving the endurance of the aircraft.

[0033] A main guide wire 55 is fixedly connected to the center of the bottom of the battery 54. The main guide wire 55 passes through the top shell body 51 and extends into the interior of the device 1, transmitting the electrical energy stored in the battery 54 to various electronic components inside the device 1 to provide power support for their normal operation. Rotation cavities 56 are opened on both outer walls of the top shell body 51. The rotation cavities 56 provide space for the rotation of the wing 514. A drive assembly 57 electrically connected to the main guide wire 55 is fixedly installed on one side of the inner wall of the rotation cavity 56. The main guide wire 55 transmits electrical energy to the drive assembly 57 to provide power. At the same time, a first wire 58 is fixedly connected to both ends of the outer wall of the main guide wire 55. The end of the first wire 58 is fixedly connected to the opposite side of the drive assembly 57 to further ensure the stability of electrical energy transmission. A second wire 59 is fixedly connected to the bottom of the drive assembly 57. The end of the second wire 59 extends into the interior of the device 1 and is electrically connected to the control and calculation module to realize the precise control of the drive assembly 57 by the control and calculation module.

[0034] In this embodiment, a wing frame 514 is rotatably mounted inside the rotating cavity 56. The drive assembly 57 is connected to the wing frame 514, enabling the wing frame 514 to rotate smoothly at multiple angles within the rotating cavity 56, providing a basis for adjusting the aircraft's air maneuvering direction. The bottom ends of the battery 54 are fixedly connected to a first spring wire 511. The top ends of the top shell body 51 are provided with a first through hole 510 communicating with the internal space of the rotating cavity 56. The first spring wire 511 extends through the first through hole 510 into the rotating cavity 56. The bottom ends of the top shell body 51 are provided with a second spring wire 513. The bottom ends of the top shell body 51 are provided with a second through hole 512 communicating with the internal space of the rotating cavity 56. The second spring wire 513 extends through the second through hole 512 into the rotating cavity 56, with its end extending into the interior of the device body 1 and electrically connected to the control and calculation module.

[0035] The inner wall of the wing frame 514 is provided with a first L-shaped wire 515 and a second L-shaped wire 516. The first L-shaped wire 515 is electrically connected to the first spring wire 511 to realize the power transmission to the rotating component 7. The second L-shaped wire 516 is electrically connected to the second spring wire 513 to realize the signal control of the rotating component 7 by the control and calculation module. The end of the wing frame 514 is fixedly connected to the rotating component 7. The wiring ports on the opposite sides of the two sets of rotating components 7 are fixedly connected to the ends of the first L-shaped wire 515 and the second L-shaped wire 516 to ensure stable transmission of power and control signals. The first spring wire 511 and the second spring wire 513 are extensible and can adapt to the rotation of the wing frame 514 to avoid damage to the wires due to bending or stretching, thus ensuring the reliability of the circuit connection.

[0036] The rotating component 7 is the angle adjustment structure of the rotor drive box 8. It is rotatably connected to the rotor drive box 8 through a mechanical transmission structure, which can drive the rotor drive box 8 and the connected rotor body 9 to achieve multi-angle rotation and complete the precise adjustment of the rotation direction of the rotor body 9. As the core power output device for the airborne operation of the aircraft, the rotor drive box 8 is electrically connected to the control and computing module. The rotor body 9, which is rotated at its power output end, can achieve high-speed rotation under the drive of the rotor drive box 8, thereby providing stable lift and propulsion for the aircraft.

[0037] When the rotor body 9 is in a high-speed rotating state and is adjusted to a position above or below the wing frame 514, the aircraft can flexibly control its flight altitude by changing the point and direction of lift. When the rotor body 9 is adjusted to the same horizontal height as the wing frame 514, the aircraft's horizontal displacement can be further controlled to achieve precise adjustment of its lateral position. In this state, in conjunction with the wing frame 514, which also has the ability to rotate, the two work together to adjust the overall direction of movement of the aircraft, thereby achieving more complex and flexible spatial maneuverability and meeting the diverse needs of aerial escort operations.

[0038] In addition, the flapping wing body 4, which is symmetrically fixed on both sides of the body 1, forms a complementary power structure with the rotor drive box 8 and the rotor body 9. The flapping wing body 4 can achieve low-speed oscillation, which can provide auxiliary power for the vehicle in the air or water. When the vehicle is traveling at low speed and accurately positioning, the low-speed power output of the flapping wing body 4 can improve the stability of the vehicle and avoid the positional deviation caused by the high-speed rotation of the rotor body 9. It works in conjunction with the high-speed power output of the rotor body 9 to achieve multi-level adjustment of the vehicle's power.

[0039] In this embodiment, the bottom shell mechanism 6 is an integrated underwater operation and ground movement structure, specifically including a bottom shell body 61, a submersible shell 613, a wireless control module 614, an electronic water pump 615, an electronic drainage pump 617, an inlet check valve 616, a drainage check valve 618, a conduit 619, a storage cavity 62, a hollow tube 63, a side plate 64, a forward and reverse stepper motor 65, a first wireless receiving module 66, a sector plate 67, a slide 68, a drive box 69, a second wireless receiving module 610, an electric telescopic rod 611, and a roller assembly 612; the bottom shell body 61 is fixedly connected to the bottom of the vessel body 1, and the submersible shell 613 is fixedly installed through the bottom of the bottom shell body 61. The submersible hull 613 provides a core buoyancy adjustment structure for underwater submersion. The electronic water pump 615 and electronic drainage pump 617 fixed on the submersible hull 613 provide power for filling and draining water. The inlet of the electronic water pump 615 is fixedly connected to the inlet one-way valve 616, which only allows external water to enter the submersible hull 613 in one direction, preventing water backflow after filling. The outlet of the electronic drainage pump 617 is fixedly connected to the outlet one-way valve 618, which only allows water inside the submersible hull 613 to be discharged in one direction, avoiding backflow of external water during drainage. The inlet one-way valve 616 and the drainage one-way valve 618 work together to ensure the efficiency and stability of filling and draining water in the submersible hull 613.

[0040] The wireless control module 614, which is fixed on the submersible hull 613, is a remote control component for underwater buoyancy adjustment. It has wire conduits 619 fixed on both sides, and the ends of the wire conduits 619 are electrically connected to the wiring ports of the electronic water pump 615 and the electronic drainage pump 617, respectively, to realize the transmission of power and control signals. The wireless control module 614 is connected to the signal of external control equipment, so that the operator can conveniently remotely and precisely control the start and stop status of the electronic water pump 615 and the electronic drainage pump 617.

[0041] When the vehicle needs to submerge, the electronic pump 615 and the electronic bleed pump 617 are activated simultaneously, allowing water to be rapidly and fully injected into the internal space of the submersible hull 613, quickly achieving a full water state. At this time, the internal space of the submersible hull 613 is completely filled with water, the overall mass of the entire vehicle increases significantly, the buoyancy decreases accordingly, the vehicle loses balance, gradually sinks and eventually submerges smoothly into the water; then the thruster 3 located at the rear of the vehicle body 1 is activated, the thruster 3 provides powerful thrust for the underwater operation of the vehicle, and uses the reaction force of the water flow to achieve propulsion, so that the vehicle can move flexibly, quickly and stably in the water and perform various underwater escort tasks.

[0042] When the vehicle needs to surface from underwater, the electronic water pump 615 stops operating while the electronic drainage pump 617 remains running. The water stored inside the submersible hull 613 is efficiently discharged, thereby achieving rapid emptying of the hull space. This reduces the overall mass of the vehicle, increases buoyancy, and enables rapid ascent. This structure not only optimizes the convenience and response speed of equipment operation, but also helps to quickly adjust the overall weight of the vehicle when needed, improving its underwater maneuverability and mission adaptability.

[0043] The outer walls on both sides of the bottom shell body 61 are provided with storage cavities 62 for accommodating the side plates 64. The storage cavities 62 provide space for the side plates 64 to be retracted and extended. A hollow tube 63 is fixed to one end of its inner wall. The side plates 64 are rotatably sleeved on the outer wall of the hollow tube 63. Specifically, a circular hole that runs through the front and back is opened at one end of the side plate 64. The inner wall of the circular hole is sleeved on the outer wall of the hollow tube 63 to realize the rotational engagement between the side plate 64 and the hollow tube 63. The outer wall of the side plate 64 can seal the opening of the storage cavity 62 to ensure the overall airtightness of the vehicle and prevent water from entering the storage cavity 62 during underwater operation.

[0044] A forward and reverse stepper motor 65 is fixedly mounted on one end of the inner wall of the hollow tube 63. A first wireless receiving module 66 is fixedly mounted on the outer shell of the forward and reverse stepper motor 65. The first wireless receiving module 66 is connected to an external control device, which allows the operator to remotely control the switch and rotation direction of the forward and reverse stepper motor 65. A sector plate 67 is fixedly connected to the output end of the forward and reverse stepper motor 65. The arc surface of the sector plate 67 is fixedly connected to the inner wall of the side plate 64. When the forward and reverse stepper motor 65 drives the sector plate 67 to rotate, the sector plate 67 drives the side plate 64 to rotate synchronously around the hollow tube 63, thereby enabling the side plate 64 to complete the opening and closing action.

[0045] The outer wall of the hollow tube 63 is provided with a sliding groove 68. One end of the sector plate 67 is slidably engaged with the sliding groove 68. The sliding groove 68 provides guidance and limit for the rotation of the sector plate 67, which can effectively limit the rotation angle of the sector plate 67, avoid excessive rotation that could damage the side plate 64, and improve the stability of the sector plate 67 and the side plate 64 during rotation, preventing problems such as shaking and jamming.

[0046] Furthermore, a drive box 69 is fixedly installed on the inner side of the side plate 64. A second wireless receiving module 610 is fixedly installed at the front end of the drive box 69. The second wireless receiving module 610 is connected to an external control device to realize remote control of the drive box 69. The output end of the drive box 69 is fixedly connected to the electric telescopic rod 611 to provide power for the telescopic movement of the electric telescopic rod 611. A roller assembly 612 is fixedly installed at the telescopic end of the electric telescopic rod 611. The roller assembly 612 provides support and power for the ground movement of the vehicle.

[0047] When the vehicle needs to move on the ground, an external control device sends a command to the first wireless receiving module 66 to control the forward and reverse stepper motor 65 to rotate, causing the sector plate 67 and the side plate 64 to rotate synchronously, so that the side plate 64 unfolds from the storage cavity 62. Then, a command is sent to the second wireless receiving module 610 to control the drive box 69 to drive the electric telescopic rod 611 to extend and retract downward, so that the roller assembly 612 is placed smoothly on the ground, and at the same time, the bottom of the vehicle is lifted off the ground to avoid the bottom of the vehicle from directly contacting the ground and causing wear. Finally, the roller assembly 612 is activated to drive the vehicle to move quickly and smoothly on the ground, realizing the ground transfer and operation of the vehicle. When the vehicle needs to operate in the air or water, first control the electric telescopic boom 611 to retract upwards, and retract the roller assembly 612 to the side of the storage cavity 62. Then control the forward and reverse stepper motor 65 to rotate in the opposite direction, driving the side plate 64 to close, and storing the roller assembly 612, electric telescopic boom 611 and other components into the storage cavity 62, reducing the resistance of the vehicle in the air and underwater and ensuring its operational flexibility.

[0048] In this embodiment, the servo motor 10, which is inserted through the front end of the device 1, cooperates with the self-cleaning structure of the camera 2 to achieve real-time cleaning of the camera 2 and ensure the image clarity of the camera 2. The servo motor 10 is electrically connected to the control and computing module and receives the drive command from the control and computing module. Its output shaft is fixed to the turntable 11 and can drive the turntable 11 to achieve high-speed rotation. Threaded rods 12 are fixed to both sides of the front end of the turntable 11. The cutting plate 13 is sleeved on the outer wall of the threaded rod 12. Specifically, two sets of through holes are opened at the same end of the cutting plate 13. The outer walls of the two sets of threaded rods 12 pass through the two sets of through holes respectively to achieve the sleeve fit between the cutting plate 13 and the threaded rods 12. Nuts 14 for fixing the cutting plate 13 are threadedly connected to the outer wall of the threaded rods 12. Tightening the nuts 14 can firmly fix the cutting plate 13 on the turntable 11, realizing the quick installation of the cutting plate 13.

[0049] The cutting plate 13 has a groove on the side facing the camera 2. The cleaning pad 15 is fixed to the inner wall of the groove. The rear end face of the cleaning pad 15 is in contact with the lens end face of the camera 2. When the servo motor 10 drives the turntable 11 to rotate, the cutting plate 13 and the cleaning pad 15 will also rotate synchronously. The continuously rotating cutting plate 13 can effectively clean up the weeds, threads and other debris entangled around the camera 2, preventing them from obstructing the view of the camera 2 or getting tangled on the outer wall of the camera 2 and affecting the operation of the equipment. At the same time, the rotating cleaning pad 15 will slide relative to the lens end face of the camera 2, efficiently removing dust, silt and other dirt attached to the mirror surface of the camera 2, thereby ensuring that the image of the camera 2 is always clear and stable, and ensuring the vehicle's ability to perceive the surrounding environment.

[0050] In addition, the threaded rod 12 and the nut 14 are connected by a detachable structure, which allows operators to easily and quickly disassemble and replace the damaged cutting plate 13 and cleaning pad 15 without the need for complicated tools. This greatly improves the maintenance efficiency and ease of use of the equipment. When the cutting plate 13 is worn or the cleaning pad 15 loses its cleaning effect, it can be replaced in time to ensure the working efficiency of the cleaning structure.

[0051] The second aspect of this application provides a control device that is remotely connected to the biomimetic water-air companion vehicle with a flapping wing tilting rotor as described above. Specifically, it interacts with the vehicle's wireless control module 614, first wireless receiving module 66, second wireless receiving module 66, and the communication and data transmission module inside the vehicle body 1. The control device can be a handheld remote control, tablet computer, computer, or other terminal device. It can send various control commands to the vehicle, including starting / stopping the vehicle, switching power modes, switching between water and air states, ground movement, and camera cleaning. It can also receive environmental perception data and operational status data transmitted by the vehicle, enabling remote and precise control and real-time monitoring of the vehicle. Operators can operate the vehicle from a distance without close contact, improving the safety and convenience of the operation and making it suitable for complex and dangerous operating environments.

[0052] The biomimetic water-air companion vehicle in this embodiment, which integrates flapping-wing tilting rotors, achieves amphibious operation in water, air, and land, effectively solving the technical defects of existing companion vehicles that are only suitable for a single underwater scenario and lack multi-environment operation capabilities. By setting up a cooperative structure of rotor drive box 8, rotor body 9, and rotating component 7, flexible switching between water and air power modes is achieved, solving the problem that the power structure design of existing vehicles is difficult to achieve flexible switching between water and air modes. By setting up an autonomous cleaning structure of servo motor 10, cutting plate 13, and cleaning pad 15, the defect of existing companion vehicles' visual detection components being easily obscured by aquatic plants and silt, affecting the environmental perception effect, is effectively solved.

[0053] Compared with existing technologies, this vehicle has significantly improved its scene adaptability and overall efficiency. The self-cleaning structure of the camera ensures the clarity of the detection imaging and improves the stability of navigation operations. The modular structure design that allows for switching between water and air power makes the vehicle's spatial maneuverability more flexible, which can fully meet the actual needs of escort operations in multiple tasks and scenarios. At the same time, the setting of the solar self-powered structure effectively improves the vehicle's endurance, reduces the cost of use, and has high practical value.

[0054] It should be noted that the above-mentioned fixed connection can adopt conventional fixing methods in the art, such as welding, bolt connection, and snap-fit; the rotating connection can adopt conventional rotating methods in the art, such as bearing matching and shaft connection; and the electrical connection can adopt conventional circuit connection methods in the art, such as wire connection and plug and socket matching. The specific connection structure can be selected according to actual use requirements, and the present invention does not make specific limitations in this regard.

[0055] Furthermore, the thruster 3, flapping wing body 4, drive assembly 57, forward and reverse stepper motor 65, electric telescopic rod 611, rotor drive box 8, servo motor 10, etc. mentioned in this invention all adopt conventional power drive devices in the art. Their specific models and power can be selected according to the overall size and load requirements of the aircraft. This invention does not make specific limitations in this regard.

[0056] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A biomimetic water-and-air companion vehicle integrating flapping-wing tilting rotor, characterized in that, include: The device has a camera fixed at the front end, a thruster fixed at the rear end, and flapping wing bodies fixed symmetrically on both sides. The top shell mechanism is fixed to the top of the device body, and rotating components are fixed on both sides of it. The rotating components are rotatably connected to the rotor drive box, and the rotor body is rotatably assembled at the power output end of the rotor drive box. The bottom shell mechanism is fixed to the bottom of the device body, and a submersible shell is fixed through its bottom. A wireless control module, an electronic water pump and an electronic drainage pump are fixed on the submersible shell. Retractable side plates are rotatably connected to both sides of the bottom shell mechanism. An electric telescopic rod is fixed on the side plate, and a roller assembly is fixed at the telescopic end of the electric telescopic rod. A servo motor is installed at the front end of the device body, and its output shaft is fixed to a turntable. A cutting plate is installed on the turntable, and a cleaning pad is fixed to the side of the cutting plate facing the camera. The cleaning pad is in contact with the end face of the camera lens.

2. The biomimetic water-and-air companion vehicle integrating flapping-wing tilting rotor as described in claim 1, characterized in that, The top shell mechanism includes: The top shell body is fixedly connected to the top of the device body. A frame is fixedly connected to the outer edge of the top of the top shell body. A solar photovoltaic panel is fixedly installed at the top of the inner wall of the frame, and a battery electrically connected to the solar photovoltaic panel is fixedly connected to the bottom of the inner wall of the frame.

3. The biomimetic water-and-air companion vehicle integrating flapping-wing tilting rotor as described in claim 2, characterized in that, A main guide line is fixedly connected to the center of the bottom of the battery, and the main guide line passes through the top shell body and extends into the interior of the device. The top shell body has rotating cavities on both outer walls, and a drive assembly electrically connected to the main conductor is fixed on one side of the inner wall of the rotating cavity.

4. The biomimetic water-and-air companion vehicle integrating flapping-wing tilting rotor as described in claim 3, characterized in that, The rotating cavity is equipped with a wing frame for rotation, and the bottom ends of the battery are fixedly connected with first spring wires. The bottom ends of the top shell body are provided with second spring wires, and the inner wall of the wing frame is provided with a first L-shaped wire and a second L-shaped wire. The first L-shaped conductor is electrically connected to the first spring conductor, and the second L-shaped conductor is electrically connected to the second spring conductor.

5. The biomimetic water-and-air companion vehicle integrating flapping-wing tilting rotor as described in claim 1, characterized in that, The bottom shell mechanism includes: The bottom shell body is fixedly connected to the bottom of the vessel body. The submersible shell is fixedly installed through the bottom of the bottom shell body. An inlet check valve is fixedly connected to the inlet of the electronic water pump, and a drain check valve is fixedly connected to the outlet of the electronic drain pump. The wireless control module is fixed with conduits on both sides, and the ends of the conduits are electrically connected to the wiring ports of the electronic water pump and the electronic drainage pump, respectively. Storage cavities for storing the side plates are opened on the outer walls of both sides of the bottom shell.

6. The biomimetic water-and-air companion vehicle integrating flapping-wing tilting rotor according to claim 5, characterized in that, A hollow tube is fixed to one end of the inner wall of the storage cavity, and the side plate is rotatably sleeved on the outer wall of the hollow tube; A forward and reverse stepper motor is fixed to one end of the inner wall of the hollow tube. A sector plate is fixed to the output end of the forward and reverse stepper motor. The arc surface of the sector plate is fixedly connected to the inner wall of the side plate.

7. The biomimetic water-and-air companion vehicle integrating flapping-wing tilting rotor as described in claim 6, characterized in that, The hollow tube has a groove on its outer wall, and one end of the sector plate slides in conjunction with the groove.

8. The biomimetic water-and-air companion vehicle integrating flapping-wing tilting rotor as described in claim 1, characterized in that, Threaded rods are fixed to both sides of the front end of the turntable. The cutting plate is sleeved on the outer wall of the threaded rod. Nuts for fixing the cutting plate are threaded to the outer wall of the threaded rod. A groove is opened on the side of the cutting plate facing the camera. The cleaning pad is fixed to the inner wall of the groove.

9. The biomimetic water-and-air companion vehicle integrating flapping-wing tilting rotor as described in claim 1, characterized in that, The device is equipped with a control and computing module, which is electrically connected to the thruster, flapping wing body, rotor drive box and servo motor.

10. A control device, characterized in that, The control device is remotely connected to the biomimetic water-air companion vehicle with fused flapping wing tilting rotor as described in any one of claims 1-9.

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