Split body air-sea underwater unmanned device

Abstract

This invention provides a detachable air, sea, and underwater unmanned device, comprising: a mounting frame, a drone, a control module, and an unmanned surface vessel (USV). The USV has two floats and two thrusters, with the two floats arranged side-by-side at a predetermined distance, and the two thrusters respectively located at the lower part of the two floats. The mounting frame is connected to both floats. The drone is mounted on the mounting frame and is detachably connected to the mounting frame, and / or the mounting frame is detachably connected to the USV. The control module is mounted on the drone and / or the mounting frame, and is connected to both the drone and the thrusters. The drone and USV of this invention can operate together or be used independently, making it widely applicable.

Description

Technical Field

[0001] This invention relates to the field of unmanned platform technology, specifically to a detachable air, sea, and underwater unmanned device. Background Technology

[0002] In recent years, unmanned aerial vehicles (UAVs) capable of operating across air, surface, and underwater domains have become a research hotspot in marine engineering. Traditional drones, unmanned surface vessels (USVs), and submersibles are limited by a single medium and cannot meet the requirements of cross-domain missions. Therefore, the industry has proposed solutions such as amphibious unmanned vessels.

[0003] However, most existing amphibious unmanned vessels adopt an integrated floating structure, which cannot be disassembled and used separately, and it is also difficult to carry specialized equipment, thus limiting operational flexibility and scalability. Summary of the Invention

[0004] The purpose of this invention is to provide a detachable air, sea, and underwater unmanned device that can be used independently by both drones and unmanned vessels.

[0005] To achieve the above objectives, the present invention provides a detachable air-sea-submarine unmanned device, comprising: a mounting frame, an unmanned aerial vehicle (UAV), a control module, and an unmanned surface vessel (USV). The USV is equipped with two floats and two thrusters. The two floats are arranged side by side and spaced at a preset distance, and the two thrusters are respectively located at the lower part of the two floats. The mounting frame is connected to the two floats respectively. The UAV is mounted on the mounting frame and is detachably connected to the mounting frame, and / or the mounting frame is detachably connected to the USV. The control module is mounted on the UAV and / or the mounting frame, and is connected to the UAV and the thrusters respectively.

[0006] As can be seen from the above scheme, the number of control modules is one or two. In this embodiment, the number of control modules is preferably set to one. The control module is selectively set on the UAV or the mounting frame: when the control module is set on the UAV, the control module is used to control the flight of the UAV and / or control the UAV to navigate; when the control module is set on the mounting frame, the control module is used to control the UAV to navigate independently. The UAV and UAV in this embodiment can be used in conjunction or independently, and have wide applicability. By setting the mounting frame to span and connect the two UAVs, a stable support surface is provided for the UAV to improve its stability. The UAV in this embodiment has dual-mode flight capability, that is, to fly alone or fly as a whole with the mounting frame, in order to meet the stability requirements for landing on flat ground.

[0007] A further proposed solution is that the drone is equipped with a first power supply component, which is used to supply power to the control module; and a second power supply component is installed on the mounting frame, which is used to supply power to the control module and the thrusters.

[0008] As can be seen from the above scheme, the first power supply component and the second power supply component are independent of each other, and both can supply power to the UAV or the unmanned vessel independently. When the UAV is mounted on the mounting frame and works in conjunction with the unmanned vessel, the second power supply component supplies power to the control module and the thruster, enabling the unmanned vessel to carry the UAV. At this time, the first power supply component can suspend power supply to save the UAV's power and extend its flight time. When the UAV and the unmanned vessel are separated and the UAV needs to fly alone, the first power supply component supplies power to the UAV. When the UAV and the unmanned vessel are separated and the unmanned vessel needs to fly alone, the second power supply component supplies power to the unmanned vessel.

[0009] A further option is that the drone is equipped with a battery compartment, and limiters are respectively provided on both sides of the battery compartment in a first direction; the first power supply component is located inside the battery compartment, and the first power supply component is limited by the limiters in the first direction and / or the second direction, with the first direction being perpendicular to the second direction.

[0010] As can be seen from the above solution, it allows users to easily install the first power supply component into the battery compartment. After installation, it is automatically positioned and locked in place, ensuring stability and preventing displacement during navigation or flight.

[0011] A further design involves providing two first mounting slots for each float, arranged along the extension direction of the float; mounting sleeves are provided at the four corners of the mounting frame, each sleeve being placed in its corresponding first mounting slot and locked in place by a first pin; each mounting sleeve is provided with a second mounting slot; and the UAV is provided with four support legs, the lower part of which is placed in its corresponding second mounting slot and locked in place by a second pin.

[0012] As can be seen from the above scheme, the first pin is used to achieve quick assembly and disassembly of the mounting frame and the float; the second pin is used to achieve quick assembly and disassembly of the support foot and the mounting frame.

[0013] A further option is to provide a mounting section for mounting equipment in the middle of the mounting frame, and both the mounting frame and the mounting section are provided with several mounting holes; the mounting frame and / or the mounting section are provided with several weight-reducing holes.

[0014] As can be seen from the above scheme, the mounting part is used to install mounting equipment such as lifting fin components, remotely operated unmanned underwater vehicles, or lifting components. The mounting equipment is fixed to the mounting frame and / or the mounting part by screws passing through the first mounting hole. In addition, by setting weight reduction holes, the weight of the mounting frame can be effectively reduced, thereby reducing the load on the UAV and unmanned vessel.

[0015] A further proposed solution is that the drone is equipped with a connecting base, two extension rods, and four flight power modules. The middle of each of the two extension rods is staggered by the connecting base, and the four flight power modules are respectively set on the free ends of the two extension rods. The upper part of the support foot is connected to the extension rod, and the support foot is connected between the free end of the extension rod and the connecting base. The lower part of the support foot extends downward in the vertical direction, forming a replacement area between the drone and the mounting frame.

[0016] As can be seen from the above scheme, by setting up vertically extending support legs, the utilization rate of the changing area can be improved, and sufficient operating space can be reserved for the mounted equipment.

[0017] A further option is that the float consists of a head and a body, with the head being fixedly or detachably connected to the body.

[0018] As can be seen from the above scheme, the head and the main body are detachably connected, and a new head can be quickly replaced if damaged, without the need for overall disassembly and repair.

[0019] A further option is that the detachable air-sea-submarine unmanned device also includes a lifting fin assembly, which is mounted on a mounting frame and located between two unmanned vessels.

[0020] A further option is that the detachable air-sea-submersible unmanned device also includes a remotely operated vehicle (ROV), which is mounted on a mounting frame and located between two floats.

[0021] A further option is that the detachable air-sea-submarine unmanned device also includes a lifting assembly, which includes a gantry, cables, and a smart winch. The gantry is mounted on the unmanned vessel, the smart winch is mounted on the mounting frame, one end of the cable is wound around the smart winch, and the other end of the cable passes through the gantry and extends downwards towards the unmanned vessel. The smart winch is used to wind up the cable. Attached Figure Description

[0022] Figure 1 This is a structural diagram from a first perspective of the first embodiment of the present invention.

[0023] Figure 2 yes Figure 1 Enlarged view of point A in the middle.

[0024] Figure 3 This is a structural diagram from a second perspective of the first embodiment of the present invention.

[0025] Figure 4 yes Figure 3 Enlarged view of point B in the middle.

[0026] Figure 5 This is a structural diagram from a third perspective of the first embodiment of the present invention.

[0027] Figure 6This is a structural diagram of the mounting bracket, the second power supply component, and the lifting fin component in the first embodiment of the present invention.

[0028] Figure 7 This is an exploded view of the mounting bracket, the second power supply component, and the lifting fin component in the first embodiment of the present invention.

[0029] Figure 8 This is a cross-sectional view of the battery compartment, the limiting member, and the first power supply component in the first embodiment of the present invention.

[0030] Figure 9 This is the front view of the drone in the first embodiment of the present invention.

[0031] Figure 10 This is a front view of the UAV carrying the mounting frame in the first embodiment of the present invention.

[0032] Figure 11 This is a structural diagram of the unmanned vessel and mounting frame in the first embodiment of the present invention.

[0033] Figure 12 This is a structural diagram of the unmanned vessel in the first embodiment of the present invention.

[0034] Figure 13 This is the front view of the second embodiment of the present invention.

[0035] Figure 14 This is a side view of the third embodiment of the present invention.

[0036] Explanation of reference numerals in the attached figures: 1-Control module, 11-Camera; 2-UAV, 21-First power supply component, 211-Limiting groove, 22-Battery compartment, 221-Limiting component, 2211-Connecting part, 2212-Guiding part, 2213-Limiting part, 23-Supporting foot, 24-Second pin, 25-Second anti-detachment ring, 26-Connecting seat, 27-Extension rod, 28-Flight power module, 29-Changeover area; 3-Mounting bracket, 31-Second power supply assembly, 32-First crossbeam, 321-Second mounting hole, 33-Longitudinal beam, 34-Second crossbeam, 35-Through hole, 36-Mounting sleeve, 361-Sleeve portion, 362-Second mounting groove, 363-Second insertion hole, 37-First pin, 38-First anti-detachment ring; 4-Unmanned vessel, 40-Float, 401-Head, 402-Main body, 41-Thruster, 42-Mounting base, 421-First mounting slot, 4211-First insertion hole; 5- Lifting fin assembly; 51- Mounting platform; 52- Underwater sensor; 6-Remotely operated unmanned underwater vehicle; 7-Lifting assembly, 71-Cable, 72-Intelligent winch, 73-Hanging frame.

[0037] The present invention will be further described below with reference to the accompanying drawings and embodiments. Detailed Implementation

[0038] First embodiment of a detachable air-sea-submarine unmanned device: See Figures 1 to 12 The detachable air, sea, and underwater unmanned device provided in this embodiment includes: a control module 1, a drone 2, a mounting frame 3, and an unmanned surface vessel 4. The drone 2 is preferably a quadcopter octocopter drone with foldable rotors.

[0039] The unmanned surface vessel 4 is equipped with two floats 40 and two thrusters 41. The two floats 40 are arranged side by side with a preset distance between them to allow space for mounted equipment. The two thrusters 41 are respectively located at the lower rear end of the two floats 40. The two thrusters 41 are independently configured and each is connected to the control module 1 to drive the unmanned surface vessel 4 to move forward and backward and turn left and right.

[0040] Mounting frame 3 is connected to two floats 40 respectively, and UAV 2 is set in the middle of mounting frame 3 to ensure the gravity balance of the amphibious UAV 2 system and ensure its smooth navigation.

[0041] The control module 1 is equipped with multi-source sensing devices such as a camera 11, radar, sensors, and a satellite navigation system. The number of control modules 1 can be one or two; this embodiment preferably has one control module 1, meaning the UAV 2 and the unmanned surface vessel 4 can share one control module 1. Specifically: The control module 1 is detachably mounted on the drone 2 or the mounting bracket 3. In this embodiment, the control module 1 is mounted on the upper part of the drone 2. The control module 1 is connected to the drone 2 and the two thrusters 41.

[0042] When the control module 1 is installed on the drone 2 and the drone 2 is installed on the mounting frame 3, the drone 2, under the control of the control module 1, relies on the unmanned vessel 4 to complete operations such as maritime stay, patrol monitoring, etc.

[0043] When needed, the drone 2 can be separated from the unmanned boat 4. At this time, the drone 2 can take off independently under the control of the control module 1 to perform aerial inspection tasks.

[0044] When needed, the control module 1 can be removed from the drone 2 and installed on the mounting frame 3. At this time, the control module 1 can control the unmanned vessel 4 to navigate and perform operations such as patrol, monitoring or lifting.

[0045] To ensure that both the drone 2 and the unmanned vessel 4 can operate independently, the drone 2 in this embodiment is equipped with a first power supply component 21. The first power supply component 21 can be electrically connected to the control module 1 and the thruster 41 on the drone 2 to supply power to the control module 1 and the thruster 41.

[0046] Meanwhile, a second power supply component 31 is provided on the mounting frame 3. The second power supply component 31 is electrically connected to the thruster 41 and the control module 1 on the mounting frame 3, and is used to supply power to the control module 1 and the thruster 41.

[0047] The control module 1 is equipped with a power supply interface. When it is necessary to adjust the installation position of the control module 1, simply install the control module 1 onto the drone 2 or the mounting bracket 3, and then connect the connector on the first power supply component 21 or the second power supply component 31 to the power supply interface. The operation is simple and convenient.

[0048] See Figure 8 and combined Figure 1 and Figure 2 The drone 2 has battery compartments 22 on both the left and right sides. Preferably, there are two first power supply components 21, which are respectively installed in the two battery compartments 22 to maintain the weight balance of the drone 2 and ensure stable flight.

[0049] The battery compartment 22 has an upward-facing entrance / exit for the first power supply component 21 to enter and exit. Limiting members 221 are respectively provided on both sides of the entrance / exit in a first direction. The first power supply component 21 is limited by the limiting members 221 in the first direction and / or the second direction, with the first direction perpendicular to the second direction. Specifically: The limiting member 221 includes a connecting portion 2211, a guiding portion 2212, and a limiting portion 2213. The connecting portion 2211 and the limiting portion 2213 are arranged perpendicularly, and the guiding portion 2212 is obliquely connected between the connecting portion 2211 and the limiting portion 2213. The connecting portion 2211 is fixedly connected to the outside of the entrance / exit, the guiding portion 2212 extends obliquely downwards into the compartment, and the limiting portion 2213 is arranged parallel to the compartment wall. The limiting member 221 is made of an elastic metal material, and the guiding portion 2212 and the limiting portion 2213 can elastically swing around the connecting portion 2211.

[0050] The first power supply component 21 has limit grooves 211 on both sides in the first direction, and the limit grooves 211 extend in the vertical direction. The limiting part 2213 and part of the guiding part 2212 are both embedded in the limit grooves 211.

[0051] In the first direction, the limiting portions 2213 of the two limiting members 221 respectively abut or are adjacent to the two sides of the first power supply assembly 21 to achieve limiting in the first direction.

[0052] In the second direction, the two side walls of each limiting member 221 abut or are adjacent to the two side walls of the limiting groove 211 to achieve limiting in the second direction.

[0053] See Figure 11 and Figure 12 and combined Figure 4 , Figure 6 and Figure 7 The float 40 includes a head 401 and a body 402, with the head 401 fixedly connected to the body 402 or detachably connected. When the head 401 is detachably connected to the body 402, a new head 401 can be quickly replaced if the head 401 is damaged, without the need for overall disassembly and repair.

[0054] The drone 2 is detachably connected to the mounting frame 3, and / or the mounting frame 3 is detachably connected to the float 40. In this embodiment, the mounting frame 3 is preferably detachably connected to both the drone 2 and the float 40.

[0055] Each float 40 has two mounting seats 42 on its upper part, arranged along the extension direction of the main body 402. Each mounting seat 42 has a first mounting groove 421, which is an upward-opening "U"-shaped groove extending horizontally and further extending along the width of the unmanned vessel 4. Two first insertion holes 4211 are correspondingly formed on both sides of the groove wall of the first mounting groove 421.

[0056] The mounting bracket 3 is approximately in the shape of a grid. It includes two first horizontal beams 32, two longitudinal beams 33, and two second horizontal beams 34. The two first horizontal beams 32 are parallel and opposite to each other. The two longitudinal beams 33 are connected between the two first horizontal beams 32, and the two second horizontal beams 34 are connected between the two longitudinal beams 33. A through hole 35 connects the two second horizontal beams 34 and the two longitudinal beams 33 vertically. The cross-sections of the first horizontal beams 32 and the longitudinal beams 33 are rectangular, while the cross-section of the second horizontal beams 34 is L-shaped.

[0057] The first power supply component 21 can be installed on the first crossbeam 32 and the second crossbeam 34, and the mounting equipment can be installed on the two second crossbeams 34.

[0058] The two ends of the first crossbeam 32 are respectively connected to two floats 40. Specifically, the four corners of the mounting frame 3 are respectively provided with mounting sleeves 36, and further, the mounting sleeves 36 are fitted onto the ends of the first crossbeam 32.

[0059] The mounting sleeve 36 is detachably mounted in the first mounting groove 421 of the corresponding mounting seat 42 on the float 40. The mounting sleeve 36 is locked to the mounting seat 42 and the first crossbeam 32 by a first pin 37. The two ends of the first pin 37 protrude through two first insertion holes 4211 respectively.

[0060] Each first pin 37 is provided with a corresponding first anti-detachment ring 38. The first end of the first anti-detachment ring 38 is fixedly connected to the first end of the first pin 37, and the second end of the first anti-detachment ring 38 is sleeved on the outside of the second end of the first pin 37. The first anti-detachment ring 38 is designed with an arc shape and has a certain degree of elasticity to prevent the first pin 37 from accidentally falling off.

[0061] Each mounting sleeve 36 has a sleeve portion 361 at its upper part, with the sleeve portion 361 protruding upwards into a first mounting groove 421. A second mounting groove 362 is formed inside the sleeve portion 361, extending vertically and opening upwards. The shape of the second mounting groove 362 matches the shape of the support leg 23 of the UAV 2. A through second insertion hole 363 is formed radially in the second mounting groove 362.

[0062] The drone 2 is equipped with four support feet 23, the lower part of which is detachably mounted in the corresponding second mounting slot 362. The support feet 23 are locked to the second mounting slot 362 by second pins 24. The middle part of the second pin 24 passes through the support foot 23, and the two ends of the second pin 24 protrude from the second insertion holes 363 respectively. During installation and removal, the first pin 37 can be inserted or removed, which facilitates quick assembly and disassembly of the drone 2 and the mounting frame 3.

[0063] A second anti-detachment ring 25 is provided on the second pin 24. The first end of the second anti-detachment ring 25 is fixedly connected to the first end of the second pin 24, and the second end of the second anti-detachment ring 25 is sleeved on the outside of the second end of the first pin 37. The second anti-detachment ring 25 is designed with an arc shape and has a certain degree of elasticity to prevent the second pin 24 from accidentally falling off.

[0064] When the UAV 2 needs to carry the mounting frame 3 and the unmanned boat 4 separately, the second end of the first anti-detachment ring 38 can be manually separated from the second end of the first pin 37, and then the first pin 37 can be manually pulled out; thereafter, the UAV 2 can carry the mounting frame 3 up together and perform relevant flight missions.

[0065] When the drone 2 needs to be separated from the mounting bracket 3 and the unmanned boat 4, the second end of the second anti-detachment ring 25 can be manually separated from the second end of the second pin 24, and then the second pin 24 can be manually pulled out. After that, the drone 2 rises, so that its support foot 23 separates from the mounting sleeve 36, and the drone 2 can independently perform relevant flight tasks.

[0066] The mounting bracket 3 has a mounting section in the middle for mounting the lifting fin assembly 5. The mounting section has several first mounting holes, and the lifting fin assembly 5 is locked to the mounting section by screws passing through the first mounting holes. In this embodiment, two second crossbeams 34 can constitute the mounting section, and the lifting fin assembly 5 is hung on the two second crossbeams 34 and passes through the through holes 35 vertically.

[0067] Several second mounting holes 321 are also provided on the first crossbeam 32, so that the first power supply component 21 or other mounting components can be locked onto the first crossbeam 32 by screws.

[0068] The mounting bracket 3 has several weight-reduction holes. In this embodiment, multiple weight-reduction holes are provided on the four side walls of the longitudinal beam 33. The shape of the weight-reduction holes can be circular, elliptical, triangular, or polygonal, and is not limited here.

[0069] See Figure 1 , Figure 3 and Figure 5 The UAV 2 is equipped with a connecting seat 26, two extension rods 27, and four flight power modules 28. The two extension rods 27 are arranged in a cross shape, and their middle parts are fixedly connected by the connecting seat 26. The four flight power modules 28 are respectively mounted on the free ends of the two extension rods 27.

[0070] The upper part of the support leg 23 is connected to the extension rod 27, and the support leg 23 is connected between the free end of the extension rod 27 and the connecting seat 26; the lower part of the support leg 23 extends downward in the vertical direction and is connected to the mounting frame 3, so that a highly utilized replacement section 29 is formed between the drone 2 and the mounting frame 3. The replacement section 29 is located between the four support legs 23, making it easier to hang parts in the replacement section 29.

[0071] Mounting bracket 3 can mount lifting fin assembly 5, unmanned remotely operated underwater vehicle (UAV), or lifting assembly and other mounting equipment. The control module 1 is equipped with a universal interface, and the connectors for mounting lifting fin assembly 5, UAV, or lifting assembly and other mounting equipment can be connected to this universal interface, enabling plug-and-play functionality and facilitating quick installation and replacement.

[0072] In this embodiment, the mounting device is a lifting fin assembly 5, with its central portion mounted on the mounting frame 3 and positioned between the two floats 40. The upper part of the lifting fin assembly 5 extends into the changing area 29, and the lower part of the lifting fin assembly 5 extends downward through the through hole 35 of the mounting frame 3. The lifting fin assembly 5 is used to enhance the stability and reduce roll of the unmanned vessel 4 during navigation or operation by vertically lifting the fins, or to assist in the deployment and retrieval of detection equipment, allowing the detection equipment to move below or above the water surface, facilitating detection operations at different heights.

[0073] The detection equipment is located at the lower part of the lifting fin assembly 5. The detection equipment includes, but is not limited to, an image acquisition device, an infrared imaging device, a video recording device, and an ultrasonic radar device.

[0074] In this embodiment, the lower part of the lifting fin assembly 5 is provided with an installation platform 51. The underwater sensor 52, sonar, water sample collection system and other acoustic equipment are all installed on the installation platform 51. The lifting fin assembly 5 can drive the installation platform 51 and the acoustic equipment on it to move up and down, so that the depth of the acoustic equipment submerged in the water is adjustable.

[0075] Second embodiment of the detachable air-sea-submarine unmanned device: See Figure 13 Based on the first embodiment of the detachable air-sea-submersible unmanned device described above, the mounting device of the detachable air-sea-submersible unmanned device in this embodiment is a remotely operated unmanned submersible 6, which is mounted on the mounting frame 3 and located between the two floats 40.

[0076] Third embodiment of the detachable air-sea-submarine unmanned device: See Figure 14 Based on the first embodiment of the detachable air-sea-submarine unmanned device described above, the mounting equipment of the detachable air-sea-submarine unmanned device in this embodiment is the lifting assembly 7.

[0077] The lifting assembly 7 includes a gantry 73, a cable 71, and a smart winch 72. The gantry 73 is located at the lower part of the drone 2, specifically on the connecting seat 26. Figure 14 The position of the hanger 73 is indicated by a dashed circle. The structure of the hanger 73 is existing technology and will not be described in detail here. The intelligent winch 72 is installed on one side of the mounting frame 3. One end of the cable 71 is wound around the intelligent winch 72, and the other end of the cable 71 passes through the hanger 73 and the through hole 35 and extends downward. The intelligent winch 72 is used to wind up the cable 71 and lift the object to be lifted that is connected to the cable 71.

[0078] In summary, the present invention has one or two control modules. In this embodiment, the number of control modules is preferably set to one. The control module is selectively mounted on the UAV or the mounting frame: when the control module is mounted on the UAV, it is used to control the flight of the UAV and / or control the UAV to navigate; when the control module is mounted on the mounting frame, it is used to control the UAV to navigate independently. The UAV and UAV in this embodiment can operate together or be used independently, making it widely applicable. By setting the mounting frame to span and connect the two UAVs, a stable support surface is provided for the UAV, thereby improving the stability of the UAV. The UAV in this embodiment has dual-mode flight capability, either flying independently or flying as a whole with the mounting frame, to meet the stability requirements for landing on flat ground.

[0079] Finally, it should be emphasized that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A detachable unmanned aerial, sea, and underwater device, characterized in that: include: The unmanned vessel is equipped with two floats and two thrusters. The two floats are arranged side by side and spaced at a preset distance, and the two thrusters are respectively located at the lower part of the two floats. Mounting brackets are respectively connected to the two floats; The drone is mounted on the mounting frame and is detachably connected to the mounting frame, and / or the mounting frame is detachably connected to the unmanned vessel; A control module is disposed on the UAV and / or the mounting frame, and the control module is connected to the UAV and the thruster respectively.

2. The detachable air-sea-submarine unmanned device according to claim 1, characterized in that: The drone is equipped with a first power supply component, which is used to supply power to the control module. The mounting frame is equipped with a second power supply component, which is used to supply power to the control module and the thruster.

3. The detachable air-sea-submarine unmanned device according to claim 2, characterized in that: The drone is equipped with a battery compartment, and limiters are respectively provided on both sides of the battery compartment in the first direction; The first power supply component is disposed in the battery compartment, and the first power supply component is limited by the limiting member in a first direction and / or a second direction, wherein the first direction is perpendicular to the second direction.

4. The detachable air-sea-submarine unmanned device according to claim 1, characterized in that: Each of the aforementioned floats is provided with two first mounting slots, and the two first mounting slots are arranged along the extension direction of the float; The mounting bracket is provided with mounting sleeves at its four corners. The mounting sleeves are set in the corresponding first mounting slots and are locked in place by the first pins. Each mounting sleeve is provided with a second mounting slot. The drone is equipped with four support legs, the lower part of which is set in the corresponding second mounting slot and locked in place by a second pin.

5. The detachable air-sea-submarine unmanned device according to claim 1, characterized in that: The mounting frame has a mounting part for mounting equipment in the middle, and both the mounting frame and the mounting part have a number of mounting holes. The mounting bracket has several weight-reducing holes.

6. The detachable air-sea-submarine unmanned device according to claim 4, characterized in that: The drone is equipped with a connecting base, two extension rods and four flight power modules. The middle parts of the two extension rods are staggered through the connecting base, and the four flight power modules are respectively installed on the free ends of the two extension rods. The upper part of the support leg is connected to the extension rod, and the support leg is connected between the free end of the extension rod and the connecting seat. The lower part of the support leg extends downward in the vertical direction, and a replacement area is formed between the drone and the mounting frame.

7. The detachable air-sea-submarine unmanned device according to claim 1, characterized in that: The float includes a head and a body, and the head is fixedly connected to or detachably connected to the body.

8. The detachable air-sea-submarine unmanned device according to any one of claims 1 to 7, characterized in that: The detachable air-sea-submarine unmanned device also includes a lifting fin assembly, which is mounted on the mounting frame and located between the two floats.

9. The detachable air-sea-submarine unmanned device according to any one of claims 1 to 7, characterized in that: The detachable air-sea-submarine unmanned device also includes an unmanned submersible, which is mounted on the mounting frame and located between the two floats.

10. The detachable air-sea-submarine unmanned device according to any one of claims 1 to 7, characterized in that: The detachable air-sea-submarine unmanned device also includes a lifting assembly, which includes a gantry, a cable, and a smart winch. The gantry is mounted on the unmanned aerial vehicle (UAV), and the smart winch is mounted on the mounting frame. One end of the cable is wound around the smart winch, and the other end of the cable passes through the gantry and extends downwards. The smart winch is used to wind up the cable.

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