Amphibious drone system and method for operating in one or more environment conditions
Patent Information
- Authority / Receiving Office
- WO · WO
- Patent Type
- Applications
- Current Assignee / Owner
- AQUAAIRX AUTONOMOUS SYSTEMS PTE LTD
- Filing Date
- 2026-01-31
- Publication Date
- 2026-08-06
Smart Images
Figure IN2026050171_06082026_PF_FP_ABST
Abstract
Description
AMPHIBIOUS DRONE SYSTEM AND METHOD FOR OPERATING IN ONE OR MORE ENVIRONMENT CONDITIONS BACKGROUNDTechnical Field
[0001] The embodiments herein generally relate to autonomous vehicles, and more particularly, to an amphibious drone system and method for operating in one or more environment conditions for surveillance, inspection, and environmental monitoring purposes.Description of the Related Art
[0002] Autonomous drones play a crucial role in various industries, including defence, environmental monitoring, and infrastructure inspection. These autonomous drones typically operate in a single medium, either in an aerial environment or in an underwater environment. While some autonomous drones attempt to function in both environments, they lack in limited operational efficiency due to the absence of a seamless transition mechanism between both the environments. Current designs of the drones rely on complex mechanisms and manual intervention, reducing adaptability and limiting their deployment in continuous missions or tasks across both the environments.
[0003] Existing amphibious drones exhibit significant limitation. For instance, a navigator amphibious drone employs same propellers for navigation in both the environments, leading to inefficiencies and inadequate endurance. Another existing loon copter drone uses a flotation-based transition system, which is slow and inefficient. Another existing Nezha amphibious drone requires manual buoyancy adjustments, preventing seamless transitions between both the environments. Underwater vehicle utilizes pneumaticbuoyancy control and auto-folding propellers for transition, but its reliance on a single propulsion system reduces efficiency and limits endurance across both the environments.
[0004] Accordingly, there remains a need for a more efficient system and method for mitigating and / or overcoming drawbacks associated with current methods.SUMMARY
[0005] In view of the foregoing, embodiments herein provide an amphibious drone system for operating in one or more environment conditions. The amphibious drone system includes a wing component, two or more first thrusters, two or more second thrusters, and a control system. The wing component includes two or more motors and propellers. The two or more motors and propellers are configured to enable taking off and landing of the amphibious drone system in a first environment. The two or more motors and propellers enable movement of the amphibious drone system in the first environment and transmit the amphibious drone system into a second environment by analysing input signals. The two or more first thrusters and the two or more second thrusters are configured to control one or more movements of the amphibious drone system in the second environment. The control system is configured to control the amphibious drone system in the one or more environments. The control system is configured to receive input signals. The control system is configured to initiate take-off of the amphibious drone system in the first environment in a first mode by analysing the input signals using the two or more motors and propellers. The control system is configured to shift the amphibious drone system from the first mode to a second mode when the amphibious drone system reaches a target location for transmitting into the second environment. The control system is configured to initiate entry of the amphibious drone system into the second environment. The control system isconfigured to enable movement of the amphibious drone system in the second environment, and perform navigation and manoeuvring using the two or more first thrusters and the two or more second thrusters along with control surfaces to reach a target location for completing a task. The control system is configured to shift the amphibious drone system from the second mode to the first mode when the amphibious drone system reaches a target location for transmitting into the first environment. The control system is configured to initiate transition of the amphibious drone system from the second environment back into the first environment for continued operation in the first environment.
[0006] In some embodiments, the two or more motors and propellersof the amphibious drone system are configured to support Tail-Sitter Vertical Take-Off and Landing (VTOL) mode in the first environment. The first environment may be an aerial environment.
[0007] In some embodiments, the two or more first thrusters are configured to enable the amphibious drone system to dive into or arise from the second environment. The second environment may be an underwater environment.
[0008] In some embodiments, the two or more second thrusters are configured to control yaw and forward / backward motion of the amphibious drone system in the second environment.
[0009] In some embodiments, the amphibious drone system is configured to perform six Degrees of Freedom (DOF) by adjusting orientation to control vertical trajectory and horizontal trajectory during the first mode associated with the first environment using the control surfaces and the two or more motors and propellers. In some embodiments, the amphibious drone system is configured to perform five DOF by adjustingorientation to control vertical trajectory and horizontal trajectory during the second mode associated with the second environment using the control surfaces, the two or more first thrusters, and the two or more second thrusters. In some embodiments, the control surfaces facilitate a transition from the vertical trajectory to the horizontal trajectory, and vice versa.
[0010] In some embodiments, the control system adjusts the orientation and actuation of the wing component, the two or more first thrusters, and the two or more second thrusters based on input signals during operation in the first environment and the second environment.
[0011] In some embodiments, the wing component stabilizes the amphibious drone system during flight in the first environment.
[0012] In some embodiments, a fuselage of the amphibious drone system houses at least one LED light, an image capturing device, and a multibeam sonar. The wing tip is configured to house the two or more first thrusters, the two or more second thrusters and a landing gear.
[0013] In some embodiments, the control system enables the transition between the first environment and the second environment within a duration of 1 to 10 seconds.
[0014] The amphibious drone system provides an intelligent and adaptable mechanism for enabling seamless operation across the aerial environment and the underwater environment. The wing component with the two or more motors and propellers facilitate stable take-off and landing in the aerial environment, while the two or more first thrusters and the two or more second thrusters enable precise movement and control in theunderwater environment. The control system coordinates the actions of all propulsion components by analysing the input signals to initiate environment-specific transitions, navigation, and task execution. The mode-shifting capability (i.e. from the first mode to the second mode, and vice versa) ensures uninterrupted mission flow across both the environments, enhancing operational reliability, autonomy, and suitability for complex applications such as surveillance, marine inspection, and environmental monitoring.
[0015] In an aspect, an embodiment herein provides a method of an amphibious drone system for operating in one or more environment conditions. The method includes (i) receiving input signals using a control system; (ii) initiating take-off of the amphibious drone system in the first environment in a first mode using two or more motors and propellers, by analysing the input signals using the control system; (iii) shifting the amphibious drone system from the first mode to a second mode when the amphibious drone system reaches a target location for transmitting into the second environment using the control system; (iv) initiating entry of the amphibious drone system into the second environment using the control system; (v) enabling movement of the amphibious drone system in the second environment, and perform navigation and manoeuvring using the two or more first thrusters and the two or more second thrusters along with control surfaces to reach a target location for completing a task, using the control system; (vi) shifting the amphibious drone system from the second mode to the first mode when the amphibious drone system reaches a target location for transmitting into the first environment, using the control system; and (vii) initiating transition of the amphibious drone system from the second environment back into the first environment for continued operation in the first environment, using the control system.
[0016] These and other aspects of the embodiments herein will be better appreciated and understood when considered in conjunction with the following description and the accompanying drawings. It should be understood, however, that the following descriptions, while indicating preferred embodiments and numerous specific details thereof, are given by way of illustration and not of limitation. Many changes and modifications may be made within the scope of the embodiments herein without departing from the spirit thereof, and the embodiments herein include all such modifications.BRIEF DESCRIPTION OF THE DRAWINGS
[0001] The embodiments herein will be better understood from the following detailed description with reference to the drawings, in which:
[0002] FIG. 1 illustrates a block diagram of an amphibious drone system for operating in one or more environmental conditions according to some embodiments herein;
[0003] FIG. 2 illustrates an exploded view of a control system of the amphibious drone system of FIG. 1 according to some embodiments herein;
[0004] FIGS. 3 A and 3E illustrate exemplary views of the amphibious drone system of FIG. 1 according to some embodiments herein;
[0005] FIG. 4 illustrates an exploded view of the control system of the amphibious drone system configured to operate across one or more environmental conditions according to some embodiments herein;
[0006] FIG. 5 illustrates an operational sequence of the amphibious drone system operating seamlessly in the one or more environments according to some embodiments herein;
[0007] FIGS. 6A and 6B are flow diagrams that illustrates a sequence of operationsin the amphibious drone system according to some embodiments herein; and
[0008] FIGS. 7A and 7B are flow diagrams that illustrate a method of the amphibious drone system for operating in one or more environment conditions according to some embodiments herein.DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS
[0009] The embodiments herein and the various features and advantageous details thereof are explained more fully with reference to the non-limiting embodiments that are illustrated in the accompanying drawings and detailed in the following description. Descriptions of well-known components and processing techniques are omitted so as to not unnecessarily obscure the embodiments herein. The examples used herein are intended merely to facilitate an understanding of ways in which the embodiments herein may be practiced and to further enable those of skill in the art to practice the embodiments herein. Accordingly, the examples should not be construed as limiting the scope of the embodiments herein.
[0010] As mentioned, there remains a need for an amphibious drone system and method for operating in one or more environment conditions for surveillance, inspection, and environmental monitoring purposes. Referring now to the drawings, and more particularly to FIGS. 1 through 7, where similar reference characters denote corresponding features consistently throughout the figures, preferred embodiments are shown.
[0011] FIG. 1 is a block diagram of an amphibious drone system 100 for operating in one or more environmental conditions according to some embodiments herein. The amphibious drone system 100 configures with a navigation in one or more environments. The amphibious drone system 100 includes a wing component 104, two or more firstthrusters 108, two or more second thrusters 112, and a control system HO.The wing component 104 includes two or more motors and propellers 106. The control system 110 is directly connected to the wing component 104, the two or more first thrusters 108 and the two or more second thrusters 112. The two or more motors and propellers 106, the two or more first thrusters 108 and the two or more second thrusters 112 are coordinated by the control system 110.
[0012] The amphibious drone system 100 is configured to receive input signals from an input source including any of a user, an operator, a remote controller, a base station, or an automated system responsible for initiating, managing, and supervising the operation of the amphibious drone system 100. The input signals are configured to send operational commands, mission parameters, or pre-programmed instructions that guide behaviours of the amphibious drone system 100 across the one or more environments. In some embodiments, the control system 110 transmits real-time feedback from the red to operate in one or morsuch as flight status, underwater depth, sensor data, visual imaging, battery levels, and environmental conditions enabling dynamic control and situational awareness, to the input source. The input source is configured to initiate and send commands or mission parameters to the control system 110 of the amphibious drone system 100. The control system 110 acts as the central brain of the amphibious drone system 100. In some embodiments, the input source is configured to supervise payload operations including image capturing device activation, sonar scanning, or sample collection, which are coordinated through the control system 110 of the amphibious drone system 100.
[0013] The wing component 104 of the amphibious drone system 100 serves as a multi-functional structural and aerodynamic assembly that enables the amphibious drone system 100 to operate effectively across the one or more environments. In some embodiments, the wing component 104 acts as the primary load-bearing body of the amphibious drone system 100, integrating several essential sub-systems including the two or more motors and propellers 106, control surfaces, and a landing gear. The control surfaces integrated into the wing component 104 enable precise manoeuvring during flight of the amphibious drone system 100.
[0014] The two or more motors and propellers 106 enable the amphibious drone system 100 to operate efficiently in the one or more environments, particularly in a first environment. In some embodiments, the first environment can be an aerial environment. The two or more motors and propellers 106 are integrated within the wing component 104 and serve as a primary propulsion and lift mechanism for taking off and landing of the amphibious drone system 100 in the first environment. The motor may be a high-performance electric drive (e.g., brushless DC motor), delivers precise and responsive rotational power to the propeller, which converts this into aerodynamic lift and propulsion. In the first environment, the two or more motors and propellers 106 enable the amphibious drone system 100 to perform Vertical Take-Off and Landing (VTOL), transition into forward flight, and maintain stable navigation at varying altitudes and speeds. The control system 110 is configured to initiate take-off of the amphibious drone system 100 in the first environment in a first mode by analysing the input signals using the two or more motors and propellers 106. In some embodiments, the first mode is an aerial environment working mode of the amphibious drone system 100. The control system 110 regulates speed andorientation of the two or more motors and propellers 106 dynamically, based on input signals including commands, thereby allowing manoeuvring, altitude control, obstacle avoidance, and responsive path adjustments in the first environment. In some embodiments, the control system 110 coordinates the operation of the two or more motors and propellers 106 and adjusts the control surfaces to maintain flight stability, heading, and altitude of the amphibious drone system 100. The two or more motors and propeller enable movement of the amphibious drone system 100 in the first environment, and transmit the amphibious drone system 100 into a second environment by analysing the input signals. In some embodiments, the second environment can be an underwater environment.
[0015] The control system 110 receives the input signals and dynamically manages amphibious drone system 100 in the one or more environments by controlling relevant propulsion and navigation components. The control system 110 is responsible for interpreting the input signals received from the input source, processing real-time data of one or more sensors present in the amphibious drone system 100, and autonomously managing the amphibious drone system 100 behaviour in the one or more environments. The control system 110 directs the amphibious drone system 100 to transition between the one or more environments including the first environment and the second environment. The control system 110 may continuously monitor internal and external parameters such as Global Positioning System (GPS) coordinates, orientation, pressure depth, battery status, and obstacle proximity, allowing it to dynamically adapt flight paths or behaviour in response to changing mission requirements or environmental conditions. The control system 110 may include onboard electronics such as a flight controller, processor, inertial measurement unit (IMU), and navigation algorithms to execute autonomous functions.
[0016] The control system 110 is configured to shift the amphibious drone system 100 from the first mode to a second mode when the amphibious drone system 100 reaches a target location for transmitting into the second environment. In some embodiments, the second mode is an underwater environment working mode of the amphibious drone system 100. The control system 100 is configured to initiate entry of the amphibious drone system 100 into the second environment.
[0017] As the amphibious drone system 100 approaches a surface of the second environment (i.e. a water surface of the underwater environment), the amphibious drone system 100 may maintain thrust to stabilize orientation during descent and prepare for submersion. The integration of the two or more motors and propellers 106 within the aerodynamic structure of the wing component 104 adapts in varying atmospheric and transitional conditions, which enables suitable for diverse applications including surveillance, exploration, inspection, and environmental monitoring under the one or more environments including the aerial environment and the water environment.
[0018] The two or more first thrusters 108 are managed and coordinated by the control system 110, and to provide vertical thrust that allows the amphibious drone system lOOto actively descend into the second environment. The wing component 104 with the control surfaces work in tandem with the two or more first thrusters 108 to provide precise pitching and surge control, thereby maintaining alignment and orientation while submerged in the second environment. In some embodiments, the two or more first thrusters 108 enables the amphibious drone system 100 sink smoothly into water after aerial navigation for the second mode, and assist in resurfacing in the water surface before switching back to the first mode. This dual capability enables the amphibious drone system 100 to seamlesslytransition and operate across the one or more environments making it suitable for missions such as an aerial inspection, an underwater inspection, a submerged object tracking, a coastal surveillance, or an environmental monitoring.
[0019] In the second environment, the wing component 104 enables hydrodynamic performance. The shape and structure of the wing component 104 allow the amphibious drone system 100 to descend in a controlled posture, maintain stability, and support horizontal underwater propulsion using the two or more first thrusters mounted on top portions of the wing component 104. The two or more second thrusters 112 are configured to facilitate movement and control when the amphibious drone system 100 operates in the second environment. The control system 110 is configured to enable movement of the amphibious drone system 100 in the second environment, and perform navigation and manoeuvring using the two or more first thrusters 108 and the two or more second thrusters 112 along with the control surfaces to reach a target location for completing the task. The target location may be a specific location for completing the task. In some embodiments, the amphibious drone system 100 reaches the target location to complete one or more operations. In some embodiments, the two or more second thrusters 112 provide rotational and directional control of the amphibious drone system 100 in the second environment. The control system 110 may enable the two or more first thrusters 108 and the two or more second thrusters 112 for yaw adjustments, forward / backward motions, or fine underwater navigation of the amphibious drone system 100. The two or more first thrusters 108 and the two or more second thrusters 112 may be strategically mounted on the wing component 104 of the amphibious drone system 100 for efficient control dynamics in the second environment. The two or more first thrusters 108 supports seamless transition from the firstenvironment to the second environment, and vice versa, which ensures that the amphibious drone system 100 maintains stability and control in varying environments. In some embodiments, the control system 110 enables the two or more first thrusters 108 for vertical motions (i.e. ascent and descent) and side motions (i.e. left and right), and the two or more second thrusters 112 for yaw, and forward and backward motions. By incorporating the two or more first thrusters 108 and the two or more second thrusters 112, the amphibious drone system 100 effectively demonstrates its capability to operate across multiple domains, thereby enhancing its utility for diverse applications including surveillance, marine exploration, and rescue operations.
[0020] The control system 110 is configured to initiate transition of the amphibious drone system 100 from the second environment back into the first environment for continued operation in the first environment once the one or more operations (i.e. the tasks) are completed. In some embodiments, the one or more operations include at least one of, but not limited to, data collection, surveillance, inspection, environmental monitoring, and exploration, depending on configuration and operating environment of the amphibious drone system 100. Components of the amphibious drone system 100 are all coordinated by the control system 110 to execute the one or more operations in the first environment and the second environment (i.e. the aerial environment and the underwater environment) in response to environmental conditions and instructions and the input signals received from the input source.
[0021] In some embodiments, the control surfaces which supports enhanced manoeuvrability during operations in both the first environment and the second environment. The landing gear embedded within the wing component 104 allows theamphibious drone system 100 to perform tail-sitter take-off and landing with stability. The wing component 104 is configured to support one or more environmental navigation, structural integration, sensor / payload housing, and efficient propulsion control, making it a central part of the amphibious drone system 100. The control surfaces assist in underwater pitch, while the rigid body of the wing component 104 houses the two or more motors and propellers 106, the two or more first thrusters 108, the two or more second thrusters 112, and internal electronics in a waterproof configuration. The landing gear integrated into the wing component 104 enables stable landing and take-off on solid surfaces, which is crucial when operating in transitional zones such as shorelines, ships, or rough terrains.
[0022] FIG. 2 illustrates an exploded view of the control system HOin the amphibious drone system 100 of FIG. 1 according to some embodiments herein. The control system 110 acts as the central brain and coordinates the operations of all components of the amphibious drone system 100. The control system 110 is configured to operate the amphibious drone system 100 reliably in the one or more environments. The control system 110 includes a flight controller 216, a Pulse Width Modulation (PWM) module 218, an Electronic Speed Controller Interface (ESC) 220, and a PM02 power module 222. The flight controller 216 acts as an onboard computer or a processing unit (e.g., a Raspberry Pi). The flight controller 216 handles mission-critical tasks such as data fusion from sensors (e.g., a sonar or an image capturing device present in the amphibious drone system 100), environmental analysis, high-level decision-making, autonomous navigation, and system diagnostics. The flight controller 216 also supports software applications for Al-based object detection or path planning. The PWM module 218 generates pulse signals to precisely control mechanical actuators like servos used in alanding gear 208and control surfaces 210. The pulse signals determine the position and operation of moving parts based on commands from the control logic. The control logic refers to the set of programmed instructions, algorithms, and decision-making rules executed by the control system 110. The ESC 220 within the control system 110 manages their activation. The ESC 220 ensures appropriate voltage and current are supplied to drone motors based on throttle input from a flight control system 204. The PM02 power module 222 distributes electrical power to all onboard components, maintaining stable voltage and current supply. The PM02 power module 222 includes safety mechanisms to handle voltage fluctuations and ensure safe operation across one or more environmental loads, such as high humidity or temperature changes in the first environment vs the second environment.
[0023] The amphibious drone system 100 include one or more components that are controlled by the control system 110, which includes a Light Emitting Diode (LED) 202, the flight control system 204, a communication module 206, the landing gear 208, a control surface 210, an image capturing device 212 and a multibeam sonar 214. The LED 202 serves multiple purposes depending on the one or more environmental conditions and operational phase of the drone. In low-light or dark environments, such as night time aerial missions or underwater navigation, the LED 202 enhances visibility for both internal imaging systems and external observers. The LED 202 is particularly critical during underwater operations, where light absorption significantly reduces visibility. In such scenarios, the LED 202 works in conjunction with the image capturing device 212 to improve image quality for object detection, obstacle avoidance, or environmental mapping. The LED 202 can also act as a status indicator (e.g., blinking patterns to indicate drone health, mode switching, or communication status) for remote operators. The control system110 manages the LED 202 activation based on the one or more environmental conditions and control logic.
[0024] The flight control system 204 is a specialized embedded system that collects and processes real-time data from onboard sensors such as gyroscopes, accelerometers, magnetometers, and GPS modules. The flight control system 204 maintains the attitude, orientation, and heading of the drone in 3D space. The flight control system 204 is essential for smooth transitions between the first environment and the second environment. The flight control system 204 ensures stable flight by adjusting motor speeds and control surfaces based on external disturbances like wind or current. While the flight control system 204 handles low-level stabilization, it works closely with the control logic in the control system 110, which provides high-level navigational decisions and mode switching.
[0025] The communication module 206 establishes wireless communication between the amphibious drone system 100 and the input source including any of the remote operator or the ground or base station. The communication module 206 supports transmission of telemetry data, including altitude, position, battery levels, camera feed, and status notifications. Depending on the environment, the communication module 206 may switch between radio frequency (RF) communication for the first environment (i.e. for aerial operation) and acoustic communication or tethered communication for the second environment (i.e. for underwater scenarios). The control system 110 governs the communication protocols, ensuring seamless data exchange and command reception, regardless of the medium or environmental conditions. The landing gear 208 is a mechanical system designed to provide support and cushioning during take-off and landing phases of the amphibious drone system 100.
[0026] The control surfaces 210 include movable aerodynamic or hydrodynamic elements such as elevons to control roll and pitch for aerodynamics, and dive for hydrodynamics, which enable precise manoeuvring and directional control of the amphibious drone system 100. The control surfaces 210 are more prominent in both the first environment and the second environment, where fine-tuned adjustments are needed to change orientation, or depth in response to water currents and sonar data. The movement of the control surfaces 210 is actuated through servos controlled by PWM signals from the control system 110. The flight control system204 continuously sends stabilization data, which is processed by the control logic to appropriately position the control surfaces 210.
[0027] The image capturing device 212 is a camera module or vision sensor that enables visual perception of the drone’s surroundings. The image capturing device 212 captures real-time imagery or video feeds used for navigation, object detection, terrain recognition, and mission documentation. During operation in the first environment, the image capturing device 212 assists in obstacle detection, and remote visual inspection. During operation in the second environment, the image capturing device 212 works alongside with the LED 202 to enhance image clarity in murky water. The control system 110 receives the image data and may process it using vision algorithms of the flight controller 216 to enable autonomous decision-making.
[0028] The multibeam sonar 214 is a sensing component for underwater navigation and obstacle detection. The multibeam sonar 214 operates by emitting a wide fan of acoustic signals (sound waves) and capturing the time and angle at which these signals reflect back after hitting underwater surfaces or objects. The multibeam sonar 214 generates depth profiles, terrain maps, and object signatures, which are fed into the flightcontroller! 16 within the control system 110. This data is then used for collision avoidance, depth control, environmental mapping, and adaptive routing. The multibeam sonar 214 is essential in turbid water where visual sensors are ineffective, and it complements other sensory inputs to ensure safe and autonomous underwater mobility.
[0029] In the amphibious drone system 100, all the components such as the LED 202, the flight control system204, the image capturing device 212, the landing gear 208, the communication module 206, and the multibeam sonar 214 are connected to and managed by the control system 110, which allows for centralized coordination that all operations from propulsion to sensing to communication are monitored, controlled, and synchronized by the control logic running inside the control system 110.
[0030] FIGS. 3A and 3B illustrate exemplary views of the amphibious drone system 100 of FIG. 1 according to some embodiments herein. FIG. 3A depicts the amphibious drone system 100 including a structure 302, one or more lights 304A-B, the image capturing device 212, the sonar 214, an acoustic modem 306, an Ultra-Short Base Fine (USBE) 308, one or more servo motors 310A-B, one or more aerial motors 312A-B, one or more aerial propellers 314A-B, and one or more underwater thrusters 316A-D. The structural 302 provides aerodynamic and hydrodynamic stability, protecting the internal components during flight and underwater operation. The one or more lights 304A-B includes a first light and a second light, which may be lumen lights, for underwater visibility and signalling.
[0031] The one or more aerial propellers 314A-B includes a first aerial propeller and a second aerial propeller, each driven by the corresponding aerial motors 312A-B, which are mounted using first and second motor mount plates. The image capturing device212 is configured to capture one or more images or videos, and the sonar 214 enables navigation and detection of the obstacles in the second environment. The acoustic modem 306 is configured to transmit and receive data using acoustic signals in the second environment. The USBL 364 enables communication in the second environment.
[0032] The one or more servo motors 310A-B are configured to initiate movement of the amphibious drone system 100 in the first environment. The one or more servo motors 310A-B may be a Direct Current (DC) motor. The one or more aerial motors 312A-B are configured to initiate take-off of the amphibious drone system 100 in the first environment with the one or more aerial propellers 314A-B. The one or more underwater thrusters 316A-D are configured to initiate movement of the amphibious drone system 100 in the second environment. FIG. 3B depicts the amphibious drone system including a Doppler Velocity Log (DVL) 318. The DVL is configured to determine a position of the amphibious drone system 100 in real-time.
[0033] In some embodiments, the amphibious drone system 100 includes an eHD and a multi-beam sonar which provide real-time environmental mapping and data collection capabilities, useful for underwater terrain scanning and obstacle detection. In some embodiments, the amphibious drone system 100 includes an onboard computer which serves as a computing platform for executing onboard control logic and mission tasks, while the Pulse Width Modulation (PWM) actuates various motors and thrusters with finegrained control over speed and position.
[0034] FIG. 3C illustrates an exploded view of the amphibious drone system lOOaccording to some embodiments herein. The amphibious drone system 100 includes a control system hull 320 and a battery system hull 322. The control system hull 320 is thecontrol system 110, which enables operations of the amphibious drone system 100. The battery system hull 322 include one or more battery systems, which serve redundant or load-sharing purposes to support long-duration missions in both the first and second environments.
[0035] FIG. 4 illustrates an exploded view of the control system 110 of the amphibious drone system lOOof FIG. 1 according to some embodiments herein. The control system 110 includes the flight controller 216, the PWM module 218, an ESC 220, a first end cap 402, a second end cap 404, a locking flange seal 406, flames 408, a locking tube 410, a baseboard 412, a PM02 power module 222, a switchbox 414, and an input / output interface 416. The control system 110 acts as housing and protecting the electronic components by providing a leak-proof enclosure. The control system 110 includes the flight controller 216 and the PWM module 218, which work together to process control commands and regulate the power delivered to various actuators such as motors and thrusters. The ESC 220 is for managing rotor speed. This may be a 4-in-l ESC specially configured for underwater thrusters, providing balanced and optimized power distribution across multiple thruster channels simultaneously.
[0036] The structural integrity and environmental protection of the control system 108 are enabled by a pressure hull with the first end cap 402 and the second end cap 404, which seal the electronic compartment against external water ingress. The locking flange seal 406 and the locking tube 410 further secure the enclosure, reinforcing its water-tight design. These sealing components are essential for maintaining leak-proof operation of sensitive electronics when the amphibious drone system lOOis submerged or exposed to splash-heavy aquatic conditions.
[0037] The control system 110 includes the baseboard 412 as the primary structural platform for mounting control modules and electronic interfaces. The PM02 power module 222provides efficient power distribution and voltage regulation within the amphibious drone system 100. The switchbox 414 handles control signal routing, and the input / output interface 416 enables communication between various sensors, actuators, and processing units within the amphibious drone system 100.
[0038] The flames 408 maintain thermal safety within the enclosed space. Sidewalls such as the first end cap 402, the second end cap 404, and structural parts like the locking flange seal 406, the flames 408, the locking tube 410, the other internal layers such as the baseboard 412, the switchbox 414 and the input / output interface 416 are designed to offer additional support, insulation, and compartmentalization for specific subsystems.
[0039] The control system 110 acts as a protective, leak-proof housing for its internal electronic architecture. The integration of the control system 110 ensures the amphibious drone system 100 can perform complex manoeuvres, monitor environmental inputs, and maintain system integrity under extreme environmental transitions.
[0040] FIG. 5 illustrates an operational sequence of the amphibious drone system 100 operating seamlessly in the one or more environments according to some embodiments herein. The one or more environments may be the first environment and the second environment. The amphibious drone system 100 initiates the operation by executing a vertical take-off from a base i.e. land, in Tail-Sitter Vertical Take-Off and Landing (VTOL) mode. The amphibious drone system 100 enables the two or more motors and propellers 106 in the wing component 104 to generate a required lift for achieving a stable ascent in the first environment i.e. the aerial environment. Upon reaching a predefined altitude, the amphibiousdrone system 100 transitions into Tail-Sitter Forward Flight mode i.e. a first mode, optimizing aerodynamic efficiency for sustained travel toward the designated operational zone in the aerial environment.
[0041] When the amphibious drone system 100 needs to move into the second environment i.e. the underwater environment, the amphibious drone system 100 transitions back to Tail-Sitter VTOL mode to initiate a controlled descent toward the water surface. The amphibious drone system 100 enters the water tail-first orientation, for a gradual descent. In some embodiments, the amphibious drone system 100 includes an electric propulsion for changing the orientation of the amphibious drone system 100. As it submerges, the amphibious drone system 100 switches to the second mode for underwater operation in the second environment i.e. underwater environment, employing the two or more first thrusters 108, the two or more second thrusters 112, and the control surfaces 210 for navigating inside the second environment with level forward flight.
[0042] When the amphibious drone system 100 needs to move into the aerial environment, the amphibious drone system 100 transitions to Water Take-Off mode to initiate a controlled ascent toward the water surface. The two or more motor and propellers are reoriented to generate the necessary thrust for vertical lift-off to move into the first environment. The amphibious drone system 100 transitions back to Tail-Sitter Forward Flight mode to navigate in the aerial environment, and lands in the base with the Tail-Sitter VTOL mode.
[0043] The descent and underwater entry of the amphibious drone system 100 are made smooth and controlled by the control system 110, allowing the amphibious drone system 100 to enter the underwater environment seamlessly. Once the amphibious dronesystem 100 submerges in the underwater, the two or more first thrusters 108, the two or more second thrusters 112, and the control surfaces 210 enable navigation efficiently, carrying out tasks such as data collection, surveillance, inspection, environmental monitoring, or exploration.
[0044] The amphibious drone system 100 provides endurance in the first environment in a range of 1 hour to 2 hours, and endurance in the second environment in a range of 2 hours to 3 hours at a depth in a range of Im to 100m. The amphibious drone system 100 transitions and moves from the first environment to the second environment, and vice versa seamlessly within 10 seconds.
[0045] FIGS. 6A and 6B are flow diagrams that illustrates a sequence of operations in the amphibious drone system 100 of FIG. 5 according to some embodiments herein. At step 602, the amphibious drone system 100 takes off vertically from the base using Tail- Sitter VTOL mode. At step 604, the amphibious drone system 100 ascends to the required altitude and switches to Tail-Sitter Forward Flight mode for efficient aerial navigation. At step 606, the amphibious drone system 100 approaches the water surface and switches back to Tail-Sitter VTOL mode for descent. At step 608, the amphibious drone system 100 descends into water in a tail-sitter orientation. At step 610, a controlled underwater descent begins using underwater thrusters and control surfaces. At step 612, the amphibious drone system 100 transitions to a stable underwater forward flight and begins the underwater mission for inspection, surveillance. At step 614, after completing the mission, the amphibious drone system 100 activates its ascent process using thrusters. At step 616, the amphibious drone system 100 surfaces and switches to the take-off mode from water. At step 618, the amphibious drone system 100 lifts off from the water using rotors and re-enters Tail-Sitter VTOL mode. At step 620, the amphibious drone system 100 transitions into forward flight and navigates toward the destination. At step 622, the amphibious drone system 100 either lands back at the base using Tail-Sitter VTOL mode or continues to the next mission.
[0046] FIGS. 7A and 7B are flow diagrams that illustrate a method of the amphibious drone system 100 for operating in the one or more environment conditions according to some embodiments herein. At a step 702, the method includes receiving input signals. At a step 704, the method includes initiating take-off of the amphibious drone system 100 in the first environment in a first mode by analysing the input signals using the two or more motors and propellers 106. At a step 706, the method includes shifting the amphibious drone system 100 from the first mode to the second mode when the amphibious drone system 100 reaches the target location for transmitting into the second environment. At a step 708, the method includes initiating entry of the amphibious drone system 100 into the second environment. At a step 710, the method includes enabling movement of the amphibious drone system 100 in the second environment, and perform navigation and manoeuvring using the two or more first thrusters and the two or more second thrusters along with the control surfaces to reach the target location for completing the task. At a step 712, the method includes shifting the amphibious drone system 100 from the second mode to the first mode when the amphibious drone system 100 reaches the target location for transmitting into the first environment. At a step 714, the method includes initiating transition of the amphibious drone system 100 from the second environment back into the first environment for continued operation in the first environment.
[0047] The foregoing description of the specific embodiments will so fully revealthe general nature of the embodiments herein that others can, by applying current knowledge, readily modify and / or adapt for various applications such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments. It is to be understood that the phraseology or terminology employed herein is for the purpose of description and not of limitation. Therefore, while the embodiments herein have been described in terms of preferred embodiments, those skilled in the art will recognize that the embodiments herein can be practiced with modification within the scope of appended claims.
Claims
CLAIMSI / We Claim:
1. An amphibious drone system (100) configured to operate in one or more environment conditions, wherein the amphibious drone system (100) comprises:a wing component (104) comprising two or more motors and propellers (106), wherein the two or more motors and propellers (106) are configured to enable taking off and landing of the amphibious drone system (100) in a first environment, wherein the two or more motors and propellers (106) enable movement of the amphibious drone system (100) in the first environment, and transmit the amphibious drone system (100) into a second environment by analysing input signals;two or more first thrusters (108) and two or more second thrusters (112) that are configured to control one or more movements of the amphibious drone system (100) in the second environment; anda control system (110) that controls the amphibious drone system (100) in the one or more environments, wherein the control system (110) is configured to:initiate, using the two or more motors and propellers (106), take-off of the amphibious drone system (100) in the first environment in a first mode by analysing input signals;shift the amphibious drone system (100) from the first mode to a second mode when the amphibious drone system (100) reaches a target location for transmitting into the second environment;initiate entry of the amphibious drone system (100) into the second environment;enable movement of the amphibious drone system (100) in the second environment, and perform navigation and manoeuvring using the two or more first thrusters (108) and the two or more second thrusters (112) along with control surfaces (210) to reach a target location for completing a task;shift the amphibious drone system (100) from the second mode to the first mode when the amphibious drone system (100) reaches a target location for transmitting into the first environment; andinitiate transition of the amphibious drone system (100) from the second environment back into the first environment for continued operation in the first environment.
2. The amphibious drone system (100) as claimed in claim 1, the two or more motors and propellers (106) of the amphibious drone system (100) are configured to support Tail-Sitter Vertical Take-Off and Landing (VTOL) mode in the first environment, wherein the first environment is an aerial environment.
3. The amphibious drone system (100) as claimed in claim 1, wherein the two or more first thrusters (108) are configured to enable the amphibious drone system (100) to dive into or arise from the second environment, wherein the second environment is an underwater environment.
4. The amphibious drone system (100) as claimed in claim 1, wherein the two or more second thrusters (112) are configured to control yaw and forward / backward motion of the amphibious drone system (100) in the second environment.
5. The amphibious drone system (100) as claimed in claim 1, wherein the amphibious drone system (100) is configured to perform six Degrees of Freedom (DOF) by adjusting orientation to control vertical trajectory and horizontal trajectory during the first mode associated with the first environment using the control surfaces (210) and the two or more motors and propellers (106), wherein the amphibious drone system (100) is configured to perform five DOF by adjusting orientation to control vertical trajectory and horizontal trajectory during the second mode associated with the second environment using the control surfaces (210), the two or more first thrusters(108), and the two or more second thrusters (112), wherein the control surfaces (210) facilitate a transition from the vertical trajectory to the horizontal trajectory, and vice versa.
6. The amphibious drone system (100) as claimed in claim 1, wherein the control system (110) adjusts the orientation and actuation of the wing component (104), the two or more first thrusters(108), and the two or more second thrusters (112) based on input signals during operation in the first environment and the second environment.
7. The amphibious drone system (100) as claimed in claim 1, wherein the wing component (104) stabilizes the amphibious drone system (100) during flight in the first environment.
8. The amphibious drone system (100) as claimed in claim 1, wherein a fuselage of the amphibious drone system (100) houses at least one LED light (202), an image capturing device (212), and a multibeam sonar (214), wherein a wing tip of the amphibious drone system (100) is configured to house the two or more first thrusters (108), the two or more second thrusters (112) and a landing gear (208).
9. The amphibious drone system (100) as claimed in claim 1, wherein the control system (110) enables the transition between the first environment and the second environment within a duration of 1 to 10 seconds.
10. A method of an amphibious drone system (100) for operating in one or more environment conditions, wherein the method comprises:initiating, using a control system (110), take-off of the amphibious drone system (100) in the first environment in a first mode by analysing input signals using two or more motors and propellers (106);shifting, using the control system (110), the amphibious drone system (100) from the first mode to a second mode when the amphibious drone system (100) reaches a target location for transmitting into the second environment;initiating, using the control system (110), entry of the amphibious drone system (100) into the second environment;enabling, using the control system (110), movement of the amphibious drone system (100) in the second environment, and perform navigation and manoeuvring using the two or more first thrusters (108) and the two or more second thrusters (112) along with control surfaces (210) to reach a target location for completing a task;shifting, using the control system (110), the amphibious drone system (100) from the second mode to the first mode when the amphibious drone system (100) reaches a target location for transmitting into the first environment; andinitiating, using the control system (110), transition of the amphibious drone system (100) from the second environment back into the first environment for continued operation in the first environment.