CN-121973968-A - Water-air cross-medium aircraft and navigation method

CN121973968ACN 121973968 ACN121973968 ACN 121973968ACN-121973968-A

Abstract

The invention discloses a water-air cross-medium aircraft and a navigation method, wherein the aircraft comprises an aircraft body, a first lifting unit, a second lifting unit, a propulsion unit and a monitoring unit, the first lifting unit comprises two wings and an air pump, the two wings are oppositely arranged on two sides of the aircraft body, one ends of the two wings are connected with the aircraft body, and the wings are of a deformation structure. The invention has the advantages that when the water-air span medium aircraft sails underwater, the wings can be quickly deflated and folded, the fluid resistance of the whole aircraft is obviously reduced, the underwater maneuverability of the water-air span medium aircraft is ensured to be close to that of a conventional special underwater aircraft, when the water-air span medium aircraft sails in the air, the wings can be quickly inflated and unfolded, and the wings and the second lifting unit jointly provide lifting force, so that complicated mechanical folding and unfolding mechanisms and sealing systems are abandoned, the number of movable parts is greatly reduced, the system weight is realized, and the reliability of the whole aircraft is obviously improved.

Inventors

LIU HUABING
CAI JINCHENG
GAN JIN
YE YUNLING

Assignees

武汉理工大学

Dates

Publication Date: 20260505
Application Date: 20260226

Claims (10)

1. A water-air trans-medium vehicle, comprising: a body; the first lift unit comprises two wings and an air pump, wherein the two wings are oppositely arranged on two sides of the machine body, one ends of the two wings are connected with the machine body, the wings are provided with a deformation structure and a cavity, air ports communicated with the cavity are formed in the wings, the air pump is communicated with the two air ports and is used for simultaneously inflating into the two cavities or simultaneously extracting air in the two cavities, so that the two wings are simultaneously in an unfolding state separated from the machine body or a folding state attached to the machine body; the second lifting unit is connected with the machine body and used for providing lifting force; a propulsion unit connected with the machine body for pushing the machine body to advance or turn, and The monitoring unit is electrically connected with the air pump, the second lifting unit and the propulsion unit, and is used for monitoring water and air environment and adjusting output power of the air pump, the second lifting unit and the propulsion unit.
2. The water-air cross-medium aircraft according to claim 1, wherein two side walls of the aircraft body are respectively provided with a containing groove, one ends of two wings are embedded in the notch of the two containing grooves in a one-to-one correspondence manner, and the wings in a folded state are contained in the containing grooves.
3. The water-air trans-media craft of claim 1, wherein the wing has a resilient structure to conform the wing in a folded state to the airframe surface.
4. The water-air cross-medium aircraft according to claim 1, wherein the wing comprises at least one air bag, each air bag is sequentially arranged along the span or chord direction, adjacent air bags are connected with each other, the innermost air bag is connected with the aircraft body, and each air bag is provided with the air port.
5. The water-air cross-medium aircraft according to claim 1, wherein the second lift unit comprises at least one lift screw and at least one first rotation driving piece, one end of a propeller shaft of each lift screw is rotationally connected with the aircraft body, and an output end of each first rotation driving piece is in one-to-one correspondence connection with the propeller shaft of each lift screw and is used for driving the propeller shaft of the lift screw to rotate.
6. The water-air cross-medium aircraft according to claim 5, wherein the propulsion unit comprises a plurality of thrust propellers and a plurality of second rotation driving pieces, one end of a propeller shaft of each thrust propeller is rotatably connected with the machine body, and an output end of each second rotation driving piece is in one-to-one correspondence connection with the propeller shaft of each thrust propeller and is used for driving the propeller shaft of each thrust propeller to rotate.
7. The water-air cross-medium aircraft according to claim 6, wherein the thrust propellers comprise four, the four thrust propellers are respectively arranged at four corners of the aircraft body, the four thrust propellers are oppositely arranged along the longitudinal central axis and the transverse central axis of the aircraft body, and the central axes of the four thrust propellers and the longitudinal central axis of the aircraft body form an included angle a.
8. The water-air cross-medium aircraft according to claim 6, wherein the monitoring unit comprises a laser radar and a controller, the laser radar is arranged at the head of the aircraft body and is used for scanning water and air environment, the controller is arranged in the aircraft body, the input end of the controller is electrically connected with the laser radar and is used for receiving data information scanned by the laser radar, and the output end of the controller is electrically connected with the air pump, the second lifting unit and the propulsion unit and is used for adjusting the output power of the air pump, the second lifting unit and the propulsion unit.
9. The air-water cross-medium vehicle of claim 8, wherein the output end of the controller is electrically connected to the air pump, each of the first rotary driving members, and each of the second rotary driving members, for adjusting the output power of the air pump, each of the first rotary driving members, and each of the second rotary driving members.
10. A water-air-crossing-medium navigation method suitable for the water-air-crossing-medium navigation device as set forth in any one of claims 1 to 9, comprising the steps of: the monitoring unit monitors the surrounding environment and judges whether the environment is underwater, air or medium crossing according to the monitored environment; When the aircraft is sailed underwater, the two wings are in a folding state at the same time, the monitoring unit adjusts the output power of the second lifting unit so as to enable the aircraft body to ascend or descend, if the output power of the second lifting unit is lower than a first preset value, the aircraft body descends due to self gravity if the lift provided by the second lifting unit is smaller than the weight of the whole aircraft, and if the output power of the second lifting unit is higher than the first preset value, the aircraft body ascends if the lift provided by the second lifting unit is greater than the weight of the whole aircraft, and the monitoring unit adjusts the output power of the propulsion unit so as to enable the aircraft body to advance or turn and adjust the advancing or turning speed of the aircraft body; When the aircraft is sailing in the air, the two wings are in an unfolding state at the same time, the monitoring unit adjusts the output power of the second lifting unit so as to enable the aircraft body to ascend or descend, if the output power of the second lifting unit is lower than a second preset value, the aircraft body descends due to self gravity when the lift force provided by the two wings and the second lifting unit together is smaller than the weight of the whole aircraft, and if the output power of the second lifting unit is higher than the second preset value, the aircraft body ascends when the lift force provided by the two wings and the second lifting unit together is larger than the weight of the whole aircraft, the monitoring unit adjusts the output power of the propulsion unit so as to enable the aircraft body to advance or turn, and adjusts the advancing or turning speed of the aircraft body; When the water flows out, the monitoring unit adjusts the output power of the second lifting unit so as to adjust the ascending speed of the machine body, the monitoring unit adjusts the output power of the propulsion unit so as to adjust the advancing speed of the machine body, the adjustment of the water outlet cutting angle is realized, after the water flows out, the monitoring unit adjusts the output power of the air pump, and the air pump simultaneously charges air into the two cavities so as to enable the two wings to be in an unfolding state at the same time; When water is introduced into the aircraft, before water is introduced into the aircraft, the output power of the air pump is regulated by the monitoring unit, the air pump simultaneously extracts the air in the two cavities so that the two wings are simultaneously in a folded state, the output power of the second lifting unit is regulated by the monitoring unit so as to regulate the descending speed of the aircraft body, and the advancing speed of the aircraft body is regulated by the output power of the propulsion unit so as to regulate the advancing speed of the aircraft body and realize the regulation of the water inlet cutting angle.

Description

Water-air cross-medium aircraft and navigation method Technical Field The invention relates to the technical field of water-air amphibious flight, in particular to a water-air cross-medium aircraft and a navigation method. Background Currently, the operation environment is more and more complex and more towards tasks such as ocean stereoscopic observation, cross-domain infrastructure inspection, offshore resource exploration, sea-air combined rescue and the like, and unprecedented urgent demands are put forward on the global, cross-medium and self-adaptive operation capability of an unmanned system. The conventional single-medium aircraft is difficult to meet the requirements due to inherent physical limitations, and although the underwater aircraft (UUV/ROV) has the advantages of good concealment, stable hydrodynamic force, suitability for close range fine operation and the like, the underwater aircraft has the advantages of large fluid resistance, slow speed, limited operation radius and difficulty in quick response to a large-scale task. Although the aerial Unmanned Aerial Vehicle (UAV) has the advantages of quick maneuvering and wide area coverage, the aerial unmanned aerial vehicle cannot break through a gas-liquid interface to perform underwater detection and operation. Therefore, development of a medium-crossing amphibious aircraft capable of freely crossing an air-water interface and combining underwater fine control and air rapid delivery capability has become a core direction for breaking through the bottleneck of the existing operation mode. Currently, common cross-medium aircraft designs are mostly based on fixed wing or mechanically folded wing configurations to obtain the lift required for air flight. However, the fixed wing designed for high-efficiency cruising in the air can form a huge wet surface area under water, generate obvious additional resistance and vortex, and severely restrict the underwater maneuverability. The mechanical folding wing is provided with a complex mechanical folding and unfolding mechanism and a sealing system, so that dead weight is increased, load space is occupied, and the reliability of the system is reduced due to overlong transmission links and increased sealing points. Disclosure of Invention The invention aims to overcome the defects of the technology, and provides a water-air span medium aircraft and a navigation method, which solve the technical problems of low reliability caused by the fact that a mechanical folding wing has a complex mechanical folding and unfolding mechanism and a sealing system due to the fact that the underwater maneuverability of a fixed wing is insufficient in the prior art. In order to achieve the technical purpose, the technical scheme of the invention provides a water-air cross-medium aircraft, which comprises: a body; the first lift unit comprises two wings and an air pump, wherein the two wings are oppositely arranged on two sides of the machine body, one ends of the two wings are connected with the machine body, the wings are provided with a deformation structure and a cavity, air ports communicated with the cavity are formed in the wings, the air pump is communicated with the two air ports and is used for simultaneously inflating into the two cavities or simultaneously extracting air in the two cavities, so that the two wings are simultaneously in an unfolding state separated from the machine body or a folding state attached to the machine body; the second lifting unit is connected with the machine body and used for providing lifting force; a propulsion unit connected with the machine body for pushing the machine body to advance or turn, and The monitoring unit is electrically connected with the air pump, the second lifting unit and the propulsion unit, and is used for monitoring water and air environment and adjusting output power of the air pump, the second lifting unit and the propulsion unit. Furthermore, a containing groove is respectively formed in two side walls of the machine body, one ends of the two wings are embedded in the notch of the two containing grooves in a one-to-one correspondence mode, and the wings in a folding state are contained in the containing grooves. Further, the wing is provided with an elastic structure, so that the wing in a folded state is attached to the surface of the machine body. Further, the wing comprises at least one air bag, each air bag is sequentially arranged along the wingspan or the chord direction, adjacent air bags are connected with each other, the innermost air bag is connected with the machine body, and each air bag is provided with the air port. Further, the second lifting unit comprises at least one lifting screw propeller and at least one first rotation driving piece, one end of each propeller shaft of the lifting screw propeller is rotationally connected with the machine body, and the output end of each first rotation driving piece is in one-to-one correspondence connecti