CN107554736B - A bionic flying squid cross-sea-air vehicle capable of realizing software variable structure - Google Patents

Abstract

The invention discloses a bionic flying squid cross-sea-air vehicle capable of realizing software variable structure. The bionic flying squid cross-sea-air vehicle that can realize software variable structure includes: an outer shell, the interior of which is hollow, one end of the outer shell is provided with a fin assembly, the other end is provided with a wrist fin assembly, and the outer shell is provided with an air-filling hole , the water injection hole and the water outlet hole; the fin control system, which is arranged inside the outer casing, and the fin control system is respectively connected to the pair of fin assemblies and the wrist fin assembly; the air source, which is connected to the fin control system; The propulsion system is arranged inside the outer casing and connected to the air source, and has a drain pipe and a speed regulating valve. This application uses the high-pressure gas water jet propulsion scheme to enable the robot to exit the water at high speed and transition to the air flight state, and the fin assembly and wrist fin assembly can be folded and unfolded according to the fluid environment and motion state, achieving extremely high propulsion efficiency .

Description

A bionic flying squid cross-sea-air vehicle that can realize software variable structure

technical field

The invention relates to the technical field of amphibious cross-medium aircraft, in particular to a bionic flying squid cross-sea-air aircraft capable of realizing software-variable structures.

Background technique

In order to realize both underwater navigation and air flight, traditional soft-body variable-structure aircraft usually adopt a rigid variable-structure design. When flying in the air, the wings are expanded to generate enough lift for flight, water-air transition and water-air transition. When sailing down, the wings retract or fold, reducing drag for efficient sailing. This variable structure design is usually realized by a mechanical device with a large volume and a complex structure such as a connecting rod, which has a complex structure and a large volume and weight.

Traditional bionic flying squid cross-sea-air vehicles that can realize soft-body variable structures usually use propellers to provide power for underwater and air navigation. Transition to air medium.

Therefore, it is desirable to have a technical solution to overcome or at least alleviate at least one of the above-mentioned drawbacks of the prior art.

Contents of the invention

The object of the present invention is to provide a bionic flying squid cross-sea-air vehicle that can realize software variable structure to overcome or at least alleviate at least one of the above-mentioned defects in the prior art.

In order to achieve the above object, the present invention provides a bionic flying squid cross-sea-air vehicle that can realize software variable structure, and the bionic flying squid cross-sea air vehicle that can realize software variable structure can fly out of water and fly or fly in the air. Underwater navigation, the bionic flying squid cross-sea and air vehicle that can realize soft body variable structure includes: an outer shell, the outer shell is hollow inside, one end of the outer shell is provided with a fin assembly, and the other end is provided with a wrist fin assembly , the outer casing is provided with an air-filling hole, a water injection hole and a water outlet hole; a fin control system, the fin control system is arranged inside the outer casing, and the fin control system is connected with the pair of fin assemblies respectively And wrist fin assembly is connected; Air source, described air source is connected with described fish fin control system; Propulsion system, described propulsion system is arranged on the inside of described outer casing and is connected with described air source, and described propulsion system has drainage pipeline and a speed regulating valve arranged on the drainage pipeline; wherein, the gas source is used to provide gas for the fin control system and the propulsion system respectively, so as to control the fin control system and/or the The propulsion system works; the fin control system is used for the action of the fin assembly and the wrist fin assembly; the propulsion system is used to control the movement of the bionic flying squid that can realize software variable structure across sea and air And adjust the power of the bionic flying squid cross-sea-air vehicle that can realize software variable structure.

Preferably, the outer shell includes a first shell and a second shell that are detachably connected to each other, and the second shell is provided with the air charging hole, the water injection hole and the pushing water outlet hole;

The outer casing further includes sealing grooves, and the sealing grooves are distributed on the contact surface between the first casing and the second casing;

The pair of fin assemblies and the wrist fin assembly are disposed on the first shell or the second shell.

Preferably, the fin control system includes:

A first two-position three-way solenoid valve, the first two-position three-way solenoid valve is respectively connected to the air source and the pair of fin assemblies;

A second two-position three-way solenoid valve, the second two-position three-way solenoid valve is respectively connected to the air source and the wrist fin assembly.

Preferably, the pair of fins assembly includes a first flexible pair of fins and a second flexible pair of fins, the first flexible pair of fins is provided with an annular air cavity, and the second flexible pair of fins is provided with an annular air cavity; The annular air cavity in the first flexible pair of fins and the annular air cavity in the second flexible pair of fins are respectively communicated with the first two-position three-way solenoid valve;

The wrist fin assembly includes a first flexible wrist fin and a second flexible wrist fin, the first flexible wrist fin is provided with an annular air cavity, and the second flexible wrist fin is provided with an annular air cavity; the first flexible wrist fin is provided with an annular air cavity; The annular air chamber in the flexible wrist fin and the annular air chamber in the second flexible wrist fin communicate with the second two-position three-way solenoid valve respectively.

Preferably, the bionic flying squid cross-sea-air vehicle that can realize soft-body variable structure further includes an inflation pipeline and an inflation valve arranged in the inflation pipeline, one end of the inflation pipeline is connected to the air source, The other end is arranged at the inflation hole.

Preferably, the propulsion system further comprises:

A water storage inner cavity, the water storage inner cavity is provided with a gas-liquid barrier film capable of moving in the water storage cavity, and the gas-liquid barrier film separates the water outlet cavity into a gas cavity and a liquid cavity; The water storage inner cavity has an input port and an output port, the input port is located in the gas chamber, and the output port is located in the liquid chamber; the output port communicates with the drainage pipe, and the input port communicates with the The gas source is connected;

A two-position two-way solenoid valve, the two-position two-way solenoid valve communicates with the air source and the input port of the water storage cavity.

Preferably, the biomimetic flying squid cross-sea-air vehicle that can realize soft body variable structure further includes a water injection system connected to the water storage inner cavity, and the water injection system is used to provide water for the water storage inner cavity Provide fluids.

Preferably, the water injection system includes:

A water supply centrifugal pump, the output end of the water supply centrifugal pump communicates with the water storage inner chamber through a pipeline;

A one-way valve, the one-way valve is arranged on the pipeline communicating between the water supply centrifugal pump and the water storage inner chamber.

Preferably, the water injection system further includes a second two-position two-way solenoid valve, and the second two-position two-way solenoid valve communicates with the gas chamber of the water storage inner chamber.

Preferably, said propulsion system further comprises a flow meter, said flow meter being arranged on said drainage conduit.

The proposal of the present application that the bionic flying squid cross-sea-air vehicle that can realize software variable structure uses high-pressure gas water jet propulsion allows the robot to fly in the air from underwater at high speed, and has extremely high propulsion efficiency. And the fin assembly and wrist fin assembly manufactured by soft robot technology can reduce the resistance of underwater navigation and provide lift for air flight.

Description of drawings

Fig. 1 is a schematic structural diagram of a bionic flying squid cross-sea-air vehicle capable of realizing software variable structure according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of the internal structure of the bionic flying squid cross-sea-air vehicle shown in Fig. 1 that can realize software variable structure.

Fig. 3 is another schematic diagram of the structure of the bionic flying squid cross-sea-air vehicle shown in Fig. 1 that can realize software variable structure.

reference sign

1 Shell 41 The first two two three-way solenoid valve 2 Fin assembly 42 The second two two three way solenoid valve 3 wrist fin assembly 7 inflation valve 4 fin control system 62 water storage cavity 5 Gas source 63 Gas-liquid barrier film 6 propulsion system 621 gas cavity 61 speed control valve 622 liquid cavity 11 first shell 64 Two position two way solenoid valve 12 second shell 8 water injection system 13 the seal groove 82 check valve 81 Water supply centrifugal pump 83 Second two two way solenoid valve

Detailed ways

In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below in conjunction with the drawings in the embodiments of the present invention. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of the invention. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention. Embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings.

In describing the present invention, it is to be understood that the terms "central", "longitudinal", "transverse", "front", "rear", "left", "right", "vertical", "horizontal", The orientations or positional relationships indicated by "top", "bottom", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the Means that a device or element must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the scope of the invention.

Fig. 1 is a schematic structural diagram of a bionic flying squid cross-sea-air vehicle capable of realizing software variable structure according to an embodiment of the present invention. Fig. 2 is a schematic diagram of the internal structure of the bionic flying squid cross-sea-air vehicle shown in Fig. 1 that can realize software variable structure. Fig. 3 is another schematic diagram of the structure of the bionic flying squid cross-sea-air vehicle shown in Fig. 1 that can realize software variable structure.

As shown in Figures 1 to 3, the bionic flying squid cross-sea and air vehicle that can realize software variable structure can fly or navigate underwater, and the bionic flying squid cross-sea air vehicle that can realize software variable structure includes an outer shell 1 , fin control system 4, air source 5 and propulsion system 6.

Referring to Fig. 1, in this embodiment, the interior of the outer shell 1 is hollow, one end of the outer shell 1 is provided with a pair of fin assemblies 2, and the other end is provided with a wrist fin assembly 3, and the outer shell 1 is provided with an air-filling hole, a water injection hole and a push-out water outlet. hole. In this embodiment, both the fin assembly 2 and the wrist fin assembly 3 are made of soft materials, which can be deformed under the control of the fin control system. For example, in this embodiment, the fin assembly 2 and the wrist fin assembly 3 are made of silicone. It can be understood that it can also be made of other soft materials. For example, soft plastic material.

Referring to FIG. 2 , in this embodiment, the fin control system 4 is arranged inside the outer casing 1 , and the fin control system 4 is connected to the opposite fin assembly 2 and the wrist fin assembly 3 respectively.

Referring to FIG. 2 and FIG. 3 , in this embodiment, the air source 5 is connected to the fin control system 4 .

Referring to FIG. 3 , in this embodiment, the propulsion system 6 is arranged inside the outer shell 1 and connected to the air source 5 . The propulsion system 6 has a drain pipe and a speed regulating valve 61 arranged on the drain pipe.

In this embodiment, the gas source is used to provide gas for the fin control system and the propulsion system respectively, so as to control the work of the fin control system and/or the propulsion system. It can be understood that, in this embodiment, the work of the fin control system and the propulsion system can be individually controlled according to needs, and the work of the fin control system and the propulsion system can also be controlled simultaneously.

In this embodiment, the fin control system is used to operate the fin assembly and the wrist fin assembly.

In this embodiment, the propulsion system is used to control the movement of the bionic flying squid capable of realizing software variable structure across sea and air, and to adjust the power of the bionic flying squid capable of realizing software variable structure across sea and air.

The proposal of the present application that the bionic flying squid cross-sea-air vehicle that can realize software variable structure uses high-pressure gas water jet propulsion allows the robot to fly in the air from underwater at high speed, and has extremely high propulsion efficiency. And the fin assembly and wrist fin assembly manufactured by soft robot technology can reduce the resistance of underwater navigation and provide lift for air flight.

Referring to FIG. 1 , in this embodiment, the outer casing includes a first casing 11 and a second casing 12 that are detachably connected to each other, and the second casing 12 is provided with an air charging hole, a water injection hole and a water pushing hole.

Referring to FIG. 2 , in this embodiment, the outer casing 1 further includes sealing grooves 13 distributed on the contact surfaces of the first casing 11 and the second casing 12 . In this way, external liquid or gas can be prevented from entering the interior of the outer casing 1 .

In this embodiment, the pair fin assembly 2 and the wrist fin assembly 3 are disposed on the first casing 11 . It can be understood that, the fin assembly and the wrist fin assembly can also be arranged on the second housing 12 .

Referring to FIG. 3 , in this embodiment, the fin control system 4 includes a first two-position three-way solenoid valve 41 and a second two-position three-way solenoid valve 42 , and the first two-position three-way solenoid valve 41 is connected to the air source 5 respectively. and connected to the fin assembly 2; the second two-position three-way solenoid valve 42 is connected to the air source 5 and the wrist fin assembly 3 respectively. The air source can be controlled to provide gas for the fin assembly through the control of the first two-position three-way solenoid valve, and the air source can be controlled to provide gas for the wrist-fin assembly through the control of the second two-position three-way solenoid valve.

It can be understood that the gas source in this application is a high-pressure gas with a pressure of 5 bar to 10 bar.

Referring to Fig. 2, in this embodiment, the fin assembly 2 includes a first flexible pair of fins and a second flexible pair of fins, the first flexible pair of fins is provided with an annular air cavity, and the second flexible pair of fins is provided with an annular air cavity The annular air cavity in the first flexible pair of fins and the annular air cavity in the second flexible pair of fins are respectively communicated with the first two-position three-way solenoid valve; the wrist fin assembly 3 includes a first flexible wrist fin and a second flexible wrist fin , the first flexible wrist fin is provided with an annular air chamber, and the second flexible wrist fin is provided with an annular air chamber; the annular air chamber in the first flexible wrist fin and the annular air chamber in the second flexible wrist fin are respectively connected with the second flexible wrist fin. The two-position three-way solenoid valve communicates.

Referring to Fig. 3, in this embodiment, the bionic flying squid cross-sea-air vehicle that can realize software variable structure further includes an inflation pipeline and an inflation valve 7 arranged in the inflation pipeline, and one end of the inflation pipeline is connected to the air source 5 , and the other end is set at the inflation hole.

With this structure, the gas source can be inflated externally without dismantling the bionic flying squid cross-sea-air vehicle capable of realizing soft body variable structure when the gas in the gas source is lacking.

2 and 3, in this embodiment, the propulsion system further includes a water storage cavity 62 and a two-position two-way solenoid valve 64, wherein the water storage cavity 62 is provided with a valve capable of moving in the water storage cavity 62. The gas-liquid barrier film 63, the gas-liquid barrier film 63 separates the water outlet cavity into a gas cavity 621 and a liquid cavity 622; the water storage cavity 62 has an input port and an output port, the input port is located in the gas cavity 621, and the output port is located in the gas cavity 621. The liquid chamber 622 ; the output port communicates with the drain pipe, and the input port communicates with the air source; the two-position two-way solenoid valve 64 communicates with the air source 5 and the input port of the water storage cavity 62 .

Referring to Fig. 3, in this embodiment, the bionic flying squid cross-sea-air vehicle that can realize software variable structure further includes a water injection system 8, and the water injection system 8 is connected with the water storage inner chamber, and the water injection system 8 is used to provide water for the water storage inner chamber. 62 provides liquid. The water injection system is provided to ensure that the bionic flying squid cross-sea and air vehicle capable of realizing software variable structure can realize continuous replenishment of water underwater, thereby ensuring the underwater life of the bionic flying squid cross-sea-air vehicle capable of realizing software variable structure. Sustained flight capability.

Referring to Fig. 3, in this embodiment, the water injection system includes a water supply centrifugal pump 81, a one-way valve 82 and a second two-position two-way solenoid valve 83, and the output end of the water supply centrifugal pump 81 communicates with the water storage inner cavity 62 through a pipeline; The one-way valve 82 is arranged on the pipe connecting the water supply centrifugal pump 81 and the water storage inner cavity 62 .

The second two-position two-way solenoid valve 83 communicates with the gas cavity 621 of the water storage cavity.

In an alternative embodiment, the propulsion system further includes a flow meter, the flow meter being disposed on the drain conduit. The displacement of the bionic flying squid cross-sea-air vehicle that can realize software-variable structure can be measured in real time through the flowmeter, so that it can be fed back to the control end of the bionic flying squid cross-sea-air vehicle that can realize software-variable structure, thereby realizing remote negative feedback control.

The present application is further elaborated below by way of examples. It should be understood that this example does not constitute any limitation to the present application.

Referring to Figures 1 to 3, when underwater, the air source of the bionic flying squid cross-sea-air vehicle that can realize software variable structure is stored with high-pressure gas, the water storage cavity is filled with water, and the gas-liquid barrier film 63 is located on the left side of the water storage inner cavity (the left side shown in Figure 2), that is, the volume of the gas cavity is much smaller than the liquid cavity.

When flying is required, the two-position two-way solenoid valve 64 is controlled, so that the high-pressure gas in the air source enters the gas cavity, and the pressure in the water storage cavity is increased until the pressure in the water storage cavity is equal to that of the gas source. The pressure is the same or basically the same. At this time, the speed regulating valve 61 is fully opened. Under the action of high-pressure gas, the gas-liquid barrier film pushes the liquid chamber at high speed and compresses the liquid chamber, so that the liquid in the liquid chamber is discharged, thereby forming a high-pressure thrust , through the high-pressure thrust, the bionic flying cuttlefish cross-sea-air vehicle that can realize the software variable structure of the present application is pushed out of the water surface and flies.

When it is necessary to move underwater, control the two-position two-way solenoid valve 64, so that the high-pressure gas in the gas source enters the gas cavity, and control the opening of the speed regulating valve 61 as required. Under the action of high-pressure gas, the gas The liquid barrier membrane pushes the liquid cavity at high speed, compresses the liquid cavity, and thereby discharges the liquid in the liquid cavity, thereby forming a thrust, through which the bionic flying squid that can realize software variable structure of the application moves underwater , and control the speed by adjusting the opening of the speed regulating valve 61.

Referring to Fig. 1 and Fig. 2, in this embodiment, the function of the fin assembly and the wrist fin assembly is to inflate the fin assembly and/or the wrist fin assembly through an air source, so that the fin assembly and/or the wrist fin assembly Components are bent.

When flying or moving underwater, the fin assembly and/or wrist fin assembly can be controlled to bend or stretch according to the fluid conditions and its own needs, so that the flying or underwater movement can be further controlled.

Advantageously, the pair fin assembly and/or the wrist fin assembly are in an extended state during flight. When submerged, the paired fin assembly and/or the wrist fin assembly are flexed to reduce drag.

Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: they can still modify the technical solutions described in the aforementioned embodiments, or perform equivalent replacements for some of the technical features; and these The modification or replacement does not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (9)

1. The bionic flying cuttlefish sea-air vehicle capable of realizing the soft variable structure can take off from water and can fly in the air or fly underwater, and is characterized in that the bionic flying cuttlefish sea-air vehicle capable of realizing the soft variable structure comprises:

the novel wrist fin device comprises an outer shell body (1), wherein the inner part of the outer shell body (1) is hollow, one end of the outer shell body (1) is provided with a pair fin assembly (2), the other end of the outer shell body is provided with a wrist fin assembly (3), and the outer shell body (1) is provided with an air filling hole, a water filling hole and a propelling water outlet;

the fin control system (4) is arranged inside the outer shell (1), and the fin control system (4) is respectively connected with the pair of fin assemblies (2) and the wrist fin assembly (3);

the air source (5) is connected with the fin control system (4);

-a propulsion system (6), said propulsion system (6) being arranged inside said outer casing (1) and being connected to said air source (5), said propulsion system (6) having a drain line and a speed regulating valve (61) arranged on said drain line; wherein,,

the air source is used for providing air for the fin control system and the propulsion system respectively so as to control the fin control system and/or the propulsion system to work;

the fin control system is used for enabling the fin pair assembly and the wrist fin assembly to act;

the propulsion system is used for controlling the motion of the bionic flying cuttlefish crossing the sea-air aircraft capable of realizing the soft variable structure and adjusting the power of the bionic flying cuttlefish crossing the sea-air aircraft capable of realizing the soft variable structure;

the propulsion system (6) further comprises:

the water storage device comprises a water storage cavity (62), wherein a gas-liquid blocking film (63) capable of moving in the water storage cavity (62) is arranged in the water storage cavity (62), and the gas-liquid blocking film (63) divides the water outlet cavity into a gas cavity (621) and a liquid cavity (622); the water storage inner cavity (62) is provided with an input port and an output port, the input port is positioned in the gas cavity (621), and the output port is positioned in the liquid cavity (622); the output port is communicated with the drainage pipeline, and the input port is communicated with the air source;

the two-position two-way electromagnetic valve (64) is communicated with the air source (5) and the input port of the water storage inner cavity (62);

when the air source (5) is required to fly, the two-position two-way electromagnetic valve (64) is controlled, so that high-pressure air in the air source (5) enters the air cavity (621), the pressure in the water storage cavity (62) is increased until the pressure in the water storage cavity (62) is the same or basically the same as the pressure in the air source (5), at the moment, the speed regulating valve (61) is fully opened, the air-liquid barrier film (63) pushes the liquid cavity (622) at a high speed under the action of the high-pressure air, and the liquid cavity (622) is compressed, so that liquid in the liquid cavity (622) is discharged, high-pressure thrust is formed, and the bionic flying cuttlefish capable of realizing a soft body variable structure is pushed out of the water surface and flies through the high-pressure thrust;

when the device is required to move underwater, the two-position two-way electromagnetic valve (64) is controlled, so that high-pressure gas in the gas source (5) enters the gas cavity (621), the opening of the speed regulating valve (61) is controlled according to the requirement, the gas-liquid blocking film (63) pushes the liquid cavity (622) at high speed under the action of the high-pressure gas, the liquid cavity (622) is compressed, so that liquid in the liquid cavity (622) is discharged, thrust is formed, and the bionic flying cuttlefish with a soft variable structure moves underwater across the sea air craft through the thrust, and the speed is controlled by regulating the opening of the speed regulating valve (61).

2. The bionic flying cuttlefish sea-air vehicle capable of realizing the soft variable structure according to claim 1, wherein the outer shell comprises a first shell (11) and a second shell (12) which are connected in a detachable manner, and the second shell (12) is provided with the air charging hole, the water filling hole and the propelling water outlet hole;

the outer shell (1) further comprises a sealing groove (13), and the sealing groove (13) is distributed on the contact surface of the first shell (11) and the second shell (12);

the pair of fin assemblies (2) and the wrist fin assembly (3) are arranged on the first shell (11) or the second shell (12).

3. A biomimetic flying cuttlefish cross-sea and air craft capable of realizing a soft body variable structure as in claim 2, wherein said fin control system (4) comprises:

the first two-position three-way electromagnetic valve (41), and the first two-position three-way electromagnetic valve (41) is respectively connected with the air source (5) and the fin alignment assembly (2);

the second two-position three-way electromagnetic valve (42), and the second two-position three-way electromagnetic valve (42) is respectively connected with the air source (5) and the wrist fin assembly (3).

4. A biomimetic flying cuttlefish air-sea craft capable of realizing a soft body variable structure as in claim 3, wherein the pair of fins assembly (2) comprises a first flexible pair of fins and a second flexible pair of fins, wherein an annular air cavity is arranged in the first flexible pair of fins, and an annular air cavity is arranged in the second flexible pair of fins; the annular air cavity in the first flexible pair of fins is communicated with the first two-position three-way electromagnetic valve respectively;

the wrist fin assembly (3) comprises a first flexible wrist fin and a second flexible wrist fin, wherein an annular air cavity is arranged in the first flexible wrist fin, and an annular air cavity is arranged in the second flexible wrist fin; the annular air cavity in the first flexible wrist fin is communicated with the second two-position three-way electromagnetic valve respectively.

5. The simulated flying cuttlefish sea-air vehicle capable of realizing the soft body variable structure according to claim 1, further comprising an air charging pipeline and an air charging valve (7) arranged in the air charging pipeline, wherein one end of the air charging pipeline is connected with the air source (5), and the other end of the air charging pipeline is arranged at the air charging hole.

6. The soft-convertible jerusalem artichoke straddling air vehicle of claim 1 further comprising a water injection system (8), said water injection system (8) being connected to said water storage interior, said water injection system (8) being adapted to provide liquid to said water storage interior (62).

7. The biomimetic flying cuttlefish cross-sea and air craft capable of realizing soft body change structure according to claim 6, wherein the water injection system comprises:

a water supply centrifugal pump (81), wherein the output end of the water supply centrifugal pump (81) is communicated with the storage Shui Naqiang (62) through a pipeline;

the one-way valve (82), the one-way valve (82) is arranged on a pipeline which is communicated with the water supply centrifugal pump (81) and the water storage inner cavity (62).

8. The biomimetic flying cuttlefish cross-sea and air craft capable of realizing a soft body variable structure as in claim 7, wherein the water injection system further comprises a second two-position two-way electromagnetic valve (83), and the second two-position two-way electromagnetic valve (83) is communicated with a gas cavity (621) of the water storage inner cavity.

9. The biomimetic flying cuttlefish cross-sea and air vehicle capable of realizing a soft body variable structure according to claim 1, wherein the propulsion system further comprises a flowmeter, and the flowmeter is arranged on the drainage pipeline.

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