CN112874773A

CN112874773A - Air-immersed unmanned aerial vehicle

Info

Publication number: CN112874773A
Application number: CN202110343187.5A
Authority: CN
Inventors: 李攀; 王旭; 贾立新; 史振海; 陈子都; 巩天成; 安博纳; 秦科科; 洪功名; 杨晓树; 李博一; 王广帅; 魏震
Original assignee: Beijing Research Institute of Mechanical and Electrical Technology
Current assignee: Beijing Research Institute of Mechanical and Electrical Technology
Priority date: 2021-03-30
Filing date: 2021-03-30
Publication date: 2021-06-01

Abstract

The invention discloses an air-immersed unmanned aerial vehicle, which comprises: the aircraft comprises an airframe, a buoyancy adjusting device, a thrust power device and at least one propeller power device. If a task needs to be performed in the air, the first driving piece drives the propeller blades to rotate around the first direction, and the air submersible unmanned aerial vehicle flies in the air like a conventional unmanned aerial vehicle. If a task needs to be executed on the water surface, forward thrust and backward pulling force of the airframe are generated through the thrust power device, and then forward or backward of the air-submerged unmanned aerial vehicle is achieved. If need dive, absorb water through the two-way water pump of buoyancy, toward water storage spare in water injection, along with the increase of water injection, the unmanned aerial vehicle weight of air diving increases, realizes slowly diving. The cable communication device can realize underwater and aerial communication of the aerial submerged unmanned aerial vehicle, upload underwater acquired information to the air through a cable, and download aerial control information to a controller of the aerial submerged unmanned aerial vehicle through the cable, so that the unmanned aerial vehicle sails underwater, and performs underwater and aerial communication.

Description

Air-immersed unmanned aerial vehicle

Technical Field

The invention relates to the technical field of unmanned aerial vehicles, in particular to an air submersible unmanned aerial vehicle.

Background

The traditional unmanned aerial vehicle can fly in the air to execute various tasks such as shooting, monitoring, flaw detection and the like, cannot sail underwater, and has a single execution task; and the underwater vehicle can only carry out shooting, detection and other work when sailing underwater. At the present stage, if a task crossing the water-air medium environment is realized, an unmanned aerial vehicle and an underwater vehicle are required to be used at the same time.

Disclosure of Invention

In view of this, the embodiment of the invention discloses an air-submerged unmanned aerial vehicle, so as to widen the service range of the unmanned aerial vehicle for executing the cross-water-air medium service and improve the work efficiency of the cross-water-air medium environment task.

In order to achieve the purpose, the invention provides the following technical scheme:

an aerial vehicle, comprising:

a body;

the propeller power device comprises propeller blades and a first driving piece for driving the propeller blades to rotate, the first driving piece is arranged on the machine body, and the first driving piece can drive the propeller blades to rotate forwards or backwards;

the buoyancy regulating device comprises a circulation pipeline, a bidirectional water pump connected in series on the circulation pipeline and a water storage part communicated with the first end of the circulation pipeline;

the thrust power device is used for generating forward thrust and backward pull of the machine body;

a cable communication device, the cable communication device comprising:

the floating block and the signal receiving and transmitting part are arranged on the floating block;

the first end of the cable penetrates through the floating block and then is connected with the controller of the air-submerged unmanned aerial vehicle, and the second end of the cable is in communication connection with the signal receiving and transmitting part;

the cable winding and unwinding assembly is arranged inside the floating block, when the aerial submergence unmanned aerial vehicle submerges in water, the cable winding and unwinding assembly releases the cable so that the first end of the cable submerges along with the vehicle body, and when the aerial submergence unmanned aerial vehicle floats upwards in water, the cable winding and unwinding assembly retracts the cable so that the first end of the cable floats along with the vehicle body.

Preferably, in the air-submergence unmanned aerial vehicle, the first driving part is a first forward and reverse rotating motor;

the propeller power device further comprises a support, the first forward and reverse rotating motor is fixedly connected with the support, and the support is fixedly connected with the machine body.

Preferably, in the air-submerged unmanned aerial vehicle, the fuselage includes a fuselage body and a cover body, the fuselage body has an opening, and the cover body is connected with the fuselage body in a sealing manner so as to plug the opening of the fuselage body;

the air-submerged unmanned aerial vehicle further comprises one or more of a depth sensor, a camera and an LED lamp which are arranged on the vehicle body;

the machine body is also provided with an airtight inspection opening and an air valve arranged at the airtight inspection opening.

Preferably, among the above-mentioned aerial and submersible vehicle, the cable receive and releases subassembly includes the carousel and drives the carousel pivoted drive member, the cable can twine on the carousel.

Preferably, in the air-submerged unmanned aerial vehicle, the driving member is an elastic member, when the air-submerged unmanned aerial vehicle submerges in water, the body pulls the cable to enable the turntable to rotate so as to release the cable, and the elastic member stores energy, and when the air-submerged unmanned aerial vehicle floats upwards in water, the elastic force of the elastic member drives the turntable to rotate reversely so as to enable the cable to retract;

the elastic piece is a volute spiral spring, a first end of the volute spiral spring is fixed relative to the inner wall of the floating block, and a second end of the volute spiral spring is fixedly connected with the rotary disc;

or the driving piece is a turntable motor for driving the turntable to rotate forwards or reversely.

Preferably, in the air-submerged unmanned aerial vehicle, the signal transceiver is an antenna;

the cable communication device further comprises an optical fiber slip ring, a partition plate is further fixed inside the floating block, the optical fiber slip ring is fixed on the partition plate, one end of the optical fiber slip ring is connected with the antenna through the information conversion module, and the other end of the optical fiber slip ring is connected with the cable.

Preferably, in the air submersible unmanned aerial vehicle, the floating block comprises a first shell and a second shell which are connected in a relatively sealed manner; the rotary table is fixedly connected with a rotating shaft of the optical fiber slip ring.

Preferably, in the air-submerged unmanned aerial vehicle, the body is provided with a first connecting piece, the bottom of the outer side of the floating block is provided with a second connecting piece, the first connecting piece and the second connecting piece are connected to fix the floating block on the body, and the first connecting piece and the second connecting piece are separated to separate the floating block from the body;

the first connecting piece is a metal piece, and the second connecting piece is an electrified demagnetizing electromagnet;

and the first connecting piece and the second connecting piece are both provided with through holes for the cables to pass through.

Preferably, among the above-mentioned air and submersible unmanned aerial vehicle, still include buoyancy adjusting device, buoyancy adjusting device includes the circulation pipeline, concatenates two-way water pump on the circulation pipeline and with the water storage spare of the first end intercommunication of circulation pipeline.

Preferably, among the above-mentioned air immersed unmanned aerial vehicle, buoyancy adjusting device set up in inside the fuselage, set up on the fuselage and inhale the drainage mouth, the second end of circulation pipeline with inhale the drainage mouth intercommunication.

Preferably, in the air-submersible unmanned aerial vehicle, a switch valve is further connected in series on the circulation pipeline;

the switch valve is positioned between the bidirectional water pump and the water storage part;

the switch valve is an electromagnetic valve.

Preferably, in the air submersible unmanned aerial vehicle, the number of the water storage members is multiple;

the water storage part is of a soft leather bag structure.

Preferably, in the aerial and submersible unmanned aerial vehicle, the thrust power device includes:

the power shell is provided with a flow port;

the vector nozzle is rotationally connected with the power shell, water in the power shell can be sprayed out through the vector nozzle, and the vector nozzle can rotate relative to the power shell;

the vector driving assembly is used for driving the vector nozzle to rotate;

the power propeller blade and the second positive and negative rotation motor for driving the power propeller blade to rotate positively or negatively are fixed on the power shell.

Preferably, in the aerial and submersible unmanned aerial vehicle, the vector nozzle can rotate by a first preset angle around a first direction relative to the power housing and can rotate by a second preset angle around a second direction relative to the power housing;

the first direction and the second direction are perpendicular to each other.

Preferably, in the air-submersible unmanned aerial vehicle, the thrust power device further includes a transmission ring, the transmission ring is connected with the power housing in a relatively rotating manner, and a rotating shaft between the transmission ring and the power housing is arranged along the first direction; the vector nozzle is hinged with the transmission ring, and a hinged shaft between the vector nozzle and the transmission ring is arranged along the second direction;

the thrust power device further comprises a switching cover, the switching cover is fixedly connected with the power shell, and the transmission ring is hinged with the switching cover;

a guide plate is further arranged inside the adapter coupling cover.

Preferably, in the air-immersed unmanned aerial vehicle, the vector driving assembly includes a first driving assembly and a second driving assembly:

the first driving assembly comprises a first steering engine and a first transmission shaft, wherein the first end of the first transmission shaft is connected with the output end of the first steering engine, and the second end of the first transmission shaft is connected with the transmission ring;

the second driving assembly comprises a second steering engine and a second transmission shaft, the first end of the second transmission shaft is connected with the output end of the second steering engine, and the second end of the second transmission shaft is connected with the vector nozzle.

Preferably, in the aerial and submersible unmanned aerial vehicle, the first transmission shaft includes a first rocker arm and a first connecting rod connected to an output end of the first steering engine, a first end of the first connecting rod is hinged to the first rocker arm, and a second end of the first connecting rod is connected to the transmission ring through a ball head buckle;

the second transmission shaft comprises a second rocker arm, a second connecting rod and a switching rod, the second rocker arm, the second connecting rod and the switching rod are connected with the output end of the second steering engine, the first end of the second connecting rod is hinged to the first rocker arm, the sliding sleeve at one end of the switching rod is arranged on the second end of the second connecting rod, and the other end of the switching rod is connected with the vector nozzle through a ball head buckle.

When the air-immersed unmanned aerial vehicle provided by the invention is applied, if a task needs to be executed in the air, the first driving piece drives the propeller blades to rotate around the first direction, and the air-immersed unmanned aerial vehicle flies in the air like a conventional unmanned aerial vehicle. If a task needs to be executed on the water surface, forward thrust and backward pulling force of the airframe are generated through the thrust power device, and then forward or backward of the air-submerged unmanned aerial vehicle is achieved. If need dive, absorb water through the two-way water pump of buoyancy, toward water injection in the piece that stores up, along with the increase of water injection, aerial unmanned aerial vehicle weight increase dives slowly, the cable communication device can realize that aerial unmanned aerial vehicle dives underwater and aerial communication, pass to aloft through the cable with the information of gathering under water, pass through the cable with aerial control information and pass down to aerial unmanned aerial vehicle's controller to make unmanned aerial vehicle navigate by water under water, and carry out underwater and aerial communication. In conclusion, the air-submerged unmanned aerial vehicle provided by the invention can fly in the air and also can sail on the water surface or underwater, so that the service range of the unmanned aerial vehicle for performing the cross-water-air medium service is widened, and the work efficiency of the cross-water-air medium environment task is improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an air submersible unmanned aerial vehicle provided by an embodiment of the present invention;

fig. 2 is a side view of an aerial and submersible unmanned aerial vehicle provided by an embodiment of the present invention;

fig. 3 is a top view of an aerial and submersible unmanned aerial vehicle provided by an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of a propeller power plant provided in accordance with an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a cable communication device according to an embodiment of the present invention;

fig. 6 is an exploded view of a cable communication device according to an embodiment of the present invention;

FIG. 7 is an exploded view of a slider provided in accordance with an embodiment of the present invention;

FIG. 8 is an exploded view of another angle slider provided in accordance with an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a fuselage provided in accordance with an embodiment of the present invention;

FIG. 10 is a front view of a fuselage provided by an embodiment of the present invention;

FIG. 11 is a schematic structural view of a buoyancy regulating device provided in an embodiment of the present invention;

FIG. 12 is an exploded view of a buoyancy regulating device provided in accordance with an embodiment of the present invention;

FIG. 13 is a schematic structural diagram of a thrust power unit provided in an embodiment of the present invention;

FIG. 14 is an exploded view of a thrust power unit provided in accordance with an embodiment of the present invention;

fig. 15 is a schematic view of a second transmission shaft according to an embodiment of the present invention.

In the figure:

1-a propeller power device, 11-propeller blades, 12-a first forward and reverse rotation motor, 13-a bracket and 14-a forward and reverse rotation adjusting module;

2-cable communication device, 21-antenna, 22-floating block, 23-second connecting piece, 24-first connecting piece, 25-cable, 220-switch joint, 221-first shell, 222-partition plate, 223-scroll spring, 224-rotary disc, 225-second shell, 226-optical fiber slip ring, 227-optical fiber adapter, 228-information conversion module and 229-floating block battery;

3-machine body, 31-cover body, 32-lug, 33-camera, 34-LED lamp, 35-machine body, 36-depth sensor, 37-airtight inspection port, 38-charging connector and 39-water sucking and draining port;

4-a thrust power device, 41-a second forward and reverse rotating motor, 42-a coupler, 43-a first driving assembly, 431-a first steering engine, 432-a first transmission shaft, 44-a transmission ring, 45-a vector nozzle, 46-a power shell, 47-a second driving assembly, 471-a second steering engine, 472-a second transmission shaft, 4721-a second connecting rod, 4722-an adapter rod, 48-an adapter cover and 49-a power propeller blade;

5-buoyancy adjusting device, 51-circulation pipeline, 52-bidirectional water pump, 53-buoyancy motor, 54-water storage part, 55-tee joint and 56-electromagnetic valve.

Detailed Description

The embodiment of the invention discloses an air-submerged unmanned aerial vehicle, which is used for widening the service range of the unmanned aerial vehicle for executing a cross-water-air medium service and improving the work efficiency of a cross-water-air medium environment task.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left" and "right", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the positions or elements referred to must have specific orientations, be constructed in specific orientations, and be operated, and thus are not to be construed as limitations of the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

The invention provides an air-immersed unmanned aerial vehicle which can fly in the air and also can sail on the water surface and under the water.

The air-submerged unmanned aerial vehicle provided by the invention comprises a vehicle body 3, a buoyancy adjusting device 6, a thrust power device 4, a cable communication device 2 and at least one propeller power device 1. The propeller power device 1 comprises propeller blades 11 and a first driving piece for driving the propeller blades 11 to rotate, the first driving piece is arranged on the machine body 3, and the first driving piece can drive the propeller blades 11 to rotate positively or negatively. In other words, the first drive member is mounted on the fuselage 3 to achieve that the entire propeller power plant 1 is fitted on the fuselage 3. According to requirements, the first driving member can drive the propeller blades 11 to rotate forwards, and the first driving member can also drive the propeller blades 11 to rotate backwards. For example, when the air submersible unmanned aerial vehicle flies in the air, the first driving piece can drive the propeller blades 11 to rotate around the first direction; when air submerged unmanned aerial vehicle navigates underwater, first driving piece can drive propeller blade 11 and rotate around the second direction, and first direction and second direction are opposite.

The buoyancy regulating device 5 comprises a circulation pipeline 51, a bidirectional water pump 52 and a water storage piece 54. The bidirectional water pump 52 is connected in series to the flow pipe 51, and the bidirectional water pump 52 can rotate in the forward direction or the reverse direction to change the flow direction of the water in the flow pipe 51. The water reservoir 54 communicates with a first end of the flow passage 51. When the bidirectional water pump 52 rotates forwards, water flows into the water storage part 54 through the circulation pipeline 51; when the bidirectional water pump 52 is rotated reversely, the water in the water storage 54 is discharged through the flow pipe 51. Alternatively, when the bidirectional water pump 52 is reversed, water flows into the water storage member 54 through the flow pipe 51; when the bidirectional water pump 52 is rotated in the normal direction, the water in the water storage member 54 is discharged through the flow passage 51.

The thrust power device 4 is used for generating forward thrust and backward pulling force of the fuselage.

Cable communication device 2, cable communication device 2 includes floating block 22, signal transceiver, cable 25 and cable winding and unwinding subassembly.

When the body 3 is sailing underwater, the floating block 22 floats on the water surface. The signal transceiver is arranged on the floating block 22 and used for transmitting information acquired by the unmanned aerial vehicle sensor and receiving signals of the remote controller.

A first end of the cable 25 passes through the float 22, and a first end of the cable 25 is in communication connection with the controller of the aerial vehicle, and a second end of the cable 25 is in communication connection with the signal transceiver. So, after the signal transceiver receives the signal of remote controller, with signal transmission for cable 25, the signal transmits to air submerged unmanned aerial vehicle's controller through cable 25, and then the controller is according to the signal control of receiving this air submerged unmanned aerial vehicle action.

Inside the floating block 22 was arranged in to the cable receive and releases the subassembly release cable 25 so that the first end of cable 25 dives along with fuselage 3 when this aerial submergence unmanned aerial vehicle dives in aqueous, this aerial submergence unmanned aerial vehicle cable receive and releases the subassembly and withdraws cable 25 so that the first end of cable 25 floats along with fuselage 3 when the aquatic come-up. Specifically, when air submerged unmanned aerial vehicle dives in the aquatic, kicking block 22 floats on the surface of water, and fuselage 3 constantly dives, and kicking block 22 and fuselage 3's distance is bigger and bigger, and the cable is receive and releases subassembly release cable 25 this moment to make kicking block 22 all the time with the interior controller communication connection of fuselage 3. When the air submerged unmanned aerial vehicle floats on water, the floating block 22 floats on the water surface, the machine body 3 continuously floats, the distance between the floating block 22 and the machine body 3 is more and more lower, and the cable take-up and pay-off assembly withdraws the cable 25 at the moment.

When the air-immersed unmanned aerial vehicle provided by the invention is applied, if a task needs to be executed in the air, the first driving piece drives the propeller blades 11 to rotate around the first direction, and the air-immersed unmanned aerial vehicle flies in the air like a conventional unmanned aerial vehicle. If the unmanned aerial vehicle needs to execute tasks on the water surface, forward thrust and backward pulling force of the airframe are generated through the thrust power device 4, and then the forward movement or the backward movement of the unmanned aerial vehicle for air diving is realized. If need dive when, absorb water through the two-way water pump 52 of buoyancy, toward water injection in the piece 54 that stores up, along with the increase of water injection, aerial unmanned aerial vehicle weight increases dives slowly, cable communication device 2 can realize that aerial unmanned aerial vehicle dives underwater and aerial communication, pass through cable 25 with the information of gathering under water to aerial, pass through cable 25 with the control information of remote controller and pass down to aerial unmanned aerial vehicle's controller, make unmanned aerial vehicle can navigate by water under water, and underwater and aerial communication. In conclusion, the air-submerged unmanned aerial vehicle provided by the invention can fly in the air and also can sail on the water surface or underwater, so that the service range of the unmanned aerial vehicle for performing the cross-water-air medium service is widened, and the work efficiency of the cross-water-air medium environment task is improved.

Wherein, the propeller power device 1 can be a plurality of. Preferably, the number of propeller power plants 1 is four. When the unmanned aerial vehicle navigates underwater, the rolling and pitching postures of the unmanned aerial vehicle can be realized by adjusting the rotating speed of the helical blades of the propeller power devices 1 or steering. Specifically, when the rotating speeds or the turning directions of the helical blades of the propeller power devices 1 are not completely the same, the unmanned aerial vehicle can realize maneuvering actions such as rolling and pitching when navigating underwater. Of course, the propeller power unit 1 may be three, five, etc., and is not limited herein.

In one embodiment, the first drive member is a first counter-rotating motor 12. The first forward and reverse rotation motor 12 can rotate forward or reverse, the first forward and reverse rotation motor 12 drives the propeller blade 11 to rotate forward when rotating forward, and the first forward and reverse rotation motor 12 drives the propeller blade 11 to rotate reverse when rotating reverse. The first counter-rotating motor 12 is connected with a counter-rotating adjusting module 14.

As shown in fig. 4, in order to facilitate connection, the propeller power device 1 further includes a bracket 13, the first forward/reverse rotation motor 12 is fixedly connected to the bracket 13, and the bracket 13 is fixedly connected to the body 3. In other words, the body 3 and the first forward/reverse rotation motor 12 are fixedly connected through the bracket 13. Specifically, the propeller blade 11 is installed on a first forward and reverse rotation motor 12, and the first forward and reverse rotation motor 12 is installed on a bracket 13; the bracket 13 may be mounted on the body 3 by screws; a control cable of the first positive and negative rotation motor 12 passes through the bracket 13 and the machine body 3 to be connected with the positive and negative rotation adjusting module 14 and is subjected to watertight treatment; the forward and reverse rotation adjusting module 14 is installed inside the body 3. The first forward and reverse rotation motor 12 is a waterproof motor to adapt to the underwater navigation environmental conditions. The support 13 may be a carbon fiber support, which is a novel fiber material of high-strength and high-modulus fibers with a carbon content of more than 95%. The carbon fiber is flexible outside and rigid inside, has lighter weight than metal aluminum, but higher strength than steel, and has the characteristics of corrosion resistance and high modulus. Of course, the bracket 13 may be made of other materials, and is not limited herein.

Of course, the first forward/reverse rotation motor 12 may also be directly and fixedly connected to the body 3, and is not limited herein.

The first driving member may also be a rotary cylinder or a worm and gear mechanism, which is not limited herein.

As shown in fig. 9 to 10, the main body 3 includes a main body 35 and a cover 31, the main body 35 has an opening, and the cover 31 is hermetically connected to the main body 35 to close the opening of the main body 35. In other words, when the cover 31 is fixedly connected to the body unit 35, the body 3 has a sealed hollow structure.

In order to monitor the underwater navigation depth of the air-immersed unmanned aerial vehicle at any time, a depth sensor 36 can be further arranged on the body 3.

The body 3 may also be provided with a camera 33, which is mainly used for image acquisition. Further, a transparent camera cover is disposed on the body 3 to prevent the camera 33 from being damaged by water.

The underwater visibility is low, so that the LED lamp 34 can be further arranged on the body 3, the bulb illumination intensity is high, and the LED lamp is mainly used for illumination when the unmanned aerial vehicle sails underwater. The LED lamps 34 should be waterproof lamps, and the number of the LED lamps 34 is preferably two, but the number of the LED lamps 34 may also be one, three or more, and is not limited herein.

Need guarantee its leakproofness when air submerged unmanned aerial vehicle sails under water, need inspect its gas tightness before air submerged unmanned aerial vehicle launches, consequently can also be provided with airtight inspection socket 37 on fuselage 3 and set up the pneumatic valve in airtight inspection socket 37 department, can realize the gas tightness inspection through aerifing and monitoring the atmospheric pressure in fuselage 3 in to fuselage 3, prevent that fuselage 3 from intaking under water, influencing normal use.

In particular, the aerial and submersible drone may include one or more of a depth sensor 36, a camera 33, and an LED light 34 disposed on the fuselage 3, without limitation.

The fuselage 3 may also be formed of a carbon fiber composite material, and is not limited herein.

Can set up the joint 38 that charges on the fuselage 3, through the plug of changing different functions, can realize the charging of power supply and battery for unmanned aerial vehicle

In addition, the cable take-up and pay-off assembly includes a turntable 224 and an actuating member that actuates the turntable 224 to rotate, and the cable 25 can be wound on the turntable 224. The cable 25 is wound around the turntable 224 after being wound. The turntable 224 is provided with a groove in which the cable 25 can be wound.

In one embodiment, the urging member may be a resilient member. When this air submerged unmanned aerial vehicle dives in aqueous, 3 pulling cables 25 of fuselage make carousel 224 rotate and realize releasing cables 25 simultaneously, the elastic component energy storage produces the pretightning force. Specifically, air-submerged unmanned aerial vehicle dives the in-process in the aquatic, and fuselage 3 dives the first end that drives cable 25 and dives, and then stimulates cable 25, and cable 25 drives carousel 224 and rotates and realize the release of cable 25, drives the elastic component action so that its energy storage produces the pretightning force when carousel 224 rotates.

The elastic force of the elastic piece drives the turntable 224 to rotate reversely to retract the cable 25 when the air-submerged unmanned aerial vehicle floats upwards in water. Specifically, when aerial and submerged unmanned aerial vehicle floated, cable 25 relaxed, and the elastic component drives carousel 224 antiport under the pretightning force effect, realizes the recovery of cable 25, and the elastic component releases energy.

Further, the elastic member may be a spiral spring 223, a first end of the spiral spring 223 is fixed to the inner wall of the floating block 22, and a second end of the spiral spring 223 is fixedly connected to the rotary disc 224. So set up, the second end that drives scroll spring 223 when carousel 224 rotates for scroll spring 223's first end, realizes that the energy storage produces the pretightning force. The turntable 224 has a disk shape provided with a spring groove accommodating a spiral spring 223.

Of course, the elastic member may also include a plurality of generally cylindrical coil springs, the plurality of coil springs are distributed along the circumferential direction of the rotary disc 224, a first end of the coil springs is fixed to the inner wall of the floating block 22, and a second end of the coil springs is fixedly connected to the rotary disc 224. When the rotary disc 224 rotates, the second ends of the plurality of spiral springs are driven to act, and energy storage is achieved to generate pretightening force.

In another embodiment, the driving member is a turntable motor for driving the turntable 224 to rotate forward or backward. Air diving unmanned aerial vehicle dives the in-process in aqueous, and fuselage 3 dives the first end that drives cable 25 and dives, and turntable motor drives carousel 224 and rotates along a direction, realizes unreeling. During the floating process of the air submerged unmanned aerial vehicle in water, the first end of the cable 25 is driven to float by the floating body 3, the force for pulling the cable 25 downwards disappears, and the turntable motor drives the turntable 224 to rotate in the opposite direction, so that rolling is realized.

The signal transceiver is preferably an antenna 21, and the antenna 21 can receive signals from a remote controller and can also transmit signals to the remote controller. Of course, the floating block 22 may receive a signal from a remote controller through the cable 25, which is not limited herein.

The cable 25 may be an optical fiber, which is faster and more efficient at transmission rates.

The cable communication device 2 further comprises an optical fiber slip ring 226, one end of which is fixed on the partition 222, the rotating disc 224 is fixedly connected with the rotating shaft of the optical fiber slip ring 226, so that the rotating disc 224 can freely rotate around the rotating shaft of the optical fiber slip ring 226, one end of the optical fiber slip ring 226 is in communication connection with the information conversion module 228 through an optical fiber adapter, the other end of the optical fiber slip ring is in communication connection with the second end of the cable 25 through an optical fiber adapter, and the other end of the information conversion module 228 is connected with the antenna. In other words, the second end of the cable 25 is communicatively connected to the antenna 21 through the optical fiber slip ring 226, and the turntable 224 is provided with a central hole for being mounted on and fixed to the rotating shaft of the optical fiber slip ring 226. The conversion between optical signals and electrical signals is realized between the optical slip ring 226 and the antenna 21 through the information conversion module 228. The optical slip ring 226 is connected to the cable 25 by an optical fiber adapter 227. Fiber optic adapter 227 is connected to fiber optic slipring 226 on one end and to the fiber on the other. The fiber optic adapter 227 may be secured to the turntable 224 by a support bracket, the turntable 224 having a recess for receiving the cable 25.

The signal receiving and transmitting component receives signals from the remote controller and transmits the signals to the controller of the air-submerged unmanned aerial vehicle through the information conversion module 228, the optical fiber slip ring 226, the optical fiber adapter 227 and the cable in sequence; sensor information that aerial vehicle unmanned aerial vehicle gathered sends through the controller, and the signal transmits to signal transceiver through cable, optic fibre adapter 227, optic fibre sliding ring 226, information conversion module 228 in proper order, and signal transceiver can give remote controller or ground receiving equipment with signal transmission. Can set up fiber connector on the fuselage 3, the first end of cable can be directly be connected with fiber connector, fiber connector and aerial vehicle's controller communication connection.

In addition, the floating block 22 may include a first casing 221 and a second casing 225 which are connected to each other in a relatively sealed manner, and a sealing ring is disposed between the first casing 221 and the second casing 225. The signal transceiver may be disposed on the first housing 221. The first shell 221 and the second shell 225 may be pan-shaped or hemispherical, grooves are disposed on the abutting surfaces of the first shell 221 and the second shell 225, mounting holes are disposed on the outer sides of the abutting surfaces of the first shell 221 and the second shell 225, and the abutting surfaces of the first shell 221 and the second shell 225 are in relative contact and are fixedly connected through screws.

A partition plate 222 is further fixed inside the floating block 22, a fiber slide ring 226 is fixed on the partition plate 222 through a screw, and a rotary disc 224 is fixed on a rotating shaft of the fiber slide ring 226. A first end of the spiral spring 223 is fixedly connected to the partition 222. An information conversion module 228 is secured to the bulkhead 222 and the other end of the fiber optic slip ring 226 is communicatively coupled to the information conversion module 228. The fiber connector at one end of the fiber slip ring 226 is sealed with sealant through the through hole of the partition 222.

A slider battery 229 may also be disposed within slider 22, and the battery is a rechargeable slider battery 229, which is primarily used to power information conversion module 228. For charging, the float 22 is further provided with a switch connector 220, and the float battery 229 is charged through the switch connector 220. In addition, by replacing a plug with a different function, power supply to the float 22 or charging of the battery can be achieved.

Of course, the float cell 229 may be a disposable cell, and is not limited thereto.

The floating block 22 is detachably connected with the machine body 3, a first connecting piece 24 is arranged on the machine body 3, a second connecting piece 23 is arranged at the bottom of the outer side of the floating block 22, the first connecting piece 24 is connected with the second connecting piece 23 to enable the floating block 22 to be fixed on the machine body 3, and the first connecting piece 24 is separated from the second connecting piece 23 to enable the floating block 22 to be separated from the machine body 3.

The lower side of the first casing 221 and/or the second casing 225 is fixedly provided with a connecting frame, and the connecting frame is fixedly connected with the second connecting piece 23, specifically, can be fixedly connected through a screw.

Further, the first connecting member 24 is a metal member, and the second connecting member 23 is an electrified demagnetizing electromagnet. When the electromagnet is de-energized, it magnetically attracts the first connector 24 so that the metal piece and the electromagnet are attracted together. When the electrification degaussing electromagnet is electrified, the magnetism of the electrification degaussing electromagnet disappears, the metal piece is separated from the electrification degaussing electromagnet, and the floating block 22 is separated from the machine body 3.

The metal piece can be made of iron, and the surface of the metal piece is subjected to rust prevention treatment. The metal piece can be fixedly connected with the floating block 22 shell by using a threaded piece. The shape of the metal member may be a disc shape, which is not limited herein.

The demagnetizing electromagnet can be cylindrical and is fixedly connected with the support lug 32 on the machine body 3 through a threaded piece.

Of course, the first connecting member 24 and the second connecting member 23 may also be a clamping member and a clamped member, the first connecting member 24 and the second connecting member 23 are connected by clamping, and the first connecting member 24 and the second connecting member 23 are separated after being loosened, which is not limited herein.

In order to facilitate the cable 25 to pass through, through holes for the cable 25 to pass through are formed on the first connecting piece 24 and the second connecting piece 23. The second housing 225 is provided with a through hole for the cable 25 to pass through, and the cable 25 passes through the second housing 225, the second connector 23 and the first connector 24 in sequence.

From the above, when the air-immersed unmanned aerial vehicle sails underwater and submerges, the floating block 22 can release the cable 25; when unmanned aerial vehicle floats, the floater 22 can carry out the recovery of cable 25 automatically for unmanned aerial vehicle can not receive the constraint of communication cable, and the freedom sails under water, and carry out underwater and aerial communication, with the information of gathering under water pass through cable 25 and floater 22 and upload to aloft, pass through floater 22 and cable 25 with aerial control information and pass down to unmanned aerial vehicle.

Of course, the controller of the fuselage 3 and the remote controller can also be connected through wireless signal communication, and the weakening effect of water on wireless signals can limit the depth of underwater communication of the aerial and submersible unmanned aerial vehicle.

Or, the air-immersed unmanned aerial vehicle does not need to be in communication connection with the remote controller, but the navigation route of the air-immersed unmanned aerial vehicle is set in the controller of the air-immersed unmanned aerial vehicle in advance, and when the air-immersed unmanned aerial vehicle executes a task at each time, the air-immersed unmanned aerial vehicle only needs to navigate according to the set route, and the air-immersed unmanned aerial vehicle is not limited here.

Preferably, the buoyancy adjusting device 5 is disposed inside the body 3, the body 3 is opened with a suction and drainage port 39, and a second end of the circulation pipeline 51 is communicated with the suction and drainage port 39. This prevents the buoyancy adjusting device from flooding and reduces the resistance outside the fuselage 3.

Of course, the buoyancy adjusting device may be disposed outside the body 3, and if the buoyancy adjusting device is disposed outside the body 3, the water storage member will be a hard shell structure rather than a soft bladder structure, and the bidirectional water pump 52 and the water storage member 54 are both fixedly connected to the body 3, which is not limited herein.

The bi-directional water pump 52 may be a ball pump or other type of water pump, and is not limited thereto. The flow line 51 may be a PVC hose for easy arrangement. The water storage member 54 may also be a PVC water storage bag, which is mainly used to load water sucked from the outside of the housing of the body 3 or discharge water from the inside of the body 3, thereby changing the weight of the unmanned aerial vehicle and realizing the adjustment of the buoyancy of the unmanned aerial vehicle.

The water storage member 54 may be a soft leather bag structure, but is not limited thereto.

The circulation pipeline 51 may be connected in series with a switch valve, and the opening and closing of the circulation pipeline 51 is controlled by controlling the working state of the switch valve. The switch valve may be a solenoid valve 56, but may be other types of valves, and is not limited herein.

The on-off valve is located between the bi-directional water pump 52 and the water storage member 54, or the on-off valve may be located upstream of the bi-directional water pump 52.

According to actual requirements, the number of the water storage members 54 can be multiple, and preferably two, and the inlet and outlet of the two water storage members 54 are connected with the circulation pipeline 51 through a tee 55. The flow line 51 may communicate with the water reservoir 54 through a quick connector.

The thrust power device 4 comprises a power shell 46, a vector nozzle 45, a vector driving component, a power propeller blade 49 and a second positive and negative rotation motor 41. The power housing 46 is provided with a flow port. The water may enter and exit the power housing 46 through a flow port, which may preferably be open at the bottom of the power housing 46. The vector nozzle 45 is rotatably connected with the power housing 46, in other words, the vector nozzle 45 and the power housing 46 can rotate relatively. Water within the power housing 46 can be ejected through the vector jets 45.

The power shell 46 is integrally installed inside the machine body 3, a sealing ring is arranged at the flow opening, the flow opening of the power shell 46 is exposed out of the machine body 3, and the flow opening of the power shell 46 is hermetically connected with the machine body 3 so as to ensure the airtightness inside the machine body 3.

The vector drive assembly is used to drive the vector jets 45 to rotate relative to the power housing 46.

The second forward/reverse rotation motor 41 is used for driving the power propeller blades 49 to rotate forward or reverse. The second counter-rotating electric machine 41 is fixed to the power housing 46. The power propeller blades 49 may be located inside the power housing 46, or the power propeller blades 49 may be located outside the power housing 46, without limitation.

When the second forward and reverse rotation motor 41 drives the power propeller blades 49 to rotate forward, the power propeller blades 49 generate forward thrust; when the second forward/reverse rotation motor 41 drives the power propeller blades 49 to rotate reversely, the power propeller blades 49 generate a reverse pulling force. Or when the second forward and reverse rotation motor 41 drives the power propeller blades 49 to rotate reversely, the power propeller blades 49 generate forward thrust; when the second forward/reverse rotation motor 41 drives the power propeller blades 49 to rotate forward, the power propeller blades 49 generate a reverse pulling force. Therefore, the air-submerged unmanned aerial vehicle can advance or retreat on the water surface or underwater.

The second forward and reverse rotation motor 41 can be assembled on the power housing 46 through a mounting seat, and the second forward and reverse rotation motor 41 is fixedly connected with the mounting seat through a threaded piece. The second forward and reverse rotation motor 41 and the power propeller blade 49 can be connected through a coupler 42. The second forward and reverse rotation motor 41 can be a brushless dc motor and is connected with the controller of the air-submerged unmanned aerial vehicle through a forward and reverse rotation adjusting module. Power propeller blades 49 are rotatably connected to power housing 46 by bearings and compression blocks.

In one embodiment, the vector jets 45 are capable of rotating a first predetermined angle relative to the power housing 46 about a first direction and a second predetermined angle relative to the power housing 46 about a second direction.

The first direction and the second direction are perpendicular to each other.

The first direction may be a horizontal direction. The first preset angle may be 30 °. The second direction may be a vertical direction. The second preset angle may be 50 °. When the vector nozzle 45 rotates around the horizontal direction relative to the power shell 46, the vector nozzle 45 rotates around the horizontal shaft; when the vector nozzle 45 rotates about the vertical direction relative to the power housing 46, the vector nozzle 45 rotates about the vertical axis. Thus, the vector nozzle 45 can be swung horizontally, the pitch angle can be changed, and the ejection direction of the vector nozzle 45 can be changed.

Of course, the first direction and the second direction may be other directions, and are not limited herein.

In the above embodiment, through rotating vector spout 45, change the jet direction of vector spout 45, and then adjust this air and water unmanned aerial vehicle's navigation direction.

Specifically, the thrust power device 4 further includes a transmission ring 44, the transmission ring 44 is connected to the power housing 46 in a relative rotation manner, and a rotation axis between the transmission ring 44 and the power housing 46 is arranged in the first direction. The vector nozzle 45 is hinged with the transmission ring 44, and a hinged shaft between the vector nozzle 45 and the transmission ring 44 is arranged along the second direction. Specifically, when the driving ring 44 rotates relative to the power housing 46 in a first direction, the driving ring 44 drives the vector nozzle 45 to rotate together in the first direction. When the vector jets 45 rotate in the second direction relative to the drive ring 44, they also rotate relative to the power housing 46.

Optionally, the thrust power unit 4 further comprises an adapter 48, the adapter 48 is fixedly connected to the power housing 46, and the transmission ring 44 is hinged to the adapter 48. I.e., the drive ring 44 is hingedly connected to the power housing 46 by the adapter 48. This facilitates assembly.

The inside of the switching hood 48 is also provided with a guide plate which guides water to the vector nozzles 45 to reduce resistance.

In the above embodiment, the vector drive assembly includes the first drive assembly 43 and the second drive assembly 47. The first driving assembly 43 comprises a first steering engine 431 and a first transmission shaft 432, wherein a first end of the first transmission shaft 432 is connected with an output end of the first steering engine 431, and a second end of the first transmission shaft 432 is connected with the transmission ring 44. The first steering gear 431 drives the first transmission shaft 432 to move, and the first transmission shaft 432 drives the transmission ring 44 to rotate relative to the power housing 46.

The second driving assembly 47 includes a second steering gear 471 and a second transmission shaft 472, a first end of the second transmission shaft 472 is connected to an output end of the second steering gear 471, and a second end of the second transmission shaft 472 is connected to the vector nozzle 45. The second steering gear 471 drives the second transmission shaft 472 to move, and then the second transmission shaft 472 drives the vector nozzle 45 to rotate relative to the transmission ring 44.

First steering wheel 431 and second steering wheel 471 can pass through cable 25 and air and dive unmanned aerial vehicle communication connection to realize that first steering wheel 431 of controller control and second steering wheel 471 drive first transmission shaft 432 and the motion of second transmission shaft 472 respectively.

The transmission ring 44 and the vector nozzle 45 are exposed out of the machine body 3, and the power shell 46 or the adapter cover 48 is connected with the machine body 3 in a sealing mode. The first and

second transmission shafts

432 and 472 pass through the body 3 and are in sealing engagement with the body 3.

Wherein, first transmission shaft 432 includes first rocking arm and head rod, and first rocking arm and first steering wheel 431's output fixed connection, first steering wheel 431 can drive first rocking arm and rotate. The first end of the first connecting rod is hinged with the first rocker arm, and the second end of the first connecting rod is connected with the transmission ring 44 through a ball head buckle. Specifically, first steering wheel 431 drives first rocking arm and rotates around vertical axis, and then first rocking arm promotes first connecting rod horizontal migration, and first connecting rod promotes transmission ring 44 and vector spout 45 horizontal hunting. The second end of the first connecting rod is connected with the driving ring 44 through a ball head buckle, so that the vector nozzle 45 can be prevented from being blocked during pitch adjustment.

The second transmission shaft 472 includes a second swing arm, a second connecting rod 4721, and an adapter rod 4722. The second rocker arm is fixedly connected with an output end of a second steering engine 471, and the second steering engine 471 can drive the second rocker arm to rotate. A first end of the second connecting rod 4721 is hinged to the first rocker arm. One end of the switching rod 4722 is slidably sleeved on the second end of the second connecting rod 4721, and the other end of the switching rod 4722 is connected with the vector nozzle 45 through a ball head buckle. Specifically, the second steering engine 471 drives the second rocker arm to rotate around the horizontal axis, and then the second rocker arm pushes the second connecting rod 4721, so that the second end of the second connecting rod 4721 swings up and down, the connecting rod 4722 slides along the second connecting rod 4721 in the process of swinging up and down of the second end of the second connecting rod 4721, and the connecting rod 4722 pushes the vector nozzle 45 to swing up and down.

The second connecting rod 4721 is provided with a limiting member for limiting the sliding displacement of the adapting rod 4722, and the limiting member may be a nut or a protrusion, which is not limited herein.

The other end of the switching rod 4722 is connected with the vector nozzle 45 through a ball button, so that the vector nozzle 45 can be prevented from being blocked when swinging horizontally.

In conclusion, the air-submerged unmanned aerial vehicle provided by the invention is suitable for air flight, water surface navigation and underwater navigation, and can switch air flight, water surface navigation and underwater navigation according to different task requirements. Aerial and underwater communication is achieved through the cable communication device 2.

The air-submerged unmanned aerial vehicle can advance, retreat, roll, pitch, float and submerge under water.

The switching of different working states of the air-immersed unmanned aerial vehicle is introduced as follows:

in the air flight mode, the propeller power unit 1 is activated and the float 22 is connected to the fuselage 3. The propeller blades 11 rotate to realize the lifting of the air-submerged unmanned aerial vehicle in the air.

During the surface of water navigation mode, communication between remote controller and unmanned aerial vehicle retransmits through cable communication device 2, screw power device 1 does not respond remote controller control command under the surface of water navigation mode, only the control command of thrust power device 4 response remote controller, through the positive reverse rotation of control second positive reverse rotation motor 41, thereby produce the thrust that advances when navigating to the unmanned aerial vehicle surface and the pulling force that backs, control first steering wheel 431 and second steering wheel 471 simultaneously, realize the control to every single move and driftage when navigating to unmanned aerial vehicle.

And (3) converting the water surface navigation into the underwater navigation mode: firstly, the electromagnetic valve 56 is opened, the buoyancy motor 53 is controlled to drive the bidirectional water pump 52 to absorb water, water is filled into the water storage part 54, the weight of the aerial and submersible unmanned aerial vehicle is increased along with the increase of water filling, the aerial and submersible unmanned aerial vehicle starts to slowly dive, when the aerial and submersible unmanned aerial vehicle dives completely, namely, the floating block 22 is submerged by water, the electromagnetic valve 56 is closed, the water absorption is stopped, the floating block 22 is separated from the machine body 3 and floats on the water surface, the propeller rotating direction of the propeller power device 1 is controlled to realize the diving or floating of the unmanned aerial vehicle, and the length of the cable 25.

Underwater navigation turning to air flight mode: firstly, the electromagnetic valve 56 is opened, the buoyancy motor 53 is controlled to drive the bidirectional water pump 52 to drain water, the water in the water storage part 54 is drained, the weight of the unmanned aerial vehicle for aerial diving is reduced along with the increase of the drainage, the unmanned aerial vehicle for aerial diving starts to float slowly, meanwhile, the cable is retracted until the unmanned aerial vehicle for aerial diving completely floats on the water surface, the electromagnetic valve 56 is closed, the drainage is stopped, and the floating block 22 is aligned with the machine body 3 again under the action of the elastic part and is connected with.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An air immersed unmanned aerial vehicle, comprising:

a body;

the propeller power device (1) comprises propeller blades (11) and a first driving piece for driving the propeller blades (11) to rotate, the first driving piece is arranged on the machine body (3), and the first driving piece can drive the propeller blades (11) to rotate forwards or backwards;

the buoyancy regulating device comprises a circulation pipeline (51), a bidirectional water pump (52) connected in series on the circulation pipeline (51) and a water storage part (54) communicated with the first end of the circulation pipeline (51);

the thrust power device (4), the said thrust power device (4) is used for producing the fuselage and advancing the thrust and backward pulling force;

a cable communication device (2), the cable communication device (2) comprising:

the floating block (22) and a signal receiving and transmitting part arranged on the floating block (22);

a cable (25), wherein a first end of the cable (25) penetrates through the floating block (22) and then is connected with a controller of the aerial and submersible unmanned aerial vehicle, and a second end of the cable (25) is in communication connection with the signal transceiver;

the cable winding and unwinding assembly is arranged inside the floating block (22), when the aerial submergence unmanned aerial vehicle submerges in water, the cable winding and unwinding assembly releases the cable (25) so that the first end of the cable (25) submerges along with the vehicle body (3), and when the aerial submergence unmanned aerial vehicle floats in water, the cable winding and unwinding assembly retracts the cable (25) so that the first end of the cable (25) floats along with the vehicle body (3).

2. Aerial vehicle according to claim 1, characterized in that said first drive member is a first counter-rotating electric machine (12);

the propeller power device (1) further comprises a support (13), the first forward and reverse rotating motor (12) is fixedly connected with the support (13), and the support (13) is fixedly connected with the machine body (3).

3. The aerial and submersible unmanned aerial vehicle of claim 1, wherein the fuselage (3) comprises a fuselage body (35) and a cover body (31), the fuselage body (35) has an opening, and the cover body (31) is in sealing connection with the fuselage body (35) to close the opening of the fuselage body (35);

the air submergence unmanned aerial vehicle further comprises one or more of a depth sensor (36), a camera (33) and an LED lamp (34) which are arranged on the fuselage (3);

the machine body (3) is also provided with an airtight inspection opening (37) and an air valve arranged at the airtight inspection opening (37).

4. Aerial vehicle according to claim 1, characterized in that said cable retraction assembly comprises a turntable (224) and an actuation member for actuating said turntable (224) in rotation, said cable (25) being able to be wound on said turntable (224).

5. The aerial and submersible unmanned aerial vehicle of claim 4, wherein the driving member is an elastic member, when the aerial and submersible unmanned aerial vehicle submerges in water, the fuselage (3) pulls the cable (25) to rotate the turntable (224) to release the cable (25) and simultaneously the elastic member stores energy, and when the aerial and submersible unmanned aerial vehicle floats in water, the elastic force of the elastic member drives the turntable (224) to rotate reversely to retract the cable (25);

the elastic piece is a scroll spring (223), a first end of the scroll spring (223) is fixed relative to the inner wall of the floating block (22), and a second end of the scroll spring (223) is fixedly connected with the rotary disc (224);

or the driving piece is a turntable motor for driving the turntable (224) to rotate forwards or backwards.

6. Aerial vehicle according to claim 4, characterized in that said signal transceiver is an antenna (21);

the cable communication device (2) further comprises an optical fiber slip ring (226), a partition plate (222) is further fixed inside the floating block (22), the optical fiber slip ring (226) is fixed on the partition plate (222), one end of the optical fiber slip ring (226) is connected with the antenna (21) through an information conversion module (228), and the other end of the optical fiber slip ring is connected with the cable (25).

7. Aerial vehicle according to claim 6, characterized in that said buoyancy block (22) comprises a first shell (221) and a second shell (225) connected relatively hermetically; the rotary disc (224) is fixedly connected with a rotary shaft of the optical fiber slip ring (226).

8. The aerial and submersible unmanned aerial vehicle of claim 3, wherein the fuselage (3) is provided with a first connector (24), the outer bottom of the floating block (22) is provided with a second connector (23), the first connector (24) and the second connector (23) are connected to fix the floating block (22) on the fuselage (3), and the first connector (24) and the second connector (23) are separated to separate the floating block (22) from the fuselage (3);

the first connecting piece (24) is a metal piece, and the second connecting piece (23) is an electrified demagnetizing electromagnet;

and through holes for the cables (25) to pass through are formed in the first connecting piece (24) and the second connecting piece (23).

9. The aerial and submersible unmanned aerial vehicle of claim 1, wherein the buoyancy adjusting device is disposed inside the fuselage (3), a suction and drainage port is opened on the fuselage (3), and a second end of the circulation pipeline (51) is communicated with the suction and drainage port.

10. The aerial and submersible unmanned aerial vehicle of claim 1, wherein a switch valve is further connected in series on the circulation pipeline (51);

the switch valve is positioned between the bidirectional water pump (52) and the water storage part (54);

the switch valve is an electromagnetic valve.

11. Aerial vehicle according to claim 1, characterized in that said water storage (54) is in a plurality;

the water storage part (54) is of a soft leather bag structure.

12. Aerial vehicle according to claim 1, characterized in that said thrust power means (4) comprise:

the power shell (46), wherein a circulation port is formed in the power shell (46);

a vector nozzle (45) rotatably connected to the power housing (46), through which vector nozzle (45) water in the power housing (46) can be ejected, the vector nozzle (45) being rotatable relative to the power housing (46);

the vector driving assembly is used for driving the vector nozzle (45) to rotate;

the power propeller blade (49) and the second forward and reverse rotation motor (41) for driving the power propeller blade (49) to rotate forward or reversely are arranged, and the second forward and reverse rotation motor (41) is fixed on the power shell (46).

13. The aerial vehicle of claim 12, wherein the vector jets (45) are rotatable relative to the power housing (46) about a first direction by a first preset angle and rotatable relative to the power housing (46) about a second direction by a second preset angle;

the first direction and the second direction are perpendicular to each other.

14. Aerial vehicle according to claim 13, characterized in that said thrust power means (4) further comprise a transmission ring (44), said transmission ring (44) being connected in rotation with respect to said power housing (46), and the rotation axis between said transmission ring (44) and said power housing (46) being arranged along said first direction; the vector nozzle (45) is hinged with the transmission ring (44), and a hinged shaft between the vector nozzle (45) and the transmission ring (44) is arranged along the second direction;

the thrust power device (4) further comprises an adapter cover (48), the adapter cover (48) is fixedly connected with the power shell (46), and the transmission ring (44) is hinged with the adapter cover (48);

a guide plate is arranged in the adapter cover (48).

15. Aerial vehicle according to claim 14, characterized in that said vector drive assembly comprises a first drive assembly (43) and a second drive assembly (47):

the first driving assembly (43) comprises a first steering engine (431) and a first transmission shaft (432), wherein a first end of the first transmission shaft (432) is connected with an output end of the first steering engine (431), and a second end of the first transmission shaft (432) is connected with the transmission ring (44);

the second driving assembly (47) comprises a second steering engine (471) and a second transmission shaft (472), wherein the first end of the second transmission shaft (472) is connected with the output end of the second steering engine (471), and the second end of the second transmission shaft (472) is connected with the vector nozzle (45).

16. The aerial and submersible unmanned aerial vehicle of claim 15, wherein the first transmission shaft (432) comprises a first rocker arm connected to the output end of the first steering engine (431) and a first connecting rod, wherein a first end of the first connecting rod is hinged to the first rocker arm, and a second end of the first connecting rod is connected to the transmission ring (44) through a ball button;

second transmission shaft (472) include with second rocking arm, second connecting rod (4721) and connecting rod (4722) that the output of second steering wheel (471) is connected, the first end of second connecting rod (4721) with first rocking arm is articulated, the gliding cover of one end of connecting rod (4722) is established the second of second connecting rod (4721) is served, the other end of connecting rod (4722) with vector spout (45) are through the bulb knot and are connected.