CN113085460A - Floating and diving land triphibian aircraft and navigation method thereof - Google Patents
Floating and diving land triphibian aircraft and navigation method thereof Download PDFInfo
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- CN113085460A CN113085460A CN202110457791.0A CN202110457791A CN113085460A CN 113085460 A CN113085460 A CN 113085460A CN 202110457791 A CN202110457791 A CN 202110457791A CN 113085460 A CN113085460 A CN 113085460A
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- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
- B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
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Abstract
The invention relates to a navigation device, in particular to a floating and diving triphibian navigation device which can realize triphibian navigation on water surface, underwater and ground and a navigation method thereof, wherein the left side and the right side of the front end and the rear end of a main body of the navigation device are respectively provided with underwater fan wing propellers with the same structure, a transverse flow fan is arranged on the main body of the navigation device, the rotatable output end of the transverse flow fan in each underwater fan wing propeller is connected with a rotating wheel, one end of a rotatable wing surrounds the rotatable output end of the transverse flow fan, the other end is a free end, and the rotatable wing is driven to rotate by a power source; the mounting directions of the underwater fan wing propellers on the two sides of the front end of the main body of the aircraft are opposite to or the same as the mounting directions of the underwater fan wing propellers on the two sides of the rear end. The invention has the characteristics of capability of realizing triphibious navigation on water surface, underwater and ground, no need of changing the form, simple structure, high reliability, strong maneuverability and the like.
Description
Technical Field
The invention relates to a navigation device, in particular to a floating and diving triphibian navigation device which can realize triphibian navigation on water surface, underwater and ground and a navigation method thereof.
Background
The multi-purpose vehicle is a navigation body which can navigate in various environments such as underwater, water surface, ground, air and the like. Such a vehicle can be freed from the environment, span a variety of environments and mediums, and perform surveying, work, transportation, and other tasks.
The first problem to be solved by the multi-purpose aircraft is the problem of power. In an underwater environment, a multi-purpose vehicle needs to increase gravity, overcome buoyancy, and meanwhile can advance, retreat, submerge, float, steer and the like in an aqueous medium. In the water surface medium environment, the multi-purpose aircraft needs to reduce gravity and increase buoyancy. On the ground, the multi-purpose vehicle needs to move under the support of a supporting surface and has the functions of advancing, retreating, steering and the like. The air environment is closer to the water medium, but the density of the air is far less than that of the water medium, so that the multi-purpose aircraft needs to have lighter weight and larger power device to realize flight. Thus, the need for a power system is often contradictory in order for a multi-dwelling aircraft to be operable in various environments. Most of the existing multi-purpose aircrafts realize multi-purpose navigation in a way that a plurality of power systems only suitable for a single environment are simply superposed, and although the corresponding functions can be realized, the power systems are excessively redundant; in order to ensure the overall performance, the power systems of all the habitats are mutually compromised, the overall efficiency is greatly reduced and is often irreparable.
Therefore, the designed multi-purpose aircraft which only adopts a set of power device without changing the form, can efficiently run in the multi-purpose environment, has simple structure, high reliability and strong maneuverability has important significance and social value.
Disclosure of Invention
Aiming at the problems of the power system of the existing multi-purpose aircraft, the invention aims to provide a floating and submerged three-purpose aircraft and a navigation method thereof. The floating and submerged triphibian navigation device has the characteristics of capability of triphibian navigation on the water surface, the water surface and the ground, no need of changing the form, simple structure, high reliability, strong maneuverability and the like.
The purpose of the invention is realized by the following technical scheme:
the triphibian aircraft comprises an aircraft body, wherein the left side and the right side of the front end and the rear end of the aircraft body are respectively provided with an underwater fan propeller with the same structure, each underwater fan propeller comprises a transverse flow fan and a rotatable wing, each transverse flow fan is arranged on the aircraft body, the rotatable output end of each transverse flow fan in each underwater fan propeller is connected with a rotating wheel, one end of each rotatable wing surrounds the rotatable output end of each transverse flow fan, the other end of each rotatable wing is a free end, each rotatable wing is driven to rotate by a power source arranged in the aircraft body, and each transverse flow fan is positioned above or below the corresponding rotatable wing; the mounting directions of the underwater fan wing propellers on two sides of the front end of the vehicle main body are opposite to or the same as the mounting directions of the underwater fan wing propellers on two sides of the rear end, namely, the free ends of the rotatable wings in the underwater fan wing propellers on two sides of the front end of the vehicle main body are opposite to or are mounted towards the same direction as the free ends of the rotatable wings in the underwater fan wing propellers on two sides of the rear end.
Wherein: the end face of the rotatable wing is in a V shape, one side of the V-shaped opening end is in an arc shape and is abutted against the rotatable output end of the crossflow fan, the other side of the V-shaped opening end is abutted against the rotatable output end of the crossflow fan, and the V-shaped opening end is semi-surrounded on the rotatable output end of the crossflow fan.
Each underwater fan wing propeller generates forward thrust and vertical force when being completely immersed in water, the direction of the forward thrust is opposite to the direction of a rotation tangent of the outer edge of the part, which is not surrounded by the rotatable wing, of the cross flow fan in the underwater fan wing propeller, and the direction of the vertical force is directed to one end of the rotatable wing from the free end of the rotatable wing and is vertical to the direction of the forward thrust.
The underwater fan wing propellers arranged on the left side and the right side of the front end of the aircraft main body and the rotating wheels connected with the transverse flow fan are symmetrically arranged, and the underwater fan wing propellers arranged on the left side and the right side of the rear end of the aircraft main body and the rotating wheels connected with the transverse flow fan are symmetrically arranged.
The rotation center lines of the output ends of the cross flow fans in the underwater fan wing propellers on the left side and the right side of the front end of the aircraft main body are collinear, the rotation center lines of the output ends of the cross flow fans in the underwater fan wing propellers on the left side and the right side of the rear end of the aircraft main body are collinear, are parallel to the rotation center lines of the output ends of the cross flow fans in the underwater fan wing propellers on the left side and the right side of the front end, and are respectively perpendicular to the center line of the aircraft main.
The rotating wheels connected with the cross flow fans in the underwater fan wing propellers respectively rotate around the rotating center lines of the cross flow fans relative to the aircraft body, and the rotatable wings in the underwater fan wing propellers respectively rotate around the rotating center lines of the cross flow fans by a set angle and keep the angle or are always in a set fixed angle.
The floating and submerged triphibian aircraft has positive buoyancy when in an underwater or water surface unpowered state.
The invention relates to a navigation method of a floating and diving land triphibian aircraft, which comprises water surface, underwater and ground triphibian navigation methods, which are respectively as follows:
navigating on the ground: the rotating wheels on the left side and the right side of the front end and the rear end of the aircraft main body are in contact with the ground, and ground navigation is realized by the driving rotation of the transverse flow fans in the underwater fan wing propellers;
navigating underwater: the underwater fan propellers of the transverse flow fans are positioned under the rotatable wings, the transverse flow fans are rotated underwater, and the angle of the rotatable wings is adjusted through the power sources, so that underwater navigation is realized;
sailing on the water surface: and the transverse flow fans are rotated on the water surface by utilizing the underwater fan propeller under the posture that each transverse flow fan is positioned above each rotatable wing, and the angle of each rotatable wing is adjusted by each power source to realize water surface navigation.
The method specifically comprises the following steps:
when the underwater vehicle is sailed on the ground, when the cross flow fan in each underwater fan wing propeller is positioned below the rotatable wing, each underwater fan wing propeller provides additional ground gripping force, and advancing, retreating or steering under the ground environment is realized by adjusting the rotating speed of the cross flow fan in each underwater fan wing propeller and the relative rotating speed of each cross flow fan;
when the underwater vehicle sails, the underwater advancing, retreating, submerging, floating or steering is realized by adjusting the rotating speed of the cross flow fan in each underwater fan propeller, the relative rotating speed of each cross flow fan and the rotating angle of each rotatable wing;
when the underwater vehicle sails on the water surface, the water surface can move forwards, backwards or turn by adjusting the rotating speed of the cross flow fan in each underwater fan propeller, the relative rotating speed of each cross flow fan and the rotating angle of each rotatable wing.
The underwater navigation method comprises underwater hovering and underwater cruising,
hovering under water: when the floating and diving land triphibian aircraft is in an underwater navigation state, adjusting the cross flow fans in the underwater fan wing propellers to ensure that the rotation directions of the cross flow fans on the left side and the right side of the front end of the aircraft main body are opposite to the rotation directions of the cross flow fans on the left side and the right side of the rear end, the forward thrust generated by the underwater fan wing propellers on the left side and the right side of the front end and the backward thrust generated by the underwater fan wing propellers on the left side and the right side of the rear end are mutually offset, and the vertical force generated by each underwater fan wing propeller plays a role, so that the underwater hovering of the floating and diving land triphibian aircraft is;
underwater cruising: when the floating and diving land triphibian aircraft is in an underwater navigation state, the transverse flow fans in the underwater fan wing propellers are adjusted, so that the rotating directions of the transverse flow fans on the left side and the right side of the front end of the aircraft main body are the same as the rotating directions of the transverse flow fans on the left side and the right side of the rear end of the aircraft main body, and forward thrust and vertical force generated by the underwater fan wing propellers play a role, so that the underwater cruise of the floating and diving land triphibian aircraft is realized.
The invention has the advantages and positive effects that:
1. the invention only uses one set of power system, and realizes stable triphibian navigation under water, on water surface and on ground under the condition of not changing the relative position relation of each structure.
2. The invention has simple structure, each main propulsion device plays an active role in each navigation, and the whole power system has high utilization rate and high efficiency.
3. The invention has strong reliability, the overall structure strength is enhanced and the capability of resisting external impact is improved because the relative position relation of each structure is not required to be changed, and the basic motion capability can be ensured even if one or two power subsystems fail because of the redundancy of the power.
4. The invention gives consideration to triphibious navigation, and simultaneously, the maneuverability of underwater motion is not reduced and increased. By adjusting the rotation direction of the cross flow fan of the front and rear underwater fan wing propellers, the floating and submerged triphibian aircraft can realize two working modes of underwater hovering and underwater cruising, and compared with the traditional underwater aircraft with a main push rudder, the maneuverability is improved.
Drawings
FIG. 1 is a schematic perspective view of a triphibian vehicle with front and rear underwater wing propellers mounted in opposite directions;
FIG. 2 is a schematic perspective view of the triphibian vehicle with front and rear underwater fan-wing propellers mounted in the same direction;
FIG. 3 is a schematic perspective view of the operational attitude of the triphibian vehicle of the present invention when operating in a surface environment;
FIG. 4 is a cross-sectional view in the spanwise direction of an underwater fan-wing propeller in the triphibious aircraft of the present invention;
wherein: the aircraft comprises a right rear wheel 1, a right rear underwater fan wing propeller 2, a left rear underwater fan wing propeller 3, a left rear wheel 4, an aircraft body 5, a left front wheel 6, a left front underwater fan wing propeller 7, a right front underwater fan wing propeller 8, a right front wheel 9, a cross flow fan 10 and a rotatable wing 11.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 3, the floating and submerged triphibian aircraft comprises an aircraft main body 5, wherein the left side and the right side of the front end and the rear end of the aircraft main body 5 are respectively provided with an underwater fan propeller with the same structure, namely, the left side of the front end of the aircraft main body 5 is provided with a left front underwater fan propeller 7, the right side of the front end is provided with a right front underwater fan propeller 8, the left side of the rear end is provided with a left rear underwater fan propeller 3, and the right side of the rear end is provided with a right rear underwater fan propeller 2.
As shown in fig. 1 to 4, the right rear underwater fan blade propeller 2, the left rear underwater fan blade propeller 3, the left front underwater fan blade propeller 7, and the right front underwater fan blade propeller 8 of the present embodiment have the same structure, and each include a crossflow fan 10 and a rotatable wing 11, the crossflow fan 10 is mounted on the vehicle body 5, and a rotatable output end of the crossflow fan 10 in each underwater fan blade propeller is connected to a rotating wheel; that is, the output end of the crossflow fan 10 of the right rear underwater fan blade propeller 2 is connected to the right rear wheel 1, the output end of the crossflow fan 10 of the left rear underwater fan blade propeller 3 is connected to the left rear wheel 4, the output end of the crossflow fan 10 of the left front underwater fan blade propeller 7 is connected to the left front wheel 6, and the output end of the crossflow fan 10 of the right front underwater fan blade propeller 8 is connected to the right front wheel 9. The left and right sides of the front and back ends in the main body 5 of the aircraft are respectively provided with a power source for driving the rotatable wings 11 to rotate, and each power source is connected with the rotatable wings 11 at the corresponding position through a transmission device. The power source of the embodiment can be a large-torque steering engine in the prior art, and the transmission device can be realized by rigid transmission modes such as a link mechanism or gear transmission in the prior art. One end of the rotatable wing 11 is enclosed on the rotatable output end of the cross flow fan 10, and the other end is a free end. The crossflow fan 10 is located above or below the rotatable wings 11 and can be folded 180 degrees along the midline of the vehicle body 5 in an aqueous medium environment by the floating and submersible triphibian vehicle as a whole. The end surface of the rotatable wing 11 of this embodiment is "V" shaped, one side of the open end of the "V" shape is arc-shaped and abuts against the rotatable output end of the crossflow fan 10, the center of the circle where the arc is located is concentric with the center of the circle of the end surface of the crossflow fan 10, the other side of the open end of the "V" shape abuts against the rotatable output end of the crossflow fan 10, and the open end of the "V" shape is partly enclosed on the rotatable output end of the crossflow fan 10. Each underwater fan wing propeller generates forward thrust and vertical force when being completely immersed in water, the direction of the forward thrust is opposite to the direction of a rotation tangent of the outer edge of the part, which is not surrounded by the rotatable wing 11, of the cross flow fan 10 in the underwater fan wing propeller, and the direction of the vertical force is directed to one end of the rotatable wing 11 from the free end of the rotatable wing 11 and is vertical to the direction of the forward thrust.
As shown in fig. 1 to 4, in the present embodiment, the underwater wing propellers at the left and right sides of the front end of the vehicle body 5 and the wheels connected to the crossflow fan 10 are symmetrically arranged, and the underwater wing propellers at the left and right sides of the rear end of the vehicle body 5 and the wheels connected to the crossflow fan 10 are symmetrically arranged. Namely, the right rear wheel 1 and the right rear underwater fan wing propeller 2, the left rear underwater fan wing propeller 3 and the left rear wheel 4 are symmetrically arranged relative to the vehicle body 5, and the left front wheel 6 and the left front underwater fan wing propeller 7, and the right front underwater fan wing propeller 8 and the right front wheel 9 are symmetrically arranged relative to the vehicle body 5.
As shown in fig. 1 to 4, in the present embodiment, the rotation center line of the output end of the crossflow fan 10 in the left front underwater wing propeller 7 on the left and right sides of the front end of the vehicle body 5 is collinear with the rotation center line of the output end of the crossflow fan 10 in the right front underwater wing propeller 8, and the rotation center line of the output end of the crossflow fan 10 in the left rear underwater wing propeller 3 on the left and right sides of the rear end of the vehicle body 5 is collinear with the rotation center line of the output end of the crossflow fan 10 in the right rear underwater wing propeller 2, and is parallel to the rotation center lines of the output ends of the crossflow fans 10 in the underwater wing propellers on the left and right sides of the front end.
As shown in fig. 1 to 4, the right rear wheel 1, the left rear wheel 4, the left front wheel 6, and the right front wheel 9 are respectively fixed to the output ends of the respective crossflow fans 10 of the right rear underwater fan blade propeller 2, the left rear underwater fan blade propeller 3, the left front underwater fan blade propeller 7, and the right front underwater fan blade propeller 8, and are rotatable with respect to the vehicle body 5 about the respective crossflow fans 10 and the rotation center lines of the right rear wheel 1, the left rear wheel 4, the left front wheel 6, and the right front wheel 9. The rotatable wings 11 of the right rear underwater wing propeller 2, the left rear underwater wing propeller 3, the left front underwater wing propeller 7 and the right front underwater wing propeller 8 are respectively rotated around the rotation center line of the cross flow fan 10 below the rotatable wings by a set angle and the angle is kept, or always at a set fixed angle.
As shown in fig. 1 to 4, the installation directions of the underwater wing propellers on both sides of the front end of the vehicle main body 5 of the present embodiment are opposite to or the same as the installation directions of the underwater wing propellers on both sides of the rear end, that is, the free ends of the rotatable wings 11 in the left front underwater wing propeller 7 and the right front underwater wing propeller 8 on both sides of the front end of the vehicle main body 5 are installed opposite to the free ends of the rotatable wings 11 in the left rear underwater wing propeller 3 and the right rear underwater wing propeller 2 on both sides of the rear end (as shown in fig. 1) or installed in the same direction (as shown in fig. 2).
When the floating and submerged triphibian aircraft is in an underwater or water unpowered state, the floating and submerged triphibian aircraft has a small amount of positive buoyancy, and the positive buoyancy value is 5-20% of the dry weight of the aircraft.
The cross flow fan 10 of the present invention is a commercially available product, which is purchased from fuji electrical appliances ltd, zhongshan, and has a model number of 3090.
The navigation method of the floating and submerged triphibian aircraft of the invention comprises water surface, underwater and ground triphibian navigation methods, which are respectively as follows:
as shown in fig. 1-4, the ground navigation: the rotating wheels on the left side and the right side of the front end and the rear end of the aircraft main body 5 are in contact with the ground, and ground navigation is realized by the driving rotation of the transverse flow fan 10 in the underwater fan wing propeller; namely, the right rear wheel 1, the left rear wheel 4, the left front wheel 6 and the right front wheel 9 are contacted with the ground to rotate, so that the ground running is realized. When the cross flow fan 10 in each underwater wing propeller is located below the rotatable wing 11, the right rear underwater wing propeller 2, the left rear underwater wing propeller 3, the left front underwater wing propeller 7 and the right front underwater wing propeller 8 can provide extra ground gripping force, and the forward, backward or steering under the ground environment can be realized by adjusting the rotating speed of the cross flow fan 10 in each underwater wing propeller and the relative rotating speed of each cross flow fan 10.
As shown in fig. 1, 2 and 4, underwater navigation: by utilizing the right rear underwater wing propeller 2, the left rear underwater wing propeller 3, the left front underwater wing propeller 7 and the right front underwater wing propeller 8 of each cross flow fan 10 under the rotary wing 11, each cross flow fan 10 is rotated underwater, and the angle of each rotary wing 11 is adjusted by each power source, so that underwater navigation is realized. By adjusting the rotating speed of the cross flow fan 10 in each underwater fan blade propeller, the relative rotating speed of each cross flow fan 10 and the rotating angle of each rotatable wing 11, underwater advancing, retreating, submerging, floating or steering can be realized.
As shown in fig. 3 and 4, the water surface sails: the water surface navigation is realized by utilizing the right rear underwater wing propeller 2, the left rear underwater wing propeller 3, the left front underwater wing propeller 7 and the right front underwater wing propeller 8 of each cross flow fan 10 which are positioned above each rotatable wing 11 in a posture, rotating each cross flow fan 10 on the water surface and adjusting the angle 11 of each rotatable wing through each power source. The water surface can move forward, backward or turn by adjusting the rotating speed of the cross flow fan 10 in each underwater fan blade propeller, the relative rotating speed of each cross flow fan 10 and the rotating angle of each rotatable wing 11.
The underwater navigation method comprises the following steps of underwater hovering and underwater cruising:
as shown in fig. 1 and 4, hovering under water: when the floating and submerging triphibian aircraft is in an underwater navigation state, the rotation directions of the transverse flow fans 10 of the left front underwater fan wing propeller 7 and the right front underwater fan wing propeller 8 and the transverse flow fans 10 of the right rear underwater fan wing propeller 2 and the left rear underwater fan wing propeller 3 are adjusted to be opposite, and the floating and submerging triphibian aircraft can realize underwater hovering. When the rotation directions are opposite, forward thrust generated by the left front underwater wing propeller 7 and the right front underwater wing propeller 8 can be mutually offset with backward thrust generated by the right back underwater wing propeller 2 and the left back underwater wing propeller 3, so that vertical forces of the four underwater wing propellers, such as the left front underwater wing propeller 7, the right front underwater wing propeller 8, the right back underwater wing propeller 2 and the left back underwater wing propeller 3, play a main role, and large-amplitude adjustment of vertical force at a certain set depth and small-amplitude adjustment of forward and backward thrust force can be realized.
As shown in fig. 1, 2 and 4, underwater cruising: when the floating and submerging triphibian aircraft is in an underwater navigation state, the rotation directions of the transverse flow fans 10 of the left front underwater fan wing propeller 7 and the right front underwater fan wing propeller 8 and the transverse flow fans 10 of the right rear underwater fan wing propeller 2 and the left rear underwater fan wing propeller 3 are adjusted to be the same, at the moment, the forward thrust and the vertical force of the four underwater fan wing propellers such as the left front underwater fan wing propeller 7, the right front underwater fan wing propeller 8, the right rear underwater fan wing propeller 2 and the left rear underwater fan wing propeller 3 play a main role, and the floating and submerging triphibian aircraft can realize underwater cruise.
Claims (10)
1. A floating and diving land triphibian navigation device is characterized in that: the underwater vehicle with the transverse flow fan comprises a vehicle main body (5), the left side and the right side of the front end and the rear end of the vehicle main body (5) are respectively provided with an underwater fan propeller with the same structure, each underwater fan propeller comprises a transverse flow fan (10) and a rotatable wing (11), the transverse flow fans (10) are installed on the vehicle main body (5), the rotatable output end of each transverse flow fan (10) in each underwater fan propeller is connected with a rotating wheel, one end of each rotatable wing (11) surrounds the rotatable output end of each transverse flow fan (10), the other end of each rotatable wing is a free end, each rotatable wing (11) is driven to rotate by a power source installed in the vehicle main body (5), and each transverse flow fan (10) is located above or below the corresponding rotatable wing (11); the mounting directions of the underwater fan wing propellers on two sides of the front end of the vehicle main body (5) are opposite to or the same as the mounting directions of the underwater fan wing propellers on two sides of the rear end, namely, the free ends of the rotatable wings (11) in the underwater fan wing propellers on two sides of the front end of the vehicle main body (5) and the free ends of the rotatable wings (11) in the underwater fan wing propellers on two sides of the rear end are oppositely mounted or are mounted towards the same direction.
2. The floating, submersible, triphibian vehicle of claim 1, wherein: the end face of the rotatable wing (11) is V-shaped, one side of the V-shaped opening end is arc-shaped and is abutted against the rotatable output end of the crossflow fan (10), the other side of the V-shaped opening end is abutted against the rotatable output end of the crossflow fan (10), and the V-shaped opening end is semi-surrounded on the rotatable output end of the crossflow fan (10).
3. The floating, submersible, triphibian vehicle of claim 2, wherein: each underwater fan wing propeller generates forward thrust and vertical force when being completely immersed in water, the direction of the forward thrust is opposite to the direction of a rotation tangent of the outer edge of the part, which is not surrounded by the rotatable wing (11), of the cross flow fan (10) in the underwater fan wing propeller, and the direction of the vertical force is directed to one end of the rotatable wing (11) from the free end of the rotatable wing (11) and is vertical to the direction of the forward thrust.
4. The floating, submersible, triphibian vehicle of claim 1, wherein: the underwater fan wing propellers arranged on the left side and the right side of the front end of the aircraft main body (5) and the rotating wheels connected on the transverse flow fan (10) are symmetrically arranged, and the underwater fan wing propellers arranged on the left side and the right side of the rear end of the aircraft main body (5) and the rotating wheels connected on the transverse flow fan (10) are symmetrically arranged.
5. The floating, submersible, triphibian vehicle of claim 1, wherein: the rotation center lines of the output ends of the cross flow fans (10) in the underwater fan wing propellers on the left side and the right side of the front end of the aircraft main body (5) are collinear, the rotation center lines of the output ends of the cross flow fans (10) in the underwater fan wing propellers on the left side and the right side of the rear end of the aircraft main body (5) are collinear, parallel to the rotation center lines of the output ends of the cross flow fans (10) in the underwater fan wing propellers on the left side and the right side of the front end, and are respectively perpendicular to the center line of the aircraft main body (5).
6. The floating, submersible, triphibian vehicle of claim 1, wherein: the runner connected with the cross flow fan (10) in each underwater fan wing propeller rotates around the rotation center line of the cross flow fan (10) relative to the aircraft body (5), and the rotatable wing (11) in each underwater fan wing propeller rotates around the rotation center line of the cross flow fan (10) for a set angle and keeps the angle, or is always in a set fixed angle.
7. The floating, submersible, triphibian vehicle of claim 1, wherein: the floating and submerged triphibian aircraft has positive buoyancy when in an underwater or water surface unpowered state.
8. A method of navigating a floating, submersible, triphibian aircraft according to any one of claims 1 to 7, wherein: the triphibian navigation method with water surface, underwater and ground is as follows:
navigating on the ground: the rotating wheels on the left side and the right side of the front end and the rear end of the aircraft main body (5) are in contact with the ground, and ground navigation is realized by the driving rotation of the transverse flow fans (10) in the underwater fan wing propellers;
navigating underwater: the cross flow fans (10) are rotated underwater by utilizing the underwater fan propeller under the posture that each cross flow fan (10) is positioned below each rotatable wing (11), and the angle of each rotatable wing (11) is adjusted through each power source to realize underwater navigation;
sailing on the water surface: and (2) rotating the cross flow fans (10) on the water surface by utilizing the underwater fan wing propellers of which the cross flow fans (10) are positioned above the rotatable wings (11) in postures, and adjusting the angles of the rotatable wings (11) through the power sources to realize water surface navigation.
9. The navigation method according to claim 8, characterized in that: the method specifically comprises the following steps:
when the underwater vehicle is sailed on the ground, when the cross flow fan (10) in each underwater fan wing propeller is positioned below the rotatable wing (11), each underwater fan wing propeller provides additional ground gripping force, and advancing, retreating or steering under the ground environment is realized by adjusting the rotating speed of the cross flow fan (10) in each underwater fan wing propeller and the relative rotating speed of each cross flow fan (10);
when the underwater vehicle sails, the underwater advancing, retreating, submerging, floating or steering is realized by adjusting the rotating speed of the cross flow fan (10) in each underwater fan propeller, the relative rotating speed of each cross flow fan (10) and the rotating angle of each rotatable wing (11);
when the underwater vehicle sails on the water surface, the water surface can move forwards, backwards or turn by adjusting the rotating speed of the cross flow fan (10) in each underwater fan propeller, the relative rotating speed of each cross flow fan (10) and the rotating angle of each rotatable wing (11).
10. The navigation method according to claim 8, characterized in that: the underwater navigation method comprises underwater hovering and underwater cruising,
hovering under water: when the floating and submerging triphibian aircraft is in an underwater navigation state, adjusting the cross flow fans (10) in the underwater fan wing propellers to ensure that the rotation directions of the cross flow fans (10) on the left and right sides of the front end of the aircraft main body (5) are opposite to the rotation directions of the cross flow fans (10) on the left and right sides of the rear end, the forward thrust generated by the underwater fan wing propellers on the left and right sides of the front end and the backward thrust generated by the underwater fan wing propellers on the left and right sides of the rear end are mutually offset, and the vertical force generated by each underwater fan wing propeller plays a role to realize the underwater hovering of the floating and submerging triphibian aircraft;
underwater cruising: when the floating and diving land triphibian aircraft is in an underwater navigation state, the transverse flow fans (10) in the underwater fan wing propellers are adjusted, so that the transverse flow fans (10) on the left side and the right side of the front end of the aircraft main body (5) are the same as the transverse flow fans (10) on the left side and the right side of the rear end, the forward thrust and the vertical force generated by the underwater fan wing propellers are all exerted, and the underwater cruising of the floating and diving land triphibian aircraft is realized.
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| CN202110457791.0A CN113085460A (en) | 2021-04-27 | 2021-04-27 | Floating and diving land triphibian aircraft and navigation method thereof |
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| CN202110457791.0A CN113085460A (en) | 2021-04-27 | 2021-04-27 | Floating and diving land triphibian aircraft and navigation method thereof |
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| CN (1) | CN113085460A (en) |
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Application publication date: 20210709 |