CN113147295A

CN113147295A - Cross-medium temporary aerocraft

Info

Publication number: CN113147295A
Application number: CN202110657255.5A
Authority: CN
Inventors: 刘晓徽; 赵雪娇
Original assignee: Beijing Shuangqi Technology Co ltd
Current assignee: Liu Xiaohui
Priority date: 2021-06-11
Filing date: 2021-06-11
Publication date: 2021-07-23

Abstract

The invention discloses a cross-medium temporary aerocraft, which adopts a multi-rotor structure, wherein the number N of rotors is an even number, and N is more than or equal to 4; the power system of the cross-medium temporary aerocraft comprises N power units, wherein N is a positive integer, each rotor wing is provided with N power units, each power unit comprises a propeller and a motor for driving the propeller, and the thrust of each power unit in the air is smaller than that of the power unit in the water; and a suction cup is arranged on the fuselage of the cross-medium temporary aerocraft. The amphibious cross-medium aircraft provided by the invention adopts a multi-rotor structure, effectively improves the compatibility of two working environments, can enter water quickly, solves the serious influence of water surface fluctuation on stable water outlet through power design of a power system, and has the water outlet reliability of over 99.8 percent. The machine body is additionally provided with the sucker, so that the sucker can be adsorbed on a static object or a large-scale moving object, fixed-point or slow-speed movement is realized by means of external force, and the problem of low energy density of the battery is solved.

Description

Cross-medium temporary aerocraft

Technical Field

The application belongs to the technical field of unmanned aerial vehicles, concretely relates to stride aircraft of dwelling temporarily of medium.

Background

The cross-medium aircraft integrates three unmanned working systems of an air aircraft, a surface vehicle and an underwater vehicle, and can have three functions of air flight, surface navigation and underwater navigation on a single platform. The platform is flexible, can better adapt to various environmental conditions, and has certain universality and concealment.

The cross-medium aircraft breaks through the limitation of the traditional single-medium unmanned system platform, has the flight characteristics of the water surface aircraft and the diving characteristics of the underwater vehicle, and has excellent environmental adaptability. Meanwhile, blind areas of various detection devices can be effectively utilized, a target defense system can be rapidly and covertly broken through, and tasks such as remote reconnaissance, attack and the like can be efficiently and conveniently executed.

The cross-medium aircraft is a novel aircraft which is eagerly researched by human beings. Previous research and design efforts have generally been deployed around fixed wing profile aircraft, and the differences in the two media environments, water and air, have presented significant challenges to such designs. The density difference of hundreds of times makes the fixed wing profile cross-medium aircraft difficult to deal with complex lift force, resistance and buoyancy. Meanwhile, the control problem caused by wave-making resistance, ground effect and other factors at the moment that the aircraft crosses the medium is not completely solved.

In order to overcome the technical problems caused by the difference between water and air medium environments, the conventional fixed wing cross-medium aircraft adopts a variable structure fixed wing, such as a bionic flapping wing cross-medium aircraft developed by British university and a bionic flying fish aircraft developed by the U.S. MIT mechanical engineering system. Or an additional system is added to adapt to an underwater environment, for example, a bionic skipjack medium-crossing aircraft is developed by Beijing aerospace university, two different propulsion systems are designed for the platform to be compatible with two mediums, namely water and air, and the attitude control is realized by adopting an air bag during taking off and landing.

In summary, in various scientific research institutions at home and abroad, the existing achievements cannot realize cross-medium flight in a mature and reliable manner. Some cannot realize autonomous cross-medium navigation and can only navigate in a single medium environment; some of the flying vehicles adopt variant structures for realizing cross-medium flying, and the complexity is increased. Therefore, none of the current research results can be mass-produced and put into operation in a short time. With the continuous development of information, the task requirements of target users are more and more complex, and the tasks borne by the unmanned aerial vehicle platform are more and more difficult. Thus, the market demand for such multifunctional aircraft will be even stronger.

Therefore, it is necessary to develop a mature, reliable and multifunctional unmanned aerial vehicle capable of really realizing cross-medium flight.

Disclosure of Invention

In order to solve the technical problems, the invention provides a cross-medium temporary aircraft which adopts a multi-rotor structure, avoids the inherent contradiction of fixed wing layout, effectively improves the compatibility of the cross-medium temporary aircraft to two working environments, and is provided with a sucker to realize a temporary function and improve cruising ability.

The technical scheme adopted for achieving the purpose of the invention is that the cross-medium temporary aerocraft is of a multi-rotor structure, the number N of the rotors is an even number, and N is more than or equal to 4; the power system of the cross-medium temporary aerocraft comprises N power units, wherein N is a positive integer, each rotor wing is provided with N power units, each power unit comprises a propeller and a motor for driving the propeller, and the thrust of each power unit in the air is smaller than that of each power unit in the water; and a suction cup is arranged on the fuselage of the cross-medium temporary aerocraft.

Optionally, the total power P of each motor in the power system is greater than or equal to 3P1, and the total thrust F is greater than or equal to 1.5G, where P1 is the total power of each motor in the power system required by the cross-medium temporary aerocraft in the hovering state, and G is the gravity of the cross-medium temporary aerocraft; the horizontal dimension t of the cross-medium temporary habitat aircraft and the wavelength lambda of waves to enter and exit the water area meet the following conditions: t is more than or equal to 4 lambda or less than or equal to 0.25 lambda; the overall density of the cross-medium temporary aerocraft is greater than rho 0, and rho 0 is the water density of the water to be entered.

Optionally, the diameter D and the pitch p of the propeller satisfy: d is not less than D1 and not more than D2, p is not less than p1 and not more than p2, wherein D1 and p1 are the corresponding diameter and the corresponding pitch of the marine propeller under the conditions of the same thrust, the same fluid medium density and the same propeller rotating speed respectively; d2 and p2 are respectively the corresponding diameter and the corresponding screw pitch of the propeller for the airplane under the conditions of the same thrust, the same fluid medium density and the same propeller rotating speed; the horizontal dimension t of the cross-medium temporary habitat aircraft and the wavelength lambda of waves to enter and exit the water area meet the following conditions: t is more than or equal to 10 lambda or less than or equal to 0.1 lambda.

Optionally, the diameter D of the propeller is 6-8 inches, and the pitch p of the propeller is less than D; the propeller blades are provided with wingtip winglets, the inclination angle of each wingtip winglet is 10-30 degrees, and the installation angle of each wingtip winglet is-40-0 degrees; the motor is a large-torque brushless motor, and the torque range of the large-torque brushless motor is 0.1-10 N.m.

Optionally, the cross-medium temporary aerocraft comprises an adsorption and desorption device, wherein the adsorption and desorption device comprises the sucker, a traction piece and a desorption power element; the sucker is a soft sucker, and two outer molded surfaces of the sucker are respectively an operation surface and an adsorption surface for adsorption; one end of the traction piece is connected with the output end of the desorption power element, and the other end of the traction piece is connected with the edge of the operation surface of the sucker.

Optionally, the suction cup comprises a suction cup body located in the center and a lip ring located at the edge, and the other end of the pulling piece is connected with the lip ring; a tying ring is arranged on the operation surface of the lip ring, and the other end of the traction piece is tied on the tying ring; the traction piece is a soft rope; the center of the operation surface of the sucker body is provided with a connecting part for installing the sucker;

a limiting piece is arranged on the operation surface of the sucker, a through hole is formed in the limiting piece, and the traction piece penetrates through the through hole and is movably arranged in the limiting piece; or the inside of the sucker is provided with a wire passing channel, and the traction piece is arranged in the wire passing channel in a penetrating way.

Optionally, the desorption power element is an electromagnet, a rotary power element or a linear telescopic power element;

if the desorption power element is an electromagnet, the traction piece is a magnetic component which is fixedly arranged on the edge of the operation surface of the sucker;

if the desorption power element is a rotary power element, an output shaft of the rotary power element is fixedly connected with one end of the traction piece; or a shifting lever is arranged on an output shaft of the rotating power element, one end of the shifting lever is fixedly arranged on the output shaft, and the traction piece is connected with the other end of the shifting lever; or one end of the deflector rod is fixedly arranged on the output shaft, the other end of the deflector rod is provided with a wire passing hole, and the traction piece passes through the wire passing hole and is fixedly connected with the rotating power element;

if the desorption power element is a linear telescopic power element, a telescopic rod of the linear telescopic power element is fixedly connected with one end of the traction piece.

Optionally, the signal electric line and the circuit board of the cross-medium temporary aerocraft are coated with sealant; the specification of a wire of a power electric circuit of the cross-medium temporary aerocraft is more than 18 AWG; the joint of the power line is coated with a protective layer; lubricating grease is coated in gaps of mechanical moving parts of the cross-medium temporary aerocraft.

Optionally, the machine body is an N-axis frame structure, and includes N cantilever shafts, where the N cantilever shafts have a common junction end to form a nacelle at the junction end, and the cantilever shafts are hollow cubic structures, so that a routing channel connecting the propeller to the nacelle is formed inside the cubic structures; the shaft wall of the cantilever shaft is hollow, and a plurality of drain holes for communicating the inside with the external environment are formed in the shaft wall; the fuselage is made of carbon fiber.

Optionally, the cross-medium temporary aircraft comprises a low-frequency communication device and a pressure gauge, the low-frequency communication device performs data communication by using electromagnetic waves with a frequency of 5000Hz to 1.2GHz, and the low-frequency communication device and the pressure gauge are both electrically connected with a flight control chip of the cross-medium temporary aircraft.

According to the technical scheme, the cross-medium temporary aerocraft provided by the invention has a multi-rotor structure, the number N of the rotors is even, and N is more than or equal to 4, so that the self-rotating torque cannot be generated when a power system works. Compared with a power system with an internal combustion engine driving propellers, the cross-medium temporary dwelling aircraft provided by the invention adopts the motor to drive the propellers, and is applicable to underwater operation.

The multi-rotor unmanned aerial vehicle is applied to the field of cross-medium flight, belongs to the existing mature technology, is low in implementation difficulty, can be suspended in a fluid medium and is controllable in the whole flight process, so that a suspension water-entering mode can be adopted during water entering, and a power water outlet mode can be adopted during water outlet, namely cross-medium flight can be realized by matching the multi-rotor structure of the cross-medium temporary aircraft with a corresponding control strategy. Compared with the existing fixed wing medium-crossing aircraft, the medium-crossing temporary dwelling aircraft does not need to design an allosteric fixed wing, and also does not need to be compatible with two media of water and air or an air bag for assisting in posture adjustment by means of two different propulsion systems, and has the advantages of simple integral structure and low implementation cost.

The multi-rotor unmanned aerial vehicle is applied to the field of cross-medium flight, belongs to the current mature technology, and is low in implementation difficulty. The parameters of a motor and a propeller in the power system are adjusted, so that the thrust of the power unit in the air is smaller than that in water. In water or on the water surface, the whole machine is subjected to a plurality of forces: gravity, buoyancy and the pulling force of a plurality of motors; the whole machine is subjected to N × N moments, namely, the moment caused by the back torque of the motor. Unmanned aerial vehicle of many rotors overall arrangement, complete machine structure symmetry, consequently the focus is located the center of aircraft. Generally, the overall density of the cross-medium unmanned aerial vehicle is higher than that of water, and compared with other acting forces, buoyancy is an unimportant influence factor. The differential tension of the motors is therefore the source of the moment that causes the pitch and roll maneuver of the multi-rotor drone. The torque differential of each motor is the source of the torque that causes the multi-rotor drone to yaw.

In the cross-medium temporary aircraft provided by the invention, the thrust of the power unit in the air is smaller than that in the water, even if the attitude of the cross-medium temporary aircraft on the water surface is unstable, a motor at a higher position drives a rotating propeller to firstly leave the water surface due to the unstable attitude, and after the motor leaves the water medium, the buoyancy and the propeller tension are both instantaneously reduced under the influence of the density difference between water and air, so that the horn is subjected to a moment action and moves downwards and restores the balance trend. At the moment, the other three motors which do not leave the water surface are still in the water, and the motor tension is greater than that of the motor which leaves the water surface, so that the three arms in the water are also under the action of a moment and move upwards and restore the balance trend. By superimposing the two analyzed movement patterns, the aircraft will eventually tend to be in a steady attitude and gradually leave the water surface.

The suction cups are arranged on the fuselage of the cross-medium temporary aircraft, so that the cross-medium aircraft is endowed with the temporary capacity. During the task execution, if fixed-point reconnaissance/survey is needed and high-speed movement is not needed, the cross-medium aircraft can be adsorbed on a static object or a large-scale moving object, fixed-point or slow-speed movement is realized by means of external force, and energy is saved.

Compared with the prior art, the invention has the following advantages:

1. the cross-medium temporary aircraft provided by the invention adopts a multi-rotor structure, avoids the inherent contradiction of fixed wing layout, effectively improves the compatibility of the cross-medium temporary aircraft to two working environments, and can quickly enter and exit water.

2. According to the cross-medium temporary aircraft provided by the invention, the thrust of the power unit in the air is smaller than that in water, so that the cross-medium temporary aircraft can automatically correct the posture of the cross-medium temporary aircraft in the water outlet process, the posture is ensured to be stable, the overturning is avoided, the water outlet speed can be shortened to be within 1s, and the water outlet reliability can be up to more than 99.8%.

3. According to the cross-medium temporary aircraft provided by the invention, through the design of the aircraft platform, the suction disc is additionally arranged on the aircraft body, so that the aircraft body can be adsorbed on a static object or a large moving object, fixed-point or slow-speed movement is realized by means of external force, the problem of low energy density of a battery is relieved, and the cruising ability is improved from another angle.

Drawings

FIG. 1 is a schematic overall structure diagram of a cross-medium temporary aerocraft in an embodiment of the invention.

Fig. 2 is a front view of fig. 1.

Fig. 3 is an exploded view of fig. 1.

FIG. 4 is a schematic structural diagram of a power system blade in the cross-media perching aircraft of FIG. 1.

Fig. 5 is a schematic structural diagram of an adsorption and desorption device in the first embodiment.

Fig. 6 is a schematic structural diagram of an adsorption and desorption device in a second embodiment.

Fig. 7 is a schematic structural view of an adsorption and desorption apparatus in a third embodiment.

Fig. 8 is a schematic structural view of an adsorption/desorption apparatus according to a fourth embodiment.

Fig. 9 is a schematic structural view of an adsorption and desorption apparatus in a fifth embodiment.

Description of reference numerals: 100-a cross-media perching aircraft; 110-rotor; 10-an adsorption and desorption device; 1-sucker, 11-sucker body, 12-lip ring, 13-connecting part, 14-tied wire ring, 15-limiting part and 16-wire passage; 2-a pulling member; 3-desorption power element, 31-deflector rod, 32-output shaft, 33-wire passing hole and 34-telescopic rod; 20-fuselage, 21-upper plate, 22-cantilever shaft, 23-cabin, 24-routing channel, 25-drainage hole and 26-lower plate; 30-power system, 301-propeller, 302-motor, 303-blade, 304-winglet; 40-a low frequency communication device; 50-flight control chip; 60-a power supply device; 70-electronic speed regulator; 80-aluminum column.

Detailed Description

In order to make the present application more clearly understood by those skilled in the art to which the present application pertains, the following detailed description of the present application is made with reference to the accompanying drawings by way of specific embodiments.

In the prior art, the cross-medium temporary aerocraft is usually unfolded around an aerocraft with a fixed wing appearance, the current fixed wing cross-medium aerocraft adopts a variant structure fixed wing or adds an additional system for adapting to an underwater environment in order to overcome the technical problem brought by the difference of two medium environments of water and air, the structure complexity and the body weight are increased by the design, the reliability is reduced, and the practical mass production is difficult.

Research finds that the aircraft belongs to a low-density motion platform, and the design concept is developed around weight reduction; on the contrary, the underwater vehicle belongs to a high-density motion platform, and in order to maintain underwater diving, the density of the underwater vehicle is required to be more than or equal to the density of water. And is a difficulty in resistance design. The difference in density of the two media makes it difficult to adapt a fixed fuselage configuration to the operating environment in both fluid media simultaneously. The wings designed according to aerodynamics can hardly meet hydrodynamic requirements at the same time, generate larger resistance in the underwater environment, and are not beneficial to the diving of the airplane. Therefore, conventional fixed wing layout aircraft designed under traditional thinking are almost impossible to meet the design requirements of a cross-medium perch aircraft.

In addition, the prior art also has the control difficulty of controlling the stable posture of the water outlet process, for example, the water outlet operation is carried out in still water, as the water surface is stable, the working states of all motors are similar, and the water outlet can be simultaneously carried out, but in practical use, a flat water surface hardly exists, if the water surface fluctuates, the cross-medium temporary aerocraft is in the fluctuating water, and the propeller can generate a new state, namely, one part of the propeller disc is immersed in the water, and the other part of the propeller disc is in the air. At this time, the rotating speed of the propeller is not greatly different from the rotating speed in water, but the generated thrust is not as large as in water. Since the water-air density differs by a factor of about 800, the thrust in water is about 800 times that in air for all other propellers operating in a consistent condition. Since the area of the paddle disk immersed in water is possible from 0 to 100%, the thrust of the propeller in the state cannot be quantized, so that the fluctuating water surface can seriously affect the stable water outlet of the cross-medium temporary aerocraft, and the cross-medium temporary aerocraft overturns when the water is discharged and cannot discharge water.

Most of the traditional small and miniature unmanned aerial vehicles adopt lithium batteries for power supply. Tests show that the fixed wing aircraft with better gliding performance can carry medium and small-capacity lithium batteries (14.8v, 3300mAh) for endurance time of 40 min; common consumer-grade four-axis unmanned aerial vehicles, such as Xinjiang spirit 4, can have a endurance time of 28min with a large-capacity lithium battery (14.8v, 6000 mAh). While the demand is continuously increased, the cross-medium aircraft compatible with the underwater high-density medium working environment also needs stronger cruising ability to improve the performance and increase the working radius. In the foreseeable future, lithium batteries have a relatively low probability of significant breakthrough within a short period of time of their energy density. Aiming at the field of cross-medium flight, the existing scheme is to adopt a telescopic wing or a variant wing, and the shape of the wing is changed by the two modes so as to adapt to different working media. The consequent drawbacks are also evident, increasing the structural weight and complexity, and further reducing the endurance time of the aircraft.

In order to solve the problems in the prior art, the invention provides a new design idea, a multi-rotor unmanned aerial vehicle is applied to the field of cross-medium flight, belongs to the current mature technology, and is low in implementation difficulty; and the sucker is added on the machine body, so that the machine body can be adsorbed on a static object or a large-scale moving object, fixed-point or slow-speed movement is realized by means of external force, the problem of low energy density of the battery is relieved, and the cruising ability is improved from another angle.

The technical scheme of the invention is described in detail by combining the specific embodiments as follows:

referring to fig. 1 to 3, the present embodiment provides a cross-medium temporary aerocraft 100, which includes a fuselage 20, an adsorption and desorption device 10, a power system 30, a low frequency communication device 40, a flight control chip 50, and a power supply device 60. The fuselage 20 is an installation foundation of the whole cross-medium temporary aerocraft 100, and the adsorption and desorption device 10, the power system 30, the low-frequency communication device 40 and the power supply device 50 are all installed on the fuselage 2010. The adsorption and desorption device 10 is used for adsorbing the cross-medium temporary aerocraft 100 on a static object or a large moving object, so that the temporary aerocraft can realize the temporary function and improve the cruising ability. The power system 30 is used to provide flight power as well as adsorption power. The low-frequency communication device 40 is used for realizing remote wireless communication, and the flight control chip 50 receives a control instruction through the low-frequency communication device 40 and controls the flight operation of the whole aircraft. The power supply device 60 is used for supplying power to the adsorption and desorption device 10, the power system 30, the low-frequency communication device 40 and the flight control chip 50.

Overall, the cross-medium temporary aerocraft 100 is a multi-rotor structure, the number N of the rotors 110 is even, and N is more than or equal to 4, such as four rotors, six rotors, eight rotors, etc. The power system 30 of the cross-medium temporary aerocraft 100 includes N × N power units, where N is a positive integer, and N power units are mounted on each rotor 110, for example, a six-rotor unmanned aerial vehicle, and each rotor is configured with two powers, so that the total number of the power units is 12. The even-numbered design of the power unit ensures that the powertrain 30 does not generate spin torque when operating. The power unit includes a propeller 302 and a motor 301 for driving the propeller 302.

For the whole machine, the overall density of the cross-medium temporary aerocraft 100 is greater than rho 0, and rho 0 is the water density of the water area to be entered, so as to ensure smooth water entry and underwater navigation. The horizontal dimension t of the cross-media perch aircraft 100 and the wavelength λ of the waves to enter and exit the water meet: t is more than or equal to 4 lambda or t is less than or equal to 0.25 lambda, namely the size of the cross-medium temporary aerocraft 100 is designed to be far smaller than the wavelength of local waves or far larger than the wavelength of the local waves, so that the fluctuating water surface is approximately a plane relative to the cross-medium temporary aerocraft 100.

Preferably, the horizontal dimension t of the cross-media perch aircraft 100 and the wavelength λ of the waves to enter and exit the water should satisfy: t is more than or equal to 10 lambda or less than or equal to 0.1 lambda. I.e., the difference between the horizontal dimension t of the transonic perch vehicle 100 and the wavelength λ of the waves to enter and exit the water. In this embodiment, the horizontal dimension t of the cross-media perch aircraft 100 is a diagonal center-to-center distance, i.e., a center-to-center distance between two propellers located diagonally.

Of course, in other embodiments, the center distance between any two propellers may also be taken as the horizontal dimension t of the cross-medium perch aircraft 100, taking the most common four-rotor structure as an example, any two propellers may be two propellers on the same side or two diagonal propellers, and the center distance between any two corresponding propellers may be the center distance between two propellers on the same side or the center distance between two diagonal propellers.

In other embodiments, the distance between the edge of the blade disc of any two propellers can be used as the horizontal dimension t of the cross-medium perch aircraft 100, and the most general four-rotor structure is also taken as an example, and the definition of any two propellers is the same, which is not described herein again. The distance between any point on the propeller disc of the two propellers and any point on the propeller disc of the other propeller is different along with the point selection, when two image limit points at the outermost side are selected, the distance between the edges of the propeller discs of the two propellers is the largest, and when two image limit points at the innermost side are selected, the distance between the edges of the propeller discs of the two propellers is the smallest. For the case where the difference between the horizontal dimension t of the cross-media temporary airborne vehicle 100 and the wavelength λ of the waves to enter and exit the water is an order of magnitude or more, any of the above-mentioned spacings can be taken as the horizontal dimension t of the cross-media temporary airborne vehicle 100, and the selection of the different spacing patterns has a negligible effect on the stability of the cross-media temporary airborne vehicle 100.

The total power P of each motor in the power system 30 is greater than or equal to 3P1, and P1 is the total power of each motor in the power system 30 required by the cross-medium temporary aerocraft 100 in the hovering state, which is also called hovering power. Since the total power of the power system 30 is generally evenly distributed to each motor, it can also be understood that the power p of a single motor is greater than or equal to 3p1, and p1 is the hovering power of the motor and can be directly queried. The total power P of the power system 30 is set to be not less than 3 times of hovering power, so that the power system 30 can provide as strong water outlet power as possible, the water outlet time is shortened to within 1s, and water can be discharged in a very short time without obvious change on the water surface. The total thrust F of each motor in the power system 30 is more than or equal to 1.5G, G is the gravity of the cross-medium temporary aircraft 100, the design ensures that the power system 30 does not generate spinning torque when working, and can drive the cross-medium temporary aircraft 100 to carry out stable aerial flight, diving and medium conversion.

The problem of water-air transition of the cross-medium temporary aircraft 100 is a design difficulty of the cross-medium temporary aircraft 100, and the density and the flow state of the fluid are changed from moment to moment, so that the problem of multi-fluid dynamic stability control is involved in the flight envelope. Aiming at the technical problems in the water entering process, in the cross-medium temporary aircraft 100 provided by the invention, the power unit comprises a propeller and a motor for driving the propeller, the total thrust F of each motor in the power system 30 is more than or equal to 1.5 times of the self weight of the cross-medium temporary aircraft 100, and the density of the whole cross-medium temporary aircraft 100 is greater than the water density of a water area to be entered, so that the cross-medium temporary aircraft 100 can be driven to stably fly in the air, submerge and convert media, the smooth water entering is ensured, the cross-medium temporary aircraft 100 can be controlled to hover to a position close to the water surface, and the water enters in 1 s.

In the cross-medium temporary aerocraft 100 of the invention, the power unit comprises a propeller and a motor for driving the propeller, and the diameter D and the pitch p of the propeller 302 satisfy the following conditions because the cross-medium work is carried out: d is not less than D1 and not more than D2, p is not less than p1 and not more than p2, wherein D1 and p1 are the corresponding diameter and the corresponding pitch of the marine propeller under the conditions of the same thrust, the same fluid medium density and the same propeller rotating speed respectively; d2 and p2 are the corresponding diameter and the corresponding pitch of the propeller for the airplane under the conditions of the same thrust, the same fluid medium density and the same propeller rotating speed respectively. Therefore, the set of power can provide stable power output in water and air, and the motor outputs high torque in water and has lower rotating speed; the motor outputs low torque in the air, and the rotating speed is high.

Specifically, the diameter D of the propeller 302 is 6-8 inches, the pitch p of the propeller is less than D, and the pitch p is 3.8-4.0 inches in the embodiment. The diagonal wheelbase of the whole aircraft is 250-550 mm, and the takeoff weight is 0.5-2 Kg. Taking the takeoff weight of 1.4Kg as an example, the diagonal wheelbase of the cross-medium temporary aerocraft 100 provided by the embodiment is only 450mm, while the fixed wing unmanned aerial vehicle with the same weight generally has a wingspan of more than 600mm, so that the whole size is smaller compared with the fixed wing type cross-medium aerocraft with the same weight. The material of the propeller is preferably carbon fiber material, and in other embodiments, a propeller made of PC material can also be used.

Referring to fig. 4, in the present embodiment, the blades 303 of the propeller 302 have wingtip winglets 304, the wingtip winglets 304 are arranged at an angle to the blades 303, and the specific parameters of the wingtip winglets 304 are as follows: a) the inclination angle is 10 degrees to 30 degrees, the included angle between the chord plane of the winglet and the ground plane is defined as the inclination angle, and the inclination angle is 15 degrees to 20 degrees in the embodiment; b) the installation angle is-40 degrees to 0 degrees, and the installation angle of the winglet is the included angle between the root chord and the wing tip chord of the wing. The mounting angle is generally negative, i.e. the leading edge of the winglet faces outwards, also called the outer skimming angle, and in this embodiment the mounting angle is-20 to 0. The small-diameter propeller with the wingtip winglet 304 is adopted, so that the aerodynamic performance and the dynamic characteristic are improved, the induced resistance generated during underwater diving can be effectively reduced, and the efficiency is improved; the influence of the turbulent flow on the wing tip of the propeller is reduced, and the control performance and the stability of the aircraft in underwater navigation and medium crossing processes are improved.

The motor 301 is a high-torque motor, and the output torque range thereof is 0.1-10N · m, the torque of the motor in this embodiment is in the range of 0.5-10N · m, preferably more than twice the output torque of the motor corresponding to the aircraft propeller, for example, for an aircraft propeller with a certain parameter, the torque of the motor in this embodiment is greater than or equal to 2a, and the specific value is determined according to the actual use requirement. For the type selection of the motor, the brushless motor is specifically adopted in the embodiment, and the large-torque brushless motor can withstand larger current and is suitable for two media of water and air. And when the water-cooled motor works in water, the motor can directly radiate heat through an aqueous medium, the efficiency is higher, and the damage probability can be reduced.

The motor 301 controls specific power output through the flight control chip 50, the electronic speed regulators 70 with the same number as the motors 301 are arranged in the cross-medium temporary aerocraft 100, the motors 301 are driven through the electronic speed regulators 70 to complete various commands, and the motors are controlled to complete specified speed and action.

The power system 30 is installed on the fuselage 20, and based on the multi-rotor structure of the cross-medium temporary aerocraft 100, the corresponding fuselage 20 is an N-axis frame structure, and includes N cantilever shafts 22, and the N cantilever shafts 22 have a common intersection end to form a cabin 23 at the intersection end. Taking the most common four-rotor structure as an example, the fuselage 20 includes four cantilever shafts 22 perpendicular to each other to form a cross-shaped structure, a power unit is disposed at a free end of each cantilever shaft 22, and a meeting end of each cantilever shaft 22 is commonly connected to the nacelle 23.

Referring to fig. 2 and 3, the cantilever shaft 22 is a hollow cubic structure, so that a wiring channel 24 for connecting the propeller to the nacelle 23 is formed inside the cubic structure, power lines, signal lines and an electronic speed regulator 70 of the motor are uniformly arranged in the wiring channel 24, and the flight control chip 50, the power supply device 60 and the low frequency communication device 40 are all installed in the nacelle 23. The top of the nacelle 23 is provided with an upper plate 21 and the bottom with a lower plate 26, protecting the internal components. In order to ensure the structural strength of the nacelle 23, referring to fig. 3, in the present embodiment, a plurality of vertically arranged aluminum columns 80 are provided in the nacelle 23, the aluminum columns 80 connect the upper plate 21 and the lower plate 26, the upper plate 21 and the lower plate 26 are fastened to the aluminum columns 80 by screws, so as to form a stable mounting cavity between the upper plate 21 and the lower plate 26, and the flight control chip 50, the power supply device 60, and the low frequency communication device 40 are mounted on the lower plate 26.

The boom shaft 22 is removably attached to the nacelle 23 for easy replacement during subsequent maintenance and repair of the boom shaft 22. Referring to fig. 3, the cantilever shaft 22 and the aluminum post 80 are interposed between the upper plate 21 and the lower plate 26. At the end of the cantilever shaft 22 connected to the nacelle 23, a connection member is provided, which may be a bolt connection or other connection forms that are easy to detach, including but not limited to bolt connection, snap connection, etc.

When the cross-medium aircraft goes out of water or enters water, the density of the aircraft is required to change as fast as possible, namely, the fuselage should have the capability of quickly absorbing and draining water. If the overall density of the aircraft changes slowly, it may happen that the aircraft is not sinking or floating. In view of this, in the embodiment, the shaft wall of the cantilever shaft 22 is hollowed, a plurality of drain holes 25 communicating the inside with the external environment are formed in the shaft wall, and the greatly hollowed fuselage 20 is adopted, so that when the cross-medium temporary aerocraft 100 is drained, water can be quickly drained out of the fuselage 20; when entering water, the water rapidly enters the fuselage 20. The density of the fuselage 20 can be rapidly changed without affecting the rapid ingress and egress of water into and out of the aircraft. And the water flow can rapidly pass through the drain hole 25 during underwater diving, thereby reducing the diving resistance.

Specifically, the design of the drain holes 25 should meet the requirement that the channel of the whole cubic structure keeps smooth impact on the airframe to the minimum when water flows through the channel, and the hole positions, the number and the hole diameters of the drain holes 25 on each cantilever shaft 22 should be set to be consistent, so as to adapt to the situation that when the unmanned aerial vehicle performs different motions during underwater navigation, the drainage efficiency of the cantilever shafts 22 is kept stable, and the impact of water pressure on the airframe 20 is controllable when the water pressure direction is ignored and the positions of the cantilever shafts 22 are different.

Taking a cubic column with a square cross section as an example, in the present embodiment, the drain holes 25 are disposed along four faces of the cubic structure, the position, distribution pattern and aperture of the drain hole 25 of each face are all set to be the same or symmetrical, specifically, the positions of the drain holes 25 at the opposite positions of the four faces should be one-to-one symmetrical, and the water flow entering the passage of the body 20 at the opposite sides will be drained from the drain holes 25 at the opposite sides.

In another embodiment, the top surface of the cubic structure is a horizontal surface, the bottom surface of the cubic structure is an inclined surface, the inclined direction of the inclined surface includes that the cubic structure gradually forms a smooth inclined surface along the bottom surface of the cabin 23 to the propeller direction, the structure of the horizontal surface can ensure that the cross-medium aircraft keeps constant drainage strength during submerge and ascent and water forms balanced discharge capacity when passing through the drainage hole 25, so as to ensure the stability of the cross-medium aircraft in water, and the inclined angle of the cubic structure of the cantilever shaft 22 gradually reduces the thickness from the cabin 23 to the free end of the cross-medium aircraft, and aims to: when the water flow passes through the cross-media aircraft, the contact area of the water flow near the end with the smaller thickness of the cantilever shaft 22 is reduced, and thus the resistance of the cantilever shaft 22 to the water flow is reduced. In another embodiment, the bottom surface of the cubic structure is an inclined surface, and the inclined surface has an inclined direction including that the bottom surface of the cubic structure in the direction from the nacelle 23 to the propeller 2 gradually forms a smooth inclined surface.

The fuselage 20 is made of carbon fiber, which has the characteristics of high temperature resistance, friction resistance, electric conduction, heat conduction, corrosion resistance and the like, and has high strength and modulus along the fiber axis direction due to the preferred orientation of the graphite microcrystalline structure along the fiber axis. The carbon fibers have a low density and thus a high specific strength and a high specific modulus. The carbon fiber is mainly used as a reinforcing material to be compounded with resin, metal, ceramic, carbon and the like to manufacture an advanced composite material. The specific strength and the specific modulus of the carbon fiber reinforced epoxy resin composite material are the highest in the existing engineering materials. Therefore, as the fuselage 20 material of unmanned aerial vehicle, not only have high temperature resistant, antifriction, electric conduction, heat conduction and corrosion-resistant technological effect, can also alleviate fuselage 20 by a wide margin, provide bigger possibility for realizing crossing medium flight.

Since the cross-medium temporary aerocraft 100 provided by the invention needs to sail underwater, the waterproof treatment can never be ignored. For a submersible vehicle with a closed shape, a pressurizing treatment is usually performed on a machine body to resist underwater pressure, and meanwhile, the submersible vehicle also has good sealing performance to prevent water seepage so as to ensure the safety of electronic equipment. However, the air craft generally only has a thin skin to maintain the aerodynamic shape and cannot bear underwater pressure. Meanwhile, a plurality of instruments and equipment cannot be directly exposed in an underwater environment, and waterproof treatment is difficult. The general solution is to install the sealed shell additional, but has brought extra weight, is unfavorable for air flight.

In this embodiment, in order to balance the waterproof performance and other troubles caused by the waterproof measure, a physical isolation method is adopted, which mainly handles the waterproofing of the circuit and the waterproofing of the mechanical moving part.

The whole machine circuit is mainly divided into a signal circuit with small current and a power circuit with large current, the electric elements related to the signal circuit are mainly a signal circuit and a circuit board, and the electric elements related to the power circuit are mainly a power circuit and a power element. In this embodiment, the signal lines and the circuit boards of the cross-medium temporary aerocraft 100 are coated with the sealant. The specification of the wire of the power electric circuit of the cross-medium temporary aerocraft 100 is more than 18 AWG; the joint of the power line is coated with a protective layer. The gaps of the mechanical moving parts of the cross-media perch aircraft 100 are coated with grease.

Specifically, for signal electricity, all the leads are sealed by liquid silica gel and then are solidified by cooling to form a layer of compact protective surface. Silica gel is a high-activity adsorption material, belongs to an amorphous substance, and has a chemical molecular formula of mSiO 2. nH 2O. Except strong alkali and hydrofluoric acid, the paint does not react with any substance, is insoluble in water and any solvent, is nontoxic and tasteless, and has stable chemical properties. Different types of silica gel form different microporous structures due to different manufacturing methods. The chemical components and physical structure of silica gel determine that the silica gel has the characteristics of difficult substitution of other similar materials: high adsorption performance, good thermal stability, stable chemical property, higher mechanical strength and the like. Therefore, the sealing material can exhibit excellent barrier protection and stability. The silica gel is single-component glue which is liquid when stored and can be coated at normal temperature, and during preparation, the silica gel is directly coated on the outer surface of a signal electric lead of the circuit assembly and is solidified by absorbing water vapor in air to form a compact waterproof sealing film.

Silicone gel-cured seals are also used for all circuit boards, such as flight control chip 50 and electronic governor 70, which provides a compromise between weight and water resistance. The meter body of circuit board has many exposed wire metal terminals, whether the electric conductivity that needs test circuit board before coating through silica gel is normal, then evenly coats silica gel in the surface of circuit board, should test again after the silica gel solidifies whether normal work can be done to the circuit board, if normal then can put into operation, if take place short circuit or circuit break-make, then need inspect the local circular telegram condition of circuit board again.

For the power electricity, as the current is large and the voltage is high, only a high-quality lead with small resistance is adopted, and even if the joint is completely exposed in water, the current only flows through the lead because of large water flow resistance, so that the joint part of the power electricity only needs to be simply sealed.The resistivity of copper at 20 ℃ is about 1.85 x 10^-8Omega, and even seawater, resistivity is as high as 3.3 x 10⁴Europe rice. Therefore, even if the connector is completely exposed to water, there is no problem as long as the conductor is a conductor having a wire gauge selected appropriately according to the current. In this embodiment, the current of the minimum power supply line of the whole device is 3A, so the power supply line uses 18AWG conductor, and the corresponding resistance value is about 21 Ω/Km. In order to ensure the normal use of the unmanned aerial vehicle, the specification of the power electric lead of the whole unmanned aerial vehicle is above 18AWG, namely the AWG value of the power electric lead is less than or equal to 18, and the smaller the number is, the higher the wire gauge is, and the lower the resistance of the lead is.

Since the present invention is used in a medium-crossing temporary aircraft 100 which is required to be in contact with water, for example, in seawater, the power line is inevitably exposed to seawater, and the electrochemical corrosion of the seawater on the leads and connectors is considered. In this embodiment, the exposed wires of the connector, the socket connector, and the like are plated with gold to avoid corrosion, but the above-mentioned silicone gel solidification sealing may also be used.

For other mechanical moving parts on the machine, such as a steering engine, etc., the gear gaps are coated with grease with excellent waterproof performance, and in this embodiment, lithium grease, specifically lithium grease containing 12-hydroxystearic acid, is used. The 12-hydroxystearic acid has stronger thickening capability to mineral oil or synthetic oil, so that the thickening amount of the lithium-based grease can be reduced by about 1/3 compared with that of the calcium-sodium-based grease, the service life can be prolonged by more than one time, after the antioxidant, the antirust agent and the extreme pressure agent are added, the multi-effect long-life universal grease is formed, the multi-effect long-life universal grease can replace the calcium-based grease and the sodium-based grease, and the universal lithium-based grease (GB7324-1994) is divided into 1#, 2#, and 3# according to the consistency grade. The 12-hydroxystearic acid has good water resistance, mechanical stability, corrosion resistance and oxidation stability, and has good corrosion resistance when being applied to the coating of the cross-medium temporary aerocraft 100. The 12-hydroxystearic acid has extremely strong hydrophobicity, can effectively protect the steering engine from water flow and can normally work.

In addition to the steering engine, the grease may be coated on the connecting member of the mechanical assembly to connect the connecting member including connecting members for connecting the components of the cross-medium temporary aerocraft 100, specifically including but not limited to bolts, clamping members and other metal products which are easily rusted.

Generally, ground stations are located in the air, and various radio communication methods can be utilized when the cross-medium aircraft works on the water surface. However, when the underwater vehicle works underwater, most of signals transmitted to the ground station by the cross-medium aircraft are absorbed by water, most of radio waves transmitted to the cross-medium aircraft by the ground station are reflected back to the air by the water body and hardly penetrate through the water surface, and a small part of radio waves enter the water and are quickly absorbed by the water, so that the body cannot be in contact with the outside by using a radio device. The attenuation effect of the water medium on radio waves is far greater than that of air, and the seawater has stronger electric conductivity than water, so that the attenuation of the radio waves is further enhanced. Research shows that the shorter the wavelength of radio waves, the easier the radio waves are reflected or absorbed by water, and the poorer the penetration capability is. The control signals of the traditional unmanned aerial vehicle are basically 2.4G high-frequency signals, and the underwater attenuation seriously influences the control performance.

For submarines with similar underwater communication requirements, two schemes of a radio buoy or low-frequency electromagnetic waves are often selected to solve the problem. Through experimental demonstration, if the frequency of the electromagnetic wave is between 5000-. On cross-media aircraft, the application of radio buoys also presents difficulties in optimizing flight performance.

Therefore, the present invention provides a cross-medium perch aircraft 100 that uses low frequency electromagnetic wave communication, where the low frequency communication device 40 receives and transmits electromagnetic wave signals to communicate data with the operator's remote control. The low frequency communication device 40 uses electromagnetic waves with a frequency of 5000 Hz-1.2 GHz for data communication, and in the frequency range, the electromagnetic waves can penetrate through water depth of 2-20 m, and the lower the frequency, the stronger the penetrating power. However, considering the problems of transmission bandwidth and delay, the frequency of the electromagnetic wave should be as high as possible, and by combining the above factors, the embodiment adopts the 915 mhz low-frequency communication technology, which can normally penetrate at least 2 meters of water depth, thereby solving the problem of underwater signal transmission.

In the embodiment, the cross-medium temporary flying vehicle 100 is provided with a pressure gauge, a GPS module, etc., the pressure gauge is installed on the cross-medium temporary flying vehicle 100, the low-frequency communication device 40, the pressure gauge, the flight control chip 50 and the power supply device 60 are electrically connected, the low-frequency communication device 40 is in data communication with a receiver of a ground station (a remote control device if the cross-medium temporary flying vehicle is a remote control type unmanned aerial vehicle), and the radio transceiver has a signal strength detection function, and transmits high-frequency electromagnetic waves (such as 2.4GHz in common use, with a transmission power of 0.1-0.15W) from the ground. The closer to the water surface, the better the signal. A steady signal can be received, typically 1-5cm from the water surface. The pressure gauge is used for detecting water pressure and air pressure. The reading of the pressure gauge may be greatly increased or greatly decreased as the aircraft crosses the water surface. Both the pressure gauge reading and the strength of the high frequency signal received by the receiver can be used to determine whether the aircraft is in water or air.

All the electric elements in the cross-medium temporary flying vehicle 100 are supplied with power by the power supply device 60, in the embodiment, the power supply device 60 is a lithium battery device, the lithium battery is a primary battery which uses lithium metal or lithium alloy as a negative electrode material and uses a non-aqueous electrolyte solution, and the lithium battery device is different from a rechargeable lithium battery and a lithium ion polymer battery, so that the cross-medium temporary flying vehicle 100 has a good electric quantity storage effect, and can keep long-term flight power when being applied to the cross-medium temporary flying vehicle 100.

In other alternative embodiments, a charging circuit is disposed in the power supply device 60, the charging circuit is connected to an external power source, and the power module is a dc input or an ac input.

In another alternative embodiment, a protection circuit is disposed in the power supply device 60, and the protection circuit is electrically connected to the charging circuit, for example, to disconnect the charging function of the charging circuit when the battery is fully charged, and to disconnect the charging function of the charging circuit when the voltage of the charging circuit exceeds the circuit load, so as to protect the whole circuit.

In another alternative embodiment, the power supply device 60 is provided with an alarm circuit, the alarm circuit is electrically connected with the protection circuit for prompting alarm when the voltage of the charging circuit exceeds the circuit load, and can be electrically connected with an LED display lamp, and when the voltage exceeds the circuit load or the electric quantity is insufficient, the LED display lamp can form a flashing alarm state.

In another optional embodiment, a power display module is further disposed in the power supply device 60, the power display module is electrically connected to the power module, the power display module is used for displaying the power of the power module, and the display module can adopt an LED display screen to display the remaining power and the charging power of the power module.

Aiming at the cruising ability of the cross-medium temporary aircraft 100, the adsorption and desorption device 10 is arranged in the cross-medium temporary aircraft 100 provided by the invention and is used for adsorbing the cross-medium temporary aircraft 100 on a static object or a large moving object to realize the function of temporary flight. During the task, if fixed-point detection/survey is needed and high-speed movement is not needed, the cross-medium aircraft can be adsorbed on a static object or a large-scale moving object, and fixed-point or slow-speed movement is achieved by means of external force. Therefore, the purpose of saving energy is achieved, namely, the problem of low energy density of the battery is relieved through the design of the aircraft platform, and the cruising ability is improved from another angle.

Referring specifically to fig. 5 to 9, the adsorption and desorption apparatus 10 of the present embodiment includes a suction cup 1, a pulling member 2, and a desorption power element 3. Sucking disc 1 is soft sucking disc 1, for example at present the sucking disc 1 of the most common conical flexible glue material, and sucking disc 1 material is softer, therefore the flexible under the exogenic action for inside negative pressure environment can be destroyed. The suction cup 1 has two outer profiles, which in this embodiment are respectively designated as an operating surface and a suction surface for suction. One end of the traction piece 2 is connected with the output end of the desorption power element 3, and the other end of the traction piece 2 is connected with the edge part of the operation surface of the sucker 1.

Specifically, in this embodiment, sucking disc 1 is integrated into one piece's structure to conical flexible glue sucking disc 1 most commonly used at present is the example, and sucking disc 1's disk body thickness generally sets up to diminishing gradually from the centre of a circle to the edge, that is to say the edge is thinnest, and is the easiest to warp, then regards the thinner region in edge as sucking disc 1's lip 12, and sucking disc 1 center remainder is as sucking disc body 11, installs on unmanned aerial vehicle for convenient sucking disc 1, and the center of sucking disc body 11's operation face is provided with the connecting portion 13 that is used for installing sucking disc 1. The traction piece 2 is connected with the lip ring 12, and the lip ring 12 can deform only by a small traction force, so that desorption is realized.

The pulling piece 2 adopts a soft rope, so that the weight is light, and the load of the device cannot be increased. In this embodiment, the pulling element 2 is made of the most common fishing line, which is thin, tough and unbreakable, and does not increase the flight resistance when applied to an aircraft. In order to facilitate the connection between the pulling element 2 and the suction cup 1, a tying ring 14 is arranged on the operation surface of the lip 12 of the suction cup 1, the tying ring 14 can be a convex circular ring or a through hole arranged on the suction cup 1, and one end of the pulling element 2 is tied on the tying ring 14.

The desorption power element 3 is used for providing traction force when the sucker 1 is desorbed. Any existing power element can be adopted as the desorption power element 3, and the specific type is not limited in the invention. In this embodiment, the desorption power element 3 is a rotary power element, such as a steering engine or an electric motor. An output shaft 32 of the rotary power element is a rotating shaft, a shift lever 31 is arranged on the output shaft 32, one end of the shift lever 31 is fixedly arranged on the output shaft 32, and the traction piece 2 is connected with the other end of the shift lever 31, as shown in fig. 1.

Taking the steering engine as the desorption power element 3 as an example, the adsorption and desorption device 10 provided by the embodiment has the following working principle: when in adsorption, the sucker 1 can be adsorbed on the surface of an object in a squeezing mode; during desorption, the steering engine is controlled to work, the steering engine rotating shaft drives the shifting rod 31 to rotate, the shifting rod 31 pulls the traction piece 2 when rotating, the edge of the sucking disc 1 is pulled by the traction piece 2, the edge of the sucking disc 1 is enabled to be tilted and separated from the adsorption area, an external fluid medium enters the cavity of the sucking disc 1, the negative pressure environment in the cavity is damaged, and desorption is completed.

In another alternative embodiment, the desorption power element 3 is also a rotary power element, and referring to fig. 6 in particular, a shift lever 31 is disposed on an output shaft 32 of the rotary power element, one end of the shift lever 31 is fixedly mounted on the output shaft 32, the other end of the shift lever 31 is provided with a wire through hole 33, and one end of the pulling element 2 passes through the wire through hole 33 and is fixedly connected with the rotary power element. In order to avoid unmanned aerial vehicle when flying, tractive spare 2 is hung on the barrier, is provided with locating part 15 on the operating surface of sucking disc 1, is provided with the through-hole in the locating part 15, and tractive spare 2 passes the through-hole, movably sets up in locating part 15. The limiting piece 15 limits the traction piece 2 to the position close to the operation surface of the sucker 1, and the barrier is prevented from being hooked.

Also take the steering wheel as the desorption power component 3 as an example, the operating principle of the adsorption and desorption device 10 provided by this embodiment is as follows: when in adsorption, the sucker 1 can be adsorbed on the surface of an object in a squeezing mode; during desorption, the steering engine is controlled to work, the steering engine rotating shaft drives the shifting rod 31 to rotate, the shifting rod 31 shifts the traction piece 2 through the wire passing hole 33 when rotating, the edge of the sucking disc 1 is pulled by the traction piece 2, the edge of the sucking disc 1 is enabled to be tilted and separated from the adsorption area, an external fluid medium enters the cavity of the sucking disc 1, the negative pressure environment in the cavity is damaged, and desorption is completed.

In another optional embodiment, the desorption power element 3 also adopts a rotary power element, specifically referring to fig. 7, in this embodiment, the output shaft 32 of the rotary power element is directly fixedly connected with one end of the traction piece 2, in order to avoid that the traction piece 2 is hooked on an obstacle when the unmanned aerial vehicle flies, the suction cup 1 is internally provided with a wire passing channel 16, and the other end of the traction piece 2 is inserted into the wire passing channel 16 and connected with the lip edge of the suction cup 1.

Taking a stepping motor as an example of the desorption power element 3, the operation principle of the adsorption and desorption device 10 provided by this embodiment is as follows: when in adsorption, the sucker 1 can be adsorbed on the surface of an object in a squeezing mode; during desorption, the step motor is controlled to work, the pulling piece 2 is wound on the rotating shaft when the rotating shaft of the step motor rotates, the edge of the sucker 1 is pulled by the pulling piece 2, the edge of the sucker 1 is tilted and separated from the adsorption area, an external fluid medium enters the cavity of the sucker 1, the negative pressure environment in the cavity is damaged, and desorption is completed.

In another alternative embodiment, the desorption power element 3 is a linear telescopic power element, such as a cylinder, an electric push rod, and the like, and referring to fig. 8 in particular, the telescopic rod 34 of the linear telescopic power element is fixedly connected with one end of the traction member 2.

Taking an electric push rod as the desorption power element 3 as an example, the operation principle of the adsorption and desorption device 10 provided by the embodiment is as follows: when in adsorption, the sucker 1 can be adsorbed on the surface of an object in a squeezing mode; during desorption, the electric push rod is controlled to extend out or retract, the telescopic rod 34 drives the traction piece 2 to pull the edge of the sucker 1, so that the edge of the sucker 1 is tilted and separated from the adsorption area, an external fluid medium enters the cavity of the sucker 1, the negative pressure environment in the cavity is damaged, and desorption is completed.

In another optional embodiment, desorption power component 3 adopts the electro-magnet, specifically refer to fig. 9, and the component is inhaled to traction piece 2 adoption magnetism, and the fixed limit portion that sets up at the operating surface of sucking disc 1 of component is inhaled to magnetism, and magnetic attraction is as the pulling force, through magnetism the realization desorption of inhaling.

The operating principle of the adsorption and desorption device 10 provided in this embodiment is as follows: when in adsorption, the sucker 1 can be adsorbed on the surface of an object in a squeezing mode; during desorption, the electromagnet is controlled to be electrified to generate magnetism, the electromagnet attracts the magnetic attraction component, the magnetic attraction component drives the edge of the sucker 1 to be separated from the adsorption area, an external fluid medium enters the cavity of the sucker 1, the negative pressure environment in the cavity is damaged, and desorption is completed.

In this embodiment, the adsorption and desorption device 10 is specifically mounted on the upper plate 21 at the top of the cabin 23, as shown in fig. 1 to 3, the suction cup 1 and the propeller are located on the same side of the cross-medium perching aircraft 100, the suction cup is located at the center of the side, and the adsorption surface of the suction cup is higher than the propeller disc of the propeller. The power system 30 of the cross-media perching aircraft 100 can be used for providing power to press the suction cups 1 on the object adsorption surface.

The cross-medium temporary aerocraft 100 provided by the embodiment can perform water-air transition rapidly and stably, and the cross-medium control principle is as follows:

A. the water inlet control method specifically comprises the following steps: controlling the cross-media perching aircraft 100 to hover above the water surface via the power system 30; the power of the power system 30 is controlled to be reduced so that the height of the cross-medium temporary aircraft 100 is reduced until the cross-medium temporary aircraft 100 enters water, the speed is reduced during the water entering process so as to reduce the impact force of the water entering, and the aircraft can be operated underwater by adjusting the power after entering the water.

B. The water outlet control adopts a power type water outlet control strategy, parameters of a motor and a propeller in the power system 30 are adjusted, so that the thrust of the power unit in the air is smaller than that in the water, the motor of the power system 30 is controlled to rotate simultaneously, the cross-medium temporary aerocraft 100 is enabled to be gradually close to the water surface until the cross-medium temporary aerocraft 100 is discharged with water, the speed is increased when the water is discharged, the kinetic energy is increased, and the water outlet success rate is improved by means of inertia.

On the basis of the water inlet and outlet control modes of the power system 30, the basic control schemes are only three, namely, a gyroscopic precession type, a multi-power differential type and a rudder surface type. At present, all control schemes of airplanes, ships and submerging devices use three modes or a combination of several modes. Gyroscopic precession is commonly used in helicopters and is characterized by periodic pitch variation. Multi-power differential versions are commonly used in multi-rotor aircraft. The rudder surface type is commonly used for fixed wing aircrafts, ships and underwater vehicles and is represented as a rudder surface. Since the rotational speeds of the aircraft propellers in water and air differ greatly and are very low in water, gyroscopic precession cannot be used because the control moment is greatly influenced by the rotational speed.

The water inlet control mode can adopt a rudder surface type and a multi-power differential type, the rudder surface type is in water and in the air, and when the airplane exceeds a certain running speed, stable steering torque can be provided. However, the control moment is greatly influenced by the flow velocity of the fluid due to the great difference of the flying speeds of the aircraft in water and air, particularly, the speed of the aircraft is close to the underwater speed at the moment of water outlet, and the aircraft is in an air medium, so that the control moment can not be provided by the control surface, and therefore, the water outlet control mode cannot use the control surface mode.

The multi-power differential type has enough and controllable control torque in a speed regulation range and can be used in water and air because all the motors work in a similar state. Because the structure of the multi-power differential type is relatively simple, the control moment has no requirement on the flying speed, and the control requirements on water inlet and water outlet can be considered, the multi-power differential type is selected for the water inlet control in the embodiment. The multi-power differential control scheme of the multi-rotor unmanned aerial vehicle is mature prior art, specific contents can refer to relevant disclosures of the prior art, and the invention is not explained in a spreading way.

The multi-power differential type underwater speed regulation device has enough and controllable control torque in a speed regulation range because all the working states of the motors are similar in an underwater state and an air state. Thus, if all motors can simultaneously go out and in water, the water outlet control is not problematic.

Assume that the cross-media perch aircraft 100 has a portion of the motors in the air and a portion of the motors under water. According to the cross-medium control method of the cross-medium temporary aircraft 100, parameters of the motor and the propeller in the power system 30 are adjusted, so that the thrust of the power unit in the air is smaller than that in the water, even if the attitude of the cross-medium temporary aircraft on the water surface is unstable, the unstable attitude causes that the motor at a higher position drives the rotating propeller to firstly leave the water surface, and after the motor leaves the water medium, the buoyancy and the propeller tension are both reduced instantly under the influence of the density difference between water and air, so that the arm is subjected to a moment action and tends to move downwards and restore balance. At the moment, the other three motors which do not leave the water surface are still in the water, and the motor tension is greater than that of the motor which leaves the water surface, so that the three arms in the water are also under the action of a moment and move upwards and restore the balance trend. By superimposing the two analyzed movement patterns, the aircraft will eventually tend to be in a steady attitude and gradually leave the water surface. Because the density of water is 800 times of that of air, the thrust of the same set of motor propeller combined under water is higher than that in air can be realized.

According to the above embodiment, the present invention has the following technical effects:

3. According to the cross-medium temporary aircraft, due to the design of the aircraft platform, the suction disc is additionally arranged on the aircraft body 20, so that the aircraft can be adsorbed on a static object or a large moving object, fixed-point or slow-speed movement is realized by means of external force, the problem of low energy density of a battery is solved, and the cruising ability is improved from another angle.

4. The invention provides a cross-medium temporary aircraft, which solves the serious influence of water surface fluctuation on stable water outlet of the cross-medium temporary aircraft by designing the size of the cross-medium temporary aircraft to be far smaller or far larger than the wavelength of local waves and setting the hovering power of not less than 3 times of the total power P of each motor in a power system 30, the water outlet speed can be shortened to within 1s, and the water outlet reliability can reach more than 99.8 percent.

5. The cross-medium temporary aerocraft provided by the invention adopts a multi-rotor structure, so that a hovering and water entering mode can be adopted, the whole landing process is controllable, the water entering speed can be high or low, and the water entering speed is adjustable; and compared with the process of falling into water, the impact force of the water-entering process of hovering into water on the cross-medium temporary aerocraft is small.

While the preferred embodiments of the present application have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all alterations and modifications as fall within the scope of the application.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.

Claims

1. A cross-media temporary habitat aircraft characterized by: the medium-crossing temporary aerocraft is of a multi-rotor structure, the number N of the rotors is even, and N is more than or equal to 4; the power system of the cross-medium temporary aerocraft comprises N power units, wherein N is a positive integer, each rotor wing is provided with N power units, each power unit comprises a propeller and a motor for driving the propeller, and the thrust of each power unit in the air is smaller than that of each power unit in the water; and a suction cup is arranged on the fuselage of the cross-medium temporary aerocraft.

2. The cross-media perch aircraft of claim 1, wherein: the total power P of each motor in the power system is more than or equal to 3P1, the total thrust F is more than or equal to 1.5G, wherein P1 is the total power of each motor in the power system required by the cross-medium temporary aerocraft in the hovering state, and G is the gravity of the cross-medium temporary aerocraft; the horizontal dimension t of the cross-medium temporary habitat aircraft and the wavelength lambda of waves to enter and exit the water area meet the following conditions: t is more than or equal to 4 lambda or less than or equal to 0.25 lambda; the overall density of the cross-medium temporary aerocraft is greater than rho 0, and rho 0 is the water density of the water to be entered.

3. The cross-media perch aircraft of claim 2, wherein: the diameter D and the pitch p of the propeller satisfy that: d is not less than D1 and not more than D2, p is not less than p1 and not more than p2, wherein D1 and p1 are the corresponding diameter and the corresponding pitch of the marine propeller under the conditions of the same thrust, the same fluid medium density and the same propeller rotating speed respectively; d2 and p2 are respectively the corresponding diameter and the corresponding screw pitch of the propeller for the airplane under the conditions of the same thrust, the same fluid medium density and the same propeller rotating speed; the horizontal dimension t of the cross-medium temporary habitat aircraft and the wavelength lambda of waves to enter and exit the water area meet the following conditions: t is more than or equal to 10 lambda or less than or equal to 0.1 lambda.

4. The cross-media perch aircraft of claim 3, wherein: the diameter D of the propeller is 6-8 inches, and the pitch p of the propeller is less than D; the propeller blades are provided with wingtip winglets, the inclination angle of each wingtip winglet is 10-30 degrees, and the installation angle of each wingtip winglet is-40-0 degrees; the motor is a large-torque brushless motor, and the torque range of the large-torque brushless motor is 0.1-10 N.m.

5. The cross-media perch aircraft of any of claims 1 to 4, wherein: the cross-medium temporary aerocraft comprises an adsorption and desorption device, wherein the adsorption and desorption device comprises the sucker, a traction piece and a desorption power element; the sucker is a soft sucker, and two outer molded surfaces of the sucker are respectively an operation surface and an adsorption surface for adsorption; one end of the traction piece is connected with the output end of the desorption power element, and the other end of the traction piece is connected with the edge of the operation surface of the sucker.

6. The cross-media perch aircraft of claim 5, wherein: the sucking disc comprises a sucking disc body positioned in the center and a lip ring positioned at the edge, and the other end of the traction piece is connected with the lip ring; a tying ring is arranged on the operation surface of the lip ring, and the other end of the traction piece is tied on the tying ring; the traction piece is a soft rope; the center of the operation surface of the sucker body is provided with a connecting part for installing the sucker;

7. The cross-media perch aircraft of claim 6, wherein: the desorption power element is an electromagnet, a rotary power element or a linear telescopic power element;

8. The cross-media perch aircraft of any of claims 1 to 4, wherein: the signal electric circuit and the circuit board of the cross-medium temporary aerocraft are coated with sealant; the specification of a wire of a power electric circuit of the cross-medium temporary aerocraft is more than 18 AWG; the joint of the power line is coated with a protective layer; lubricating grease is coated in gaps of mechanical moving parts of the cross-medium temporary aerocraft.

9. The cross-media perch aircraft of any of claims 1 to 4, wherein: the machine body is of an N-axis frame structure and comprises N cantilever shafts, the N cantilever shafts are provided with common intersection ends to form a cabin at the intersection ends, and the cantilever shafts are of hollow cubic structures to form a wiring channel connecting the propeller to the cabin inside the cubic structures; the shaft wall of the cantilever shaft is hollow, and a plurality of drain holes for communicating the inside with the external environment are formed in the shaft wall; the fuselage is made of carbon fiber.

10. The cross-media perch aircraft of any of claims 1 to 4, wherein: the cross-medium temporary aerocraft comprises a low-frequency communication device and a pressure gauge, wherein the low-frequency communication device adopts electromagnetic waves with the frequency of 5000 Hz-1.2 GHz for data communication, and the low-frequency communication device and the pressure gauge are electrically connected with a flight control chip of the cross-medium temporary aerocraft.