CN113895189A - Brushless motor-ducted fan type water-air cross-medium flying underwater vehicle - Google Patents
Brushless motor-ducted fan type water-air cross-medium flying underwater vehicle Download PDFInfo
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- CN113895189A CN113895189A CN202111148065.7A CN202111148065A CN113895189A CN 113895189 A CN113895189 A CN 113895189A CN 202111148065 A CN202111148065 A CN 202111148065A CN 113895189 A CN113895189 A CN 113895189A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
- B60F5/00—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media
- B60F5/02—Other convertible vehicles, i.e. vehicles capable of travelling in or on different media convertible into aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/13—Hulls built to withstand hydrostatic pressure when fully submerged, e.g. submarine hulls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/20—Rotorcraft characterised by having shrouded rotors, e.g. flying platforms
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- Aviation & Aerospace Engineering (AREA)
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- Ocean & Marine Engineering (AREA)
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Abstract
The invention relates to a brushless motor-ducted fan type water-air cross-medium flying underwater vehicle, and belongs to the field of water-air cross-medium flying. The ducted fan comprises a brushless motor, a ducted fan shell, ducted fan blades, a paddle arm, a spherical shell, a lithium battery, a voltage regulator, a Pixhawk controller, an electronic speed regulator, a remote control signal receiver and an internal support. The invention adopts four groups of brushless motors-ducted fan driving mechanisms as power devices in the air and water, thereby realizing air flight, underwater submergence and repeated water-air crossing medium-crossing motion without switching the power devices. Meanwhile, the invention comprehensively considers the factors of water resistance, buoyancy, additional mass and the like of the machine body in water, and designs the machine body into a spherical shape. By adopting the appearance design, the resistance is favorably reduced, and the buoyancy is increased; meanwhile, the additional mass is the same in all directions, and the design of a control scheme for autonomous underwater navigation and autonomous water discharge is facilitated. The invention has the advantages of simple structure, strong practicability and the like.
Description
Technical Field
The invention relates to the field of water-air cross-medium flight, in particular to the field of design of a flight underwater vehicle, and particularly relates to a brushless motor-ducted fan type water-air cross-medium flight underwater vehicle.
Background
The water-air cross-medium flying underwater vehicle is provided with the capabilities of underwater diving, air flying and repeated water inlet and outlet crossing. This technique has received a great deal of attention and attention. The water-air cross-medium flying underwater vehicle can complete water-air medium cross type tasks, is a deep fusion of an aviation technology and a navigation technology, and has wide application prospects in the fields of military and civil use. In the military field, the flying underwater vehicle is used as a cross-medium platform, and can perform water-air integrated reconnaissance and monitoring on targets by installing different sensors. In addition, the flying underwater vehicle can conceal and approach a target area through repeated and alternate air/underwater motion, so that the aim of concealed carrying or attacking is fulfilled. In the aspect of civil field, the flying underwater vehicle can be used for monitoring bridge piers, underwater cables, pipeline leakage and other damage conditions.
At present, research teams such as Rogue university, Oakland university, air force engineering university, Shanghai transportation university and the like design rotary wing type flight undersea vehicle, and controllable repeated water inlet and outlet crossing can be realized. However, these designs have some problems to be solved. In terms of power and configuration, the mode of switching the air paddles alone or the air paddle-water paddle combination is used as power, and the overall efficiency is low. Meanwhile, in the water outlet process, the air blades easily touch the water surface to cause water outlet failure, and the requirement of successful water outlet on the experience of an operator is very high. In the aspect of a control mode, when the mode that the aerial controller and the underwater controller are switched to work is adopted, the machine body of the flying underwater vehicle is easy to shake in the switching process. These problems lead to poor noise immunity and low water output success rate of the rotary-wing type flying underwater vehicle during the water input and output crossing process.
Disclosure of Invention
The invention aims to provide a brushless motor-ducted fan type water-air span medium flying underwater vehicle, which solves the problems of poor interference resistance, low water outlet success rate and the like in the water inlet and outlet spanning process of the conventional flying underwater vehicle. According to the invention, the brushless motor and the ducted fan are used as a water-air integrated power device to design the flying underwater vehicle, power switching is not needed in water-air crossing, the windward area of the ducted fan is small, the resistance of the flying underwater vehicle in water is favorably reduced, the probability of water outlet failure caused by the fact that the rotor blades touch the water surface is reduced, and the water outlet success rate is improved.
The above object of the present invention is achieved by the following technical solutions:
the brushless motor-ducted fan type water-air crossing medium flying underwater vehicle shares a set of water-air integrated power device in the air and under the water, realizes air flying, underwater diving and repeated water-air crossing motion, and does not need to switch the power device; the water-air integrated power device comprises four groups of brushless motors with the same structure and ducted fan driving mechanisms, wherein the brushless motors and the ducted fan driving mechanisms are respectively fixed on a spherical shell through a paddle arm 4, and the brushless motors and the ducted fan driving mechanisms have the following structures: the brushless motor 1 is coaxial with the ducted fan shell 2, and is fixed on the ducted fan shell 2 after penetrating through the ducted fan shell 2, the ducted fan blades 3 are fixed on an output shaft of the brushless motor 1, one end of the paddle arm 4 with a hoop clamps the ducted fan shell 2 and is screwed up through a screw, and the other end of the paddle arm 4 is inserted into the paddle arm mounting seat 14 on the lower hemispherical shell 6 and is screwed up through a screw, so that the brushless motor-ducted fan driving mechanism is fixed on the spherical shell at the center.
The spherical shell is a hollow sphere and comprises an upper hemispherical shell 5 and a lower hemispherical shell 6, a clamping groove 13 is arranged in the lower hemispherical shell 6, and after a remote control signal receiver 11, a Pixhawk controller 9, a lithium battery 7, a voltage regulator 8 and an electronic speed regulator 10 are sequentially inserted into an internal support 12 from top to bottom, the whole is inserted into the clamping groove 13 of the lower hemispherical shell 6 to realize fixation; the upper hemispherical shell 5 is fixed to the lower hemispherical shell 6, thereby achieving assembly and waterproofing.
The lithium battery 7 is connected with the voltage regulator 8 through a lead, the voltage output end of the voltage regulator 8 is respectively connected with the Pixhawk controller 9 and the electronic speed regulator 10 through leads, the output end of the Pixhawk controller 9 is respectively connected with the remote control signal receiver 11 and the electronic speed regulator 10 through leads, the leads of four output ends of the electronic speed regulator 10 are led out of the lower hemispherical shell 6 through lead holes 15 and then are respectively connected with the brushless motor 1 through the cavity part of the paddle arm 4; the wire guides 15 are sealed by glue.
The number of the ducted fan blades 3 is 3-12.
The invention has the beneficial effects that:
1. the invention adopts the ducted fan mode to generate power, and compared with the traditional propeller/rotor mode, the invention can reduce the fluid resistance when moving underwater.
2. The invention adopts a brushless motor and a ducted fan to form a water-air integrated power device, and the power device comprises four groups of brushless motors and ducted fans.
3. The invention shares a set of power system (comprising four groups of brushless motors-ducted fans) in the air and under water, only needs 1 controller, and can realize the air flight, underwater submergence and water-air crossing of the invention without switching the mode of the power device, thereby realizing the integration of power in water-air medium.
4. The number of the blades of the ducted fan used in the invention is 3-12. The ducted fan can realize high-rotating-speed and low-torque rotation in the air and provide stable lift force; the underwater low-rotation-speed large-torque rotation provides enough thrust.
5. The middle shell is designed into a hollow sphere, so that compared with other structures, the hollow sphere is beneficial to reducing resistance and increasing buoyancy in water; and the theoretical additional mass of the sphere in water is the same in all directions, thereby facilitating the design of a motion control scheme.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention.
FIG. 1 is a schematic view of an axial structure of the present invention;
FIG. 2 is a schematic axial cross-sectional view of the present invention;
FIG. 3 is a schematic view of an axial measurement structure of the paddle arm of the present invention;
FIG. 4 is a schematic view of the axial structure of the lower hemispherical shell according to the present invention;
FIG. 5 is a schematic view of an axial structure of the inner support of the present invention;
FIG. 6 is a schematic circuit diagram of the components of the present invention;
fig. 7 is a schematic diagram of the motion of the present invention.
In the figure: 1. a brushless motor; 2. a ducted fan housing; 3. ducted fan blades; 4. a paddle arm; 5. an upper hemispherical shell; 6. a lower hemispherical shell; 7. a lithium battery; 8. a voltage regulator; 9. a Pixhawk controller; 10. an electronic governor; 11. a remote control signal receiver; 12. an inner support; 13. a card slot; 14. a paddle arm mounting base; 15. a wire guide hole; 16. oar arm fixed orifices.
Detailed Description
The details of the present invention and its embodiments are further described below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. For convenience of description, it is stated herein that when the ducted fan of the present invention is rotated in the air, the force provided is referred to as lift; when the ducted fan of the present invention rotates in water, the applied force provided is thrust.
Referring to fig. 1 to 7, the brushless motor-ducted fan type water-air cross-medium flying underwater vehicle comprises a brushless motor 1, a ducted fan shell 2, ducted fan blades 3, a paddle arm 4, an upper hemispherical shell 5, a lower hemispherical shell 6, a lithium battery 7, a voltage regulator 8, a Pixhawk controller 9, an electronic speed regulator 10, a remote control signal receiver 11 and an internal support 12. The invention adopts four groups of brushless motors-ducted fan driving mechanisms as a water-air integrated power device, thereby realizing air flight, underwater submergence and repeated water-air crossing medium-crossing motion without switching the power device. Meanwhile, the invention comprehensively considers the factors of water resistance, buoyancy, additional mass and the like of the machine body in water, and designs the machine body into a spherical shape. By adopting the appearance design, the resistance is favorably reduced, and the buoyancy is increased; meanwhile, the additional mass is the same in all directions, and the design of a control scheme for autonomous underwater navigation and autonomous water discharge is facilitated. The invention has the advantages of simple structure, strong practicability and the like.
The water-air integrated power device comprises four groups of brushless motors with the same structure and ducted fan driving mechanisms, wherein the brushless motors and the ducted fan driving mechanisms are respectively fixed on a spherical shell through a paddle arm 4, and the brushless motors and the ducted fan driving mechanisms have the following structures: the brushless motor 1 is coaxial with the ducted fan shell 2, penetrates through the ducted fan shell 2 and is fixed on the ducted fan shell 2, and the ducted fan blades 3 are fixed on an output shaft of the brushless motor 1, so that a group of brushless motor-ducted fan driving mechanisms is formed. When the brushless motor works, the rotor of the brushless motor 1 rotates and drives the output shaft to rotate at the same time, so that the ducted fan blades 3 are driven to rotate. And the stator of the brushless motor 1 is fixed on the ducted fan housing 2 and remains stationary. The ducted fan casing 2 is carried to the one end that the oar arm 4 has the staple bolt to screw up through the screw, thereby guarantee that brushless motor and ducted fan fix on the oar arm 4. The other end of the paddle arm 4 is inserted into a paddle arm mounting seat 14 on the lower hemispherical shell 6, and after the paddle arm fixing holes 16 are aligned, the paddle arm fixing holes are screwed down by screws, so that the four groups of brushless motors, namely the ducted fan driving mechanisms, are respectively fixed on the spherical shell at the center.
The spherical shell is a hollow sphere, and compared with other structures, the spherical shell is beneficial to reducing resistance in water and increasing buoyancy in water; and the theoretical additional mass of the sphere in water is the same in all directions, thereby facilitating the design of a motion control scheme. The remote control device comprises an upper hemispherical shell 5 and a lower hemispherical shell 6, wherein a clamping groove 13 is arranged in the lower hemispherical shell 6, and a remote control signal receiver 11, a Pixhawk controller 9, a lithium battery 7, a voltage regulator 8 and an electronic speed regulator 10 are inserted into an internal bracket 12 from top to bottom in sequence and then are integrally inserted into the clamping groove 13 of the lower hemispherical shell 6 to realize fixation; the upper hemispherical shell 5 is fixed on the lower hemispherical shell 6 in a thread matching manner, so that assembly and water resistance are realized.
The lithium battery 7 is connected with a voltage regulator 8 through a lead, the voltage output end of the voltage regulator 8 is respectively connected with a Pixhawk controller 9 and an electronic speed regulator 10 through leads, the output end of the Pixhawk controller 9 is respectively connected with a remote control signal receiver 11 and the electronic speed regulator 10 through leads, the leads of four output ends of the electronic speed regulator 10 are led out of the lower hemispherical shell 6 through lead holes 15 and then are respectively connected with the brushless motors 1 at four positions through the cavity parts of the paddle arms 4; the wire guides 15 are sealed by glue to prevent water from entering the interior of the housing. The above is the assembly and connection process of the components of the present invention.
The number of the ducted fan blades 3 is 3-12.
When the invention works, the lithium battery 7 firstly divides two paths of different voltages through the voltage regulator 8 and respectively supplies power to the Pixhawk controller 9 and the electronic speed regulator 10. The remote control signal receiver 11 receives a remote control signal of the remote control device and then transmits the remote control signal to the Pixhawk controller 9. The Pixhawk controller 9 resolves the remote control signal to form a control signal, and then outputs the control signal to the electronic governor 10. The electronic governor 10 amplifies the four control signals and transmits the amplified control signals to the brushless motors 1 at the four positions, so as to control the rotating speeds of the ducted fans at the four different positions, and further realize the control of different motion states of the machine body.
Example (b):
for convenience of description, the water surface is used as a boundary, the water medium is below the water surface, the motion mode of the invention in water is diving, the air is above the water surface, and the motion mode of the invention in air is flying. Referring to fig. 1 to 7, the brushless motor-ducted fan type air-water cross-medium flying underwater vehicle of the present embodiment includes: brushless motor 1, ducted fan casing 2, ducted fan blade 3, oar arm 4, upper hemisphere casing 5, lower hemisphere casing 6, lithium cell 7, voltage regulator 8, Pixhawk controller 9, electronic governor 10, remote control signal receiver 11, internal support 12, draw-in groove 13, oar arm mount pad 14, wire guide 15, oar arm fixed orifices 16. In the embodiment, four groups of brushless motors and ducted fan driving mechanisms are adopted as the water-air integrated power device, so that the medium-crossing motion of air flight and underwater navigation is realized, and the power device does not need to be switched.
In this embodiment, the ducted fan is used to generate power, which reduces the fluid resistance when moving underwater, compared to the conventional propeller/rotor approach.
In this embodiment, the brushless motor and the ducted fan are adopted to form a water-air integrated power device, and the power device includes four groups of brushless motors and ducted fans.
In the embodiment, a set of power system (comprising four groups of brushless motors and ducted fans) is shared in the air and underwater, only 1 controller is needed, and the modes of the power device are not required to be switched, so that the air flight, underwater submergence and water-air crossing of the invention can be realized, and the integration of power in water-air media is realized.
The number of the blades of the ducted fan used in the invention is 3-12. In this embodiment, 12 blades are used.
In the embodiment, the middle shell is a hollow sphere, so that compared with other structures, the middle shell is beneficial to reducing resistance in water and increasing buoyancy in water; and the theoretical additional mass of the sphere in water is the same in all directions, thereby facilitating the design of a motion control scheme.
The working environment medium of this embodiment is water and air.
The movement process of the invention in different movement stages is as follows:
during air flight, the lithium battery 7 supplies power to the brushless motor-ducted fan set to drive the brushless motor 1 to work, and the bearing of the brushless motor 1 drives the ducted fan blades 3 to rotate to provide upward lift for the device. According to actual motion requirements, the rotating speeds of the brushless motors 1 at different positions are adjusted through the remote control device, and the rotating speeds of the corresponding ducted fan blades 3 are changed, so that the lifting forces provided by the ducted fans at different positions are different. When the lift force variation of the ducted fans at different positions is the same, the flying underwater vehicle can ascend and descend. When the lift force variation of the ducted fans at different positions is different, torque is generated, and the body posture of the flying underwater vehicle is changed, so that the forward, backward, yaw, rolling and other actions of the flying underwater vehicle are realized. When the flying submersible vehicle is in an air hovering state, the lifting forces provided by the brushless motor-ducted fan combinations at different positions are vertically upward, the sum of the lifting forces of the ducted fans at all the positions is equal to the self gravity of the flying submersible vehicle, and the position of the flying submersible vehicle in the space is kept unchanged.
When the underwater vehicle is controlled to enter water, the flying underwater vehicle enters water in a vertical landing mode. Firstly, the attitude of the flying underwater vehicle body is adjusted to enable the body to be suspended horizontally at a certain height in the air. Then, the rotating speed of the brushless motor 1 is synchronously and gradually reduced through a remote control device, so that the sum of the lifting forces generated by the ducted fans at each position of the flying underwater vehicle is smaller than the gravity of the vehicle body, the vehicle body slowly and vertically descends until the vehicle body descends below the water surface, and the water entering process is completed. After the flying underwater vehicle is completely immersed, the buoyancy of the vehicle body is approximately equal to the gravity through the counterweight design of the vehicle body, and the unpowered underwater suspension can be realized.
When underwater diving, after the flying diving device reaches the position below the water surface, the rotating speed of the brushless motor 1 at different positions is changed, the thrust of the corresponding ducted fan is controlled, the flying diving device body is enabled to keep a state vertical to the horizontal plane, and the rotating speed and the body posture of the brushless motor 1 are adjusted to realize underwater diving. If necessary, the rotating speed of the brushless motor 1 at different positions is changed to control the thrust of the corresponding ducted fan, and the maneuvering actions such as submergence, floating, yawing, rolling and the like can be completed.
When the controlled water is discharged, the thrust of the corresponding ducted fan is controlled by changing the rotating speed of the brushless motor 1 at different positions, so that the flying underwater vehicle body is kept in a state parallel to the horizontal plane. Then, the rotating speed of the brushless motor 1 is rapidly increased through the remote control device, and the thrust is increased to enable the flying underwater vehicle to achieve rapid vertical floating and water discharging. When all the positions of the aircraft body are completely positioned in the air above the water surface, the water outlet process is completed, and then the attitude is adjusted, so that the aircraft can normally fly in the air.
The invention is different from the prior art in that:
in the aspect of the structure of a power device, the traditional flying underwater vehicle is driven by a rotor wing, the invention adopts the ducted fan for driving, can effectively realize high rotating speed and small torque in the air and low rotating speed and large torque in the water, gives consideration to the propelling efficiency in the air and the underwater, has small windward area of the ducted fan, and is beneficial to reducing the resistance of the flying underwater vehicle in the water so as to improve the water outlet speed.
In the aspect of the working mode of the power device, the traditional flying underwater vehicle adopts double-layer hybrid power, namely, one set of power device is used during air underwater motion, and the water and air power devices need to be switched in the process of cross-medium motion. The invention adopts a water-air integrated power device, and does not need to switch the power device.
In the aspect of appearance design of the center of a machine body, the traditional flying underwater vehicle only considers the waterproof requirement and does not consider the influence of the appearance of the machine body on underwater movement, and a designed shell is mostly a cube, a cuboid and the like. The invention comprehensively considers the factors of water resistance, buoyancy, additional mass and the like of the machine body in water, and designs the machine body into a spherical shape. By adopting the appearance design, the resistance is favorably reduced, and the buoyancy is increased; meanwhile, the additional mass is the same in all directions, and the design of a control scheme for autonomous underwater navigation and autonomous water discharge is facilitated.
The terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The above description is only a preferred example of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like of the present invention shall be included in the protection scope of the present invention.
Claims (4)
1. The utility model provides a brushless motor-ducted fan formula water air strides medium flight ware of diving, its characterized in that: the aerial and underwater integrated power device is shared, so that aerial flight, underwater submergence and repeated aerial crossing motion are realized, and the power device does not need to be switched; the water-air integrated power device comprises four groups of brushless motors with the same structure and ducted fan driving mechanisms, wherein the brushless motors and the ducted fan driving mechanisms are respectively fixed on a spherical shell through a paddle arm (4), and the brushless motors and the ducted fan driving mechanisms are structurally characterized in that: the brushless motor (1) is coaxial with the ducted fan shell (2), the ducted fan shell (2) is fixed on the ducted fan shell (2) after penetrating through the ducted fan shell (2), the ducted fan blades (3) are fixed on an output shaft of the brushless motor (1), one end of the paddle arm (4) with the hoop clamps the ducted fan shell (2) and is screwed up through a screw, the other end of the paddle arm (4) is inserted into a paddle arm mounting seat (14) on the lower hemispherical shell (6) and is screwed up through the screw, and therefore the brushless motor-ducted fan driving mechanism is fixed on the spherical shell at the center.
2. The brushless motor-ducted fan-type water-air cross-medium flying submersible as claimed in claim 1, wherein: the spherical shell is a hollow sphere and comprises an upper hemispherical shell (5) and a lower hemispherical shell (6), a clamping groove (13) is formed in the lower hemispherical shell (6), and a remote control signal receiver (11), a Pixhawk controller (9), a lithium battery (7), a voltage regulator (8) and an electronic speed regulator (10) are inserted into an internal support (12) from top to bottom in sequence and then are integrally inserted into the clamping groove (13) of the lower hemispherical shell (6) to realize fixation; the upper hemispherical shell (5) is fixed on the lower hemispherical shell (6), thereby realizing assembly and water resistance.
3. The brushless motor-ducted fan-type water-air cross-medium flying submersible as claimed in claim 2, wherein: the lithium battery (7) is connected with the voltage regulator (8) through a lead, the voltage output end of the voltage regulator (8) is respectively connected with the Pixhawk controller (9) and the electronic speed regulator (10) through leads, the output end of the Pixhawk controller (9) is respectively connected with the remote control signal receiver (11) and the electronic speed regulator (10) through leads, and the leads of the four output ends of the electronic speed regulator (10) are led out of the lower hemispherical shell (6) through lead holes (15) and then are respectively connected with the brushless motor (1) through the cavity part of the paddle arm (4); the wire guide (15) is sealed by glue.
4. The brushless motor-ducted fan-type water-air cross-medium flying submersible as claimed in claim 1, wherein: the number of the ducted fan blades (3) is 3-12.
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| CN202111148065.7A CN113895189A (en) | 2021-09-29 | 2021-09-29 | Brushless motor-ducted fan type water-air cross-medium flying underwater vehicle |
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| CN202111148065.7A CN113895189A (en) | 2021-09-29 | 2021-09-29 | Brushless motor-ducted fan type water-air cross-medium flying underwater vehicle |
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| CN113173042A (en) * | 2021-06-11 | 2021-07-27 | 北京双栖科技有限公司 | Cross-medium aircraft capable of entering water quickly and water entering control method thereof |
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2021
- 2021-09-29 CN CN202111148065.7A patent/CN113895189A/en active Pending
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|---|---|---|---|---|
| CN107963205A (en) * | 2017-11-13 | 2018-04-27 | 西北工业大学 | A kind of across medium aircraft promoted based on more rotors |
| CN110722941A (en) * | 2019-10-12 | 2020-01-24 | 中国人民武装警察部队工程大学 | Rotor type water-air crossing amphibious aircraft and use method thereof |
| CN110775265A (en) * | 2019-10-28 | 2020-02-11 | 上海交通大学 | Oil-electricity hybrid driving amphibious aircraft and control method thereof |
| CN111717382A (en) * | 2020-05-27 | 2020-09-29 | 西南科技大学 | Many rotor crafts of medium are striden to empty amphibious of water |
| CN111845232A (en) * | 2020-06-19 | 2020-10-30 | 北京理工大学 | Wheel hub duct shared sea, land and air submersible multi-purpose unmanned platform |
| CN113173042A (en) * | 2021-06-11 | 2021-07-27 | 北京双栖科技有限公司 | Cross-medium aircraft capable of entering water quickly and water entering control method thereof |
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