CN115709623A

CN115709623A - Solar-powered amphibious migration and exploration submersible unmanned aerial vehicle and working method

Info

Publication number: CN115709623A
Application number: CN202211525388.8A
Authority: CN
Inventors: 赵晓葭; 宋思晨; 乔红宇; 肖天航
Original assignee: Nanjing University of Aeronautics and Astronautics
Current assignee: Nanjing University of Aeronautics and Astronautics
Priority date: 2022-11-30
Filing date: 2022-11-30
Publication date: 2023-02-24
Anticipated expiration: 2042-11-30
Also published as: CN115709623B

Abstract

The invention discloses a design scheme of an amphibious vertical take-off and landing migration submarine unmanned aerial vehicle taking solar energy as power, which comprises a ship-shaped bottom body, wings, empennages, a horn and a solar flexible cell panel, wherein the bottom of the body is a V-shaped bottom which is used for meeting the requirement of water surface landing, and meanwhile, the bottom of the body is used as an undercarriage at the ground take-off and landing stage, and propellers are arranged on the horn and behind the body and used for realizing take-off and landing and flying in the migration task of the unmanned aerial vehicle; the wings are arranged at the rear part of the fuselage in a penetrating way and are divided into an inner section wing and an outer section wing, solar panels are arranged on the upper surfaces of the inner section wing and the outer section wing, and stabilizing buoys required by water surface take-off and landing are integrated on wingtips winglets. The invention not only can ensure that the diving unmanned aerial vehicle can vertically take off and land from the water surface or land, has better transverse and longitudinal water landing and water floating stability, but also can ensure higher cruising speed and unlimited endurance of simulated flying birds.

Description

Solar-powered amphibious migration and exploration submersible unmanned aerial vehicle and working method

Technical Field

The invention relates to the technical field of aviation, in particular to a migration and exploration submersible unmanned aerial vehicle.

Background

The amphibious unmanned aerial vehicle is an unmanned aerial vehicle which can land, take off and operate on water or hard ground (such as a ship surface environment) and is provided with a floater or a ship body, and the type of the unmanned aerial vehicle can be used for civil or military tasks such as transportation, sea reconnaissance, anti-diving and the like, and has wide application prospect;

at present, a vertical take-off and landing fixed unmanned aerial vehicle mainly adopts a composite wing structure, the composite wing structure combines the technical characteristics of the traditional fixed wing unmanned aerial vehicle and a multi-rotor unmanned aerial vehicle, and the technical maturity of the whole-aircraft design and control level is high; but the ship can only take off and land on the ground or the ship surface due to the lack of a special design, and generally lacks the capability of taking off and landing on the water surface. Part of the composite wing unmanned aerial vehicle adopts the horn as the buoy to meet the requirement of water surface take-off and landing, but the method limits the capability of mounting the power system at the lower side of the horn, so that the power system cannot be compactly mounted at the upper side and the lower side of the horn, and the size of the whole unmanned aerial vehicle is increased.

Meanwhile, the vertical take-off and landing fixed wing unmanned aerial vehicle mainly equipped on the current ship mainly adopts a motor and/or a motor-weighted oil propeller engine as a power system, and the electric energy of a battery or fuel carried by the unmanned aerial vehicle directly restricts the voyage of the unmanned aerial vehicle.

In addition, at present, in remote migration tasks, such as long-time tracking and searching of enemy nuclear submarines or marine distressed personnel, the existing unmanned aerial vehicle cannot complete the related remote migration tasks due to the structural or energy supply limitation.

Disclosure of Invention

The invention aims to avoid the defects of the prior art and provides an amphibious migration exploration submersible unmanned aerial vehicle which can complete a remote migration task, is compact in structure and adopts solar power.

In order to realize the purpose, the invention adopts the technical scheme that: a solar-powered amphibious migration and exploration submersible unmanned aerial vehicle comprises a fuselage, wings, propellers, a solar flexible cell panel and a battery, and further comprises a pair of horn arms which are arranged on the wings on two sides of the fuselage and parallel to the axis of the fuselage, wherein the horn arms are fixedly connected above the wings, and the connecting positions of the horn arms and the wings are 15-20% of the half-span length of the wings; the tail end of the horn is provided with a tail wing; the propellers and motors for driving the propellers are arranged on the machine arms in pairs and are used for vertically taking off and landing the whole unmanned aerial vehicle; a cruise propeller is arranged at the tail part of the machine body;

the machine body comprises an upper fairing, a lower fairing and a sealed load cabin enclosed by the upper fairing and the lower fairing, the surface of the upper fairing of the machine body is streamline, and the bottom of the machine body is provided with a V-shaped machine bottom; the solar flexible solar panel is laid on the streamline surface of the machine body;

the wings comprise inner-section wings, one ends of the inner-section wings are mounted on the fuselage, and the other ends of the inner-section wings are sequentially connected with outer-section wings and wingtips winglets; the solar flexible solar panel is laid on the inner section of wing and the outer section of wing;

the solar energy flexible solar panel is arranged in a sealed cavity of the machine body, the battery is electrically connected with the solar energy flexible solar panel and the motor respectively, and the total laying area of the solar energy flexible solar panel accounts for 15-17% of the total wetting area of the machine; the solar flexible cell panel is used for converting solar energy into electric energy and storing the electric energy in the battery, and the battery provides the electric energy to the motor, so that the propeller and the cruise propeller are driven to work.

Furthermore, the width-to-height ratio of the bottom of the V-shaped machine body is 3-5, so that when the unmanned aerial vehicle vertically lands on the water surface or glides to force to land, water is drained to the two sides of the bottom of the ship, the water surface impact is reduced, and the water contact descent rate, the floating stability and the water surface navigation stability of the unmanned aerial vehicle are improved;

the total length of the machine body is 1-2m, the maximum width is 0.5-0.6m, and the maximum height is less than 0.5m; the laying area of the solar flexible cell panel laid on the streamline surface of the machine body accounts for 5-9% of the wetting area of the machine body.

Furthermore, the wings are middle single wings, and the inner section wings are inserted into the reserved opening area at the rear part of the fuselage and are fixedly connected; the aspect ratio of the wing is 15-20;

in the cruising configuration, except wingtips and winglets, the wing tip winglet has no upper dihedral angle and no leading edge sweepback angle.

Furthermore, the overlooking projection profile of the inner section wing is trapezoidal, the length of the inner section wing is 50-55% of the half span length of the wing, the chord length of the wing root is 0.50-0.60m, the chord length of the end part is 0.50-0.55m, and the average aerodynamic chord length is 0.4-0.5m;

the arrangement area of the solar flexible battery panel arranged on the surface of the inner section wing accounts for 35-40% of the wetting area of the inner section wing.

Furthermore, the overlooking projection profile of the outer section wing is trapezoidal, the length of the outer section wing is 30-35% of the half-span length of the wing, the chord length of the root is 0.45-0.50m, and the chord length of the root is equal to the chord length of the end part of the inner section wing; the root of the outer section wing is connected with the end part of the inner section wing through a wing folding actuating mechanism and is used for folding the outer section wing when the unmanned aerial vehicle is charged for standby or is taken off and landed on the ground or the ship surface;

the tail edge of the outer section wing is provided with an outer section wing full-span long aileron, the root chord length of the aileron is 25-30% of the root chord length of the outer section wing, and the end chord length of the aileron is 25-27% of the end chord length of the outer section wing;

the laying area of the solar flexible cell panels arranged on the upper surface of the outer section wing accounts for 45% -47% of the wetting area of the outer section wing, and the laying area of the solar flexible cell panels arranged on the upper surface of the aileron accounts for 47% -50% of the wetting area of the aileron.

Furthermore, the length of the wingtip winglet is 10-15% of the half span length of the wing, and the root of the wingtip winglet is fixedly connected with the end part of the outer section of the wing;

the wingtip winglet is provided with a hard shell made of carbon fiber and foam sandwich composite materials, a sealed cavity is arranged in the hard shell, a web plate used for improving the strength and rigidity of the wingtip winglet is arranged in the sealed cavity in the height direction of the whole unmanned aerial vehicle, the web plate divides the sealed cavity into a plurality of parts, and the wingtip winglet is used for improving the lift force extending direction distribution of wings and reducing induced resistance when the unmanned aerial vehicle flies in the air and is also used for generating buoyancy when the unmanned aerial vehicle vertically lands on the water surface or glides to force to land;

the volume of the wingtip winglet sealing cavity is 0.02-0.03 cubic meter, the provided buoyancy is 18-21% of the buoyancy of the whole unmanned aerial vehicle, and the wingtip winglet sealing cavity is used for ensuring that the unmanned aerial vehicle provides restoring moment when shaking on the water surface;

the shape and the volume of the wingtip winglet are controlled by a leading edge Bezier curve, a trailing edge Bezier curve and a maximum thickness Bezier curve as well as the root and the tip airfoil of the wingtip winglet, the root chord length of the wingtip winglet is equal to the end chord length of the outer wing, the leading edge and the trailing edge of the wingtip winglet are tangent to the leading edge and the trailing edge of the outer wing to ensure smooth transition, the forward edge sweepback angle of the wingtip winglet smoothly transitions from 40 degrees to 50 degrees in the direction from the root to the tip, and the dihedral angle smoothly transitions from 33 degrees to 37 degrees in the direction from the root to the tip.

Further, the propellers are multi-rotor propellers, two propellers are vertically arranged on the horn in a group, and the directions of rotation are opposite; each propeller is 25-32 inches in diameter; the power of a motor for driving the propeller is 3.7-4.3kw, and the total weight of a single motor and the propeller is 7-8kg;

the length of each blade of the cruise propeller is 20-24 inches, and the power of the motor is 3.3-3.8kw.

Further, the fin be H type fin, include: the horizontal tail wing and the vertical tail wing are arranged in parallel, and an elevator is arranged behind the horizontal tail wing; the horizontal tail is rectangular, the aspect ratio is 4.5-5, and a symmetrical wing profile with the maximum thickness of 8-12% is used; the ratio of the area of the elevator to the area of the horizontal tail wing is 0.35-0.4;

the vertical tail wing is arranged on the machine arm and is perpendicular to the horizontal tail wing, the rear end of the vertical tail wing is provided with a rudder, the bottom end of the vertical tail wing is provided with a buoy, the buoyancy provided by the buoy accounts for 0.3% -1% of the buoyancy of the whole machine, and the main purpose is to provide stable torque; the front edge sweepback angle of the vertical tail wing is 30-40 degrees, the chord length of the root part is 0.38-0.42m, the chord length of the tip part is 0.18-0.22m, the spread length is 0.25-0.3m, and a symmetrical wing profile with the maximum thickness of 8-10% is used; the relative area of the rudder and the vertical tail wing is 0.22-0.26;

the solar flexible cell panels are arranged on the horizontal tail and the elevator, and the area of the solar flexible cell panels accounts for 47% -50% of the wetted area of the horizontal tail.

Further, still include the power supply system who sets up in the load cabin, power supply system include: the power supply controller is electrically connected with the input end of the power supply controller through a boost ballast, one output end of the power supply controller is electrically connected with the battery through a charger, the other output end of the power supply controller is electrically connected with a propeller motor through an electronic speed regulator and is also electrically connected with a flight control device and other loads, the battery is also electrically connected with the propeller motor through the electronic speed regulator and is also electrically connected with the flight control device and other loads for supplying power to the propeller motor, the flight control device and other loads, and the propeller motor comprises a cruise propeller and a propeller motor;

the power supply controller is used for judging whether the electric energy generated by the solar flexible panel is supplied to a battery for charging or is supplied to a propeller motor or is directly supplied to other loads according to the generated energy of the real-time solar flexible panel, and the power consumption conditions of the motor, the propeller, the cruise propeller and other loads, and controlling the electric energy converted by the solar flexible panel not to exceed the power consumption requirements of the loads all the time;

when the battery is not fully charged, the power supply controller charges the battery through the charger by using the electric energy converted by the solar flexible panel; when the battery is fully charged and the generated power is greater than the sum of the power required by the load, the electric energy is respectively supplied to the motor, the propeller, the cruise propeller and other loads;

the flight control device is electrically connected with the elevator, the ailerons, the rudder and the driving mechanism of the wing folding actuating mechanism, and is used for controlling the pitching, transverse and course postures of the unmanned aerial vehicle in the air and the course of the unmanned aerial vehicle in the water surface.

The invention also provides a working method of the solar-powered amphibious migratory exploration submersible unmanned aerial vehicle,

in the migration and exploration latent task process, the energy of the unmanned aerial vehicle is reduced, the unmanned aerial vehicle needs to land on the ground, a ship or land and float on the water surface for charging, standby or executing a task, the controller for power supply of the unmanned aerial vehicle controls the solar flexible battery panel to charge the battery, and after the battery is charged, the flight control device controls the unmanned aerial vehicle to continue executing the takeoff task;

the unmanned aerial vehicle is parked on a ship deck or on land, when a vertical take-off task is executed, after a safe ground clearance is met, the folded outer-section wing and wingtip winglet are unfolded through the wing folding actuating mechanism, after the wing folding actuating mechanism is unfolded, the dihedral angles of the outer-section wing and the inner-section wing are zero, the propeller drives the vertical take-off and landing of the unmanned aerial vehicle, the posture is adjusted after the vertical take-off and landing of the unmanned aerial vehicle reach a safe height, so that the unmanned aerial vehicle has the acceleration in the plane flight direction, the flight control device controls the motor power of the propeller to be gradually reduced, meanwhile, the flight control device controls the cruise propeller to be started and increases the motor power of the cruise propeller until the unmanned aerial vehicle reaches a safe speed, the unmanned aerial vehicle controls and flies in a fixed-wing airplane mode, namely, the flight control device controls the thrust of the unmanned aerial vehicle by controlling the cruise propeller and the motor thereof, and controls the pitching posture of the unmanned aerial vehicle by controlling the lifting rudder, controls the auxiliary wing to realize the transverse posture of the unmanned aerial vehicle, and controls the course posture of the aircraft by controlling the rudder;

when the unmanned aerial vehicle executes a take-off task on water, the flight control device controls the motor and the propeller to start the vertical take-off and landing of the unmanned aerial vehicle; after the climbing height of the vertical takeoff of the unmanned aerial vehicle meets the safe ground clearance, the flight control device controls the wing folding actuating mechanism to unfold the folded outer section wing and wingtip winglet, after the unfolding is finished, the dihedral angles of the outer section wing and the inner section wing are both zero degrees, the propeller drives the vertical takeoff and landing of the unmanned aerial vehicle, after the vertical takeoff and landing of the unmanned aerial vehicle reaches the safe height, the posture of the unmanned aerial vehicle is adjusted to enable the unmanned aerial vehicle to have acceleration in the plane flight direction, the flight control device controls the motor power of the propeller to be gradually reduced, meanwhile, the flight control device controls the propeller for cruising to be started and increases the motor power of the propeller for cruising, and the whole unmanned aerial vehicle is controlled and flies in the mode of the fixed-wing aircraft until the unmanned aerial vehicle reaches the safe speed;

the unmanned aerial vehicle vertically lands on a ship deck or on land or on the water surface and glides on the water surface to land in the migration exploration latent task process:

when the unmanned aerial vehicle vertically lands on a ship deck or on land, the outer wing and the wingtip winglet are folded through the wing folding actuating mechanism, after the folding is completed, the down-turned angle of the outer wing is 179.5-178.7 degrees, after the folding, the requirement that the outer wing and the wingtip winglet do not interfere with a fuselage is met, the plane formed by the fuselage and the end part buoy is not exceeded, the requirement that a V-shaped machine bottom and the end part buoy are used as contact points when the ground is parked is met, and in a folded state, the flight control device controls the propeller to enable the unmanned aerial vehicle to vertically land;

when the unmanned aerial vehicle vertically lands on the water surface, and the unmanned aerial vehicle needs to vertically land on the water surface for supplementing energy, the outer section wing and the wingtip winglet are folded through the wing folding actuating mechanism, after the outer section wing is folded, the downward dihedral angle of the outer section wing is 8-9 degrees, the wingtip winglet is in contact with the water surface after the outer section wing is folded, the buoyancy force is provided for the unmanned aerial vehicle together with the pontoon at the end part of the empennage and the fuselage, and in the folded state, the flight control device controls the propeller to enable the unmanned aerial vehicle to vertically land on the water surface;

in the migration exploration diving task process, the unmanned aerial vehicle can not finish the vertical landing on the water surface when the energy is used up, and when the unmanned aerial vehicle needs to glide for forced landing and is 1-3 meters away from the water surface, the unmanned aerial vehicle keeps the fixed wing aircraft mode, glides and touches water at a pitching attitude angle of 5-10 degrees and a yawing and rolling angle of 0 degree; the end part buoy and the vertical tail wing positioned on the vertical tail wing firstly contact water, then the V-shaped machine bottom and the wingtip winglet contact water, the unmanned aerial vehicle is decelerated under the action of water surface deceleration, meanwhile, the outer section wing and the wingtip winglet are folded below the inner section wing through the wing folding actuating mechanism, after the folding is finished, the down-dihedral angle of the outer section wing is 8-9 degrees, the requirement that the wingtip winglet contacts the water surface after the folding is met, and the buoyancy is provided for the unmanned aerial vehicle together with the tail wing end buoy and the machine body; at the moment, the unmanned aerial vehicle enters a water surface floating state;

when the unmanned aerial vehicle is in a water surface floating state, the unmanned aerial vehicle sails flexibly at a low speed on the water surface, the rudder is used as a course control surface, and the flight control device controls the propellers for cruising to propel so as to prevent the unmanned aerial vehicle from leaving a standby area in ocean current.

The invention has the beneficial effects that: in order to improve the combat radius of the migratory exploration submarine aircraft, long-distance migratory birds are used as bionic objects, when the unmanned aerial vehicle provided by the invention is lifted off to execute tasks, if the illumination condition of the area is insufficient, the power generation capacity of the solar cell is insufficient, the unmanned aerial vehicle runs out of the stored electric energy, and then the unmanned aerial vehicle lands nearby. And the solar cell panel is used for charging and supplementing energy to the battery after landing, and the next task can be executed after the energy supplement is finished. The operation mode mainly refers to the condition that birds rest in the long-distance migration process, particularly the flying birds rest on feet in the transoceanic stage, and is the unmanned aerial vehicle which lands on the ground or on the water surface and floats after single power consumption is finished, and can execute tasks again after solar charging, energy supplementing and energy storing are finished. For the unmanned aerial vehicle, the operation mode is suitable for tracking and searching enemy nuclear submarines or people in distress at sea for a long time, the limitation of the task radius of the unmanned aerial vehicle is avoided, time does not need to be wasted, the unmanned aerial vehicle returns to a take-off and landing place for preparation, and the efficiency of similar tasks is improved.

The unmanned aerial vehicle provided by the invention adopts the ship-shaped body, has the capability of vertical take-off and landing on hard ground such as land/ship surface and water, and has the high navigational speed and long endurance capability of the fixed wing unmanned aerial vehicle, so that the take-off and landing site requirement of the unmanned aerial vehicle is reduced, and the water load impact stress during take-off and landing on water is also reduced;

a wing folding mechanism is arranged to reduce the parking floor area of the whole machine;

the wingtip winglet with the buoy characteristic also ensures the full-aircraft floating stability in a water surface floating state, compared with the traditional seaplane, the wingtip winglet is used for integrally designing the buoy and the wingtip, and compared with the traditional suspension type buoy, the wingtip winglet can also serve as a hydrofoil when the water surface slides at a high speed, so that the control capability of the water surface during high-speed movement is further improved, the weight and the resistance brought by the traditional suspension frame are reduced, and the water surface take-off and landing performance of the aircraft can be improved by serving as the hydrofoil in water;

simultaneously, take the common flotation pontoon system of constituteing of wingtip winglet and the vertical tail fin tip flotation pontoon of buoyancy not only satisfied the buoyancy demand of surface of water take off and land, kept away from the wingtip winglet and the vertical tail fin flotation pontoon of fuselage and provided good restoring torque and improved the stability of whole machine when the surface of water floats.

Through the mode that uses solar energy power generation and battery to combine together, carry out the energy supply through solar energy to the battery for the aircraft can reach the flight ability of unlimited range under the help of not having the help of external force. The technology ensures that the aircraft has high applicability, better performance and wide application prospect.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic side view of the present invention;

FIG. 3 is a side view of the fuselage of the present invention;

FIG. 4 is a front view of the fuselage of the present invention;

FIG. 5 is a schematic diagram of the arrangement structure of the solar flexible cell panel in the fuselage;

FIG. 6 is a schematic view of the arrangement structure of the solar flexible panel on the wing;

FIG. 7 is a schematic view of the arrangement structure of the horn, the tail structure and the solar flexible cell panel on the tail of the present invention;

FIG. 8 is a schematic structural view of a wing folded configuration at ground/vessel takeoff and landing according to the present invention;

FIG. 9 is a schematic structural view of a folded configuration of the wing of the present invention during water take-off and landing;

FIG. 10 is a schematic diagram of the power control system of the present invention;

FIG. 11 is a schematic structural view of a winglet according to the invention;

FIG. 12 is a schematic side view configuration of a winglet according to the invention;

FIG. 13 is a schematic cross-sectional view of a winglet according to the invention.

Description of reference numerals:

1. a body; 11. a load compartment; 12. a cruise propeller; 13. a cowling; 14. a V-shaped machine is arranged at the bottom; 2. an airfoil; 21. an inner section wing; 22. an outer wing section; 23. an aileron; 24. a wingtip winglet; 241. a leading edge bezier curve; 242. a trailing edge bezier curve; 243. maximum thickness bezier curve; 244. a web; 245. sealing the cavity; 3. a horn; 4. a tail wing; 41. a horizontal rear wing; 411. an elevator; 42. a vertical tail; 421. a rudder; 422. an end float; 5. a propeller; 6. a solar flexible panel; 71. a controller; 72. a battery; 73. a charger; 74. an electronic governor; 75. other loads; 76. a boost ballast; 77. a propeller motor.

Detailed Description

The principles and features of this invention are described below in conjunction with the following drawings, which are set forth to illustrate, but are not to be construed to limit the scope of the invention.

In order to achieve the above object, the present invention provides the following embodiments:

example 1: a solar-powered amphibious migration and exploration submersible unmanned aerial vehicle comprises a fuselage 1, wings 2, propellers 5, a solar flexible battery panel 6 and a battery 72, and further comprises a pair of horn 3 which are arranged on the wings 2 on two sides of the fuselage 1 and parallel to the axis of the fuselage 1, wherein the horn 3 is fixedly connected above the wings 2, and the connecting position of the horn 3 and the wings 2 is 15-20% of the half-span length of the wings 2; the tail end of the horn 3 is provided with a tail wing 4; the propellers 5 and the motors for driving the propellers 5 are installed on the machine arm 3 in pairs and used for vertical take-off and landing of the whole unmanned aerial vehicle; a cruise propeller 12 is arranged at the tail part of the fuselage 1;

the airframe 1 comprises an upper fairing 13, a lower fairing 13 and a sealed load cabin 11 enclosed by the upper fairing 13 and the lower fairing 13, the surface of the upper fairing 13 of the airframe 1 is streamline, and the bottom of the airframe 1 is provided with a V-shaped airframe bottom 14; the solar flexible battery board 6 is laid on the streamline surface of the machine body 1;

the wing 2 comprises an inner section wing 21, one end of the inner section wing 21 is installed on the fuselage 1, and the other end of the inner section wing 21 is sequentially connected with an outer section wing 22 and a wingtip winglet 24; the solar flexible solar panel 6 is laid on the inner section of wing 21 and the outer section of wing 22;

the solar water heater also comprises a battery, wherein the battery is arranged in a sealing cavity of the machine body 1 and is respectively and electrically connected with the solar flexible battery panel 6 and the motor, and the total laying area of the solar flexible battery panel 6 accounts for 15-17% of the total wetting area of the whole machine; the solar flexible panels 6 are used to convert solar energy into electrical energy and store it in batteries which in turn supply it to the motor to drive the propeller 5 and the cruise propeller 12 into operation.

The width-to-height ratio of the bottom of the V-shaped machine body 1 is 3-5, and the V-shaped machine body is used for draining water to two sides of the bottom of a ship when an unmanned aerial vehicle vertically lands on the water surface or glides to force landing, so that the water surface impact is reduced, and the water contact descent rate, floating stability and water surface navigation stability of the unmanned aerial vehicle are improved;

the total length of the machine body 1 is 1-2m, the maximum width is 0.5-0.6m, and the maximum height is less than 0.5m; the laying area of the solar flexible solar cell panel 6 laid on the streamline surface of the machine body 1 accounts for 5-9% of the soaking area of the machine body.

The wings 2 are middle single wings, and the inner section wings 21 are inserted into the reserved opening area at the rear part of the fuselage 1 and are fixedly connected; the aspect ratio of the wing 2 is 15-20;

in cruise configuration there is no dihedral, no leading-edge sweep except for the wingtip winglet 24.

The overlooking projection profile of the inner section wing 21 is trapezoidal, the length of the inner section wing 21 is 50-55% of the half span length of the wing 2, the chord length of the wing root is 0.50-0.60m, the chord length of the end part is 0.50-0.55m, and the average aerodynamic chord length is 0.4-0.5m;

the arrangement area of the solar flexible cell panel 6 arranged on the surface of the inner section wing 21 accounts for 35-40% of the wetting area of the inner section wing 21.

The overlooking projection profile of the outer section wing 22 is trapezoidal, the length of the outer section wing 22 is 30-35% of the half-span length of the wing 2, the chord length of the root is 0.45-0.50m, and the chord length of the root is equal to the chord length of the end part of the inner section wing 21; the root of the outer section wing 22 is connected with the end part of the inner section wing 21 through a wing folding actuating mechanism and is used for folding the outer section wing 22 when the unmanned aerial vehicle is charged for standby or is taken off and landed on the ground or the ship surface;

the rear edge of the outer section wing 22 is provided with an outer section wing full-span long aileron 23, the chord length of the root part of the aileron 23 is 25-30% of the chord length of the root part of the outer section wing 22, and the chord length of the end part of the aileron 23 is 25-27% of the chord length of the end part of the outer section wing 22;

the laying area of the solar flexible cell panels 6 arranged on the upper surface of the outer section wing 22 accounts for 45% -47% of the wetting area of the outer section wing 22, and the laying area of the solar flexible cell panels 6 arranged on the upper surface of the aileron 23 accounts for 47% -50% of the wetting area of the aileron 23.

The length of the wingtip winglet 24 is 10-15% of the half span length of the wing 2, and the root of the wingtip winglet 24 is fixedly connected with the end part of the outer section wing 22;

the wingtip winglet 24 is provided with a hard shell made of carbon fiber and foam sandwich composite materials, a sealed cavity 245 is arranged in the hard shell, a web 244 used for improving the strength and rigidity of the wingtip winglet 24 is arranged in the height direction of the whole machine in the sealed cavity 245, the web 244 divides the sealed cavity 245 into a plurality of parts, and the wingtip winglet 24 is used for improving the extending direction distribution of the lifting force of the wing 2 and reducing the induced resistance when an unmanned aerial vehicle flies in the air and is also used for generating buoyancy when the unmanned aerial vehicle vertically lands on the water surface or glides to force to land;

the volume of the wingtip winglet 24 sealed cavity 245 is 0.02-0.03 cubic meter, the provided buoyancy is 18-21% of the buoyancy of the whole unmanned aerial vehicle, and the wingtip winglet 24 sealed cavity is used for ensuring that the unmanned aerial vehicle provides restoring moment when shaking on the water surface;

the profile and volume of the wingtip winglet 24 are controlled by a leading edge Bezier curve 241, a trailing edge Bezier curve 242 and a maximum thickness Bezier curve 243, as well as the root and tip profiles of the wingtip winglet 24, the chord length of the root of the wingtip winglet 24 is equal to the chord length of the end of the outer wing 22, the leading edge and the trailing edge of the wingtip winglet 24 are tangent to the leading edge and the trailing edge of the outer wing 22 to ensure smooth transition, the sweepback angle of the leading edge of the wingtip winglet 24 is smoothly transitioned from the root to the tip at an angle of 40-50 degrees, and the dihedral angle is smoothly transitioned from the root to the tip at an angle of 33-37 degrees.

The propellers 5 are multi-rotor propellers, two propellers are vertically arranged on the horn 3 in a group, and the directions of rotation are opposite; each propeller 5 is 25-32 inches in diameter; the power of a motor for driving the propeller 5 is 3.7-4.3kw, and the total weight of a single motor and the propeller 5 is 7-8kg;

the cruise propeller 12 has a length of 20-24 inches per blade and a motor power of 3.3-3.8kw.

The tail 4 is an H-shaped tail, and comprises: a horizontal rear wing 41 and a vertical rear wing 42, the horizontal rear wing 41 being disposed in parallel with the wing 2, and an elevator 411 being provided behind the horizontal rear wing 41; the horizontal tail 41 is rectangular, the aspect ratio is 4.5-5, and a symmetrical wing profile with the maximum thickness of 8-12% is used; the ratio of the area of the elevator 411 to the area of the horizontal rear wing 41 is 0.35-0.4;

the vertical tail wing 42 is arranged on the horn 3 and is vertical to the horizontal tail wing 41, the rear end of the vertical tail wing 42 is provided with a rudder 421, the bottom end of the vertical tail wing 42 is provided with a buoy 422, the buoyancy provided by the buoy 422 accounts for 0.3% -1% of the buoyancy of the whole aircraft, and the main purpose is to provide stable torque; the leading edge sweepback angle of the vertical tail fin 42 is 30-40 degrees, the chord length of the root part is 0.38-0.42m, the chord length of the tip part is 0.18-0.22m, the spread length is 0.25-0.3m, and a symmetrical airfoil profile with the maximum thickness of 8-10% is used; the relative area of the rudder 421 and the vertical rear wing 42 is 0.22-0.26;

the solar flexible cell panel 6 is arranged on the horizontal tail 41 and the elevator 411, and the area of the solar flexible cell panel accounts for 47-50% of the immersion area of the horizontal tail 41.

Still include the power supply system who sets up in load compartment 11, the power supply system includes: the power supply controller 71, the solar flexible battery panel 6 is electrically connected with the input end of the power supply controller 71 through a boost ballast 76, one output end of the power supply controller 71 is electrically connected with a battery 72 through a charger 73, the other output end of the power supply controller 71 is electrically connected with a propeller motor 77 through an electronic speed regulator 74 and is also electrically connected with a flight control device 75 and other loads, the battery 72 is also electrically connected with the propeller motor 77 through the electronic speed regulator 74 and is also electrically connected with the flight control device 75 and other loads for supplying power to the propeller motor 77 and the flight control device 75 and other loads, and the propeller motor 77 comprises a motor of a cruise propeller 12 and a motor of a propeller 5;

the power supply controller 71 is used for judging whether the electric energy generated by the solar flexible cell panel 6 is charged by the electric energy supply battery 72 or supplied to the propeller motor 77 or directly supplied to other loads 75 according to the generated energy of the real-time solar flexible cell panel 6 and the power consumption conditions of the motor and the propeller 5, the cruise propeller 12 and other loads 75, and controlling the electric energy converted by the solar flexible cell panel 6 not to exceed the requirement of the loads all the time;

when the battery is not fully charged, the power supply controller 71 charges the battery 72 through the charger 73 with the electric energy converted by the solar flexible panel 6; when the battery 72 is fully charged and the generated power is greater than the sum of the powers required by the loads, power is supplied to the motor and propeller 5, the cruise propeller 12, and other loads 75, respectively;

the flight control device 75 is electrically connected with the elevator 411, the aileron 23, the rudder 421 and the driving mechanism of the wing folding actuating mechanism, and the flight control device 75 is used for controlling the pitching, transverse and course postures of the unmanned aerial vehicle in the air and the course of the unmanned aerial vehicle in the water surface.

The invention provides a design scheme of a solar-powered amphibious migration and exploration submersible unmanned aerial vehicle, which comprises a body 1, wings 2, a horn 3 and an empennage 4; the unmanned aerial vehicle has the total length of 3.25m-3.50m, the total height of 5.61m and the wingspan of 8.02m.

As shown in fig. 5-7, the bottom of the body 1 adopts a 'V-shaped' hull type body with the width-height ratio of 3 similar to a ship, and the water surface is divided by the 'V-shaped' bottom to be discharged to two sides when the water surface vertically falls, so that the influence of water surface impact on the body structure is reduced, and higher water contact reduction rate is allowed; and simultaneously provides stronger floating stability and water surface navigation stability. The upper half of the fuselage is a conventional elliptical non-pressurized fuselage. The fuselage 1 comprises load compartment, V-arrangement hull bottom, and driving system radome fairing, and the fuselage 1 overall length in the figure is 1.55m, and maximum width is 0.55m, and maximum height is 0.39m, and 18 high flexible solar energy flexible battery boards are laid to the upper surface.

As shown in fig. 1, the high aspect ratio wing 2 is composed of an inner wing 21, an outer wing 22 and a wingtip winglet 24, the adopted high lift wing profile has a lift coefficient not less than 0.5 in a cruising state, a maximum lift coefficient not less than 1.5, and the wing has no aerodynamic and geometric torsion. The wings 2 are middle single wings, and the inner section wings 21 are inserted into the reserved opening area at the rear part of the fuselage and are fixedly connected; the high-aspect-ratio wing 2 has an aspect ratio of 16.32, a cruise configuration with an upper dihedral angle of 0 degrees and a leading-edge sweepback angle of 0 degrees except for a wingtip winglet.

The overlooking projection profile of the inner section wing 21 is trapezoidal, the length of the inner section wing 21 is 51 percent of the half-span length of the wing 2, the chord length of the wing root is 0.55m, the chord length of the end part is 0.52m, and 114 semi-flexible solar power generation panels without movable control surfaces are arranged on the upper surface of the inner section wing 21; the inner section wing 21 is provided with a wing folding actuating mechanism near the end, and the wing folding actuating mechanism can be a worm and gear wing folding actuating mechanism.

The overlooking projection profile of the outer section wing 22 is trapezoidal, the length of the outer section wing is 34% of the half-expansion length of the wing 2, the chord length of the root part is 0.52m, the chord length of the end part is 0.50m, and the root part is connected with the end part of the inner section wing 21 through a folding mechanism. Each outer section wing 22 is provided with 33 high-flexibility solar panels on the upper surface. The rear edge of the outer section wing is provided with a full-extension-length aileron 23, the chord length of the root part of the aileron 23 is 29 percent of the chord length of the root part of the outer section wing, the chord length of the end part of the aileron 23 is 26 percent of the chord length of the end part of the outer section wing, the area of the aileron is 27.5 percent of the chord length of the end part of the outer section wing, and the upper surface of each aileron is provided with 11 high-flexibility solar flexible battery boards

The wingtip winglet 24 is 15% of the wing 2 in length, as shown in fig. 11, 12 and 13, and the wingtip winglet 24 is made of carbon fiber and foam core composite materialThe hard shell is internally provided with a sealed cavity 245, a web 244 for improving the strength and rigidity of wingtip winglets 24 is arranged in the whole machine height direction in the sealed cavity, the web 244 divides the sealed cavity 245 into a plurality of wingtip winglets 24, and the wingtip winglets 24 are used for improving the lift force extension direction distribution of wings 2 and reducing the induced resistance when the unmanned aerial vehicle flies in the air and are also used for generating buoyancy when the unmanned aerial vehicle vertically lands on the water surface or glides and forces to land; the volume of the cavity 245 sealed by the wingtip winglet 24 is 0.036m ³ The buoyancy provided is 18-21% of the buoyancy of the whole unmanned aerial vehicle, and the unmanned aerial vehicle is used for providing restoring moment when the unmanned aerial vehicle shakes on the water surface. Compared with the traditional wingtip support type floating pontoon, the pneumatic resistance and the structure weight are reduced, and meanwhile, the floating pontoon close to the wingtip can improve the transverse stability of the amphibious unmanned aerial vehicle in the floating state.

The power system of the unmanned aerial vehicle is divided into a vertical take-off and landing part and a horizontal flight part. A battery 72 is used as an energy storage medium, through an electronic governor 74, the motor, and finally power is transmitted to the propeller 5. The vertical take-off and landing part adopts 8 motors and special propellers 5 for multiple rotors, each two propellers are a group and are vertically arranged on a horn 3, the horn 3 is fixedly connected above the wing 2, the connecting position is 18% of the half-span length of the wing 2, the propellers 5 are opposite in rotation direction, and the control logic is equal to that of a four-rotor aircraft in the vertical take-off and landing stage. The power part of the horizontal flight consists of a variable-pitch three-blade paddle driven by a motor and arranged behind the aircraft body, and the variable-pitch three-blade paddle is the cruise propeller 12.

The unmanned aerial vehicle energy system consists of a solar cell array, a cell 72 and an energy control system, and uses a high-efficiency, ultrathin, ultralight and high-flexibility crystalline silicon solar flexible cell panel 6. The battery 72 uses a lithium polymer battery with high energy density. The energy system control adopts the battery 72 as an energy storage element, and the electricity generated by the solar flexible battery board 6 is stored in the battery and supplied to required equipment. After the lithium battery finishes charging, the current generated by the solar panel can be directly supplied to equipment after being stabilized.

Unmanned aerial vehicle is flying, and the standby phase all lasts solar energy conversion electric energy and stores under suitable illumination, can independently carry out next task after the energy storage satisfies next task demand. The work mode takes the migratory birds as bionic objects to achieve the design purpose of migration work.

In a specific embodiment, the power of the unmanned aerial vehicle in vertical take-off and landing comes from 8 hovering electric propellers, the diameter of each propeller is 30 inches, the maximum power of each motor is 4kw, the total weight of the motor and the propellers is 7.2kg, a variable-pitch three-blade propeller is adopted for flat flight, each blade is 22 inches long, and the maximum power of the motor is 3.5kw. The solar flexible solar panel is paved to 4.1 square meters in total, and the energy storage battery is a lithium polymer battery with the energy density of 250 wh/kg.

As shown in fig. 1, 2 and 7, the specific structure of the "H-shaped" empennage 4 is as follows: a horizontal rear wing 41 with elevators 411 and a vertical rear wing 42 with a rudder 421 and an end buoy 422. The horizontal tail 41 is rectangular, and has no sweepback, no up-down reverse and no torsion; the aspect ratio is 4.8; the horizontal tail adopts a NACA0012 wing type with the maximum thickness of 12%, and a 2-degree positive mounting angle is provided for the horizontal tail wing for balancing the moment; the ratio of the area of the elevator 411 to the area of the horizontal tail is 0.4. The vertical fin includes a vertical fin 42 and an end buoy 422 for providing buoyancy and floating stability; the sweep angle of the front edge of the vertical tail is 35 degrees, the projection area is 0.085 square meter, the chord length of the root is 0.4m, the chord length of the tip is 0.2m, and the spreading length is 0.28m; the vertical tail 42 adopts a NACA symmetrical wing profile with the maximum thickness of 10%; the rudder 421 has a relative area of 0.24. 23 high-flexibility solar flexible battery boards 6 are arranged on the horizontal tail 41 and the elevator 411.

Example 2: the invention also provides a working method of the solar-powered amphibious migration, exploration and submergence unmanned aerial vehicle,

in the migration and exploration latent task process, the energy of the unmanned aerial vehicle is reduced, the unmanned aerial vehicle needs to land on the ground, a ship or land and float on the water surface for charging, standby or executing a task, the controller 71 for power supply of the unmanned aerial vehicle controls the solar flexible battery panel 6 to charge the battery 72, and after the battery 72 is charged, the flight control device 75 controls the unmanned aerial vehicle to continue to execute the takeoff task;

the unmanned aerial vehicle is parked on a ship deck or on land, when a vertical takeoff task is executed, after a safe ground clearance is met, the folded outer section wing 22 and the wingtip winglet 24 are unfolded through a wing folding actuating mechanism, after the unfolding is finished, the dihedral angles of the outer section wing 22 and the inner section wing 21 are both zero, the propeller 5 drives the unmanned aerial vehicle to vertically take off and land, after the unmanned aerial vehicle reaches a safe height, the attitude is adjusted to enable the unmanned aerial vehicle to have acceleration in a flat flight direction, the flight control device 75 controls the motor power of the propeller 5 to be gradually reduced, meanwhile, the flight control device 75 controls the cruise propeller 12 to be started and increases the motor power of the cruise propeller 12, until the unmanned aerial vehicle reaches a safe speed, the unmanned aerial vehicle controls and flies in a fixed wing airplane mode, namely, the flight control device 75 controls the thrust of the unmanned aerial vehicle by controlling the cruise propeller 12 and the motor thereof, meanwhile, the flight control device 75 controls the pitching attitude of the unmanned aerial vehicle by controlling the lifting 411, controls the ailerons 23, and controls the heading of the aircraft by controlling the rudder direction 421;

when the unmanned aerial vehicle executes a take-off task on water, the flight control device 75 controls the motor and the propeller 5 to start the vertical take-off and landing of the unmanned aerial vehicle; after the climbing height of the vertical takeoff of the unmanned aerial vehicle meets the safety ground clearance, the flight control device 75 controls the wing folding actuating mechanism to unfold the folded outer section wing 22 and the wingtip winglet 24, after the unfolding is completed, the dihedral angles of the outer section wing 22 and the inner section wing 21 are both zero degrees, the propeller 5 drives the vertical takeoff and landing of the unmanned aerial vehicle to adjust the posture after reaching the safety height so that the unmanned aerial vehicle has the acceleration in the flat flight direction, the flight control device 75 controls the motor power of the propeller 5 to be gradually reduced, meanwhile, the flight control device 75 controls the cruise propeller 12 to be started and increases the motor power of the cruise propeller 12, and the whole unmanned aerial vehicle is controlled and flies in a fixed-wing airplane mode until the unmanned aerial vehicle reaches the safety speed;

the unmanned aerial vehicle vertically lands on a ship deck or land or on the water surface and glides on the water surface in the migration and exploration submarine task process:

when the unmanned aerial vehicle vertically lands on a ship deck or on land, the outer wing 22 and the wingtip winglet 24 are folded through the wing folding actuating mechanism, after the folding is finished, the downward dihedral angle of the outer wing 22 ranges from 179.5 degrees to 178.7 degrees, after the folding, the requirement that the outer wing 22 and the wingtip winglet 24 do not interfere with the airframe 1 and do not exceed the plane formed by the airframe 1 and the end buoy 422 is met, the V-shaped airframe 14 and the end buoy 422 serve as contact points when the unmanned aerial vehicle is parked on the ground is met, and in a folded state, the flight control device 75 controls the propeller 5 to enable the unmanned aerial vehicle to vertically land;

when the unmanned aerial vehicle vertically lands on the water surface and the unmanned aerial vehicle needs to vertically land on the water surface for supplementing energy, the outer wing 22 and the wingtip winglet 24 are folded through the wing folding actuating mechanism, after the folding is finished, the dihedral angle of the outer wing 22 is 8-9 degrees, after the folding, the wingtip winglet 24 is in contact with the water surface, the buoyancy is provided for the unmanned aerial vehicle together with the pontoon 422 at the end part of the empennage and the fuselage 1, and in the folded state, the flight control device 75 controls the propeller 5 to enable the unmanned aerial vehicle to vertically land on the water surface;

in the migration and exploration diving task process, the unmanned aerial vehicle can not finish the vertical landing on the water surface when using up the energy, when needing to glide to force the landing, and when the unmanned aerial vehicle is 1-3 meters away from the water surface, the unmanned aerial vehicle keeps a fixed wing aircraft mode, glides to touch water at a pitching attitude angle of 5-10 degrees and a yawing and rolling angle of 0 degree; the end buoy 422 and the vertical tail 42 on the vertical tail firstly contact water, then the V-shaped machine bottom 14 and the wingtip winglet 24 contact water, the unmanned aerial vehicle is decelerated under the action of water surface deceleration, meanwhile, the outer section wing 22 and the wingtip winglet 24 are folded below the inner section wing 21 through the wing folding actuating mechanism, after the folding is finished, the downward dihedral angle of the outer section wing 22 is 8-9 degrees, and the folded wing tip winglet 24 contacts the water surface, and provides buoyancy for the unmanned aerial vehicle together with the tail end buoy 422 and the machine body 1; at the moment, the unmanned aerial vehicle enters a water surface floating state;

when the unmanned aerial vehicle is in a water surface floating state, the unmanned aerial vehicle sails at a low speed on the water surface flexibly, the rudder 421 is used as a course control surface, and the flight control device 75 controls the cruise propeller 12 to propel the unmanned aerial vehicle, so that the unmanned aerial vehicle is prevented from leaving a standby area in ocean currents.

In a specific embodiment, as shown in fig. 8, the drone is parked on the deck of a ship or on land, and after meeting the safety ground clearance during vertical take-off of the mission, the folded outer wing section and wing tip are unfolded to the position shown in fig. 1 by the folding mechanism.

As shown in fig. 9, when the drone performs a water landing mission, the outer wing 22 and wingtip winglet 24 are folded by the folding mechanism to the position shown in fig. 9, land safely on the water surface at a certain descent rate and float for charging/standby/mission. At this time, if it is necessary to sail on the water surface at low speed, the rudder can be used as a heading control surface, and the horizontal flight power system also serves as a propulsion device.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A solar-powered amphibious migration and exploration submersible unmanned aerial vehicle comprises a fuselage (1), wings (2), propellers (5), a solar flexible battery panel (6) and a battery (72), and is characterized by further comprising a pair of horn arms (3) which are arranged on the wings (2) on two sides of the fuselage (1) and parallel to the axis of the fuselage (1), wherein the horn arms (3) are fixedly connected above the wings (2), and the connecting positions of the horn arms (3) and the wings (2) are located at 15-20% of the half-span length of the wings (2); the tail end of the horn (3) is provided with a tail wing (4); the propellers (5) and the motors for driving the propellers (5) are installed on the machine arms (3) in pairs and used for vertical take-off and landing of the whole unmanned aerial vehicle; a cruise propeller (12) is arranged at the tail part of the machine body (1);

the aircraft body (1) comprises an upper fairing (13), a lower fairing (13) and a sealed load cabin (11) enclosed by the upper fairing (13) and the lower fairing (13), the surface of the upper half fairing (13) of the aircraft body (1) is streamline, and the bottom of the aircraft body (1) is provided with a V-shaped bottom (14); the solar flexible solar panel (6) is laid on the streamline surface of the machine body (1);

the wing (2) comprises an inner section wing (21), one end of the inner section wing (21) is installed on the fuselage (1), and the other end of the inner section wing (21) is sequentially connected with an outer section wing (22) and a wingtip winglet (24); the solar flexible solar panel (6) is laid on the inner section wing (21) and the outer section wing (22);

the solar energy water-cooling machine also comprises a battery, wherein the battery is arranged in a sealing cavity of the machine body (1), the battery is respectively and electrically connected with the solar flexible battery panel (6) and the motor, and the total laying area of the solar flexible battery panel (6) accounts for 15-17% of the total soaking area of the machine; the solar flexible battery board (6) is used for converting solar energy into electric energy and storing the electric energy in a battery, and the battery supplies the electric energy to the motor so as to drive the propeller (5) and the cruise propeller (12) to work.

2. The solar-powered amphibious migratory exploration submersible unmanned aerial vehicle according to claim 1, wherein the width-to-height ratio of the V-shaped bottom of the fuselage (1) is 3-5, so that when the unmanned aerial vehicle vertically lands on the water surface or is forced to land in a gliding manner, water is discharged to the two sides of the bottom of the ship, the water surface impact is reduced, and the water-contact descent rate, the floating stability and the water surface navigation stability of the unmanned aerial vehicle are improved;

the total length of the machine body (1) is 1-2m, the maximum width is 0.5-0.6m, and the maximum height is less than 0.5m; the laying area of the solar flexible cell panel (6) laid on the streamline surface of the machine body (1) accounts for 5-9% of the soaking area of the machine body.

3. The solar-powered amphibious migratory exploration submersible unmanned aerial vehicle according to claim 1, wherein the wing (2) is a middle single wing, and the inner-section wing (21) is inserted into a reserved opening area at the rear part of the fuselage (1) and fixedly connected with the reserved opening area; the aspect ratio of the wing (2) is 15-20;

in the cruising configuration, except for wingtip winglets (24), the wing has no dihedral angle and no leading edge sweepback angle.

4. The solar-powered amphibious migratory exploration submersible unmanned aerial vehicle as claimed in claim 1, wherein the top view projection profile of the inner-section wing (21) is trapezoidal, the length of the inner-section wing (21) is 50-55% of the half-span length of the wing (2), the chord length of the wing root is 0.50-0.60m, the chord length of the end part is 0.50-0.55m, and the average aerodynamic chord length is 0.4-0.5m;

the arrangement area of the solar flexible solar panel (6) arranged on the surface of the inner section wing (21) accounts for 35-40% of the soaking area of the inner section wing (21).

5. The solar-powered amphibious migratory exploration unmanned aerial vehicle according to claim 1, wherein the overlooking projection profile of the outer section wing (22) is trapezoidal, the length of the outer section wing (22) is 30-35% of the half-span length of the wing (2), the chord length of the root is 0.45-0.50m, and the chord length of the root is equal to the chord length of the end part of the inner section wing (21); the root of the outer section wing (22) is connected with the end part of the inner section wing (21) through a wing folding actuating mechanism and is used for folding the outer section wing (22) when the unmanned aerial vehicle is charged for standby or the ground or the ship surface is lifted and landed;

the tail edge of the outer section wing (22) is provided with an outer section wing full-span long aileron (23), the root chord length of the aileron (23) is 25-30% of the root chord length of the outer section wing (22), and the end chord length of the aileron (23) is 25-27% of the end chord length of the outer section wing (22);

the laying area of the solar flexible cell panels (6) arranged on the upper surface of the outer section wing (22) accounts for 45% -47% of the wetting area of the outer section wing (22), and the laying area of the solar flexible cell panels (6) arranged on the upper surface of the aileron (23) accounts for 47% -50% of the wetting area of the aileron (23).

6. The solar-powered amphibious migratory submarine unmanned aerial vehicle according to claim 1, wherein the wingtip winglet (24) has a length of 10-15% of the half span length of the wing (2), and the root of the wingtip winglet (24) is fixedly connected with the end of the outer wing (22);

the wingtip winglet (24) is provided with a hard shell made of carbon fiber and foam sandwich composite materials, a sealed cavity (245) is arranged in the hard shell, a web plate (244) used for improving the strength and rigidity of the wingtip winglet (24) is arranged in the sealed cavity (245) in the height direction of the whole machine, the web plate (244) divides the sealed cavity (245) into a plurality of parts, and the wingtip winglet (24) is used for improving the lift force extension direction distribution of the wing (2) and reducing the induced resistance when the unmanned aerial vehicle flies in the air and is also used for generating buoyancy when the unmanned aerial vehicle vertically lands on the water surface or glides and forces to land;

the volume of the sealed cavity (245) of the wingtip winglet (24) is 0.02-0.03 cubic meter, the provided buoyancy is 18-21% of the buoyancy of the whole unmanned aerial vehicle, and the unmanned aerial vehicle is used for ensuring that the unmanned aerial vehicle provides restoring moment when shaking on the water surface;

the shape and the volume of the wingtip winglet (24) are controlled by a leading edge Bezier curve (241), a trailing edge Bezier curve (242) and a maximum thickness Bezier curve (243) and a root and tip airfoil of the wingtip winglet (24), the root chord length of the wingtip winglet (24) is equal to the end chord length of the outer wing (22), the leading edge and the trailing edge of the wingtip winglet (24) are tangent to the front edge and the trailing edge of the outer wing (22) to ensure smooth transition, the forward edge sweepback angle of the wingtip winglet (24) smoothly transitions from the root to the tip at an angle of 40-50 degrees, and the dihedral angle smoothly transitions from the root to the tip at an angle of 33-37 degrees.

7. The solar powered amphibious migratory submarine drone according to claim 1, characterized in that said propellers (5) are multi-rotor propellers, arranged vertically on said horn (3) in groups of two, with opposite directions of rotation; each propeller (5) has a diameter of 25-32 inches; the power of a motor for driving the propeller (5) is 3.7-4.3kw, and the total weight of a single motor and the propeller (5) is 7-8kg;

the cruise propeller (12) is 20-24 inches long in each blade and 3.3-3.8kw in power of the motor.

8. The solar-powered amphibious migratory submarine unmanned aerial vehicle according to claim 1, wherein said tail (4) is an H-type tail comprising: the horizontal tail wing (41) and the vertical tail wing (42), the horizontal tail wing (41) is arranged in parallel with the wing (2), and an elevator (411) is arranged behind the horizontal tail wing (41); the horizontal tail (41) is rectangular, the aspect ratio is 4.5-5, and a symmetrical wing profile with the maximum thickness of 8-12% is used; the ratio of the area of the elevator (411) to the area of the horizontal rear wing (41) is 0.35-0.4;

the vertical tail wing (42) is arranged on the horn (3) and is perpendicular to the horizontal tail wing (41), the rear end of the vertical tail wing (42) is provided with a rudder (421), the bottom end of the vertical tail wing (42) is provided with a buoy (422), the buoyancy provided by the buoy (422) accounts for 0.3% -1% of the buoyancy of the whole machine, and the main purpose is to provide a stabilizing moment; the front edge sweepback angle of the vertical tail wing (42) is 30-40 degrees, the chord length of the root part is 0.38-0.42m, the chord length of the tip part is 0.18-0.22m, the span length is 0.25-0.3m, and a symmetrical wing profile with the maximum thickness of 8-10 percent is used; the relative area of the rudder (421) and the vertical tail wing (42) is 0.22-0.26;

the solar flexible solar cell panel (6) is arranged on the horizontal tail wing (41) and the elevator (411), and the area of the solar flexible solar cell panel accounts for 47% -50% of the immersion area of the horizontal tail wing (41).

9. The solar powered amphibious migratory submarine drone according to claims 1 to 8, further comprising a power supply system arranged inside said load bay (11), said power supply system comprising: the power supply controller (71), the solar flexible battery panel (6) is electrically connected with the input end of the power supply controller (71) through a boost ballast (76), one output end of the power supply controller (71) is electrically connected with the battery (72) through a charger (73), the other output end of the power supply controller (71) is electrically connected with a propeller motor (77) through an electronic speed regulator (74) and is also electrically connected with a flight control device (75) and other loads, the battery (72) is also electrically connected with the propeller motor (77) through the electronic speed regulator (74) and is also electrically connected with the flight control device (75) and other loads for supplying power for the propeller motor (77), the flight control device (75) and other loads, and the propeller motor (77) comprises a cruise propeller (12) and a propeller (5) motor;

the power supply controller (71) is used for judging whether the electric energy generated by the solar flexible panel (6) is charged by a power supply battery (72) or is supplied to a propeller motor (77) or is directly supplied to other loads (75) according to the power generation of the real-time solar flexible panel (6), the power consumption conditions of the motor and propeller (5), the cruise propeller (12) and other loads (75), and controlling the electric energy converted by the solar flexible panel (6) not to exceed the requirement of the loads all the time;

when the battery is not fully charged, the power supply controller (71) charges the battery (72) through a charger (73) by using the electric energy converted by the solar flexible panel (6); when the battery (72) is fully charged and the generated power is greater than the sum of the power required by the load, the electric energy is respectively supplied to the motor, the propeller (5), the cruise propeller (12) and other loads (75);

the flight control device (75) is electrically connected with the elevator (411), the aileron (23), the rudder (421) and the driving mechanism of the wing folding actuating mechanism, and the flight control device (75) is used for controlling the pitching, transverse and course postures of the unmanned aerial vehicle in the air and the course of the unmanned aerial vehicle in the water surface.

10. The working method of the solar powered amphibious migratory submarine unmanned aerial vehicle according to claims 1-9,

in the process of migrating and exploring a submarine task, the energy of the unmanned aerial vehicle is reduced, the unmanned aerial vehicle needs to land on the ground, a ship or land and float on the water surface for charging, standby or executing a task, a power supply controller (71) of the unmanned aerial vehicle controls a solar flexible battery panel (6) to charge a battery (72), and after the battery (72) is charged, the flight control device (75) controls the unmanned aerial vehicle to continue executing a takeoff task;

the unmanned aerial vehicle is parked on a ship deck or on land, when a vertical takeoff task is executed, after a safe ground clearance is met, the folded outer-section wing (22) and wingtip winglet (24) are unfolded through a wing folding actuating mechanism, after the unfolding is completed, the dihedral angles of the outer-section wing (22) and the inner-section wing (21) are zero, the propeller (5) drives the unmanned aerial vehicle to vertically take off and land, the attitude is adjusted after the unmanned aerial vehicle reaches a safe height, so that the unmanned aerial vehicle has acceleration in the flat flight direction, the flight control device (75) controls the motor power of the propeller (5) to be gradually reduced, meanwhile, the flight control device (75) controls the cruise propeller (12) to be started and increases the motor power of the cruise propeller (12), and the unmanned aerial vehicle is controlled and flies in a fixed-wing airplane mode until the unmanned aerial vehicle reaches a safe speed, namely, the flight control device (75) controls the thrust of the unmanned aerial vehicle by controlling the pitching attitude of the unmanned aerial vehicle and controls the transverse attitude of the wings (23) of the unmanned aerial vehicle by controlling the flight control device (421);

when the unmanned aerial vehicle executes a takeoff task on water, the flight control device (75) controls the motor and the propeller (5) to start the vertical take-off and landing of the unmanned aerial vehicle; after the climbing height of the vertical takeoff of the unmanned aerial vehicle meets the safety ground clearance, a flight control device (75) controls a wing folding actuating mechanism to unfold a folded outer section wing (22) and a wingtip winglet (24), after the unfolding is finished, the dihedral angles of the outer section wing (22) and an inner section wing (21) are both zero degrees, the propeller (5) drives the unmanned aerial vehicle to vertically take off and land, the posture is adjusted after the unmanned aerial vehicle reaches the safety height, so that the unmanned aerial vehicle has the acceleration in the flat flight direction, the flight control device (75) controls the motor power of the propeller (5) to be gradually reduced, meanwhile, the flight control device (75) controls the cruise propeller (12) to be started and increases the motor power of the cruise propeller (12), and the whole unmanned aerial vehicle controls and flies in a fixed-wing airplane mode until the unmanned aerial vehicle reaches the safety speed;

when the unmanned aerial vehicle vertically lands on a ship deck or on land, the outer wing (22) and the wingtip winglet (24) are folded through the wing folding actuating mechanism, after the folding is completed, the down-dihedral angle of the outer wing (22) ranges from 179.5 degrees to 178.7 degrees, the outer wing (22) and the wingtip winglet (24) do not interfere with the aircraft body (1) after the folding, the plane formed by the aircraft body (1) and the end buoy (422) is not exceeded, the contact points when the V-shaped aircraft bottom (14) and the end buoy (422) are parked on the ground are met, and in the folded state, the flight control device (75) controls the propeller (5) to enable the unmanned aerial vehicle to vertically land;

when the unmanned aerial vehicle vertically lands on the water surface, the unmanned aerial vehicle needs to vertically land on the water surface for supplementing energy, the outer wing (22) and the wingtip winglet (24) are folded through the wing folding actuating mechanism, after the folding is completed, the dihedral angle of the outer wing (22) is 8-9 degrees, after the folding is completed, the wingtip winglet (24) is in contact with the water surface, the end part buoy (422) of the empennage and the fuselage (1) jointly provide buoyancy for the unmanned aerial vehicle, and in a folded state, the flight control device (75) controls the propeller (5) to enable the unmanned aerial vehicle to vertically land on the water surface;

in the migration exploration diving task process, the unmanned aerial vehicle can not finish the vertical landing on the water surface when the energy is used up, and when the unmanned aerial vehicle needs to glide for forced landing and is 1-3 meters away from the water surface, the unmanned aerial vehicle keeps the fixed wing aircraft mode, glides and touches water at a pitching attitude angle of 5-10 degrees and a yawing and rolling angle of 0 degree; the end part buoy (422) and the vertical tail wing (42) which are positioned on the vertical tail wing firstly contact water, then the V-shaped bottom (14) and the wingtip winglet (24) contact water, the unmanned aerial vehicle is decelerated under the action of water surface deceleration, meanwhile, the outer section wing (22) and the wingtip winglet (24) are folded below the inner section wing (21) through a wing folding actuating mechanism, after the folding is finished, the lower dihedral angle of the outer section wing (22) is 8-9 degrees, the wingtip winglet (24) is in contact with the water surface after being folded, and the buoyancy is provided for the unmanned aerial vehicle together with the tail wing end buoy (422) and the airframe (1); at the moment, the unmanned aerial vehicle enters a water surface floating state;

when unmanned aerial vehicle was at the surface of water floating state, unmanned aerial vehicle was motor-driven at the surface of water low-speed navigation, used rudder (421) as the course control surface, and flight control device (75) control cruises and impels with screw (12), prevents that ocean current area unmanned aerial vehicle from leaving the standby area.